INVESTIGADORES
JORDAN Mario Alberto
congresos y reuniones científicas
Título:
Evaluation of Human Control in Teleoperation of Underwater Vehicles - Comparative Study in Time and Frequency Domains
Autor/es:
MARIO A. JORDÁN; JORGE L. BUSTAMANTE; CARLOS E. BERGER
Lugar:
Buenos Aires
Reunión:
Simposio; 11th Argentine Symposium on Computing Technology (AST 2010); 2010
Institución organizadora:
SADIO
Resumen:
In this paper a study of teleoperation of remotely operated vehicles is carried out employing two sources of video, the inboard image and external camera. Additionally, a modeling of the human behavior during path tracking is performed. For this goal a structure of a nested control loop is supposed. The inner loop involves a high-performance digital controller, while the outer loop is composed by the human teleoperation. For modeling the human control actions a PID-like controller is proposed. The identification of the parameters of the PID is carried out in both domains, time and frequency. Features of these studies are based on experiments designed by simulations and on-line interaction of the teleoperator by means of a joystick.
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