1. Tele-presence for Control of a High-speed Robot Michael R. Kowalczyk and Joseph A. Schmeltzer Project Advisor: Jeffrey Horn Northern Evolutionary Robotics Laboratory (NERL) Department of Mathematics and Computer Science NMU Celebration of Student Research and Creative Works April 12, 2001

2. 2 NMU Celecbration of Student Research and Creative Works Abstract A wheeled, all-terrain robot capable of speeds of 20 mph, is difficult to control. The combination of high operational speeds and irregular, outdoor terrain call for a combination of autonomous (on-board) control, and external (remote) human control. As a first step toward such an integrated architecture, we have designed a prototype vehicle that is operated via tele-presence. The operator is located at a base station consisting of a computer, video glasses, head-tracker hardware, and controllers for throttle and steering (e.g., joystick). The operator’s head movements are duplicated on the robot’s articulated “neck” supporting a video camera, whose images are sent back to the operator’s video glasses, thus closing the control loop. The video and control connections are wireless, and the operator can be located anywhere on the internet. With Internet 2 bandwidths, the operator should experience the illusion of actually being in the car’s driver seat, able to look around as he or she drives.

3. 3 NMU Celecbration of Student Research and Creative Works Background Controlling high-speed robots is difficult Here at the NERL we are following two approaches: (1)Start Slow! But keep completely autonomous. As we get better at utilizing sensor data to control the velocity, then gradually increase speed (see our TRUCK) (2)Start with human control, for immediate high speed capability. Then gradually integrate more autonomous behavior (e.g., anti-lock brakes, anti- rollover steering, obstacle avoidance, emergency braking, goal-seeking (eventually)) (see our CAR)

4. 4 NMU Celecbration of Student Research and Creative Works Terms Remote Operated Vehicle (ROV) Controller (operator), human or not, is NOT ON BOARD the robot. Tele-operation Control of an ROV Tele-immersion Human operator feels as if he/she were inside the robot, or as if he/she were the robot. Through the use of video glasses, head tracking hardware, data gloves coupled with remote manipulator arm/gripper, etc., plus real-time communications for a fast feedback loop, the illusion of immersion can be achieved. Tele-presence Tele-immersion combined with the ability to project the operator’s presence, via the robot, to the robot’s location, so that others (humans) experience the illusion that the operator is in the robot. By giving the robot more human-like appearance and capabilities (I.e., speech, arms), this can be achieved. Thus tele-immersion is an experience for the operator, while tele- presence is an effect felt by the operator and other humans in the robot’s environment.

5. 5 NMU Celecbration of Student Research and Creative Works Goals of this project 1.Build a Remote Operate Vehicle (ROV) that his high speed, all-terrain 2.Achieve Tele-Operation via wireless control 3.Achieve Tele-Immersion via video/audio, and head- tracking feedback loop 4.Achieve Tele-Presence via Two-way Audio, Horn, and other effectors 5.Make vehicle outdoor capable (for campus touring) via long-range wireless links 6.Put operator anywhere on Internet 2 via real-time streaming video (for tele-presence visits to campus)