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Operating an Underwater Manipulator via P300 Brainwaves
Zhang J(张进); Li W(李伟); Yu JC(俞建成); Mao, Xiaoqian; Li, Mengfan; Chen, Genshe
作者部门水下机器人研究室
会议名称2016 23rd International Conference on Mechatronics and Machine Vision in Practice (M2VIP)
会议日期Novemebr 28-30, 2016
会议地点Nanjing, China
会议录名称2016 23rd International Conference on Mechatronics and Machine Vision in Practice (M2VIP)
出版者IEEE
出版地New York
2016
页码226-230
收录类别EI ; CPCI(ISTP)
EI收录号20171203452838
WOS记录号WOS:000404431400043
产权排序1
ISBN号978-1-5090-2764-4
关键词Underwater Manipulator Operating Pressure P300 Brainwaves Bri
摘要It would be difficult and stressful for a single operator to operate an underwater manipulator using his/her both hands in deep sea environments while the operator has to monitor or manipulate additional equipment. In order to reduce the operating pressure and make full use of the operator potentials, in this paper we propose a control strategy for operating the underwater manipulator via P300 brainwaves, which provides the operator a new way to operate the underwater manipulator without need for both hands. In this case, the two hands can be used to manipulate other equipment. The manipulator is a master- slave servo hydraulic manipulator with 7 functions, consisting of six degrees of freedom (DOFs) and a parallel gripper for manipulations. A p300 interface is designed by considering operation tasks of the underwater manipulator. It’s a 3*3 image matrix where each image corresponds to an underwater manipulator behavior. An experimental platform, in which a virtual underwater manipulator is developed, is used for validating the feasibility and effectiveness of the proposed brainwave-based strategy. Eight subjects are invited to do a typical underwater operational task, grasping a marine organism sample, on the virtual experimental platform. Their experimental results demonstrate that the proposed method is feasible and effective.
语种英语
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/19683
专题水下机器人研究室
通讯作者Li W(李伟)
作者单位1.Shenyang Institute of Automation, CAS, Shenyang, China
2.University of Chinese Academy of Sciences, Beijing, China
3.California State University, Bakersfield, United States
4.School of Electrical Engineering and Automation, Tianjin University, Tianjin, China
5.Intelligent Fusion Technology, Inc., Germantown, United States
推荐引用方式
GB/T 7714
Zhang J,Li W,Yu JC,et al. Operating an Underwater Manipulator via P300 Brainwaves[C]. New York:IEEE,2016:226-230.
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