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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
Conference Name2016 23rd International Conference on Mechatronics and Machine Vision in Practice (M2VIP)
Conference DateNovemebr 28-30, 2016
Conference PlaceNanjing, China
Source Publication2016 23rd International Conference on Mechatronics and Machine Vision in Practice (M2VIP)
Publication PlaceNew York
Indexed ByEI ; CPCI(ISTP)
EI Accession number20171203452838
WOS IDWOS:000404431400043
Contribution Rank1
KeywordUnderwater Manipulator Operating Pressure P300 Brainwaves Bri
AbstractIt 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.
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Document Type会议论文
Corresponding AuthorLi W(李伟)
Affiliation1.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
Recommended Citation
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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