Operating an Underwater Manipulator via P300 Brainwaves

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 水下机器人研究室

	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
	2016
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
关键词	Underwater Manipulator Operating Pressure P300 brainwaves BRI
页码	1-5
通讯作者	李伟
中文摘要	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.
收录类别	EI
产权排序	1
会议录	2016 23rd International Conference on Mechatronics and Machine Vision in Practice (M2VIP)
会议录出版者	IEEE
会议录出版地	New York
语种	英语
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/19683]
专题	沈阳自动化研究所_水下机器人研究室
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]. 见:2016 23rd International Conference on Mechatronics and Machine Vision in Practice (M2VIP). Nanjing, China. Novemebr 28-30, 2016.