A haptically enabled low-cost reconnaissance platform for law enforcement Mullins, James, Horan, Ben, Fielding, Michael and Nahavandi, Saeid 2007, A haptically enabled low-cost reconnaissance platform for law enforcement, in SSRR 2007, IEEE International Workshop on : Safety, Security and Rescue Robotics, 2007, IEEE Xplore, Piscataway, N.J., pp. 1-6. Attached Files Name Description MIMEType Size Downloads nahavandi-haptically-2007.pdf Published version application/pdf 1.63MB 120 Title A haptically enabled low-cost reconnaissance platform for law enforcement Author(s) Mullins, James Horan, Ben orcid.org/0000-0002-6723-259X Fielding, Michael orcid.org/0000-0001-7569-8499 Nahavandi, Saeid orcid.org/0000-0002-0360-5270 Conference name IEEE International Workshop on Safety, Security and Rescue Robotics (2007: Rome, Italy) Conference location Rome, Italy Conference dates 27-29 September 2007 Title of proceedings SSRR 2007, IEEE International Workshop on : Safety, Security and Rescue Robotics, 2007 Editor(s) [Unknown] Publication date 2007 Conference series International Workshop on Safety, Security and Rescue Robotics Start page 1 End page 6 Publisher IEEE Xplore Place of publication Piscataway, N.J. Keyword(s) ActiveX haptic JAUS OzBot mobile robot Summary Traditionally, the control system of a modern teleoperated mobile robot consists of one or more two-dimensional joysticks placed on a control interface. While this simplistic interface allows an operator to remotely drive the platform, feedback is limited to visual information supplied by on-board cameras. Significant advances in the field of haptics have the potential to meaningfully enhance situational awareness of a remote robot. The focus of this research is the augmentation of Deakin University's OzBot trade MkIV mobile platform to include haptic control methodologies. Utilising the platform's inertial measurement unit, a remote operator has the ability to gain knowledge of the vehicle's operating performance and terrain while supplying a finer level of control to the drive motors. Our development of a generic multi-platform ActiveX allows the easy implementation of haptic force feedback to many computer based robot controllers. Furthermore, development of communication protocols has progressed with Joint Architecture for Unmanned Systems (JAUS) compliance in mind. The haptic force control algorithms are presented along with results highlighting the benefits of haptic operator feedback on the MklV OzBot trade chassis. Notes This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder. ISBN 9781424415694 1424415691 Language eng Field of Research 099999 Engineering not elsewhere classified HERDC Research category E1 Full written paper - refereed Copyright notice ©2007, IEEE Free to Read? Yes Persistent URL http://hdl.handle.net/10536/DRO/DU:30008195 Document type: Conference Paper Collections: School of Engineering and Information Technology Open Access Collection Related Links Link Description Connect to published version (restricted access) Go to link with your DU access privileges     Unless expressly stated otherwise, the copyright for items in DRO is owned by the author, with all rights reserved. Every reasonable effort has been made to ensure that permission has been obtained for items included in DRO. If you believe that your rights have been infringed by this repository, please contact drosupport@deakin.edu.au. Versions Version Filter Type Fri, 06 Mar 2009, 15:54:03 EST Fri, 13 Mar 2009, 13:25:37 EST Thu, 09 Sep 2010, 09:20:13 EST Fri, 16 Mar 2012, 16:33:00 EST Wed, 27 Aug 2014, 21:38:33 EST Fri, 10 Oct 2014, 08:22:17 EST Wed, 21 Oct 2015, 13:23:15 EST Tue, 06 Sep 2016, 10:59:45 EST Tue, 05 Dec 2017, 06:22:06 EST Filtered Full Citation counts:   Cited 0 times in TR Web of Science Cited 4 times in Scopus Search Google Scholar Access Statistics: 858 Abstract Views, 130 File Downloads  -  Detailed Statistics Created: Mon, 29 Sep 2008, 09:05:41 EST

Every reasonable effort has been made to ensure that permission has been obtained for items included in DRO. If you believe that your rights have been infringed by this repository, please contact drosupport@deakin.edu.au.