Robot Supervisory-controlled systems

Fig. 28.1a-c. Technical classification of robotic systems a Supervisory controlled system, in which the surgeon plans the operation off line and the robot performs the specified motions autonomously under the supervision of the surgeon, b Telesurgical system, in which the robot is under direct control of the surgeon with an on-line input device, which is typically a force feedback joystick (master), c Shared control system, in which the robot and surgeon share control of the surgical instrument. [Modified from Nathoo et al. (2005) with permission]... 

Supervisory control refers to the role a human plays in operating a semiautomatic process or system. Examples include control of large systems such as a nuclear power plant and specific instrumentation such as a robotic or assistive device. Performing supervisory control is high-level task that predominantly consists of mental components. This task is used to generically illustrate the use of analytic techniques to model a task. 

Robots can also be controlled from a distance. Teleoperated systems can be controlled by human operators situated either a few centimeters away, as in robotic surgeries, or millions of miles away, as in outer space applications. Supervisory control is a term given to teleoperation in which the robots themselves are capable of performing the vast majority of their tasks independently human operators are present merely to monitor the robots behavior and occasionally offer high-level instructions. 

In this section, we propose an embedded open control and supervisory architecture to be used in mobile robot systems. The project is described... 

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