Roman Tutor Interface

1
ROMAN TUTOR A Robot Manipulation Tutoring
Simulator
Froduald Kabanza Khaled Belghith Université de
Sherbrooke Roger Nkambou Mahie Khan
Université du Québec à Montréal Leo
Hartman Canadian Space Agency
2
Learner Interface

• The learner interface with its
• three monitors
• Each monitor is mapped to a camera (selected
  among 14 cameras)
• Each camera can be rotated and zoomed in/out
• The SSRMS is manipulated in two modes FOR mode
  or Joint by Joint mode.
• On the bottom we have a trace window

3
Recognition Task

• Recognition tasks train to recognize the
  different elements in the workspace
• Here the learner is shown an element of the ISS
  and asked to name it

4
Localization Task

• Localization tasks train to locate ISS elements
  and to relate them spatially to each others
• Here the learner is shown an element of the ISS
  and asked to name it and to find out the camera
  selected in the monitor

5
Goto Task

• In Goto tasks the learner is asked to move the
  robot from one configuration to another
• Here the learner can be provided with an
  animation illustrating the requested task

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How to?

• At any point during a task the learner can ask
  for help about how to achieve his task
• Here the student is accessing the path planner
  menu.
• FADPRM path-planner is invoked to calculate a
  path from the current configuration to a given
  goal configuration.
• The path can be animated for a better
  illustration of the task

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FADPRM Anytime Dynamic Path-Planner

• FADPRM takes into account the field of view of
  cameras on the ISS.
• Here we illustrate a path calculated by FADPRM
  taking into account the disposition of cameras on
  monitor 2 and monitor 3.