Model-based approaches can be used to confront several of the challenging performance issues in teleoperation. This paper describes a model-based supervisory control technique for telerobotics. A human-machine interface (HMI) was developed for online, interactive task segmentation and planning utilizing a world model of the telerobotic working environment (TRWE). The task model is transferred intermittently over a low bandwidth communication channel for interpretation, planning, and execution of the task segments through the autonomous control capabilities of a telerobot. For the purposes of outlining tasks, a human operator controls a simulation model to generate a “task sequence script” as a sequential list of desired sub-goals for a telerobot. A graphic user interface (GUI) facilitates the development of the task sequence script with viewing perspectives of the graphic display automatically selected as a function of the operational state and model parameters. Also, because the human operator is specifying discrete model set-points of the TRWE, and allowing the autonomous control capabilities of the telerobot to coordinate the actual trajectory between set-points, a provision is made to preview the proposed trajectory for approval or modification before execution. Preliminary results with a manipulator arm remotely controlled via the Internet demonstrate the utility of the model-based supervisory control technique.

Two experiments examined the effects of pictorial realism, observer interactivity, and delay of visual feedback on the sense of “presence.” Subjects were presented pairs of virtual environments (a simulated driving task) that differed In one or more ways from each other. After subjects had completed the second member of each pair they reported which of the two had produced the greater amount of presence and indicated the size of this difference by means of a 1-100 scale. As predicted, realism and interactivity increased presence while delay of visual feedback diminished it. According to subjects' verbal responses to a postexperiment Interview, pictorial realism was the least influential of the three variables examined. Further, although some subjects reported an increase in the sense of presence over the course of the experiment, most said that it had remained unchanged or become weaker.