Interactive Computer-Enhanced Remote Viewing System (ICERVS): Subsystem design report - Phase 2

摘要

This ICERVS Phase II Subsystem Design Report describes the detailed software design of the Phase II Interactive Computer-Enhanced Remote Viewing System (ICERVS). ICERVS is a computer-based system that provides data acquisition, data visualization, data analysis, and model synthesis to support robotic remediation of hazardous environments. Due to the risks associated with hazardous environments, remediation must be conducted remotely using robotic systems, which, in turn, must rely on 3D models of their workspace to support both task and path planning with collision avoidance. Tools such as ICERVS are vital to accomplish remediation tasks in a safe, efficient manner. The 3D models used by robotic systems are based on solid modeling methods, in which objects are represented by enclosing surfaces (polygons, quadric surfaces, patches, etc.) or collections of primitive solids (cubes, cylinders, etc.). In general, these 3D models must be created and/or verified by actual measurements made in the robotics workspace. However, measurement data is empirical in nature, with typical output being a collection of xyz triplets that represent sample points on some surface(s) in the workspace. As such, empirical data cannot be readily analyzed in terms of geometric representations used in robotic workspace models. The primary objective of ICERVS is to provide a reliable description of a workspace based on dimensional measurement data and to convert that description into 3D models that can be used by robotic systems. ICERVS will thus serve as a critical factor to allow robotic remediation tasks to be performed more effectively (faster, safer) and economically than with present systems.