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ROMAN TUTOR A Robot Manipulation Tutoring Simulator

The ROMAN TUTOR is an innovative robot manipulation simulator designed for learning and training in the context of the International Space Station (ISS). With three monitors mapped to 14 selectable cameras, users can rotate and zoom to view the workspace. It offers two manipulation modes: FOR mode and Joint by Joint mode. Tasks include Recognition (identifying ISS elements), Localization (locating and relating elements), and Goto (moving the robot to configurations). An intuitive learner interface allows students to access help and visualize paths using the FADPRM dynamic path planner.

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ROMAN TUTOR A Robot Manipulation Tutoring Simulator

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  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

  6. 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

  7. 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.

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