52-60

UDC 004.51
DOI: 10.15350/2306-2819.2018.1.52

SUPPORT SYSTEM OF THE OPERATOR ACTIVITY IN VOCATIONAL
REHABILITATION CONDITIONS

P. A. Kurasov, A. E. Glazyrin, A. V. Taran, I. V. Petukhov
Volga State University of Technology,
3, Lenin Square, Yoshkar-Ola, 424000, Russian Federation
E-mail: KurasovPA@volgatech.net; PetuhovIV@volgatech.net

ABSTRACT

The urgency of research is connected with the necessity of developing means of support of the biomechanical activity of a disabled person, in the first place, observation functions, providing more convenience and the susceptibility of a technical and information system to users’ requirements considering their individual health characteristics. It is shown that distant object control efficiency depends on the immersion level. In order to provide immersion, a broad range of perceptual effects, produced on the operator and obtained by means of feedbacks from the object of control and implemented by means of video-, audio- and sensor channels is required. Limited health abilities reduce immersion possibilities in conventional technologies of virtualization and the work with artificial worlds. The telepresence system comprises a helmet of the virtual reality of a user, a gyroscopic tracker, fixed on the user’s head, a servo drive and two video cameras, providing the stereo image. The servo drive of the remote video camera repeats the observer’s head movements, which are recorded in three orthogonal projections using the tracker. This technology allows releasing both hands of the operator for the direct manipulation of the distant object. At the same time, this technique is physiologically more natural for controlling the video review. Results. The model of servo drive control is offered. It is implemented by changing the duration of the signal, coming to it according to the law of control, characterizing the relationship between coordinates from the helmet of virtual reality and the step motor voltage. The introduction of the adaptation circuit allows considering the dynamics of the change of the positioning error and the coordinate of the state observer. Practical significance. The designed system with control and the state observer is invariant to any disturbing actions that provides high reliability, accurate tracking of control signals and improves the efficiency performance of the automated system of the high accuracy positioning of the video camera and finally it provides increasing the immersion level. Moreover, it allows adjusting the telepresence system for individual characteristics of a person, for example eliminating physiological tremor and restriction on neck movements etc, i.e. extending opportunities, afforded by this technology.

KEYWORDS

telepresence; immersion; servo drive control model

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ACKNOWLEDGMENT

Research results were obtained with the support of the grant from the Ministry of Education and Science of the Russian Federation № 25.1095.2017/4.6.

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For citation: Kurasov P. A., Glazyrin A. E., Taran A. V., Petukhov I. V. Support System of the Operator Activity in Vocational Rehabilitation Conditions. Vestnik of Volga State University of Technology. Ser.: Radio Engineering and Infocommunication Systems. 2018. No 1 (37). Pp. 52-60. DOI: 10.15350/2306-2819.2018.1.52