Dynamic task allocation for a man-machine symbiotic system

Technical Report · Mon Jun 01 00:00:00 EDT 1987

OSTI ID:6163199

Parker, L E; Pin, F G

This report presents a methodological approach to the dynamic allocation of tasks in a man-machine symbiotic system in the context of dexterous manipulation and teleoperation. This report addresses a symbiotic system containing two symbiotic partners which work toward controlling a single manipulator arm for the execution of a series of sequential manipulation tasks. It is proposed that an automated task allocator use knowledge about the constraints/criteria of the problem, the available resources, the tasks to be performed, and the environment to dynamically allocate task recommendations for the man and the machine. The presentation of the methodology includes discussions concerning the interaction of the knowledge areas, the flow of control, the necessary communication links, and the replanning of the task allocation. Examples of task allocation are presented to illustrate the results of this methodology.

• Research Organization: Oak Ridge National Lab., TN (USA)
• DOE Contract Number: AC05-84OR21400
• OSTI ID: 6163199
• Report Number(s): ORNL/TM-10397; CESAR-87/08; ON: DE87011950
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
99 GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE
MAN-MACHINE SYSTEMS
KNOWLEDGE BASE
TASK SCHEDULING
ARTIFICIAL INTELLIGENCE
MANIPULATORS
PARALLEL PROCESSING
REMOTE CONTROL
CONTROL
DATA PROCESSING
EQUIPMENT
LABORATORY EQUIPMENT
MATERIALS HANDLING EQUIPMENT
PROCESSING
PROGRAMMING
REMOTE HANDLING EQUIPMENT
420200* - Engineering- Facilities
Equipment
& Techniques
990210 - Supercomputers- (1987-1989)