低延迟行星表面遥操作的最小帧速率研究
Investigation of minimum frame rate for low-latency planetary surface teleoperations
摘要：
《全球探索路线图》指出，人类需要增加对太阳系采样不足区域的探索，以取得新的科学发现。将人类送入太阳系更深处的高昂成本和危险使得人类与机器人的伙伴关系成为必要，特别是在从低地球轨道过渡到深空操作的过程中。低延迟行星表面探索是人类与机器人合作的一个例子，为有效、低成本地探索我们的太阳系提供了一个令人兴奋的选择。然而，低延迟遥控机器人探索是空间探索的新概念，需要对其局限性和有效性进行测试。本文重点研究了人类操作员在各种帧率条件下使用实时低延迟遥控机器人在不熟悉的环境中识别勘探目标的能力。这种关系进行了研究，使用远程机器人仿真系统（TSS）。帧速率是不同的，每个操作员的探索任务的顺序是随机的。漫游车以每秒1米的峰值速度运行，视频流分辨率为640x480，色标为24位。该实验的结果表明，5帧每秒是有效探索所需的最低帧率。
英文摘要：
The Global Exploration Roadmap indicates the need for increased human exploration of under-sampled regions of our solar system in order to make new scientific discoveries. The high costs and dangers of sending humans deeper into our solar system necessitates the use of human-robotic partnerships, especially in transitioning from low-Earth orbit to deep-space operations. Low-latency planetary surface exploration is an example of a human-robotic partnership that provides an exciting option for effective, low-cost exploration of our solar system. However, low-latency telerobotic exploration is a new concept for space exploration and needs to be tested for its limits and effectiveness. This paper focuses on a human operator's ability to identify exploration targets in an unfamiliar environment using real-time low-latency telerobotics under various frame rate conditions. This relationship was investigated using a Telerobotic Simulation System (TSS). The frame rates were varied and the order of the exploration tasks were randomized for each operator. The rover operated at peak speeds of one meter per second with a video stream resolution of 640x480 and colorscale of 24 bits. The results from this experiment indicate that 5 frames per second is the minimum necessary frame rate for effective exploration.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
