论文标题
虚拟现实数字双胞胎和环境，用于故障排除基于月球的基础架构组件故障
Virtual Reality Digital Twin and Environment for Troubleshooting Lunar-based Infrastructure Assembly Failures
论文作者
论文摘要
人类和机器人将需要合作，以便在2020年代末创建可持续的人类月球。这包括需要人类进行遇到仪器组装故障的自主漫游者的案例。为了在故障排除过程中有助于远程操作员，我们提出了一个虚拟现实的数字双胞胎，放置在模拟环境中。在这里，操作员实际上可以与使用相同控件和运动学模型的漫游车和机械臂的数字版本进行交互。用户还可以采用自我中心的（通过使用立体传球的第一人称视图）和exentric（第三人称视图，操作员几乎可以在环境中行走，就像在现场视图一样）。我们还讨论了我们的指标，以评估我们的数字机器人和物理机器人之间的差异，以及基于真实和适用任务的实验概念，以及将来将我们的平台与传统故障排除方法进行比较的未来工作。
Humans and robots will need to collaborate in order to create a sustainable human lunar presence by the end of the 2020s. This includes cases in which a human will be required to teleoperate an autonomous rover that has encountered an instrument assembly failure. To aid teleoperators in the troubleshooting process, we propose a virtual reality digital twin placed in a simulated environment. Here, the operator can virtually interact with a digital version of the rover and mechanical arm that uses the same controls and kinematic model. The user can also adopt the egocentric (a first person view through using stereoscopic passthrough) and exocentric (a third person view where the operator can virtually walk around the environment and rover as if they were on site) view. We also discuss our metrics for evaluating the differences between our digital and physical robot, as well as the experimental concept based on real and applicable missions, and future work that would compare our platform to traditional troubleshooting methods.
