scholarly journals Towards Sensor Enhanced Virtual Reality Teleoperation in a Dynamic Environment

2007 ◽  
Author(s):  
Muthukkumar S. Kadavasal ◽  
James H. Oliver
Keyword(s):  
Virtual Reality ◽  
Moving Objects ◽  
Vision System ◽  
Dynamic Environment ◽  
Obstacle Detection ◽  
Remotely Operated Vehicle ◽  
Autonomous Operation ◽  
Local Navigation ◽  
Time Update ◽  
Future Work

A teleoperation interface is introduced featuring an integrated virtual reality based simulation augmented by sensors and image processing capabilities on-board the remotely operated vehicle. The virtual reality system addresses the typical limitations of video-based teleoperation caused by signal lag and limited field of view, allowing the operator to navigate in a continuous fashion. The vehicle incorporates an on-board computer and a stereo vision system to facilitate obstacle detection. It also enables temporary autonomous operation of the vehicle for local navigation around obstacles and automatic re-establishment of the vehicle’s teleoperated state. Finally, the system provides real time update to the virtual environment based on anomalies encountered by the vehicle. System architecture and preliminary implementation results are discussed, and future work focused on incorporating dynamic moving objects in the environment is described.

scholarly journals Sensor Augmented Virtual Reality Based Teleoperation Using Mixed Autonomy

2009 ◽  
Vol 9 (1) ◽  
Author(s):  
Muthukkumar S. Kadavasal ◽  
James H. Oliver
Keyword(s):  
Virtual Reality ◽  
Vision System ◽  
Tracking System ◽  
A Priori ◽  
Obstacle Detection ◽  
Remotely Operated Vehicle ◽  
Autonomous Operation ◽  
Control Interface ◽  
Video Feed ◽  
Time Update

A multimodal teleoperation interface is introduced, featuring an integrated virtual reality (VR) based simulation augmented by sensors and image processing capabilities onboard the remotely operated vehicle. The proposed virtual reality interface fuses an existing VR model with live video feed and prediction states, thereby creating a multimodal control interface. VR addresses the typical limitations of video based teleoperation caused by signal lag and limited field of view, allowing the operator to navigate in a continuous fashion. The vehicle incorporates an onboard computer and a stereo vision system to facilitate obstacle detection. A vehicle adaptation system with a priori risk maps and a real-state tracking system enable temporary autonomous operation of the vehicle for local navigation around obstacles and automatic re-establishment of the vehicle’s teleoperated state. The system provides real time update of the virtual environment based on anomalies encountered by the vehicle. The VR based multimodal teleoperation interface is expected to be more adaptable and intuitive when compared with other interfaces.

scholarly journals Virtual Reality Based Multi-Modal Teleoperation Using Mixed Autonomy

2008 ◽  
Author(s):  
Muthukkumar S. Kadavasal ◽  
Abhishek Seth ◽  
James H. Oliver
Keyword(s):  
Virtual Reality ◽  
Stereo Vision ◽  
Vision System ◽  
Tracking System ◽  
A Priori ◽  
Obstacle Detection ◽  
Remotely Operated Vehicle ◽  
Autonomous Operation ◽  
Control Interface ◽  
Video Feed

A multi modal teleoperation interface is introduced featuring an integrated virtual reality based simulation augmented by sensors and image processing capabilities on-board the remotely operated vehicle. The proposed virtual reality interface fuses an existing VR model with live video feed and prediction states, thereby creating a multi modal control interface. Virtual reality addresses the typical limitations of video-based teleoperation caused by signal lag and limited field of view thereby allowing the operator to navigate in a continuous fashion. The vehicle incorporates an on-board computer and a stereo vision system to facilitate obstacle detection. A vehicle adaptation system with a priori risk maps and real state tracking system enables temporary autonomous operation of the vehicle for local navigation around obstacles and automatic re-establishment of the vehicle’s teleoperated state. As both the vehicle and the operator share absolute autonomy in stages, the operation is referred to as mixed autonomous. Finally, the system provides real time update of the virtual environment based on anomalies encountered by the vehicle. The system effectively balances the autonomy between human and on board vehicle intelligence. The stereo vision based obstacle avoidance system is initially implemented on video based teleoperation architecture and experimental results are presented. The VR based multi modal teleoperation interface is expected to be more adaptable and intuitive when compared to other interfaces.

scholarly journals Virtual Reality Interface Design for Multi-Modal Teleoperation

2009 ◽  
Author(s):  
Muthukkumar S. Kadavasal ◽  
James H. Oliver
Keyword(s):  
Virtual Reality ◽  
Real Time ◽  
Interface Design ◽  
Visual Cues ◽  
Vision System ◽  
Tracking System ◽  
A Priori ◽  
Obstacle Detection ◽  
Sensor Data ◽  
Remotely Operated Vehicle

A multi modal teleoperation interface is introduced featuring an integrated virtual reality (VR) based simulation augmented by sensors and image processing capabilities on-board the remotely operated vehicle. The proposed virtual reality interface fuses an existing VR model with live video feed and prediction states, thereby creating a multi modal control interface. Virtual reality addresses the typical limitations of video-based teleoperation caused by signal lag and limited field of view. The 3D environment in VR along with visual cues generated from real time sensor data allows the operator to navigate in a continuous fashion. The vehicle incorporates an on-board computer and a stereo vision system to facilitate obstacle detection. A vehicle adaptation system with a priori risk maps and real state tracking system enables temporary autonomous operation of the vehicle for local navigation around obstacles and automatic re-establishment of the vehicle’s teleoperated state. Finally, the system provides real time update of the virtual environment based on anomalies encountered by the vehicle. The VR interface architecture is discussed and implementation results are presented. The VR based multi modal teleoperation interface is expected to be more adaptable and intuitive when compared to other interfaces.

scholarly journals Design and Implementation of a Virtual Reality System for Treating Highway Phobias: VRStreet

2018 ◽  
Author(s):  
Jorge A Fuentes ◽  
Rodrigo Nieto ◽  
Francisca Melis ◽  
Luz María González ◽  
Gonzalo Mauricio Rojas ◽  
...  
Keyword(s):  
Virtual Reality ◽  
Steering Wheel ◽  
Specific Situation ◽  
Virtual Reality System ◽  
Patient Will ◽  
Normal Human ◽  
Immersive Environment ◽  
The One ◽  
Future Work ◽  
Physical Responses

To feel fear in a specific situation is a normal human experience, however, when this fear or aversion becomes excessive and disrupts the day to day life of an individual, it is said the person suffers from a type of anxiety disorder called phobia. One common type of treatment for phobias is exposure therapy (professionals expose the patient gradually to the feared object or situation).The objective of this paper is to implement a Virtual Reality system that simulates a real highway environment which allows to treat patients affected by highway phobias in a safe place.In cooperation with psychologists and psychiatrists, an action protocol was conducted to create and recreate the variables of the virtual environment to which the patient will be subjected to. Once this was completed, a Virtual Reality application was made that simulates a realistic highway which includes exits, overpasses, underpasses, and tunnels, among others.This hardware/software system will include Oculus Rift DK2 VR glasses in order to create an immersive environment that the patient can consider real and who will be able to interact with it. The performance of the vehicle was programmed through physical responses similar to reality as well as techniques of artificial intelligence in the vehicles that will interact with the one controlled by the patient. Also, this system includes a steering wheel, pedals, and a gearshift (manual or automatic).We think that this system will contribute to treating highway phobias, allowing the psychiatrist or psychologist to carry out therapy in an appropriate manner and through the support of technology the professional will have the ability to simulate the anxiogenic environment in a realistic manner so as to achieve effective treatment. In a future work, we must quantify the possible benefits of this type of VR system in phobia patients.

scholarly journals Low-cost and home-made immersive systems

2012 ◽  
Vol 11 (3) ◽  
pp. 9-17 ◽  
Author(s):  
Sébastien Kuntz ◽  
Ján Cíger
Keyword(s):  
Virtual Reality ◽  
Vision System ◽  
Low Cost ◽  
Immersive Virtual Reality ◽  
Simple Application ◽  
3D Vision ◽  
Head Mounted Display ◽  
Good Level ◽  
Application Sharing ◽  
Immersive Systems

A lot of professionals or hobbyists at home would like to create their own immersive virtual reality systems for cheap and taking little space. We offer two examples of such "home-made" systems using the cheapest hardware possible while maintaining a good level of immersion: the first system is based on a projector (VRKit-Wall) and cost around 1000$, while the second system is based on a head-mounted display (VRKit-HMD) and costs between 600� and 1000�. We also propose a standardization of those systems in order to enable simple application sharing. Finally, we describe a method to calibrate the stereoscopy of a NVIDIA 3D Vision system.

Motion Planning of an Innovative Serial Robot for Energy Consumption Reduction With “On Fly” Pieces Grasping

2008 ◽  
Author(s):  
Andrea Menegolo ◽  
Roberto Bussola ◽  
Diego Tosi
Keyword(s):  
Energy Consumption ◽  
Motion Planning ◽  
Cycle Time ◽  
Moving Objects ◽  
Vision System ◽  
Rotation Velocity ◽  
Simulation Software ◽  
Serial Robot ◽  
Planning Algorithm ◽  
Point To Point

The following study deals with the on-line motion planning of an innovative SCARA like robot with unlimited joint rotations. The application field is the robotic interception of moving objects randomly distributed on a conveyor and detected by a vision system. A motion planning algorithm was developed in order to achieve a satisfactory cycle time and energy consumption. The algorithm is based on the evaluation of the inertial actions arisen in the robot structure during the pick and place motions and it aims to keep constant the rotation velocity of the first joint during the motion, the grasping and the discarding phases. Since the algorithm must be applied run time and the number of the reachable pieces can be high, a particular care was dedicated to the computational burden reduction. Subsequently to an analytic study of the kinematical constraints and the criteria definition for the choice of which piece to grasp, a devoted simulation software was developed. The software allows the control and the evaluation of the effects of all the main parameters on the system behavior and a comparison of the cycle time and the energy consumption between the proposed algorithm and a standard point-to-point motion strategy.

Smooth Track-Keeping and Real Time Obstacle Detection Algorithm and its PID Controller Implementation for an Automated Wheeled Line Following Robot

2011 ◽  
Vol 201-203 ◽  
pp. 1966-1971 ◽  
Author(s):  
Mohammad Rokonuzzaman ◽  
Shah Muhammad Ferdous ◽  
Enaiyat Ghani Ovy ◽  
Md. Ashraful Hoque
Keyword(s):  
Mobile Robot ◽  
Pid Controller ◽  
Material Handling ◽  
Moving Objects ◽  
Detection Algorithm ◽  
Acute Angle ◽  
Obstacle Detection ◽  
Response Position ◽  
Wavy Line ◽  
Line Following

Line following automated robots is extensively used in industries for smooth running of production. This paper presents a simple and effective solution for path tracking problem for a wheeled automated mobile robot which can be used for material handling in industries. A PID controller has been used for controlling the robot which is capable of moving safely by smooth track-keeping in partially structured environment without any collision with static or moving objects. The purpose of the project is to build a mobile robot which will provide fast, smooth, accurate and safe movement in any given line or track. A straight or wavy line would be simple to follow whereas aT-junction, 90 degree bends, acute angle bends and grid junctions would be difficult to navigate through. This is due to the physical kinematics constraints which are limited to motor response, position and turning radius of the robot. A line sensor configuration has been proposed to improve the navigation reliability of the mobile robot which uses differential drive system. A dynamic algorithm has been developed for detecting and following a specified line which ensures the reliable and safe movement of the robot.

Virtual Reality, Telemedicine, and Beyond

2005 ◽  
pp. 349-357
Author(s):  
Franco Orsucci ◽  
Nicoletta Sala
Keyword(s):  
Virtual Reality ◽  
Communication Technologies ◽  
Remote Locations ◽  
Geographic Barriers ◽  
Future Work

This chapter introduces virtual reality and telemedicine as instruments inserted in a path of medicine. It argues that virtual reality, combined with communication technologies, offers potential help to doctors and psychiatrists in overcoming physical and geographic barriers, and examining patients in remote locations. The authors describe two examples for better health and therapy. They hope that understanding these technologies and their use in the field of the medicine will help doctors use them in their future work.

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