project 1(rp02347) immersive environment for tele-operationcsy097564/23dec_subhash.pdf ·...
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Project 1(RP02347)Immersive Environment for Tele-operation
Subhash Kumar Singh2009CSY7564
Guide:Prof. Prem Kalra
Immersive Environments
Immersive Environments allow a user to become immersed within an augmented or virtual reality environment in order to interact with people, objects, places, and databases.
Tele-Immersive Environments
Environments that make the operators feel as if they are present at the remote site.
Tele-immersion is a communication medium trying to create the illusion that users at geographically dispersed places share the same physical space possibly augmented by virtual components.
OBJECTIVE
➢Create a system which can govern Robots by remote human operators.
➢The key issue here is the design of local intelligence controller so that it can act correctly minimizing problems due to delay in communication or latency between operator & manipulator
Teleimmertion technologies
● HMD● ImmersaDesk● CAVE● PowerWall
Head-mounted displays
This is a computer display that you wear in your head like a helmet or a pair of goggles. It is constructed in such a way that the LCD monitor will be in front of the user’s eyes anywhere he looks. Some types have only a screen for one eye but newer types have a screen over each eye, giving more depth to the image projected.
Head-mounted display
ImmersaDesk
The ImmersaDesk™ was developed in 1994 at EVL. It is a drafting table format VR display. It features a 67x50-inch rear-projected screen at a 45-degree angle. Up to 5 users wear shutter glasses to view high-resolution, stereoscopic, head tracked images.The ImmersaDesk™ is significantly smaller than the CAVE™, and it is also portable and self-contained.
ImmersaDesk
Cave Automatic Virtual Environment.
The system looks like a small cave or room where the three walls and maybe the floor are used as monitors. The user wears a pair of goggles similar to those used while watching 3D movies as he navigates the virtual environment freely. Images are rear-projected on the screens. The images are in stereoscopic format and alternating patters are projected at a very fast rate while the lenses in the user’s goggles have shutters that close and open in synchronized pattern to the rate of projection. The goggles are attached with a tracking device that allows the computer to adjust the image projection as the user navigates. A controller wand aids the user in interacting with virtual objects.
CAVE
Powerwall
A large high-resolution display wall used for projecting large computer generated images. The size of a wall display can range in size from six to over forty feet in width and potentially even larger. The massive display walls typically have a height exceeding nine feet.
PowerWall
Comparison
Parameters are used to measure the of HMD
● Display resolution● Field of view● VGA input● Stereoscopic
Thank you
Depth & Position
Obstacle Detection
Stereo Vision
Original Waypoints
Existing Obstacles
(represented in VR)
Path Planning
Risk Map & Simulation
Position
Vehicle in Mixed
Autonomy
Vehicle Detected Obstacle
Real Vehicle
Simulated Vehicle
Time Step 1
Time Step 2
Teleoperator Control
Sim Position
Obstacle and New Vehicle Position
CAVE Virtual Reality Environment
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Tele-operation
● For at least 30 years
● Tele-operator● Directly (manually) controlled tele-operator● Tele-robot
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The goal of this research is to perform accurate simulation of manual assembly tasks in a virtual environment. Specific attention is paid to modeling realistic part behavior and complex human interactions.
Dual Handed Haptic Interface Design
Abhishek Seth and Judy VanceMechanical Engineering and Human Computer Interaction