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

19

Tele-operation

● For at least 30 years

● Tele-operator● Directly (manually) controlled tele-operator● Tele-robot

20

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