基于虚拟现实的临场感遥控作业系统的研究动向

本文阐述了虚拟现实技术在临场感遥控作业系统中的研究和应用背景、状况和 内容．综述了临场感遥控作业虚拟现实系统的最近进展．重点介绍了它在监控和协作控制、 劣质视觉反馈的遥作及具有通信时延的遥作方面的研究动向．指出临场感遥控作业虚拟现实 系统是今后临场感技术研究和发展的主潮流,并对我国今后在这方面的研究应遵循的基本原 则提出了建议．     

虚拟现实力觉临场感遥控作业系统的研究进展

本文阐述了虚拟现实技术在力觉临场感遥控作业系统中的研究和应用背景、状况和主要内容,综述了虚拟现实力觉临场遥控作业实系统的国内外最近研究进展,并介绍了目前研究亟需解决的关键技术,指出虚拟现实力觉临场感遥控作业系统的研究对临场感技术以至于非确定性环境下作业的第三代机器人的发展有着非常重要的理论意义和应用价值。     

传感手套技术研究

虚拟现实技术和临场感技术是一门由应用驱动的涉及众多学科的新的实用技术，是集计算机图形学，计算机仿真技术，人机接口技术，多媒体技术及传感技术，智能控制技术等的发展而兴起的一门交叉技术。     

临场感遥操作机器人系统克服时延影响的研究发展策略􀀂

时延问题是临场感遥操作机器人系统中亟需解决的首要问题.为了了解临场感遥操作机器人系统克服时延影响的研究发展策略及其最近的研究进展;指出基于虚拟现实技术的临场感遥操作机器人系统是今后临场感机器人技术研究和发展的主潮流;认为致力于设计并研究对几何建模误差和动力学建模误差均具有鲁棒性的临场感遥操作机器人系统,才是有效地解决系统通信时延问题,并使其系统稳定,又具有良好可操作性的切实可行的办法.     

临场感遥控技术与自动对中云台设计

1临场感遥控技术临场感遥控技术,是使操作者在远地遥控操作时具有在现场实地操作时的身临其境的感觉的技术。即将远端机器人感知到的机器人与环境的交互信息以及环境的信息(包括视觉的、力觉的、触觉的和动觉的等信息),实时地、真实地反馈给操作者,使操作者产生身临其境的感觉,从而有效的感知环境及控制从机器人完成复杂的作业任务。临场感遥控操作系统被广泛运用于移动机器人的操纵,例如在宇宙空间、水下或陆上危险区域从事科学研究时,让机器人代替人类进去这些操作现场,由人在安全区域控制机器人执行。临场感遥控操作机器人的应用范围主要…     

假作真时真亦假——赵沁平教授谈虚拟现实技术的应用前景

看过《泰坦尼克号》的人或许都不会忘记,借助头盔式显示器和可远程操作的机械手打捞遗留在沉船上物品的场景,参与过MUD游戏和虚拟社区的人,也必将沉浸于其真实感、临场感的体验中。它们带给我们的共同感受是:虚拟和现实之间已经没有明显的界限。虚拟现实的广泛应用前景使之成为目前最具影响力的技术之一。近日,本刊记者走访了国家863计划重点项目“分布式虚拟环境”课题与项目集成负责人、北京航空航天大学计算机系虚拟现实与可视化新技术研究室的赵沁平教授,让他带我们一起体验虚拟现实。     

一种基于视觉,力觉临场感的遥控系统

1.引言 临场感是虚拟现实技术的一个重要的研究分支,它是随着八十年代遥控作业的需要而提出的。事实证明,遥控作业系统中,主端操作者只有获知了远地从端操作机尽可能丰富的状态信息,才能更为有效地完成控制任务。而这重要状态信息的获得,我们就是采用了临场感技     

虚拟现实中基于图形与图象的混合建模技术

0　引　言虚拟现实技术的特征可用 3个 I,即 Immersion(沉浸感 ,也称浸入感、临场感 )、Interaction(交互性 )、Imagination(想象力 ) [1～ 3] 来描述 .其中 ,沉浸感能使用户感受到真切地进入到虚拟空间之中 ,用户将感觉不到身体所处的外部环境 ,而“融合”到虚拟世界中去 [4 ] ;交互性则能使用户实时地控制虚拟空间中虚拟物体的行为 ,从而使用户感觉到自己是虚拟空间的主体 ,用户还可通过三维交互设备直接控制虚拟世界中的对象 ;而想象力则是人对虚拟空间的创造能力 [5] .在虚拟现实技术中 ,首先要解决的问题是虚拟场景建模 ,即虚拟世界…     

临场感技术与视觉临场感的实现

本文介绍了临场感的概念和视临场感的实现。临场感技术作为一种新型的测试与显示技术，涉及到传感、信息处理和计算机等技术领域，其特点在本文得到了总结，同时本文还介绍了临场感的主要形式：视觉临场感的实现原理和硬件构成。     

基于FireGL系列图形加速卡的立体视景仿真

８０年代末以来，虚拟现实（ＶＲ）开始受到人们的极大关注，成为计算机及其相关领域的研究热点。ＶＲ与其前身——计算机图形图象技术和计算机仿真技术的本质区别在于它具有“Ｉ３”特性，即临场感（ｉｍｍｅｒｓｉｏｎ）、交互性（ｉｎｔｅｒａｃｔｉｏｎ）和想象性（ｉ...     

Adaptive robust simultaneous stabilization of multiple n-degree-of-freedom robot systems

In this paper, the adaptive robust simultaneous stabilization problem of uncertain multiple n-degree-of-freedom (n-DOF) robot systems is studied using the Hamiltonian function method, and the corresponding adaptive L2 controller is designed. First, we investigate the adaptive simultaneous stabilization problem of uncertain multiple n-DOF robot systems without external disturbance. Namely, the single uncertain n-DOF robot system is transformed into an equivalent Hamiltonian form using the unified partial derivative operator (UP-DO) and potential energy shaping method, and then a high dimensional Hamiltonian system for multiple uncertain robot systems is obtained by applying augmented dimension technology, and a single output feedback controller is designed to ensure the simultaneous stabilization for the higher dimensional Hamiltonian system. On this basis, we further study the adaptive robust simultaneous stabilization control problem for the uncertain multiple n-DOF robot systems with external disturbances, and design an adaptive robust simultaneous stabilization controller. Finally, the simulation results show that the adaptive robust simultaneous stabilization controller designed in this paper is very effective in stabilizing multi-robot systems at the same time.     

A system for self-diagnosis of an autonomous mobile robot using an internal state sensory system: fault detection and coping with the internal condition

Considering that intelligent robotic systems work in a real environment, it is important that they themselves have the ability to determine their own internal conditions. Therefore, we consider it necessary to pay some attention to the diagnosis of such intelligent systems and to construct a system for the self-diagnosis of an autonomous mobile robot. Autonomous mobile systems must have a self-contained diagnostic system and therefore there are restrictions to building such a system on a mobile robot. In this paper, we describe an internal state sensory system and a method for diagnosing conditions in an autonomous mobile robot. The prototype of our internal sensory system consists of voltage sensors, current sensors and encoders. We show experimental results of the diagnosis using an omnidirectional mobile robot and the developed system. Also, we propose a method that is able to cope with the internal condition using internal sensory information. We focus on the functional units in a single robot system and also examine a method in which the faulty condition is categorized into three levels. The measures taken to cope with the faulty condition are set for each level to enable the robot to continue to execute the task. We show experimental results using an omnidirectional mobile robot with a self-diagnosis system and our proposed method.     

A study on remote controlled systems real time 3-dimensional display on an IBM-PC host

In the control of a remote system, it is desirable if the operator can be provided with similar sensory inputs to that which he would experience in the remote task environment. Three dimensional colour display systems have been studied with the goal of providing the sensation of presence¹. These displays provide the operator with a view of the environment captured by the remote cameras. Although this information is important, an operator of a remotely controlled vehicle/station would still derive benefit from additional information especially if the data can be presented in a graphical form.A teleoperator system has been established which adopts real time 3-dimensional wire-frame modelling of a robot manipulator on a microcomputer host system. The system incorporates the Matrox Space-Machine/640 to enable real time animation. This provides the operator with processed information relating to the robot orientation, and gripper position, orientation and state (open/close). This paper attempts to study the application of real time 3-D computer graphics to provide the operator with processed data to enable a more dextrous and responsive control of the remote station.     

Gaze direction based vehicle teleoperation method with omnidirectional image stabilization and automatic body rotation control

In robot teleoperation, a robot works as a physical agent at a remote site for a robot operator. There are mainly two tasks in robot teleoperation using camera images: environment recognition using visual information and robot control according to the recognition. In this paper, we propose a gaze direction based vehicle teleoperation method with an omnidirectional image stabilization and an automatic body rotation control. In the proposed method, we manage above two tasks in the same manner that are usually treated separately. This method is an intuitive vehicle teleoperation method where an operator do not need to have concern about vehicle body orientations and can absorb differences of vehicle driving mechanisms. That is, this method frees an operator from being bothered from controlling a vehicle and the operator can concentrate on where he/she intends to go. This method mainly consists of two technologies: an omnidirectional image stabilization technology and automatic body rotation control. The conducted experiments show effectiveness of the proposed method.     

虚拟现实辅助机器人遥操作技术研究

本文以水下机器人的遥操作作业为应用背景,提出并实现了虚拟现实技术和视觉感知 信息辅助机器人遥操作实验系统．该系统使用了CAD模型和立体视觉信息完成遥操作机器人 及其作业环境的几何建模和运动学建模,实现了虚拟作业环境的生成和实时动态图形显示． 采用了基于立体视觉的虚拟环境与真实环境的一致性校正、图形图像叠加、作业体与环境位 姿关系建立、基于网络的监控通讯等关键技术．在这个实验系统中,操作人员可利用所生成 的虚拟环境,在多视点、多窗口作业状态图形和图像显示帮助下,实时动态地进行作业观测 与机器人遥操作与运动规划,为先进遥操作机器人系统的实现提供了经验和关键技术．     

Preface

This paper discusses the problems in teleoperation systems for a mobile robot and the utilization of a virtual world in such systems. In order to achieve smooth operation of the mobile robot through a communication link, we should consider time delays in data transfer. To compensate for the incomplete data sets, the virtual images can be generated by computer graphics when the information on the working environment can be acquired beforehand. In this paper, we construct a teleoperation system with a virtual world. The performance of the system is examined through experiments with actual mobile robots which show that the virtual robot can be operated by an operator in almost the same manner as the teleoperated real robot. In an experimental environment with a second moving robot, we can keep the status of the second robot under perfect control and operate the first robot with no interference.     

基于无线传感器网络的气体泄漏源定位机器人设计

如何确定有害气体泄漏源的位置是机器人主动嗅觉要解决的关键问题。围绕移动机器人气体泄漏源定位问题,将Z字形算法和浓度梯度法相结合用于机器人气味源搜索运动控制,使其快速找到气味源。同时,在传统的移动嗅觉机器人上增加了无线传感器定位模块,使操作人员在远离泄漏源的电脑上即可获得气味源的坐标信息。实验证明：机器人可以找到泄漏源,并确定气味源位置,搜索效率比单独使用浓度梯度法高。     

A preliminary experiment in dual-channel tactile information flow

Recent developments in theoretical robotics, sensor technology and fusion, and on-line processing allow for both anthropomorphic behavior on the part of robots, as well as tactile and environmental intelligence. This article considers the feasibility, use, and applications of dual-channel tactile information flow. In single-channel systems, the tactile sensors are exclusively mounted on the robot, whereas in dual-channel systems both the robot and the environment with which it interacts are supplied with sensors. A test bed is described by which a number of single- and dual-channel experiments are carried out. The focus of the dual channel experiments is on its use as this additional channel of sensory perception and on its potential for application in future robotic systems.     

Human-Robot Interaction Through Gesture-Free Spoken Dialogue

We present an approach to human-robot interaction through gesture-free spoken dialogue. Our approach is based on passive knowledge rarefication through goal disambiguation, a technique that allows a human operator to collaborate with a mobile robot on various tasks through spoken dialogue without making bodily gestures. A key assumption underlying our approach is that the operator and the robot share a common set of goals. Another key idea is that language, vision, and action share common memory structures.We discuss how our approach achieves four types of human-robot interaction: command, goal disambiguation, introspection, and instruction-based learning. We describe the system we developed to implement our approach and present experimental results.     

Evaluating User Interface of Multimodal Teaching Advisor Implemented on a Wearable Personal Computer

A multimodal teaching advisor (MTA) that utilizes the work-site operator's know-how and robotic-system information, including that obtained from sensors, in a complementary manner has been enhanced and implemented on a wearable personal computer (WPC) for use with sensor-enhanced robotic systems used in manufacturing. The MTA's software was enhanced to acquire and monitor sensory and robot-motion data. The MTA presents support information to the operator via graphical and speech user interfaces in the WPC. Experimental results for a spatial-path-tracking task performed using a laser range finder showed that the MTA's operation was greatly improved. In particular, the simultaneous provision of support information via both the graphical and speech interfaces shortened the time taken for the operator to teach a robot using a teaching pendant.