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Omnidirectional robotic telepresence through augmented virtuality for increased situation awareness in hazardous environments
Örebro University, School of Science and Technology. (Centre for Applied Autonomous Sensor Systems (AASS), Örebro university,Sweden)
Centre for Intelligent Automation University of Skövde, Skövde, Sweden.
2009 (English)In: Proceedings 2009 IEEE International Conference on  Systems, Man and Cybernetics, IEEE conference proceedings, 2009, p. 6-11Conference paper, Published paper (Other academic)
Abstract [en]

This paper proposes a novel low-cost robotic telepresence approach to situation awareness, initially aimed for hazardous environments. The robot supports omnidirectional movement, wide field of vision, haptic feedback and binaural sound. It is controlled through an augmented virtuality environment with an intuitive position displacement scheme that supports physical mobility. The operator thereby can conduct work away from danger whilst retaining situation awareness of the real environment.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2009. p. 6-11
Keywords [en]
telepresence, augmented virtuality, omnidirectional movement, haptic feedback, binaural
National Category
Robotics
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-21064DOI: 10.1109/ICSMC.2009.5346397ISBN: 978-1-4244-2793-2 (print)OAI: oai:DiVA.org:oru-21064DiVA, id: diva2:477420
Conference
IEEE International Conference on Systems, Man and Cybernetics, 11-14 Oct, 2009. SMC 2009, San Antonio, TX
Available from: 2012-01-13 Created: 2012-01-13 Last updated: 2017-10-18Bibliographically approved
In thesis
1. Convergence in mixed reality-virtuality environments: facilitating natural user behavior
Open this publication in new window or tab >>Convergence in mixed reality-virtuality environments: facilitating natural user behavior
2012 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

This thesis addresses the subject of converging real and virtual environments to a combined entity that can facilitate physiologically complying interfaces for the purpose of training. Based on the mobility and physiological demands of dismounted soldiers, the base assumption is that greater immersion means better learning and potentially higher training transfer. As the user can interface with the system in a natural way, more focus and energy can be used for training rather than for control itself. Identified requirements on a simulator relating to physical and psychological user aspects are support for unobtrusive and wireless use, high field of view, high performance tracking, use of authentic tools, ability to see other trainees, unrestricted movement and physical feedback. Using only commercially available systems would be prohibitively expensive whilst not providing a solution that would be fully optimized for the target group for this simulator. For this reason, most of the systems that compose the simulator are custom made to facilitate physiological human aspects as well as to bring down costs. With the use of chroma keying, a cylindrical simulator room and parallax corrected high field of view video see-though head mounted displays, the real and virtual reality are mixed. This facilitates use of real tool as well as layering and manipulation of real and virtual objects. Furthermore, a novel omnidirectional floor and thereto interface scheme is developed to allow limitless physical walking to be used for virtual translation. A physically confined real space is thereby transformed into an infinite converged environment. The omnidirectional floor regulation algorithm can also provide physical feedback through adjustment of the velocity in order to synchronize virtual obstacles with the surrounding simulator walls. As an alternative simulator target use, an omnidirectional robotic platform has been developed that can match the user movements. This can be utilized to increase situation awareness in telepresence applications.

Place, publisher, year, edition, pages
Örebro: Örebro universitet, 2012. p. 71
Series
Örebro Studies in Technology, ISSN 1650-8580 ; 53
Keywords
Mixed reality. augmented reality, augmented virtuality, head mounted display, omnidirectional floor, natural interface, telepresence
National Category
Computer and Information Sciences
Research subject
Computer and Systems Science
Identifiers
urn:nbn:se:oru:diva-21054 (URN)978-91-7668-852-6 (ISBN)
Public defence
2012-02-10, Hörsal L1, Långhuset, Örebro universitet, Fakultetsgatan 1, Örebro, 11:15 (Swedish)
Opponent
Supervisors
Available from: 2012-01-12 Created: 2012-01-12 Last updated: 2018-01-12Bibliographically approved

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CiteExportLink to record
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Citation style
  • apa
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