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A R I T I A ugmented R eality I nterface for T elerobotic applications via I nternet

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A R I T I A ugmented R eality I nterface for T elerobotic applications via I nternet

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  1. High Performance Computing symposium HPC2000, April 16-20, 2000. Washington, D.C.Samir OtmaneE-mail : otmane@cemif.univ-evry.fr CEMIF, Complex System Laboratory Http : http://lsc.cemif.univ-evry.fr:8080/~otmane 40 Rue du Pelvoux 91020 Evry, France Tél : 01/69/47/75/04 Fax : 01/69/47/75/99 A R I T I Augmented Reality Interface for Telerobotic applications via Internet

  2. Contents • Introduction • Human Computer Interaction in Tele-robotic environment • Interaction with local and remote task environment • Interactions with ARITI • System description : • Robot slave - Task board - Virtual fixture board • Hardware and communication board • Experiments and Results • Conclusion and perspectives

  3. Introduction- Tele-work - Master site Communication support Slave site • The slave site is distant from the master site. • Information feedback is corrupted by a bandwidth limitation of communication support . • Time delay is not constant when using any communication network. • No portable and user-friendly Tele-work systems. • Human performances are decreased during direct control of remote Tele-manipulation task. Information feedback Sending orders

  4. Interaction between Human and local Task Environment • Interaction with a local environment and completion of task through the use of a Robotic Interface . Visual System I / O Perceptual Visual Auditory Cognition Tactile Hardware Motor Robotic Interface Robotic System Human Processor Task Environment

  5. Interaction between Human and remote Task Environment • During interaction control of a remote robotic terminal tool, the user must • Perform a physical action to initiate motion from the robot, • Wait for the system to respond, • Perceive the physical effect onto the robot and task environment, • Decide what to do next, • Repeat the cycle until the task is completed. • Motor activity is initiated through interaction with a software interface via Keyboard and mouse, joystick, master arm, etc... N E T W SOFT HARD Human Operator Robotic Interface Remote Robotic Environment

  6. Interactions withA R I T I • Three kinds of visual assistance are given to human operator for friendly human computer interaction using the ARITI interface. These visual helps are devoted to : • Environment perception • Robot control • Robot supervision Perception N E T W HARD Remote Environment Human Operator Control Supervision Robotic Interface

  7. Assistance for EnvironmentPerception Several Virtual view points + Human Operator Video image feedback Perception module In Control module

  8. Assistance for Robot Control Virtual robot + Human Operator Virtual Fixtures Control module In Supervision module

  9. Assistance for RobotSupervision Textual information of the current task + Human Operator Overlaid Model / Image Supervision module

  10. System descriptionRobot slave • The CEMIF experimental site is a mechanism with four DOF (degrees of freedom) • 2 Translations parallel to the ground • 2 Rotations (Site and Azimuth) Peg mounted on a turret

  11. System descriptionTask Board • The robot is assumed to assemble (place) and disassemble (pick) objects hanging on a metal stand Target Objects Head of the robot peg Metal stand

  12. System descriptionVirtual Fixtures Board • Human operator can create and use virtual fixtures to control the robot very easier. • Some examples of simple Virtual Fixtures (VF) : Disc Sphere Plan Super-ellipsoid Cone Cube or Square Cylinder Pipe

  13. System descriptionVirtual Fixtures Structure

  14. System descriptionHardware • ARITI system has been implemented on a PC Pentium 233 Mhz with a 128 Mo RAM. • The PC is equipped with a Matrox Meteor video acquisition card connected to a black and white camera. • The orders are sent via the RS232 serial link. Video acquisition Orders RS232 serial link

  15. System descriptionSoftware • ARITI system is implemented under LINUX operating system. • ARITI interface is written based on JAVA object programming language • Video server is written using the C standard language. • Control server is written using the C and ASM (Microprocessor Assembly Language ) S O K E T Video Client Video server -ARITI- INTERFACE Control Client Control server Applet JAVA C and ASM L I N U X - O S -

  16. To use the ARITI system http://lsc.cemif.univ-evry.fr:8080/Projets/ARITI WWW CLIENTS + Internet Browser A R I T I System Camera Robot

  17. The ARITI Displayhttp://lsc.cemif.univ-evry.fr:8080/Projets/ARITI

  18. Experiments • Pick and place task • Tele-operation mode • Control the real robot via the virtual robot • 10 human operators (HO) • 3 kinds of test • Without Virtual Fixtures • With passiveVirtual Fixtures • With active (attractive) Virtual Fixtures • Each HO makes 10 tests for each kind

  19. ResultsReach a cylinder N° 1 • Reach a 3D target point on the peripheral of the cylinder N°1 • Without virtual fixtures there is 1,49 collision for each test

  20. ResultsReach a cylinder N° 1 Average time 7,7 sec with active VFs Imprecision errors on X, Y, Z axis Err < 0,25 mm with active VFs

  21. Results Pick and place a cylinder N° 1 • - Blue - with passive VFs. • - Red - with active (attractive potential fields) VFs. Unhook a cylinder N° 1 Passive VFs - 12,78 sec Active VFs - 9,5 sec Place a cylinder into the stand, Passive VFs - 37,96 sec Active VFs - 7,86 sec

  22. Conclusion • Virtual reality and Augmented Reality technologies are used to : • Overcome the instability of time delay, • Complete or compensate the information feedback (video feedback for instance) • Increase the human operator performances • Thanks to Virtual Fixtures : • best accuracy < 0,25 mm • best completion time • best safety • JAVA programming Language is used to implement the Man Machine Interface of ARITI system to : • Give a portable system and • User-friendly Tele-work system

  23. Perspectives • Use the ARITI system for mobile robot application, such as • Navigation, obstacles avoidance, to assist disable person.

  24. Perspectives • Add Audio and Tactile feedback modules • Extend ARITI system to do a cooperative Tele-Work User 1 Robot 1 User 2 N E T Robot 2 . . . Extended A R I T I System . . . User n Robot m

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