Stereo Viewing and Virtual Reality Technologies in Mobile Robot Teleguide

“This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder." “Copyright IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.” DOI: 10.1109/TRO.2009.2028765The use of 3-D stereoscopic visualization may provide a user with higher comprehension of remote environments in teleoperation when compared with 2-D viewing, in particular, a higher perception of environment depth characteristics, spatial localization, remote ambient layout, faster system learning, and decision performance. Works in the paper have demonstrated how stereo vision contributes to the improvement of the perception of some depth cues, often for abstract tasks, while it is hard to find works addressing stereoscopic visualization in mobile robot teleguide applications. This paper intends to contribute to this aspect by investigating the stereoscopic robot teleguide under different conditions, including typical navigation scenarios and the use of synthetic and real images. This paper also investigates how user performance may vary when employing different display technologies. Results from a set of test trials run on seven virtual reality systems, from laptop to large panorama and from head-mounted display to Cave automatic virtual environment (CAVE), emphasized few aspects that represent a base for further investigations as well as a guide when designing specific systems for telepresence.Peer reviewe

Mobile robotic teleguide based on video images

“This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder." “Copyright IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.” DOI: 10.1109/MRA.2008.929927Peer reviewe

Preliminary study on the correlation between accelerated current and dose in water for an electron-based LINAC

Purpose: Intraoperative electron radiotherapy (IOeRT) is considered the first clinical translation of FLASH with electrons. A crucial aspect is represented by the precise dose monitoring and measurement; to this aim, we propose a method fully based on Monte Carlo (MC) simulation that uses as input the beam current measurement and the beam optics simulation. To validate this approach, we chose the NOVAC11 (produced by Sordina IORT Technologies SpA) accelerator, which provides a well-studied model.Methods: We used FLUKA and FRED MC software to simulate in detail the geometry of the NOVAC11 and the coupled applicator usually adopted in clinical practice to deliver the dose in the surgical bed. The simulation results of the longitudinal and off-axis profiles and dose per pulse obtained in a water phantom with different applicators are compared to the experimental data.Results: A very good agreement not only for the relative dosimetry in both the longitudinal and off-axis profiles, with a gamma index pass rate of 100% with 3%/3 mm acceptance criteria, but also for the absolute dosimetry was obtained.Conclusion: The results completely validate the MC description of the system and provide a reliable evaluation of the dose per pulse and output factor with an accuracy of the order of few % for different sets of applicator diameters and lengths

Augmented reality stereoscopic visualization for intuitive robot teleguide

This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder." “Copyright IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.This paper proposes a method to simultaneously and coherently present visual and laser sensors information through an augmented reality visualization interface further enhanced by stereoscopic viewing. The use of graphical objects is proposed to represent proximity measurements which are superimposed and suitably aligned to video information through image processing. This new methodology enables an operator to quickly comprehend scene layout and dynamics, and to respond in an accurate and timely manner. Therefore the human-robot interaction is expected to be intuitive, accurate and fast. The use of graphical elements to assist teleoperation, sometime discussed in the literature, is here proposed following a systematic approach and developed based on authors' previous works on stereoscopic teleoperation. The approach is experimented on a real telerobotic system where a user operates a robot located approximately 3,000 kilometers apart. The results of a pilot test were very encouraging. They showed simplicity and effectiveness of the approach proposed and represent a base for further investigations

Video and laser based augmented reality stereoscopic viewing for mobile robot teleoperation

Copyright IFAC ProceedingsThis paper proposes an augmented reality visualization interface to simultaneously present visual and laser sensors information further enhanced by stereoscopic viewing. The use of augmented layers is proposed to represent laser measurements suitably aligned to video information. This methodology enables an operator to intuitively comprehend object proximity and to respond in an accurate and timely manner. The use of augmented reality to assist teleoperation, sometime discussed in the literature, is here proposed following a systematic approach and developed based on authors' previous work on stereoscopic teleoperation. The approach is experimented on a real telerobotic system where a user operates a mobile robot located thousands kilometers away. The result proved feasibility and simplicity of the proposed methodology and it represents a base for further studies