Title: High Performance Computing symposium HPC2000, April 16-20, 2000. Washington, D.C. Samir Otmane E-mail : otmane@cemif.univ-evry.fr CEMIF, Complex System
1 High Performance
Computing symposium HPC2000,
April 16-20, 2000. Washington, D.C.
Samir Otmane
E-mail
otmane_at_cemif.univ-evry.fr CEMIF, Complex System
Laboratory Http
http//lsc.cemif.univ-evry.fr8080/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
2Contents
- 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
3Introduction- 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
Visual
Perceptual
Auditory
Cognition
Tactile
Hardware
Motor
Robotic System
Robotic Interface
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
HARD
SOFT
Human Operator
Robotic Interface
Remote Robotic Environment
6Interactions 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 Environment Perception
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 Robot Supervision
Textual information of the current task
Human Operator
Overlaid Model / Image
Supervision module
10System 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
11System 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 description Virtual 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
13System description Virtual Fixtures Structure
14System description Hardware
- 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
15System description Software
- 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 -
16To use the ARITI system http//lsc.cemif.uni
v-evry.fr8080/Projets/ARITI
WWW CLIENTS Internet Browser
A R I T I System
Camera
Robot
17 The ARITI Display
http//lsc.cemif.univ-evry.fr8080/Projets/ARITI
18Experiments
- 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 passive Virtual Fixtures
- With active (attractive) Virtual Fixtures
- Each HO makes 10 tests for each kind
19ResultsReach a cylinder N 1
- Reach a 3D target point on the peripheral of the
cylinder N1 - Without virtual fixtures there is 1,49 collision
for each test
20ResultsReach a cylinder N 1
Average time 7,7 sec with active VFs
Imprecision errors on X, Y, Z axis Err lt 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(No Transcript)
23(No Transcript)
24(No Transcript)
25Conclusion
- 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 lt 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
26Perspectives
- Use the ARITI system for mobile robot
application, such as - Navigation, obstacles avoidance, to assist
disable person.
27Perspectives
- 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