scholarly journals A Tele-Operated Display With a Predictive Display Algorithm

IEEE Access ◽  
2019 ◽  
Vol 7 ◽  
pp. 154447-154456
Author(s):  
Yeongtae Jung ◽  
Kyutaek Han ◽  
Joonbum Bae
Keyword(s):  
Predictive Display ◽  
Display Algorithm

scholarly journals Context-Based Visual Aids to Support the Situation Awareness of Field Engineers Conducting Windstorm Risk Surveys

2019 ◽  
Vol 63 (1) ◽  
pp. 1898-1902
Author(s):  
Sruthy Agnisarman ◽  
Kapil Chalil Madathil ◽  
Jeffery Bertrand
Keyword(s):  
Experimental Design ◽  
Situation Awareness ◽  
Decision Aids ◽  
Weather Condition ◽  
Extreme Weather ◽  
Visual Aids ◽  
Loss Prevention ◽  
Predictive Display ◽  
Independent Variable ◽  
And Performance

Insurance loss prevention survey, specifically windstorm risk inspection survey is the process of investigating potential damages associated with a building or structure in the event of an extreme weather condition such as a hurricane or tornado. This process is performed by a trained windstorm risk engineer who physically goes to a facility to assess the wind vulnerabilities associated with it. This process is highly subjective, and the accuracy of findings depends on the experience and skillsets of the engineer. Although using sensors and automation enabled systems help engineers gather data, their ability to make sense of this information is vital. Further, their Situation Awareness (SA) can be affected by the use of such systems. Using a between-subjects experimental design, this study explored the use of various context-based visualization strategies to support the SA requirements and performance of windstorm risk engineers. The independent variable included in this study is the type of context-based visualizations used (with 3 levels: no visual aids, checklist based and predictive display based visual aids). We measured SA using SAGAT and performance using a questionnaire. SA and performance were found to be higher for the predictive display and checklist based conditions. The findings from this study will inform the design of context-based decision aids to support the SA of risk engineers.

A Photorealistic Predictive Display

2004 ◽  
Vol 13 (1) ◽  
pp. 22-43 ◽  
Author(s):  
Tim Burkert ◽  
Jan Leupold ◽  
Georg Passig
Keyword(s):  
Time Delays ◽  
Feedback Loop ◽  
Communication Channel ◽  
Graphics Hardware ◽  
Model Data ◽  
Predictive Display ◽  
Teleoperation System ◽  
Processing Techniques ◽  
Texture Extraction

The quality of a teleoperation system is decreased by time delays in the communication channel. Delays as low as a few hundred milliseconds between commanding an action and getting the visual feedback reduce the operator's performance. Predictive displays have proven their suitability to compensate for these delays, but at the expense of image quality when using computer-generated images. A photorealistic predictive display is presented that closes the feedback loop locally at the operator's side of a telepresence system. Photorealism is achieved using delayed camera images for texturing the predicted scene. Consumer graphics hardware is not only used for rendering but also for hardware-accelerated texture extraction. To allow concurrent access to model data, a multibuffer model structure is presented. A model of the teleoperator's environment is automatically acquired and updated by image processing techniques using a stereo camera as the only sensor.

Time Delay-Free Nonlinear Bilateral Teleoperation With Model-Based Predictive Display

2001 ◽  
Author(s):  
Vicente Parra-Vega
Keyword(s):  
Nonlinear Dynamics ◽  
Time Delay ◽  
Finite Time ◽  
Linear Models ◽  
Sliding Mode ◽  
Linear Time ◽  
Contact Forces ◽  
Rigorous Result ◽  
Model Based ◽  
Predictive Display

Abstract Robotic teleoperation is a difficult task because of the inherent difficulty to model and control time-delay nonlinear models. In order to handle tractable models, typically there have been two ways to tackle this problem: i) The first approach is to assume that the system is fast enough and thus the time delay can be neglected, in this way time-delay-free differential equations are obtained such that the controller is time-delay-free. This approach needs further formal study to validate this assumption, and so far there is neither strict nor rigorous result that support this claim, when considering the full nonlinear telerobotic dyanmics. ii) In the second approach, the time delay is considered explicitly, however typically nonlinear dynamics is neglected and then linear models are used to derive time-delay-based control systems. The second approach ignores that the robots are nonlinear systems with strong nonlinear inertial couplings, and therefore controllers based on linear time-delay models render low performance. In this paper, the teleoperation of robots is modeled, including nonlinear dynamics in the continuous domain, without any time delay, and model-based nonlinear continuous second order sliding mode controllers are proposed which guarantee finite-time convergence. Thus, this approach attempts to propose a scheme for the second approach outlined above. The teleoperation system provides force reflection to the human operator, and a kinematic-based predictive display yields visual stimuli while the master robot yields kinesthetic feedback to the operator to allow planning better desired trajectories, including contact forces, in contrast to other predictive displays that have been proposed in the literature. Therefore, the theoretical foundations of finite-time convergent telecontrol system and its advantages are discussed.

A Display Algorithm of Brush Strokes Using Bézier Functions

1993 ◽  
pp. 244-257 ◽  
Author(s):  
Tomoyuki Nishita ◽  
Shinichi Takita ◽  
Eihachiro Nakamae
Keyword(s):  
Display Algorithm

Teleoperated Vehicle-Perspective Predictive Display Accounting for Network Time Delays

2019 ◽  
Author(s):  
Jai Prakash ◽  
Michele Vignati ◽  
Stefano Arrigoni ◽  
Mattia Bersani ◽  
Simone Mentasti
Keyword(s):  
Data Transmission ◽  
Time Delays ◽  
Video Stream ◽  
Future Perspective ◽  
Transmission Delays ◽  
Predictive Display ◽  
Network Time ◽  
Perspective Image ◽  
Vehicle Position ◽  
New Perspective

Abstract Variable network time-delays in data-transmission is the major problem in tele-operating a vehicle. Even on LTE network, variability of these delays is high (70–150 ms ping). This paper presents an innovative approach of providing the remote operator a forecasted video stream which replicates future perspective of vehicle’s FOV upon reception of maneuvering commands. First, vehicle position is predicted accounting for its speed and data transmission delays. Then perspective image transformation2 is performed to get exact new perspective of vehicle FOV corresponds to the predicted position. This approach addresses both issues, time-delays as well as its variability. Only one display, which shows frontward FOV is availed for mock-up.

Teleoperation of a platoon of distributed wheeled mobile robots with predictive display

2018 ◽  
Vol 42 (8) ◽  
pp. 1819-1836 ◽  
Author(s):  
Changsu Ha ◽  
Jaemin Yoon ◽  
Changu Kim ◽  
Yonghan Lee ◽  
Seongjin Kwon ◽  
...  
Keyword(s):  
Mobile Robots ◽  
Wheeled Mobile Robots ◽  
Predictive Display
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