This paper proposes a virtual reality-based dual-mode teleoperation architecture to assist human operators in remotely operating robotic manipulation systems in a safe and flexible way. The architecture, implemented via a finite state machine, enables the operator to switch between two operational modes: the Approach mode, where the operator indirectly controls the robotic system by specifying its target configuration via the immersive virtual reality (VR) interface, and the Telemanip mode, where the operator directly controls the robot end-effector motion via input devices. The two independent control modes have been tested along the task of reaching a glass on a table by a sample population of 18 participants. Two working groups have been considered to distinguish users with previous experience with VR technologies from the novices. The results of the user study presented in this work show the potential of the proposed architecture in terms of usability, both physical and mental workload, and user satisfaction. Finally, a statistical analysis showed no significant differences along these three metrics between the two considered groups demonstrating ease of use of the proposed architecture by both people with and with no previous experience in VR.

The development of a remotely operated scanning electron microscopy (SEM) system and its use by high school students and the public as an outreach program are reported. The SEM and the server are located in the National Institute for Materials Science, Tsukuba, Japan, with client computers installed at a science museum and high schools. Using a secure virtual private network system and scheduling/management groupware, observation of SEM images and energy dispersive X-ray analysis are widely and frequently performed throughout Japan.

If one operator in a remote operating room can operate 4 ∼ 5 cranes remotely, which are yard cranes for container loading/unloading in a port container terminal, the port loading/unloading efficiency will dramatically be improved through productivity increase, cost reduction, and so on. This study presents a remote crane control system for container loading/unloading yard cranes of port container terminals. First, a wireless web-based video and audio transmission system to transmit the images and the sounds of a craneyard is designed by using 3 web cameras and a microphone. Next, a TCP/IP-based remote crane control system is presented on the basis of the delay performance simulations of TCP (Transmission Control Protocol) and UDP (User Datagram Protocol) for real-time remote control. The simulation results show that TCP is more advantageous for remote crane control on a local network.

Les espaces de visualisation immersive se développent dans de nombreux secteurs de la recherche et de l'industrie où ils s'intègrent de plus en plus dans les chaînes de décision, de développement ou de production. Se pose alors la question délicate de l'utilisation optimale des applications logicielles dans ces environnements. Dans cette étude, nous définirons tout d'abord une séance de travail immersive et ses contraintes en termes d'interaction. Nous passerons ensuite en revue les nombreuses solutions matérielles et logicielles déjà proposées pour repousser les limites du modèle du clavier et de la souris. Puis, à partir d'une synthèse des besoins industriels de commande des applications, nous proposerons d'imiter un modèle d'interacteur très usuel qui a fait ses preuves en utilisation domestique : la télécommande. Nous présenterons enfin le prototype que nous avons implémenté sur la base d'un assistant personnel numérique de type PocketPC connecté à un réseau radio sans fil et la bibliothèque de classes C++ associée qui permet de l'utiliser très rapidement dans n'importe quelle application.

In this paper, development and implementation are presented of a client software package for remote process control. The proposed software is based on a client-server model under an Intranet architecture. The architecture is proposed for a telecontrol system of a real process, which includes the possibility of integrating I/O devices with data networks based on open protocols such as TCP/IP. This protocol allows the implementation of control systems using a low-cost alternative. Also, the Smith predictor is revised for remote control applications over an Ethernet network. Some experiences on a laboratory pasteurization plant are addressed to show both developed controllers and architecture performance.