Skip to main content
SpringerLink
Log in

Autonomous Visualization for Mitigating Lack of Peripheral Vision in Remote Safe Teleoperation

  • Conference paper
Progress in Systems Engineering

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 366))

  • 3096 Accesses

Abstract

The limited visual feedback available to operators of ‘Man in loop’ type tele-operated systems, lack the peripheral vision function of natural eye that is mainly responsible for environment interference detection. The paper proposes a substitute for aforesaid constrained vision through intelligent view synthesis of pertinent workspace zones residing out of the limited view frustum of video feed. The new approach employs virtual sensor and modeled work-space activation technique for detecting approaching object surfaces in real-time irrespective of complexity of object shape and also forms synthesized view to support an autonomous ‘see pertinent zone’ SPZ console based on ‘impending hit’ paradigm as operator aid for situation appreciation. An effective framework for fast on-line visualization based on the new paradigm has been built to compensate for lack of peripheral visual perception.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 259.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Hardcover Book
USD 329.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

References

  1. J. K. Mukherjee et. al. “Remote managed Teleprobing for nuclear Applications” Proc.- Int. conf. PEACEFUL ATOM (nuclear instrument-pp154-169)Sept29-Oct.3, 2009 New Delhi

    Google Scholar 

  2. J. K. Mukherjee et al, ‘Machine Intelligence Tools for supporting metrics on active structural elements and on-line inspection in Fuel Cycle Facilities”. International. Conference- SMiRT 21, New Delhi, Nov. 6-21 2011

    Google Scholar 

  3. G. R. Hopkinson, A. Mohammadzadeh, “Radiation Effects In (CCD) Imagers& CMOS Active Pixel Sensors” J. High Speed Elect and Sys., Vol.14, Issue 2, June 04, ISSN: 0129-1564

    Google Scholar 

  4. J. E. Speich, “Method for Simultaneously Increasing Transparency and Stability in Bilateral Telemanipulation”. IEEE Int. Con. Robo. Auto., pp. 2671-76, April 2000.

    Google Scholar 

  5. Rituparna mukherjee et al ‘Intelligent Contextual Assistance for Visuals in Remote Campaign Operation’ IEEE conf. Intelligent Human Comp.Interface IHCI 2012, Dec 2012 IIT Kharagpur.

    Google Scholar 

  6. Oren Tropp et al ‘A fast triangle to triangle intersection test for collision detection’ Comp. Anim. Virtual Worlds, Wiley Inter Science (www.interscience.wiley.com). DOI: 10.1002/cav.115

  7. J.D. Foley et al. Computer Graphics: Principles and Practice (2nd Ed.), Addison–Wesley 1990 ISBN-10: 0201848406

    Google Scholar 

  8. Peter J Kovach Inside Direct3D. Microsoft Press.(2000) ISBN-13: 978-0735606135

    Google Scholar 

  9. ‘Mental Vision: a Computer Graphics Platform for Virtual Reality, Science and Education’ école Polytechnique Fédérale De Lausanne

    Google Scholar 

  10. Spong, Huthinson, Vidysagar; ‘Robot modeling and Control’ Wiley, 2006. “Forward and inverse kinematics” page 65-100

    Google Scholar 

  11. M. Lin et al Collision detection between geometric models: A survey. In Proc. of IMA Con.- Mathematics of Surfaces, 1998. http://www.cs.unc.edu/ dm/collision.html.

  12. Y. Zhou and S. Suri. Analysis of a bounding box heuristic for object intersection. Jour. ACM, 46 no. 6:833–857, Nov. 1999.

    Google Scholar 

  13. Y. Koren, et-al, Potential Field Methods and Their Inherent Limitations for Mobile Robot Navigation Proc. IEEE Conf. on Robotics & Auto., California, April 7-12, 1991, pp. 1398-1404

    Google Scholar 

  14. J.K. Mukherjee, "AI Based Tele-Operation Support Through Voxel Based Workspace Modeling and Automated 3D Robot Path Determination", IEEE Conf - Convergent Tech. for the Asia-Pacific Region, vol. 4 of 4, Oct.2003, pp.305-309.

    Google Scholar 

  15. Kaufman, A., Shimony, E., “3D Scan-Conversion Algorithms for Voxel Based Graphics”, Proceedings of the 1986 workshop on Interactive 3D graphics, pp. 45-75, 1987.

    Google Scholar 

  16. H. Samel, “Design and analysis of spatial data structures in Computer graphics, Image processing and GIS”, Addison Wesley, Reading M. A. 1990

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. BARC, Mumbai, 400085, India

    J. K. Mukherjee

Authors
  1. J. K. Mukherjee
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to J. K. Mukherjee .

Editor information

Editors and Affiliations

  1. University of Nevada at Las Vegas, Las Vegas, Nevada, USA

    Henry Selvaraj

  2. Department of Electrical Engineering, Idaho State University, Pocatello, Idaho, USA

    Dawid Zydek

  3. University of Nevada at Las Vegas, Las Vegas, Nevada, USA

    Grzegorz Chmaj

Rights and permissions

Reprints and permissions

Copyright information

© 2015 Springer International Publishing Switzerland

About this paper

Cite this paper

Mukherjee, J.K. (2015). Autonomous Visualization for Mitigating Lack of Peripheral Vision in Remote Safe Teleoperation. In: Selvaraj, H., Zydek, D., Chmaj, G. (eds) Progress in Systems Engineering. Advances in Intelligent Systems and Computing, vol 366. Springer, Cham. https://doi.org/10.1007/978-3-319-08422-0_32

Download citation

  • DOI: https://doi.org/10.1007/978-3-319-08422-0_32

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-08421-3

  • Online ISBN: 978-3-319-08422-0

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation