Design of an augmented telerobotic stereo vision system and associated security concerns

Syed Islam, Mayez Al-Mohammed, Rafiqul Islam, Maumita Bhattacharya, Talal Mousa Alkharobi, Seyed M Buhari

Research output: Book chapter/Published conference paperConference paper

Abstract

A telerobotic stereo vision system is used to extend operator's eye-hand motion co-ordination to a distance and has been used in many applications. One of the most critical problems of such system is communication delay that leads to teleoperation instability. This problem can be minimized by using Augmented Reality (AR) concepts of superimposing virtual objects onto the real video image of the workspace to create a simulation plan in the local machine. This facilitates trial and error increasing task safety with reduced network interactions. In this paper, a detailed model to augment a given stereo vision system with AR is presented. At first, a six DOF 3D graphical arm is designed and then superimposed onto the video image using camera calibration and registration methods. Motion activation algorithms are developed and interfaces are designed to facilitate task simulations. Data transmission security and integrity over the network are also discussed. The system is implemented using Microsoft .NET with Visual C# and DirectX 9 to augment a stereo vision system comprising of a PUMA-560 robot operating over a LAN.
Original languageEnglish
Title of host publicationProceedings of the 2015 IEEE 10th Conference on Industrial Electronics and Applications (ICIEA)
Place of PublicationUnited States
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages1809-1814
Number of pages6
ISBN (Electronic)9781479983896
ISBN (Print)9781479984671
DOIs
Publication statusPublished - 2015
EventIEEE Conference on Industrial Electronics and Applications - Crowne Plaza, Auckland, New Zealand
Duration: 15 Jun 201517 Jun 2015
http://www.ieeeiciea.org/2015/

Conference

ConferenceIEEE Conference on Industrial Electronics and Applications
CountryNew Zealand
CityAuckland
Period15/06/1517/06/15
Internet address

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  • Cite this

    Islam, S., Al-Mohammed, M., Islam, R., Bhattacharya, M., Alkharobi, T. M., & Buhari, S. M. (2015). Design of an augmented telerobotic stereo vision system and associated security concerns. In Proceedings of the 2015 IEEE 10th Conference on Industrial Electronics and Applications (ICIEA) (pp. 1809-1814). IEEE, Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/ICIEA.2015.7334405