Enhanced Teleoperation Through Virtual Reality Techniques

This article starts form the virtual reality technique and simply describes its characteristic. It researches the technology principle and theory model of virtual lab that based on the virtual reality. Moreover, this article provides the frame design and application of practice education platform in the electromechanical major, which is combined with the subsystem of virtual reality technique, model subsystem and virtual instrument subsystem and based on the virtual reality technique. The result shows through this system can effectively increase the practice teaching effect of electromechanical major.

Virtual museum refers to display and simulate the functions of real museum on the Internet in the form of 3 Dimensions virtual reality by applying interactive programs. Based on Virtual Reality Modeling Language, virtual museum building and its effective interaction with the offline museum lie in making full use of 3 Dimensions panorama technique, virtual reality technique and augmented reality technique, and innovatively taking advantages of dynamic environment modeling technique, real-time 3 Dimensions graphics generating technique, system integration technique and other key virtual reality techniques to make sure the overall design of virtual museum.3 Dimensions panorama technique, also known as panoramic photography or virtual reality, is a technique based on static images of the reality. Virtual reality technique is a kind of computer simulation system which can create and experience the interactive 3 Dimensions dynamic visual world. Augmented reality, also known as mixed reality, is a technique which simulates and mixes the information (visual, sound, taste, touch, etc.) that is difficult for human to experience in reality. These technologies make virtual museum come true. It will not only bring better experience and convenience to the public, but also be conducive to improve the influence and cultural functions of the real museum.

The topic of this paper is a spin-off from a study in a much larger ‘VIRPI—Research and Development Project on Virtual Prototyping Services for the Electronics and Telecommunications Industries’ project. A number of Finnish universities and companies participated in VIRPI, which was funded by the companies and the National Technology Agency TEKES. The goal of the research was to develop virtual prototyping techniques for use in product development. The aim of one of the subprojects of VIRPI was to study the use of Internet-based virtual prototypes for usability testing. The result was that virtual prototypes can be used in usability evaluation, that task-based tests seem more beneficial than the free exploration approach, and that emphasis and further research must be directed to the design of the data logging (Kuutti, Sade and Battarbee 1999; Battarbee et al. 1999). In the study, a usability test with a virtual reality modelling language (VRML) model was simulated. An interactive VRML model of a rather simple conceptual mobile phone was placed in a web browser window, where it could be manipulated, and its buttons could be pressed to navigate in its user interface with the according feedback on its display. The fictive product concept was a very small mobile phone with no numeric keypad, to be used as an extension for a communicator. The VRML model was not a very high fidelity prototype aesthetically, which is typical for virtual reality models, because they must be light enough, in terms of computer file size to be manipulated through the Internet. A VRML model is not as precise and detailed as a Computer Aided Design (CAD) model, but it can represent the interactivity of the product. ‘Virtual reality prototyping is a process in which a product or a product concept, its behaviour and usage are simulated as realistically as possible using computer models and virtual reality techniques’ (Kerttula 1999). In the course of comparing the task-based approach to free exploration as the usability testing strategy, users were shown a physical model of the concept at the end of the

We reviewed the literature on virtual reality techniques in older adults. Although treatment of specific phobias in older adults by virtual reality exposure therapy (VRET) is feasible and might be effective, this has yet not been evaluated in randomized controlled trials. The few controlled studies that involved older adults with post-traumatic stress disorder (PTSD) did not provide robust evidence that VRET is an effective treatment for older people with PTSD. However, research shows that virtual reality techniques can be beneficial to prevent cognitive decline via either cybercycling or memory trainings. A few studies have investigated whether older people may profit from virtual reality training of motor balance, and results are largely positive. It is concluded that it is therapeutically prudent to give older adults more time to adapt to virtual environments in the treatment of anxiety disorders and to slow down the exposure speed for this group.

The Oil & Gas industry has seen increasing costs of finding and extracting hydrocarbons, especially in remote locations, ultra-deep water reservoirs (400 m or deeper) or in hostile environments. Those new exploration frontiers have been increasing the production complexity and logistic costs. In such conditions, oil exploration feasibility depends on new technologies to optimize production efficiency. One possible solution to this challenge is to increase the degree of automation in production units. New design concepts also consider the use of robotic devices in such scenarios. In this paper we present a robotics framework, SimUEP-Robotics (Robotics Simulator for Stationary Production Units - Unidades Estacionárias de Produção or UEPs, in Portuguese), aimed to enable planning the offshore platform robotizing using virtual reality techniques. The SimUEP-Robotics is based on ROS (Robot Operating System), a middleware for exchanging messages between different devices and processes that cooperate to accomplish a robotics task. SimUEP-Robotics is designed concerning the offshore requirements and is a flexible framework that allows the inclusion of new robots and devices in a virtual operation scenario. This capability enables the robotization and automation of offshore facilities that gradually evolve, starting from a complete virtual scenario towards a complete robotic system operating on a real platform, progressively including real devices. SimUEP-Robotics has an integrated Virtual Reality Engine (VR-Engine) specially tailored to provide realistic visualization of large offshore scene models in an immersive environment. The monitoring and management of remote operations of Stationary Production Units (SPU) is an activity that can also benefit by the usage of virtual reality scenarios due to the potential to reduce the complexity and difficulty in visualizing and validating simulations of operations performed by robots on a real SPU. The framework supports simultaneous simulation of multiple robots equipped with sensors and actuators like cameras, laser range finders and robotic manipulators. SimUEP-Robotics has also some specialized visualization tools like trajectory visualizer, ghostview robot animation, point-to-point measurement and a scenario editor that allows the user customize the target scenario accordingly. Through the use of those visualization tools it is possible, for example, to better understand the quality of the planned robot trajectory and propose new algorithms that can be further evaluated in the virtual environment. In conclusion, we argue that the validation process in an immersive virtual environment reduces risks and costs of real operation tests scenarios. SimUEP-Robotics has also an integrated Robotics-Simulator which is responsible for taking care of task planning and execution based on the information of the virtual scenario provided by the VR-Engine. To illustrate the effectiveness of the framework, different robotics applications were developed. One is an underwater application that calculates the whole dynamics of an operated ROV to simulate and test complex ROV operations in deep waters, like the connection of a flowline to a Christmas tree. The other one represents a topside offshore platform scenario where different virtual robots, derived from real mechanisms like Motoman DIA10, Puma 560, Seekur and others, operates. Results obtained on a pick and place task demonstrate the benefits of the proposed robotics framework for offshore applications.

Many applications related to various fields indeed require the use of temporal data referred in time. Unfortunately, the practical application of such systems is not achieved without difficulties. Complications of a technical but so conceptual nature generally appear. The spatial and temporal data present fundamental problems with the DBMS, not only because of the considerable size and the constant growth of these data, but also because of the complexity of the geometrical and topological relations between these data. From this, the spatio-temporal modeling represents many difficulties. The main goal of our work is to solve this problem in the biological domain and particularly the spatio-temporal modeling and visualisation of molecular and functional network. In order to do that, we propose a system based on multiagent system with the virtual reality allowing the user to interact with the three-dimensional image objects. As a computer-generated representation of a three-dimensional environment, virtual reality enables the user to view and manipulate the contents of an environment. Virtual reality is often referred to as the technology that gives a user the experience of being immersed in a computer-generated virtual world. Although virtual reality is a very useful application for examining and understanding complex data sets. In this paper, we started by the state of the art of the existing systems for modeling the biological data and their interactions (molecular and functional), then we described the multiagent architecture of the spatio-temporal modeling of molecular and functional interactions based on virtual reality techniques

This study represents a systematic literature review in which we explored the locomotion techniques in virtual reality between 2012 and 2019. We analysed and compared 22 locomotion methods that we have identified in 26 papers included in our review. The objective is to better understand relevant locomotion techniques and their impact on the user experience. The review of the literature has shown a wide range of different locomotion techniques which each technique is characterized by different advantages and drawbacks, but classic locomotion techniques such as joystick outperformed all the proposed technique in the reviewed studies. We also proposed a taxonomy and two types of evaluation for locomotion techniques in virtual environment. These elements provide guidelines that may help researchers to choose the most adapted locomotion technique according to the aim of their study.

Little information is available about use of virtual reality exposure for management of obsessive compulsive disorder (OCD). We present a patient with OCD, who presented with significant dysfunction related to his OC symptoms and was managed with virtual reality based exposure therapy. A 27-year-old male, presented with a history suggestive of OCD for last 8 years. His symptoms were characterized by obsessive images of known people, leading to significant anxiety and distress. To get rid of his anxiety and distress, he would repeat the acts at hand, multiple times till these images would subside or till he would be able to replace these images by desirable images. These symptoms led to marked socio-occupational dysfunction. The treatment history was suggestive of minimal response to adequate trials of multiple selective serotonin reuptake inhibitors and he was on capsule fluoxetine 80 mg/day at the time of presentation. Exposure and Response therapy was tried in the past by using imaginal exposure, but this was unsuccessful, as the patient would avoid imagining the anxiety-provoking images. Hence, he was exposed to the anxiety provoking images by using virtual reality which involved presenting him with videos containing pictures of known and unknown people arranged randomly, along with the anxiety-provoking images. Over a period of 2 months, 60 sessions of ERP were carried out and the whole hierarchy was completed. This case demonstrates that virtual reality can be used in behaviour therapy for OCD, by using virtual reality techniques, and there is a need to develop software and programs for assessment and management of OCD.

Social phobia is one of the most frequent psychiatric disorders and is accessible to two forms of scientifically validated treatments: anti-depressant drugs and cognitive-behavioral therapies. Graded exposure to feared social situations (either in vivo or by imagining the situations) is fundamental to obtain an improvement of the anxious symptoms. Virtual reality (VR) may be an alternative to these standard exposure techniques and seems to bring significant advantages by allowing exposures to numerous and varied situations. Moreover studies have shown that human subjects are appropriately sensitive to virtual environments. This chapter reports the definition of a VR-based clinical protocol and a study to treat social phobia using virtual reality techniques. The virtual environments used in the treatment reproduce four situations that social phobics feel the most threatening: performance, intimacy, scrutiny and assertiveness. With the help of the therapist, the patient learns adapted cognitions and behaviors when coping with social situations, with the aim of reducing her or his anxiety in the corresponding real life situations. Some studies have been carried out using virtual reality in the treatment of fear of public speaking, which is only a small part of the symptomatology of most of social phobic patients. The novelty of our work is to address a larger group of situations that the phobic patients experience with high anxiety. In our protocol, the efficacy of the virtual reality treatment is compared to well established and well validated group cognitive-behavioral treatment.

This paper provides an overview of the RoboJeep unmanned vehicle and a control station for teleoperation. The RoboJeep is a testbed for the integration of key technologies for semi-autonomous vehicle operation. The RoboJeep has a layered control system architecture, allowing an incremental development of control layers. The control station enables the interactive control of a teleoperated vehicle and attempts to overcome the drawbacks of teleoperation by utilizing simulation and virtual reality techniques. In addition, the control station allows the testing of the RoboJeep control layer through simulation.

In this paper, we extend the traditional `Query-By-Example' (QBE) approach where example shots are provided to represent a query, and then shots similar to them are retrieved. One crucial problem of QBE is that when example shots for the query are unavailable, the retrieval cannot be performed. To overcome this, we propose an innovative approach, named `Query-By-Virtual-Example' (QBVE), where example shots for any arbitrary query can be created by using virtual reality techniques. We call such example shots `virtual example shots'. In our system, virtual example shots are created by synthesizing user's gesture in front of a video camera, 3D object models (3DCGs) and background images. Experimental results on TRECVID 2009 video data show the validity of substituting virtual example shots with real example shots used in QBE.

Investigations into comparisons of real and virtual environments serve multiple purposes. Results may improve development, implementation and application of virtual environments, inform about potentials for positive transfer of effects and facilitate decision making about appropriate virtual reality techniques in specific situations on human factors and ergonomics in human-system interaction. Absolute and relative estimations of object sizes, colours and greyscales were differentially investigated in virtual and real robot cells. Analyses revealed differences for environments (e.g. size, colour) and in some cases even for specific characteristics under investigation (e.g. robot cell size, 10% greyscales). Differential results on human task performance in virtual environments with potential technical constraints are crucial for safety and health reasons and because they provide a basis for human behaviour consequences and work system design decisions and requirements for transfer research. Results support informed decision making about virtual reality techniques and media selection in OSH applications on training and work systems design.

<italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Purpose</i> : Lingual exercises based on tongue movements are common in speech therapy. These exercises can be tedious for patients, but gamification and virtual reality (VR) with head-mounted displays (HMD) can serve as effective strategies to enhance their motivation and engagement. However, the use of these technologies can be challenging for therapists due to a lack of technological skills. <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Material and Methods</i> : A new system to support HMD-based VR for gamified tongue rehabilitation exercises is proposed. The system offers a variety of games that challenge users to achieve their goals through tongue movements and sound interaction. These games support different interaction actions that can be set by therapists using easy-to-use editors. The system also provide functionalities for patient follow-up. The system has been implemented and tested considering different technologies such as mobile devices, personal computers, and HMD complemented with an external camera to properly capture the tongue movements. <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Results</i> : The therapists found the system to be user-friendly, requiring no additional support for effective utilization. The system’s versatility allows it to be used on mobile devices, as well as with augmented and virtual reality techniques, resulting in more engaging rehabilitation sessions. However, the sensibility of device movements to face detection strategies is a limiting factor of this configuration. In the case of using personal computers with HMD, better results are obtained and especially when virtual reality is considered. In this last case, it is better to consider illuminated scenarios to ensure the proper detection of facial movements. <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Conclusion</i> : HMD-based VR for gamified tongue rehabilitation with ease to use editors to prepare sessions is a good strategy to improve patient engagement in tongue rehabilitation sessions.

Virtual reality imaging technique in percutaneous radiofrequency rhizotomy for intractable trigeminal neuralgia

Maintainability evaluation processes of the civil aircraft in the early design phase can be more visualized and efficient using the virtual reality technique. This paper presents an architecture based on virtual reality for the civil aircrafts maintainability evaluation. The research mainly focused on one of the important aspects of civil airplanes maintainability evaluation: accessibility involved in the maintenance activities. Firstly, architecture of the evaluation system was built. Then a prototype software system based on the architecture was developed. To demonstrate the usability and effectiveness of the system, a test case was presented.