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Virtualized reality interface for tele-micromanipulation

Identifieur interne : 000D32 ( PascalFrancis/Corpus ); précédent : 000D31; suivant : 000D33

Virtualized reality interface for tele-micromanipulation

Auteurs : Mehdi Ammi ; Antoine Ferreira ; Jean-Guy Fontaine

Source :

RBID : Pascal:06-0270144

Descripteurs français

English descriptors

Abstract

Operators suffer much difficulty in manipulating micro/nano-sized objects without the assistance of human-machine interfaces due to scaling effects. We developed an immersive telemanipulation system using haptic/visual/sound interfaces for observation of micro-objects under an optical microscope. As the image of the microscope is two-dimensional, so it is hard to observe the workspace in the 3-D space. To improve the real-time observation and manipulation, we proposed real-time 3-D reconstruction of the microworld using image processing and virtualized reality techniques. Then, feasible haptically-generated paths based on potentials fields reaction forces are selected for efficient pushing-based manipulation without collisions. The proposed system guides the operator's gesture fully immerged in the virtual workspace.

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

pA  
A08 01  1  ENG  @1 Virtualized reality interface for tele-micromanipulation
A09 01  1  ENG  @1 2004 IEEE International Conference on Robotics and Automation : April 26-May 1, 2004, Hilton New Orleans Riverside, New Orleans, LA, USA : Proceedings
A11 01  1    @1 AMMI (Mehdi)
A11 02  1    @1 FERREIRA (Antoine)
A11 03  1    @1 FONTAINE (Jean-Guy)
A14 01      @1 Laboratoire Vision et Robotique, ENSI de Bourges-Université d'Orléans, 10 Bld. Lahitolle @2 18020 Bourges @3 FRA @Z 1 aut. @Z 2 aut. @Z 3 aut.
A18 01  1    @1 IEEE Robotics and automation society @3 USA @9 org-cong.
A20       @1 2776-2781
A21       @1 2004
A23 01      @0 ENG
A25 01      @1 IEEE @2 Piscataway NJ
A26 01      @0 0-7803-8232-3
A30 01  1  ENG  @1 IEEE International Conference on Robotics and Automation @2 21 @3 New Orleans LA USA @4 2004
A43 01      @1 INIST @2 Y 38842 @5 354000153471324470
A44       @0 0000 @1 © 2006 INIST-CNRS. All rights reserved.
A45       @0 11 ref.
A47 01  1    @0 06-0270144
A60       @1 C
A61       @0 A
A66 01      @0 USA
C01 01    ENG  @0 Operators suffer much difficulty in manipulating micro/nano-sized objects without the assistance of human-machine interfaces due to scaling effects. We developed an immersive telemanipulation system using haptic/visual/sound interfaces for observation of micro-objects under an optical microscope. As the image of the microscope is two-dimensional, so it is hard to observe the workspace in the 3-D space. To improve the real-time observation and manipulation, we proposed real-time 3-D reconstruction of the microworld using image processing and virtualized reality techniques. Then, feasible haptically-generated paths based on potentials fields reaction forces are selected for efficient pushing-based manipulation without collisions. The proposed system guides the operator's gesture fully immerged in the virtual workspace.
C02 01  X    @0 001D02D11
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C03 01  X  ENG  @0 Human @5 06
C03 01  X  SPA  @0 Hombre @5 06
C03 02  X  FRE  @0 Téléopération @5 07
C03 02  X  ENG  @0 Remote operation @5 07
C03 02  X  SPA  @0 Teleacción @5 07
C03 03  X  FRE  @0 Temps réel @5 08
C03 03  X  ENG  @0 Real time @5 08
C03 03  X  SPA  @0 Tiempo real @5 08
C03 04  X  FRE  @0 Micromanipulation @5 18
C03 04  X  ENG  @0 Micromanipulation @5 18
C03 04  X  SPA  @0 Micromanipulación @5 18
C03 05  3  FRE  @0 Echelle nanométrique @5 19
C03 05  3  ENG  @0 Nanometer scale @5 19
C03 06  X  FRE  @0 Interface utilisateur @5 20
C03 06  X  ENG  @0 User interface @5 20
C03 06  X  SPA  @0 Interfase usuario @5 20
C03 07  X  FRE  @0 Sensibilité tactile @5 21
C03 07  X  ENG  @0 Tactile sensitivity @5 21
C03 07  X  SPA  @0 Sensibilidad tactil @5 21
C03 08  X  FRE  @0 Microscope optique @5 22
C03 08  X  ENG  @0 Optical microscope @5 22
C03 08  X  SPA  @0 Microscopio óptico @5 22
C03 09  X  FRE  @0 Domaine travail @5 23
C03 09  X  ENG  @0 Workspace @5 23
C03 09  X  SPA  @0 Dominio trabajo @5 23
C03 10  X  FRE  @0 Collision @5 24
C03 10  X  ENG  @0 Collision @5 24
C03 10  X  SPA  @0 Colisión @5 24
C03 11  X  FRE  @0 Geste @5 25
C03 11  X  ENG  @0 Gesture @5 25
C03 11  X  SPA  @0 Gesto @5 25
C03 12  X  FRE  @0 Traitement image @5 28
C03 12  X  ENG  @0 Image processing @5 28
C03 12  X  SPA  @0 Procesamiento imagen @5 28
C03 13  X  FRE  @0 Force réaction @5 29
C03 13  X  ENG  @0 Reaction force @5 29
C03 13  X  SPA  @0 Fuerza reacción @5 29
N21       @1 170
N44 01      @1 OTO
N82       @1 OTO

Format Inist (serveur)

NO : PASCAL 06-0270144 INIST
ET : Virtualized reality interface for tele-micromanipulation
AU : AMMI (Mehdi); FERREIRA (Antoine); FONTAINE (Jean-Guy)
AF : Laboratoire Vision et Robotique, ENSI de Bourges-Université d'Orléans, 10 Bld. Lahitolle/18020 Bourges/France (1 aut., 2 aut., 3 aut.)
DT : Congrès; Niveau analytique
SO : IEEE International Conference on Robotics and Automation/21/2004/New Orleans LA USA; Etats-Unis; Piscataway NJ: IEEE; Da. 2004; Pp. 2776-2781; ISBN 0-7803-8232-3
LA : Anglais
EA : Operators suffer much difficulty in manipulating micro/nano-sized objects without the assistance of human-machine interfaces due to scaling effects. We developed an immersive telemanipulation system using haptic/visual/sound interfaces for observation of micro-objects under an optical microscope. As the image of the microscope is two-dimensional, so it is hard to observe the workspace in the 3-D space. To improve the real-time observation and manipulation, we proposed real-time 3-D reconstruction of the microworld using image processing and virtualized reality techniques. Then, feasible haptically-generated paths based on potentials fields reaction forces are selected for efficient pushing-based manipulation without collisions. The proposed system guides the operator's gesture fully immerged in the virtual workspace.
CC : 001D02D11; 001D02B04
FD : Homme; Téléopération; Temps réel; Micromanipulation; Echelle nanométrique; Interface utilisateur; Sensibilité tactile; Microscope optique; Domaine travail; Collision; Geste; Traitement image; Force réaction
ED : Human; Remote operation; Real time; Micromanipulation; Nanometer scale; User interface; Tactile sensitivity; Optical microscope; Workspace; Collision; Gesture; Image processing; Reaction force
SD : Hombre; Teleacción; Tiempo real; Micromanipulación; Interfase usuario; Sensibilidad tactil; Microscopio óptico; Dominio trabajo; Colisión; Gesto; Procesamiento imagen; Fuerza reacción
LO : INIST-Y 38842.354000153471324470
ID : 06-0270144

Links to Exploration step

Pascal:06-0270144

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<SO>IEEE International Conference on Robotics and Automation/21/2004/New Orleans LA USA; Etats-Unis; Piscataway NJ: IEEE; Da. 2004; Pp. 2776-2781; ISBN 0-7803-8232-3</SO>
<LA>Anglais</LA>
<EA>Operators suffer much difficulty in manipulating micro/nano-sized objects without the assistance of human-machine interfaces due to scaling effects. We developed an immersive telemanipulation system using haptic/visual/sound interfaces for observation of micro-objects under an optical microscope. As the image of the microscope is two-dimensional, so it is hard to observe the workspace in the 3-D space. To improve the real-time observation and manipulation, we proposed real-time 3-D reconstruction of the microworld using image processing and virtualized reality techniques. Then, feasible haptically-generated paths based on potentials fields reaction forces are selected for efficient pushing-based manipulation without collisions. The proposed system guides the operator's gesture fully immerged in the virtual workspace.</EA>
<CC>001D02D11; 001D02B04</CC>
<FD>Homme; Téléopération; Temps réel; Micromanipulation; Echelle nanométrique; Interface utilisateur; Sensibilité tactile; Microscope optique; Domaine travail; Collision; Geste; Traitement image; Force réaction</FD>
<ED>Human; Remote operation; Real time; Micromanipulation; Nanometer scale; User interface; Tactile sensitivity; Optical microscope; Workspace; Collision; Gesture; Image processing; Reaction force</ED>
<SD>Hombre; Teleacción; Tiempo real; Micromanipulación; Interfase usuario; Sensibilidad tactil; Microscopio óptico; Dominio trabajo; Colisión; Gesto; Procesamiento imagen; Fuerza reacción</SD>
<LO>INIST-Y 38842.354000153471324470</LO>
<ID>06-0270144</ID>
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