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

doi:10.1109/ICIEA.2015.7334405

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

Department of Computer Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

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 language	English
Title of host publication	Proceedings of the 2015 10th IEEE Conference on Industrial Electronics and Applications, ICIEA 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1809-1814
Number of pages	6
ISBN (Electronic)	9781467373173
DOIs	https://doi.org/10.1109/ICIEA.2015.7334405
State	Published - 20 Nov 2015

Publication series

Name	Proceedings of the 2015 10th IEEE Conference on Industrial Electronics and Applications, ICIEA 2015

Bibliographical note

Publisher Copyright:
© 2015 IEEE.

Keywords

Stereo vision system
augmented reality
data security
telerobotics

ASJC Scopus subject areas

Industrial and Manufacturing Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/ICIEA.2015.7334405

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 10th IEEE Conference on Industrial Electronics and Applications, ICIEA 2015 (pp. 1809-1814). [7334405] (Proceedings of the 2015 10th IEEE Conference on Industrial Electronics and Applications, ICIEA 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICIEA.2015.7334405

Islam, Syed ; Al-Mohammed, Mayez ; Islam, Rafiqul et al. / Design of an augmented telerobotic stereo vision system and associated security concerns. Proceedings of the 2015 10th IEEE Conference on Industrial Electronics and Applications, ICIEA 2015. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 1809-1814 (Proceedings of the 2015 10th IEEE Conference on Industrial Electronics and Applications, ICIEA 2015).

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title = "Design of an augmented telerobotic stereo vision system and associated security concerns",

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.",

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Islam, S, Al-Mohammed, M, Islam, R, Bhattacharya, M, Alkharobi, TM & Buhari, SM 2015, Design of an augmented telerobotic stereo vision system and associated security concerns. in Proceedings of the 2015 10th IEEE Conference on Industrial Electronics and Applications, ICIEA 2015., 7334405, Proceedings of the 2015 10th IEEE Conference on Industrial Electronics and Applications, ICIEA 2015, Institute of Electrical and Electronics Engineers Inc., pp. 1809-1814. https://doi.org/10.1109/ICIEA.2015.7334405

Design of an augmented telerobotic stereo vision system and associated security concerns. / Islam, Syed; Al-Mohammed, Mayez; Islam, Rafiqul et al.
Proceedings of the 2015 10th IEEE Conference on Industrial Electronics and Applications, ICIEA 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 1809-1814 7334405 (Proceedings of the 2015 10th IEEE Conference on Industrial Electronics and Applications, ICIEA 2015).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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Islam S, Al-Mohammed M, Islam R, Bhattacharya M, Alkharobi TM, Buhari SM. Design of an augmented telerobotic stereo vision system and associated security concerns. In Proceedings of the 2015 10th IEEE Conference on Industrial Electronics and Applications, ICIEA 2015. Institute of Electrical and Electronics Engineers Inc. 2015. p. 1809-1814. 7334405. (Proceedings of the 2015 10th IEEE Conference on Industrial Electronics and Applications, ICIEA 2015). doi: 10.1109/ICIEA.2015.7334405

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

Abstract

Publication series

Bibliographical note

Keywords

ASJC Scopus subject areas

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Cite this