Teleoperation and Java3D visualization of a robot manipulator over the World Wide Web

Ullah

IEEE Internet Things J.

et al. 2023

The deadly coronavirus disease (COVID-19) has highlighted the importance of remote health monitoring (RHM). The digital twins (DTs) paradigm enables RHM by creating a virtual replica that receives data from the physical asset, representing its real-world behavior. However, DTs use passive internet of things (IoT) sensors, which limit their potential to a specific location or entity. This problem can be addressed by using the internet of robotic things (IoRT), which combines robotics and IoT, allowing the robotic things (RTs) to navigate in a particular environment and connect to IoT devices in the vicinity. Implementing DTs in IoRT, creates a virtual replica (virtual twin) that receives real-time data from the physical RT (physical twin) to mirror its status. However, DTs require a user interface for real-time interaction and visualization. Virtual reality (VR) can be used as an interface due to its natural ability to visualize and interact with DTs. This research proposes a real-time system for RHM of COVID-19 patients using the DTs-based IoRT and VR-based user interface. It also presents and evaluates robot navigation performance, which is vital for remote monitoring. The virtual twin (VT) operates the physical twin (PT) in the real environment (RE), which collects data from the patient-mounted sensors and transmits it to the control service to visualize in VR for medical examination. The system prevents direct interaction of medical staff with contaminated patients, protecting them from infection and stress. The experimental results verify the monitoring data quality (accuracy, completeness, timeliness) and high accuracy of PT's navigation.

“…[40]. The three-dimensional (3D) virtual representation of the PT and its surroundings provides the operator with a live virtual view of the RE and physical entity [41].…”

Section: Introductionmentioning

confidence: 99%

Digital-Twins-Based Internet of Robotic Things for Remote Health Monitoring of COVID-19 Patients

Ullah

IEEE Internet Things J.

et al. 2023

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

“…In recent years with the popularity of the Internet, WWWbased remote-control system is becoming an interesting and promising field of investigation in robotics, VR and visualization [2]. Applications of these investigations in areas such as space and underwater robotics, remote manufacturing, operator training, remote education and entertainment are of great importance.…”

Section: Introductionmentioning

confidence: 99%

A New Internet Architecture for Robot Remote Control

Wang

Liu

Wang

2006

A new server-decentralized internet architecture based on Jabber for robot remote control is proposed in order to have high availability, performance, scalability, fault tolerance and security. Four components of the architecture: operators, robots, transfer servers and data-keeper are defined and functioned. The robot-controlling data/robot state data are packed with XML stanzas and delivered to the addressed robot/operator through XML streams. In order to test its availability, the architecture is implemented and instanced as a remote control simulation system of Puma560 robot. The system is experimented and a network test is carried out to evaluate the structure; the results show that the architecture is suitable for many kinds of robot remote control scenarios despite the tough network environment.

“…To overcome such restrictions, VE techniques have been explored to re-create the remote work scene and present it to the teleoperator 1 . VEs have a number of advantages -they are visually convincing, highly interactive, and require low bandwidth to update them because of the model-based nature of computer graphics.…”

Section: Introductionmentioning

confidence: 99%

<title>Single-image-based on-line camera calibration and VE modeling method for teleoperation via Internet</title>

2001

Virtual Environment (VE) techniques provide a powerful tool for the visualization of the 3D environment of a teleoperation work site, particularly when "live" video display is inadequate for the task operation or its transmission is constrained, for example by limited bandwidth. However, the ability of VE to cope with the dynamic phenomena of typical teleoperation work sites is severely limited by its pre-defined model-based nature. Thus, an on-line composing mechanism is needed to make it environment compliant. For this purpose, this paper describes an on-line technique for camera calibration and an interactive VE modeling method that works on a single 2D image. Experiments have shown that the methods are convenient and effective for on-line VE editing.