Immersive VR based Digital Twinning for Mobile Robotic Platforms / Muhammad Faiq Malik
Material type:
TextIslamabad : SMME- NUST; 2023Description: 47p. Soft Copy 30cmSubject(s): MS Robotics and Intelligent Machine EngineeringDDC classification: 629.8 Online resources: Click here to access online Summary: This work deliberates building an intelligent and intuitive telepresence human robot
interaction framework that liberates the human from handling technical difficulties and increases
the resourcefulness of remote service robot. The complementing framework comes
underutilization for tasks such as inspection, exploration, and feature collection from unknown,
dynamic, and stochastic environments. Comparative to existing works it provides multimodal
control and seeks user friendly features, realism and immersivity via a VR android application.
The framework allows the user to switch the mode of operation from direct control to a
collaborative/semi-autonomous one with the latter being controlled by an actor-critic network for
autonomous local navigation. The user experience is also evaluated with real time
experimentation and monitoring of human performance using BCI and analyzing results
accumulated from the presence, usability, and sustainability questionnaires filled in by test
subjects. Mean presence and usability scores of 97.6% and 94.71% supports the claim of this
framework being immersive, intuitive, and collaborative with a simultaneous reinforcement from
the Human performance metrics evaluation during the activity
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Thesis
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School of Mechanical & Manufacturing Engineering (SMME) | School of Mechanical & Manufacturing Engineering (SMME) | E-Books | 629.8 (Browse shelf) | Available | SMME-TH-952 |
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This work deliberates building an intelligent and intuitive telepresence human robot
interaction framework that liberates the human from handling technical difficulties and increases
the resourcefulness of remote service robot. The complementing framework comes
underutilization for tasks such as inspection, exploration, and feature collection from unknown,
dynamic, and stochastic environments. Comparative to existing works it provides multimodal
control and seeks user friendly features, realism and immersivity via a VR android application.
The framework allows the user to switch the mode of operation from direct control to a
collaborative/semi-autonomous one with the latter being controlled by an actor-critic network for
autonomous local navigation. The user experience is also evaluated with real time
experimentation and monitoring of human performance using BCI and analyzing results
accumulated from the presence, usability, and sustainability questionnaires filled in by test
subjects. Mean presence and usability scores of 97.6% and 94.71% supports the claim of this
framework being immersive, intuitive, and collaborative with a simultaneous reinforcement from
the Human performance metrics evaluation during the activity
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