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Mixed Reality Human-Robot Interface for Robotic Operations in Hazardous Environments
dc.contributor | Universitat Jaume I. Escola de Doctorat | cat |
dc.contributor.author | Szczurek, Krzysztof Adam | |
dc.date.accessioned | 2023-11-07T07:50:26Z | |
dc.date.accessioned | 2024-06-24T12:33:35Z | |
dc.date.available | 2023-11-07T07:50:26Z | |
dc.date.available | 2024-06-24T12:33:35Z | |
dc.date.issued | 2023-10-23 | |
dc.identifier.uri | http://hdl.handle.net/10803/689263 | |
dc.description | Compendi d'articles. Doctorat internacional | ca |
dc.description.abstract | This thesis addresses the need for reliable and immersive human-robot interfaces in hazardous environments. Three key goals were achieved. Firstly, techniques were developed to provide immersive interactions while ensuring accurate robot positioning in a realistic underground particle accelerator environment. A network optimization framework facilitated using Mixed Reality (MR) technologies for collision detection, trajectory planning, and real-time control. Secondly, an Augmented Reality (AR) interface was designed for wireless network environments, enabling efficient interaction through hand and eye tracking, motion tracking, and voice recognition. The interface allowed collaboration among multiple experts in the AR workspace. The interface's performance was evaluated in real intervention scenarios at CERN, meeting operational requirements. A comparison with a 2D interface was conducted, assessing safety and efficiency using various assessment methods and physiological measurements. The developed MR human-robot interfaces demonstrated operational readiness. Limitations and areas for improvement were identified, including optimizing network architecture and applying automatic interaction strategies. | ca |
dc.format.extent | 122 p. | ca |
dc.language.iso | eng | ca |
dc.publisher | Universitat Jaume I | |
dc.rights.uri | http://creativecommons.org/licenses/by-sa/4.0/ | * |
dc.source | TDX (Tesis Doctorals en Xarxa) | |
dc.subject | Human-robot interaction | ca |
dc.subject | Mixed reality | ca |
dc.subject | Telerobotics | ca |
dc.subject | Hazardous environment | ca |
dc.subject | Redundant mobile maniupulator | ca |
dc.subject | Operator vital parameters | ca |
dc.subject.other | Ciències | ca |
dc.title | Mixed Reality Human-Robot Interface for Robotic Operations in Hazardous Environments | ca |
dc.type | info:eu-repo/semantics/doctoralThesis | |
dc.type | info:eu-repo/semantics/publishedVersion | |
dc.identifier.doi | http://dx.doi.org/10.6035/14101.2023.836968 | ca |
dc.subject.udc | 004 | ca |
dc.contributor.director | Marín Prades, Raúl | |
dc.contributor.director | Di Castro, Mario | |
dc.rights.license | L'accés als continguts d'aquesta tesi queda condicionat a l'acceptació de les condicions d'ús establertes per la següent llicència Creative Commons: http://creativecommons.org/licenses/by-sa/4.0/ | ca |
dc.rights.accessLevel | info:eu-repo/semantics/openAccess | |
dc.embargo.terms | cap | ca |
dc.contributor.tutor | Marín Prades, Raúl | |
dc.description.degree | Programa de Doctorat en Informàtica |
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