WP 5 - Internet-based teleoperation and mixed reality content and interaction

The overall objective of this work package is to develop methods of virtual diving thanks to the teleoperation of a remote operated vehicle (ROV) placed in a given diving site.

The ROV is equipped with video cameras and artificial lights and other instruments and its movements underwater can be guided so to follow a predetermined trajectory. We propose to develop and test two types of Human-Robot-Interfaces (HRI). The first is based on the WEB and it is for the general public hence anyone from anywhere can control the ROV via a simple WEB browser. The second HRI is based on Mixed Reality (MR) techniques and gives to the user a multisensory exploration of the underwater site and enhances the feeling of presence thinks to stereoscopic display and 3D interaction techniques and interfaces.

Therefore, our first objective is to specify, design and develop software architecture for the teleoperation system.
This software architecture must be sufficiently generic to use it with two types of interfaces. Our second objective concerns the design and development of a Mixed Reality (MR) module for merging real images (transmitted by video camera embedded on the ROV) with 3D models of the virtual underwater site. This MR module must also be sufficiently modular for use in both interfaces that will be developed in this WP and integrate it in the Dolphyn prototype of the WP3. The third and final objective for this work package is to integrate the above two objectives to provide two interfaces: a WWW-based teleoperation interface (a general public demonstrator) and a multimodal human-robot interface (a semi-immersive demonstrator).

WP 3 - Submersible visualization equipment and contents

This WP includes two sub-divisions:

WP3.1- Design and fabrication of an operating prototype of the Dolphyn, a new submersible multimedia display device conceived to be used on beach shores.

WP3.2- Demonstrators of multimedia contents dedicated to this device, adapted to the beach shore environment and to the targeted users groups, using the technologies of augmented and mixed reality.

The Dolphyn is an adaptation of the device Tryton already developed for pools by VirtualDive. The purpose is to allow beach tourists to practice virtual diving when snorkelling on the beaches. The version of the device included in the present proposal is autonomous, mobile, if possible self-propelled, easily transported by one person in a backpack, quickly installed and equipped with GPS and wireless systems. It has a positive buoyancy and its positioning and restrained movements will be achieved by an anchoring device, with a variable anchoring length/tension, on the beach floor allowing by reducing the length of the anchoring cable. Dolphyn will be used at water surface and underwater, with a tuba (- 40 cm). Is equipped at least with one video camera pointing downwards. Mixed reality contents combining actual underwater images with 3D animated images will be one of the preferred ways to use the device. Priority to develop of a “green” device, with renewable power consumption (manually or wave force loaded batteries) and built with recyclable materials. The fabrication of this prototype will be sub-contracted to production specialists.