Cristian Gallardo

Unity3D-MatLab Simulator in Real Time for Robotics Applications

This paper presents the implementation of a new 3D simulator applied to the area of robotics. The simulator allows to analyze the performance of different schemes of autonomous and/or tele-operated control in structured environments, partially structured and unstructured. For robot-environment interaction is considered virtual reality software Unity3D, this software exchanges information with MATLAB to execute different control algorithms proposed through the use of shared memory. The exchange of information in real time between the two software is essential because the advanced control algorithms require a feedback from the robot-environment interaction to close the control loop, while the simulated robot updates its kinematic and dynamic parameters depending on controllability variables calculated by MATLAB. Finally, the 3D simulator is evaluated by implementing an autonomous control scheme to solve the problem of path following of a 6DOF robot arm, also the results obtained by implementing the tele-operation scheme for said robot are presented.

Transparency of a Bilateral Tele-Operation Scheme of a Mobile Manipulator Robot

This work presents the design of a bilateral tele-operation system for a mobile manipulator robot, allowing a human operator to perform complex tasks in remote environments. In the tele-operation system it is proposed that the human operator is immersed in an augmented reality environment to have greater transparency of the remote site. The transparency of a tele-operation system indicates a measure of how the human feels the remote system. In the local site an environment of augmented reality developed in Unity3D is implemented, which through input devices recreates the sensations that the human would feel if he were in the remote site, for which is considered the senses of sight, touch and hearing. These senses help the human operator to “transmit” their ability and experience to the robot to perform a task. Finally, experimental results are reported to verify the performance of the proposed system.

Virtual Reality on e-Tourism

This article proposes the develop of a dynamic virtual environment that with the consumption of real time data about the state of a place, offer an immersion to the tourist like be at the desired location. The development implements a communication and loader structure from many information sources, manual information data loaded from mobile devices and data loader from collecting equipment that get environmental and atmospheric data. The virtual reality application use Google Maps, and worldwide heightmap to get 3D geographic map models; HTC VIVE and Oculus SDK for support virtual reality experience; and weather API to show the weather information from the desired location in real time. In addition, the proposed virtual reality application emphasizes user interaction on the virtual environment by displaying dynamic and up-to-date information about tourism services.

Unity3D Virtual Animation of Robots with Coupled and Uncoupled Mechanism

This paper presents the development of the animation of robots in virtual reality environments, whose mechanisms can be coupled -the movement relies on mechanical principles-; and uncoupled mechanisms, i.e., the degrees of freedom are controlled independently via a control unit. Additionally, the present phases to transfer the design of a robot developed in a CAD tool to a virtual simulation environment without being lost the physical characteristics of the original design are showed, for which it is considered the various types of motions that the robot can perform depending on the design. Finally, shows the results obtained from the simulation of motion of a robot hexapod 18DOF and Theo Jansen mechanism.

Tourism Marketing through Virtual Environment Experience

This article proposes the develop of a dynamic virtual environment that with the consumption of real time data about the state of a place, offer an immersion to the tourist like be at the desired location. The development implements a communication and loader structure from many information sources, manual information data loaded from mobile devices and data loader from collecting equipment that get environmental and atmospheric data. The virtual reality application use Google Maps, and worldwide heightmap to get 3D geographic map models; HTC VIVE and Oculus SDK for support virtual reality experience; and weather API to show the weather information from the desired location in real time. In addition, the proposed virtual reality application emphasizes user interaction on the virtual environment by displaying dynamic and up-to-date information about tourism services.

Augmented Reality as a New Marketing Strategy

This article proposes the development of an augmented reality application that allows the user to preview in real time the product you want to buy, in the same way you can modify the characteristics you want to adjust it to your tastes and needs before making the purchase. The proposal includes the design of the application that incorporates a catalog of living room, dining room and bedroom furniture; the user will be able to modify characteristics of size, color and texture in a way that emphasizes the interaction with the consumer, to this is added the possibility of showing relevant information about the furniture as they are visualized and modified, it allows to reduce the uncertainty of the user and at the same time allow a participatory action where the user is the protagonist. The augmented reality application My Style AR can be used in handheld devices that have support for augmented reality level 2.0.

Sales Maximization Based on Neuro-Marketing Techniques in Virtual Environments

This article describes an analysis of the merchandising techniques used in Neuromarketing through a virtual reality application to inquire the consumer behavior when purchasing mass consumption products. The results of the virtual test will affect the costs optimization, reduction of time, and logistics when studying the effectiveness of each technique. The application consists of a virtual environment replica of a real supermarket, which allows the user to interact with the products according to: the conscious and unconscious perception at a purchase and the influence of merchandising techniques (location of the products, assortment management and accessibility, and so on). The results of the experiment validate the merchandising techniques with product rotation processes and sales increase, without study them in a real supermarket.

Market Study of Durable Consumer Products in Multi-user Virtual Environments

This article describes an analysis of the demand of a product or service through virtual environments to measure the acceptance of it in consumers. The developed system consists of a virtual reality environment, which involves both designers in the characterization of the prototype and users in measuring the acceptability of the product in the market, in order to optimize human and economic resources for the company. The developed application considers a multi-user system where a user should enter at the beginning of the application inviting a certain number of people to participate in the analysis of the prototype of the product and make the changes that are considered convenient. Modification options allow users to interact simultaneously with the product, creating different models. The interaction of users subject to testing, contributes to the measurement of the acceptability of the characteristics of the product through manipulation and observation in virtual environments.

Real–Time Virtual Reality Visualizer for Unmanned Aerial Vehicles

The visualization of tele-operated and autonomous executions in the field becomes difficult if the real environments are located in remote areas or present potential dangers for visualizing clients. This work proposes an application based on virtual reality to recreate in real time the execution tasks of a UAV, which is operated remotely or autonomously on a real environment. To achieve a third level of immersion, the reconstruction of the real environment where the field tests are executed is considered, offering the possibility of knowing the real scenario where the tests are executed. The consideration of using commercial UAV development kits is taken into account to obtain internal information, as well as to control the drone from client devices. The results presented validate the unification of 3D models and the reconstruction of the environment, as well as the consumption of vehicle information and climate parameters.

Cloud Computing Services for Real Time Bilateral Communication, Applied to Robotic Arms

This work presents the design of a bilateral teleoperation system for a robotic arm. It proposes a new prototype communication protocol with Websockets for the communication and Json for data structuration on a cloud computing environment with OpenStack and Openshift Origin. The human operator receives visual and force feedback from the remote site, and it sends position commands to the slave. Additionally, in the tele-operation system it is proposed that the human operator is immersed in an augmented reality environment to have greater transparency of the remote site. The transparency of a tele-operation system indicates a measure of how the human feels the remote system. Finally, the experimental results are reported to verify the performance of the proposed system.