Development of 3D Workstation and its Evaluation

本研究的目的是开发一种适用于三维空间操作的工作站原型，即三维工作站。其中一个主要的应用是危险区域工作机器人（空间机器人、核反应堆维修机器人等）的远程操作。另一个应用是编程或三维CAD系统。在未来，与先进的计算机图形学相结合，工作站可以扩展到“人工现实”技术。首先，开发了支持三维远程操作的原型系统。该系统由立体显示器、三维输入装置（三维鼠标）、图像处理头部跟踪系统、遥控摄像头和机械手组成。其次，利用该系统研究了电子学支持下的人体三维操作行为。通过研究，得到以下几点认识。(1)立体显示系统是获取远端三维信息的有效接口。(2)利用该系统，证明了一些操作者可以正确地指向距离内的目标，而另一些则不能。最后，有些操作人员即使能感知三维图像，也无法指向它。为了解释这些奇怪的现象，引入了心理模型的概念。(3)证明了必须仔细设计头部运动与摄像机运动的关系，才能控制与操作者头部运动同步的远程摄像机头。必须引入耦合系数。通过实验确定了耦合系数的最优值。(4)制作了计算机图形学支持的远程操作系统。该系统可以提供数值信息。引导线，图形操纵器，3D弹出菜单和3D窗口系统。该系统极大地提高了三维空间操作的效率。最后，通过对所学知识的整合，完成了三维工作站的原型。少

Object of this study is to develop a prototype of workstation suitable for three-dimensional space manipulation, 3D workstation. One of the major applications is remote operation of the robot working in dangerous areas ( space robot, nuclear reactor maintenance robot, etc. ). Another application is programing or three-dimensional CAD system. In the future, connecting with advanced computer graphics, the workstation can be expanded to the technology of "Artificial Reality".Firstly, the prototype system which supports three-dimensional remote operation is developed. The system consists of the stereoscopic display, three-dimensional input device ( the 3D mouse ), head-tracking system by image processing, the remote controlled camera heads and manipulator. Secondly, using the system, human hehavior of 3D operation supported by electronics is studied. Based on the study, the following knowledges are obtained.(1) The stereoscopic display system is an effective interface to acquire the remote … More three-dimensional information.(2) Using the system, it is proved that some operators can point an object in the distance correctly and some cannot. Eventually, there are some operators who cannot point it even if they can perceive three-dimensional image. To explain the curious phenomena, concept of the mental model is introduced.(3) It is proved that relationship between the head movement and the camera movement must be designed carefully to control remote camera heads synchronized with movement of operator's head. The coupling coefficient is necessarily introduced. The authors found optimal value of the coupling coefficient by experiments.(4) The author made remote operation system supported by computer graphics. The system can provide numerical information. guide line, graphic manipulator, 3D pop-up-menu and 3D window systme. The system largely improves the efficiency of three-dimensional space manipulation.Finally, by integrating the knowledge, the prototype of 3D workstation is completed. Less