Search

A symmetric anion mediated dynamic kinetic asymmetric Knoevenagel reaction was established as a general and efficient method for accessing both N−C and N−N atropisomers. The resulting highly enantio‐pure pyridine‐2,6(1H,3H)‐diones exhibit diverse structures and functional groups. The key to excellent regio‐ and remote enantiocontrol could be owed to the hydrogen bond between the enolate anion and triflamide block of the organocatalyst. This connected the enolate anion and iminium cation by a chiral backbone. The mechanism investigation via control experiments, correlation analysis, and density functional theory calculations further revealed how the stereochemical information was transferred from the catalyst into the axially chiral pyridine‐2,6(1H,3H)‐diones. The synthetic applications also demonstrated the reaction's potential. [ABSTRACT FROM AUTHOR]

Chemical photoswitches have become a widely used approach for the remote control of biological functions with spatiotemporal precision. Several molecular scaffolds have been implemented to improve photoswitch characteristics, ranging from the nature of the photoswitch itself (e.g. azobenzenes, dithienylethenes, hemithioindigo) to fine‐tuning of aromatic units and substituents. Herein, we present deuterated azobenzene photoswitches as a general means of enhancing the performance of photopharmacological molecules. Deuteration can improve azobenzene performance in terms of light sensitivity (higher molar extinction coefficient), photoswitch efficiency (higher photoisomerization quantum yield), and photoswitch kinetics (faster macroscopic rate of photoisomerization) with minimal alteration to the underlying structure of the photopharmacological ligand. We report synthesized deuterated azobenzene‐based ligands for the optimized optical control of ion channel and G protein‐coupled receptor (GPCR) function in live cells, setting the stage for the straightforward, widespread adoption of this approach. [ABSTRACT FROM AUTHOR]

This paper presents an industrial wireless control and monitoring system for laser cutters and engravers based on computer numerical control (CNC), which aims to improve the overall performance, efficiency, and safety of the CNC machine and its peripherals as an ecosystem by allowing users to operate and maintain it remotely using Wi-Fi. The developed system is implemented through a dynamic hardware module and a multi-OS user application, thereby establishing real-time and simplified communication between the operator and the Laser Cutter/Engraver-CNC ecosystem for remote control and monitoring functions. Further, the system allows for configuring machine settings, and the start or stop of cutting or engraving processes. A Laser Cutter/Engraver-CNC ecosystem prototype was built and used in a test-validated environment to confirm the effectiveness of this system design. [ABSTRACT FROM AUTHOR]

This study proposed an intuitive teleoperation approach utilizing the hand-tracking mode supported by commercialized virtual reality devices. Unlike previous studies that used handheld controllers connected to an HMD (head-mounted display) system, this approach directly synchronizes the virtual hand (user's hand recognized by the VR device), the 3D model of the telemanipulator, and the practical telemanipulator simultaneously. The entire system was developed by integrating the previously developed master–slave system with Unity, a cross-platform game engine. In this platform, the physical slave system was converted into a virtual 3D model, and numerical optimization techniques were applied to avoid the dependency on conventional URDF (unified robot description format) applications. To verify the feasibility of this approach, several experiments were conducted, including motion consistency between the user and the robot hand, and trajectory-following performance. The rest of this paper presents the approaches for visualization of the workspace in VR. First, the pros and cons of images acquired through RGB cameras were reviewed, and then the point cloud-based 3D reconstruction approach, which was the focus of this study, was introduced. Considered methods included visualizing point clouds with the Mesh Generation Method of Unity and mapping these clouds using BAD SLAM (Bundle Adjusted Direct Simultaneous Localization and Mapping) and Open3D. Furthermore, various camera placements were tested to balance visual clarity and task efficiency, suggesting future improvements in VR visual quality and manipulation control. [ABSTRACT FROM AUTHOR]

Mechanotherapy has emerged as a promising treatment for tissue injury. However, existing robots for mechanotherapy are often designed on intuition, lack remote and wireless control, and have limited motion modes. Herein, through topology optimization and hybrid fabrication, wireless magneto‐active soft robots are created that can achieve various modes of programmatic deformations under remote magnetic actuation and apply mechanical forces to tissues in a precise and predictable manner. These soft robots can quickly and wirelessly deform under magnetic actuation and are able to deliver compressing, stretching, shearing, and multimodal forces to the surrounding tissues. The design framework considers the hierarchical tissue‐robot interaction and, therefore, can design customized soft robots for different types of tissues with varied mechanical properties. It is shown that these customized robots with different programmable motions can induce precise deformations of porcine muscle, liver, and heart tissues with excellent durability. The soft robots, the underlying design principles, and the fabrication approach provide a new avenue for developing next‐generation mechanotherapy. [ABSTRACT FROM AUTHOR]

The limitations and complexity of traditional noncontact sensors in terms of sensitivity and threshold settings pose great challenges to extend the traditional five human senses. Here, we propose tele-perception to enhance human perception and cognition beyond these conventional noncontact sensors. Our bionic multi-receptor skin employs structured doping of inorganic nanoparticles to enhance the local electric field, coupled with advanced deep learning algorithms, achieving a ΔV/Δd sensitivity of 14.2, surpassing benchmarks. This enables precise remote control of surveillance systems and robotic manipulators. Our long short-term memory-based adaptive pulse identification achieves 99.56% accuracy in material identification with accelerated processing speeds. In addition, we demonstrate the feasibility of using a two-dimensional (2D) sensor matrix to integrate real object scan data into a convolutional neural network to accurately discriminate the shape and material of 3D objects. This promises transformative advances in human-computer interaction and neuromorphic computing. [ABSTRACT FROM AUTHOR]

Teleoperation services are expected to operate on-road and often in urban areas. In current teleoperation applications, teleoperators gain a higher viewpoint of the environment from a camera on the vehicle's roof. However, it is unclear how this viewpoint compares to a conventional viewpoint in terms of safety, efficiency, and mental workload. In the current study, teleoperators (n = 148) performed driving tasks in a simulated urban environment with a conventional viewpoint (i.e., the simulated camera was positioned inside the vehicle at the height of a driver's eyes) and a higher viewpoint (the simulated camera was positioned on the vehicle roof). The tasks required negotiating road geometry and other road users. At the end of the session, participants completed the NASA-TLX questionnaire. Results showed that participants completed most tasks faster with the higher viewpoint and reported lower frustration and mental demand. The camera position did not affect collision rates nor the probability of hard braking and steering events. We conclude that a viewpoint from the vehicle roof may improve teleoperation efficiency without compromising driving safety, while also lowering the teleoperators' mental workload. [ABSTRACT FROM AUTHOR]

Wearable technologies represent a significant advancement in facilitating communication between humans and machines. Powered by artificial intelligence (AI), human gestures detected by wearable sensors can provide people with seamless interaction with physical, digital, and mixed environments. In this paper, the foundations of a gesture-recognition framework for the teleoperation of infrared consumer electronics are established. This framework is based on force myography data of the upper forearm, acquired from a prototype novel soft pressure-based force myography (pFMG) armband. Here, the sub-processes of the framework are detailed, including the acquisition of infrared and force myography data; pre-processing; feature construction/selection; classifier selection; post-processing; and interfacing/actuation. The gesture recognition system is evaluated using 12 subjects' force myography data obtained whilst performing five classes of gestures. Our results demonstrate an inter-session and inter-trial gesture average recognition accuracy of approximately 92.2% and 88.9%, respectively. The gesture recognition framework was successfully able to teleoperate several infrared consumer electronics as a wearable, safe and affordable human–machine interface system. The contribution of this study centres around proposing and demonstrating a user-centred design methodology to allow direct human–machine interaction and interface for applications where humans and devices are in the same loop or coexist, as typified between users and infrared-communicating devices in this study. [ABSTRACT FROM AUTHOR]

Many fields, where human health and life are at risk, are increasingly utilizing mobile robots and UGVs (Unmanned Ground Vehicles). They typically operate in teleoperation mode (control based on the projected image, outside the operator's direct field of view), as autonomy is not yet sufficiently developed and key decisions should be made by the man. Fast and effective decision making requires a high level of situational and action awareness. It relies primarily on visualizing the robot's surroundings and end effectors using cameras and displays. This study aims to compare the effectiveness of three solutions of robot area imaging systems using the simultaneous transmission of images from three cameras while driving a UGV in complex terrain. [ABSTRACT FROM AUTHOR]

In recent years, the remote center of motion (RCM) constraint has moved from purely mechanical to software implementation, enabling the use of serial manipulators in robotic‐assisted minimal invasive surgery. However, ensuring safety with software‐based RCM presents challenges. This article addresses this issue by introducing a novel control algorithm for a 7‐DOF redundant robotic arm, taking into account a software RCM while considering system passivity and kinematic constraints. The algorithm is both a control optimizer and a robot kinematics inversion, enabling precise and dexterous control for various surgical tasks and other control applications. By formulating a quadratic optimization problem under linear constraints, the algorithm guarantees the robotic arm's performance, safety, and stability under communication delay. Experimental validation demonstrates the effectiveness and accuracy of the control algorithm in executing a surgical training task (peg‐and‐ring) during bilateral teleoperation. The results highlight the successful implementation of the RCM constraint, ensuring patient safety and optimizing the manipulation capabilities of the robotic arm. [ABSTRACT FROM AUTHOR]

Virtual reality (VR) technology is increasingly vital in various sectors, particularly for simulating real environments in training and teleoperation. However, it has primarily focused on static, controlled settings like indoor industrial shopfloors. This paper proposes a novel method for remotely controlling robots in hazardous environments safely, without compromising efficiency. Operators can execute tasks from remote locations ensuring continuity regardless of distance. Real‐time efficiency is achieved by updating the virtual environment from on‐site sensors and mirroring the real environment, utilizing 3D reconstruction, Google Images, and video streams. Communication between VR and the remote robot is facilitated through a remote robot operating system connection. The efficacy of this concept will be validated through real road maintenance interventions. [ABSTRACT FROM AUTHOR]

Limited or absent haptic feedback is reported as a factor hindering the continued adoption of surgical robots. This article presents a proof of concept for vibrotactile feedback integrated into a continuum robot to explore whether such feedback improves spatial perception in surgical settings. The robot is equipped with a capacitive sensor for noncontact endoscope localization, enabling spatial awareness of the robot's tool center point (TCP) within the surgical environment. The data from the sensor is processed and transmitted to a bracelet worn by the user, which generates vibrotactile feedback. The bracelet contains four vibration motors providing tactile cues for navigation and positioning of the robot's TCP. All subsystems are integrated into a unified system to deliver vibrotactile feedback to the user. When the user maneuvers the TCP of the robot near an object, they receive vibrotactile feedback via the bracelet. Thereby, the intensity of vibration increases as the TCP approaches the object, and the direction of the obstacle is mapped on the bracelet. Initial functional tests were performed and prove the functionality of the proposed system. [ABSTRACT FROM AUTHOR]

Introduction The need for remote ventilator control has been highlighted by the COVID-19 Public Health Emergency. Remote ventilator control from outside a patient's room can improve response time to patient needs, protect health care workers, and reduce personal protective equipment (PPE) consumption. Extending remote control to distant locations can expand the capabilities of frontline health care workers by delivering specialized clinical expertise to the point of care, which is much needed in diverse health care settings, such as tele-critical care and military medicine. However, the safety and effectiveness of remote ventilator control can be affected by many risk factors, including communication failures and network disruptions. Consensus safety requirements and test methods are needed to assess the resilience and safety of remote ventilator control under communication failures and network disruptions. Materials and Methods We designed two test methods to assess the robustness, usability, and safety of a remote ventilator control prototype system jointly developed by Nihon Kohden OrangeMed, Inc. and DocBox, Inc. ("the NK-DocBox system") to control the operation of an NKV-550 critical care ventilator under communication failures and network disruptions. First, the robustness of the NKV-550 ventilator was tested using a remote-control application developed on OpenICE - an open-source medical device interoperability platform - to transmit customized high-frequency and erroneous remote-control commands that could be caused by communication failures in a real-world environment. The second method utilized a network emulator to create different types and severity of network quality of service (QoS) degradation, including bandwidth throttling, network delay and jitter, packet drop and reordering, and bit errors, in the NKV-DocBox system to quantitatively assess the impact on system usability and safety. Results The NKV-550 ventilator operated as expected when remote-control commands arrived as fast as once per second. It ignored erroneous commands attempting to adjust invalid ventilation parameters. When facing commands that set the ventilation mode and parameters to invalid values, it reset the ventilation mode or parameters to default values, the safety implication of which may merit further evaluation. When any network QoS attribute (except for packet reordering) started to degrade, the NK-DocBox System experienced interference to its remote-control function, such as delays in the transmission of ventilator data and remote-control commands within the system. When the network QoS was worse than 500 ms network delay, 100 ms network jitter, 1% data drop rate, 12 Mbps minimal bandwidth, or 1e−6 bit error rate, the system became unsafe to use. For example, ventilator waveforms visualized on the remote-control application demonstrated freezes, out-of-synchronization, and moving backwards; and the connection between the ventilator and the remote-control application became unstable. Conclusion The presented test methods confirmed the robustness of the NKV-550 ventilator against high-frequency and erroneous remote control, quantified the impact of network disruptions on the usability, reliability, and safety of the NK-DocBox system and identified the minimum network QoS requirements for it to function safely. These generalizable test methods can be customized to evaluate other remote ventilator control technologies and remote control of other types of medical devices against communication failures and network disruptions. [ABSTRACT FROM AUTHOR]

The synthesis as well as the structural, optical and computational characterization of seven new highly hindered homoleptic copper(I) phenanthroline complexes (namely C1–C7) is reported along with the comparison with the benchmark derivatives. Despite limited steric hindrance in direct proximity of the copper(I) coordination site, X‐ray structures show that the higher hindered derivatives of the series display a more optimal tetrahedral geometry with minimal D2 symmetry distortion. A novel remote control of the geometry, with steric hindrance away from the coordination site, leads to a favorable arrangement as demonstrated by structural and computational data. In addition, electrochemical and steady‐state and time‐resolved photophysical studies are presented which further support the beneficial effects on the ground‐state redox and excited‐state properties when both remote and close steric effects are exploited. Indeed, both an increase of the photoluminescence quantum yield and a prolongation of the excited state lifetime is observed for the highly‐substituted derivative C6 compared to benchmark counterparts on account of the reduced excited‐state flattening distortions imparted by the additional steric constraints. [ABSTRACT FROM AUTHOR]

Virtual reality offers ordinary users the ability to observe and interact with various abstract or concrete objects visualized in a three-dimensional space from different angles. Users can manipulate, transform, or reconstruct these objects similarly to how they might in a real environment. Manipulating objects in virtual reality is not as effortless as in the real world, due to the lack of sensory feedback and limited input freedom. However, it also offers new advantages that the real world cannot provide, such as the ability to easily select and control remote objects and the support of various auxiliary user interfaces. In particular, when it is necessary to alternately manipulate objects of various sizes, scaling the user's avatar symmetrically allows for more effective manipulation than in the real world. However, manual scaling interfaces can be cumbersome and may induce dizziness. This study proposes an interaction technique that allows users to conveniently manipulate objects of various sizes without manual scale adjustment, by automatically and instantly adjusting the scale factor according to the size of the selected object and its adjacent objects. To compensate for the change in scale, we also implement a position correction mechanism that adjusts the user's position in the virtual environment. Preliminary experiments with a small group of participants confirmed that automatic scale adjustment produces significant effects. Based on the feedback from these experiments, a more refined distance calculation method and the timing for scale adjustment were derived. In the main experiment with 14 participants, it was confirmed that the automatic scale adjustment method proposed in this study led to higher accuracy and lower discomfort in task completion compared to the conventional manual scale adjustment method. We expect that the results of this study will effectively contribute to the creation of virtual reality content that requires interaction with objects of various sizes in the future. [ABSTRACT FROM AUTHOR]

Objectives: Compare two remote programming methods as a clinical service for user satisfaction, ease of use, preparation time and accessibility. Method: Method 1 (Portable Laptop): A 'Programming Kit' including laptop was shipped to cochlear implant users' homes (N = 20). The audiologist at the implant center used remote desktop control of this laptop to adjust subjects' speech processors. Method 2 (Remote Hosted Site): Eight distant clinics were recruited as host sites to house cochlear implant programming hardware and software so that CI users (N = 19) could attend their facility. The audiologist at the implant center used remote desktop control of the host sites' computers to adjust the subjects' CI speech processors. All parties were asked to fill out a questionnaire following their remote session. Results: Remote hosted site method was rated higher for ease of use by the Remote Experts (12/15, 80%), compared to portable laptop method (11/19, 57.9%) and is more accessible to CI users of all levels of computer abilities while requiring less preparation time per session. Conclusion: Remote hosted site method is an easier, more efficient method of remote programming as a clinical service delivery method compared to the Portable Laptop. [ABSTRACT FROM AUTHOR]

A fixed-time control strategy based on adaptive event-triggered communication and force estimators is proposed for a class of teleoperation systems with time-varying delays and limited bandwidth. Two force estimators are designed to estimate the operator force and environment force instead of force sensors. With the position, velocity, force estimate signals, and triggering error, an adaptive event-triggered scheme is designed, which automatically adjusts the triggering thresholds to reduce the access frequency of the communication network. With the state information transmitted at the moment of event triggering while considering the time-varying delays, a fixed-time sliding mode controller is designed to achieve the position and force tracking. The stability of the system and the convergence of tracking error within a fixed time are mathematically proved. Experimental results indicate that the control strategy can significantly reduce the information transmission, enhance the bandwidth utilization, and ensure the convergence of tracking error within a fixed time for teleoperation systems. [ABSTRACT FROM AUTHOR]

As the penetration rate of renewable energy in new power systems continues to increase, these systems face serious frequency control issues. The limitations of traditional methods for addressing frequency control lie primarily in their reliance on the frequency regulation capability of a single battery energy storage system (BESS). This dependence not only requires a complex communication infrastructure to transmit remote control signals but also is susceptible to communication delays, leading to system instability. This paper proposes a distributed BESS robust frequency control method (load frequency control (LFC)) based on a sparse communication network, aiming to address the limitations of traditional methods in terms of communication infrastructure requirements and the impact of communication delays. Subsequently, a dual-layer model predictive control (MPC) strategy is designed. The first layer uses a nominal model for predictive control, while the second layer considers system uncertainties for auxiliary control to improve the response characteristics of the BESS, thus significantly enhancing LFC performance and achieving more effective frequency regulation. Finally, simulation results show that under different parameter conditions, such as capacity, state of charge (SoC), and time constants, the response capability and frequency regulation effect of the distributed BESS are significantly better than those of traditional methods. [ABSTRACT FROM AUTHOR]

The university provides massive and regular use of Virtual Private Networks (VPNs) to set up a private connection system using a public network connection. No matter how the setup and cost, many universities continue to use antiquated protocols despite their security vulnerabilities. When the Remote Access Control (RAC) is weak, unauthorized people are permitted to access the university's network. In-depth VPN con figuration and performance evaluation are still absent, despite previous research pointing to unmanaged group level access, the widespread use of antiquated protocols, and poor firewall configuration as sources of security issues. With the MikroTik router and IKE¥2 VPN as a solution, this study aims to provide an in-depth configuration for improved security, reliability, and performance. This paper presents the performance of VPNs and their step-by-step configuration. [ABSTRACT FROM AUTHOR]

The existing systems for coal mine safety oversight, worker location tracking, and video surveillance face issues such as intricate network topologies, limited capacity for additional device connectivity, and significant latency. Aiming at the complex underground multi-source heterogeneous network, this paper compares and analyzes the defects and shortcomings of the current network, designs the timesharing protocol mapping model based on MII (Media Independent Interface), SPI (Serial Peripheral Interface), DMA (Direct Memory Access) and other high-speed data exchange bus, and proposes a fusion gateway suitable for underground ultra-low delay. The actual operation results show that the gateway has the characteristics of rich inter-face, less packet loss and low delay, which can meet the realtime communication requirements of underground CAN (Controller Area Network) bus, IoT (Internet of Things) and Ethernet equipment. [ABSTRACT FROM AUTHOR]

In practice, the time-varying communication delays and actuator failures are the main inevitable issues in nonlinear multilateral teleoperation systems, which can reduce the performance and stability of the considered systems. This article proposed a novel failure-distribution-dependent H ∞ fuzzy fault-tolerant control scheme to realize position synchronization and force tracking simultaneously for multilateral teleoperation systems. Firstly, the nonlinear multilateral systems were modeled as a kind of T-S fuzzy systems with multiple time-varying delays. Then, based on the distribution characteristic of failures, by introducing a series of tradeoff coefficients, a novel failure-distribution-dependent fault-tolerant control algorithm was provided to ensure force tracking in spite of failures, and the purpose of position synchronization was achieved (not only the master and slave robot position synchronization but also the position synchronization between each slave robot). Finally, a numerical simulation example was given to show the effectiveness of the proposed method. [ABSTRACT FROM AUTHOR]

By acquiring the posture information of the rigid body with markers, the camera motion on the robot end-effector can be controlled remotely. The essential step of posture alignment in teleoperation is to calibrate the transformation matrix of the world coordinate system of the optical motion capture system and the robot base coordinate system. It was necessary to change the position and attitude of the camera robot in the studio frequently. At the same time, the studio was complex with strong personnel mobility, thus the world coordinate system of the optical tracking system in the studio was needed to be re-established frequently. These two points asked the pose calibration scheme of the camera robot in the optical tracking system to be convenient and universal. In this paper, a novel posture alignment method (PAM) was proposed, which was an automatic, accurate and quick method to complete the posture alignment for related coordinate systems without non-systematic errors. PAM was applied to teleoperation for camera robot by inverse movement matrix. The comparative experiments prove that the proposed method is better than manual method, with higher precision and stability, more flexible physical setting for reference coordinate system, and shorter operation time consuming. Meanwhile, PAM is more suitable for camera robot teleoperation than existed automatic method, because it does not require paying attention to the calibration postures. [ABSTRACT FROM AUTHOR]

Teleoperation has become increasingly important for the real-world application of robots. However, in current teleoperation applications, operators need to visually recognize any physical deviations between the robot and themselves and correct its operation accordingly. Even when humans move their bodies, achieving high positional accuracy can be difficult for them, which can limit their speed of movement and place a heavy burden on them. In this study, we proposed a parameter optimization method for feedforward compensation of the link-length deviation and operator's habitual body movements in leader–follower control in 3D space. To optimize the parameters, we used Digital Annealer developed by Fujitsu Ltd, which could rapidly solve the combinatorial optimization problem. The objective function minimized the difference between the hand positions of the robot and targets. Simulations verified that the proposed method could reduce hand positional differences. [ABSTRACT FROM AUTHOR]

East Japan Railway Company (JR East) is aiming to "realize driverless train operation" as one of the key measures to respond to rapid changes in the business environment. Currently, Automatic Train Operation (ATO) equipment is not installed on the Shinkansen, but there are plans to introduce ATO or driverless operation in the near future. From 2018-2021, the Ministry of Land, Infrastructure, Transport and Tourism (MLIT) held the "ATO Technology Study Group for Railways" in which the concept of technical requirements necessary for driverless operation was discussed. In 2021, JR East conducted the GOA4 demonstration test on the Joetsu Shinkansen. In this test, we were able to confirm the basic functions of Shinkansen vehicles such as automatic departure control, speed control, fixed position stop control, and remote stop control using ATO. We aim to realize unattended operation (GOA4) for deadhead trains between Niigata Station and the Niigata Shinkansen Rolling Stock Center by the end of the 2020 s, and driverless operation (GOA3) for passenger trains of the Joetsu Shinkansen by the mid-2030s and continue to develop the necessary technologies and build systems. [ABSTRACT FROM AUTHOR]

This paper presents a novel predictive model for advertising campaigns in IPTV networks that uses the advanced geolocation-based display of advertising messages. Thanks to advanced data analysis and modern geolocation technologies, the proposed model enables the more precise planning and optimisation of advertising campaigns. Advertisers can thus better understand the preferences and behaviours of audiences in different geographical regions. This allows the creation of more tailored and engaging content of programmes and advertisements, leading to higher levels of viewer engagement in the content presented and increasing the effectiveness of campaigns. For the purposes of the project, data from the IPTV advertising campaign covering from 50,000 to 500,000 displays between 23rd January 2024 and 20th March 2024 were used. The TERYT database and the list of counties were used to increase the precision of target group targeting. Viewer rating and interaction data were collected and analysed to assess the effectiveness of the campaign. The methodology included monitoring the number of channel switches, advertising message views, complete views, the average display time of the advertising message and unique reach in different time periods. The results of the test of the advertising campaign based on switching channels using a remote control show that increasing the number of ad plays clearly improves the effectiveness of reaching the audience. In the beginning, with fewer displays, the chances of an ad being noticed by viewers are moderate. However, as the number of displays increases, these chances increase exponentially, reaching nearly 45% at 500,000 ad plays.The analysis of these results is very important for the effective planning of advertising campaigns. Thanks to these data, advertisers can determine more accurately the number of displays that needs to be planned in order to achieve their marketing goals. The significant increase in the likelihood of reaching the audience with a bigger number of displays indicates that investing in additional views can be cost-effective and lead to the better use of the advertising budget. The project confirmed that precise targeting and optimisation of the number of displays in IPTV advertising campaigns significantly increase the effectiveness of the advertisements. The high rate of complete views and the wide reach of the advertisements attest to the effectiveness of the strategy used. The test results show that smart campaign planning in IPTV can lead to better audience engagement and the more efficient use of the advertising budget. These findings suggest that IPTV has great potential as a modern advertising medium, offering advertisers the tools to effectively reach specific target groups and increase their engagement. [ABSTRACT FROM AUTHOR]

Manipulating a flexible ureteroscope is difficult, due to its bendable body and hand–eye coordination problems, especially when exploring the lower pole of the kidney. Though robotic interventions have been adopted in various clinical scenarios, they are rarely used in ureteroscopy. This study proposes a teleoperation system consists of a soft robotic endoscope together with a Guidance Virtual Fixture (GVF) to help users explore the kidney's lower pole. The soft robotic arm was a cable-driven, 3D-printed design with a helicoid structure. GVF was dynamically constructed using video streams from an endoscopic camera. With a haptic controller, GVF can provide haptic feedback to guide the users in following a trajectory. In the user study, participants were asked to follow trajectories when the soft robotic arm was in a retroflex posture. The results suggest that the GVF can reduce errors in the trajectory tracking tasks when the users receive the proper training and gain more experience. Based on the NASA Task Load Index questionnaires, most participants preferred having the GVF when manipulating the robotic arm. In conclusion, the results demonstrate the benefits and potential of using a robotic arm with a GVF. More research is needed to investigate the effectiveness of the GVFs and the robotic endoscope in ureteroscopic procedures. [ABSTRACT FROM AUTHOR]

This article explores the integration of a hapto-visual digital twin on a master device used for bilateral teleoperation. The device, known as a quasi-spherical parallel manipulator, is currently employed for the remote center of motion control in teleoperated mini-invasive surgery. After providing detailed insights into the device's kinematics, including its geometric configuration, Jacobian, and reachable workspace, the paper illustrates the overall control system, encompassing both hardware and software components. The article describes how a digital twin, which implements a haptic assistive control and a visually enhanced representation of the device, was integrated into the system. The digital twin was then tested with the device: in the experiments, one "student" end-user must follow a predefined "teacher" trajectory. Preliminary results demonstrate how the overall system can pose a good starting point for didactic telesurgery operation. The control action, yet to be optimized and tested on different subjects, indeed seems to grant satisfying performance and accuracy. [ABSTRACT FROM AUTHOR]

Copyright of Coal Science & Technology (0253-2336) is the property of Coal Science & Technology and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

Underactuation poses a significant challenge to space mission control and performance. This article investigates the non‐linear attitude tracking control problem for a remote sensing satellite underactuated by a reaction wheel (RW) actuator fault. First, a timeline close to the in‐orbit reality of an underactuation fault is presented. Then, the fault detection and diagnosis strategy is performed in a finite‐time decision window. The failed actuator is excluded from the control loop by forming the proposed reconfiguration window to transition from a 3 RWs configuration to 2 RWs. The underactuation fault‐tolerant control is designed according to the active method, where the adaptive robust control law employed for fault‐free conditions is switched to the underactuated attitude tracking control (UATC). The structure of UATC is based on kinematic and adaptive backstepping dynamic controllers. The effect of unknown bounded external disturbances is considered with an adaptive estimation term. The asymptotic stability of the closed‐loop control system is proved via Lyapunov theory in the presence of parametric uncertainty. Due to the underactuation, a new approach proposed in the prescribed performance function is interval error constraints, which include the pointing accuracy and stability requirements in imaging time intervals. Finally, the results of the multidisciplinary simulation and experimental test confirm the applicability of the underactuation fault‐tolerant control. [ABSTRACT FROM AUTHOR]

Copyright of Accounting Perspectives is the property of Canadian Academic Accounting Association and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

Teleoperation systems find many applications from earlier search-and-rescue to more recent daily tasks. It is widely acknowledged that using external sensors can decouple the view of the remote scene from the motion of the robot arm during manipulation, facilitating the control task. However, this design requires the coordination of multiple operators or may exhaust a single operator as s/he needs to control both the manipulator arm and the external sensors. To address this challenge, our work introduces a viewpoint prediction model, the first data-driven approach that autonomously adjusts the viewpoint of a dynamic camera to assist in telemanipulation tasks. This model is parameterized by a deep neural network and trained on a set of human demonstrations. We propose a contrastive learning scheme that leverages viewpoints in a camera trajectory as contrastive data for network training. We demonstrated the effectiveness of the proposed viewpoint prediction model by integrating it into a real-world robotic system for telemanipulation. User studies reveal that our model outperforms several camera control methods in terms of control experience and reduces the perceived task load compared to manual camera control. As an assistive module of a telemanipulation system, our method significantly reduces task completion time for users who choose to adopt its recommendation. [ABSTRACT FROM AUTHOR]

In teleoperation of redundant robotic manipulators, translating an operator's end effector motion command to joint space can be a tool for maintaining feasible and precise robot motion. Through optimizing redundancy resolution, the control system can ensure the end effector maintains maneuverability by avoiding joint limits and kinematic singularities. In autonomous motion planning, this optimization can be done over an entire trajectory to improve performance over local optimization. However, teleoperation involves a human-in-the-loop who determines the trajectory to be executed through a dynamic sequence of motion commands. We present two systems, Predictive Kinematic Control Tree and Predictive Kinematic Control Search, for utilizing a predictive model of operator commands to accomplish this redundancy resolution in a manner that considers future expected motion during teleoperation. Using a probabilistic model of operator commands allows optimization over an expected trajectory of future motion rather than consideration of local motion alone. Evaluation through a user study demonstrates improved control outcomes from this predictive redundancy resolution over minimum joint velocity solutions and inverse kinematics-based motion controllers. [ABSTRACT FROM AUTHOR]

Remote robot manipulation with human control enables applications in which safety and environmental constraints are adverse to humans (e.g., underwater, space robotics and disaster response) or the complexity of the task demands human-level cognition and dexterity (e.g., robotic surgery and manufacturing). These systems typically use direct teleoperation at the motion level and are usually limited to low-DOF arms and two-dimensional (2D) perception. Improving dexterity and situational awareness demands new interaction and planning workflows. We explore the use of human–robot teaming through teleautonomy with assisted planning for remote control of a dual-arm dexterous robot for multi-step manipulation, and conduct a within-subjects experimental assessment (n = 12 expert users) to compare it with direct teleoperation with an imitation controller with 2D and three-dimensional (3D) perception, as well as teleoperation through a teleautonomy interface. The proposed assisted planning approach achieves task times comparable with direct teleoperation while improving other objective and subjective metrics, including re-grasps, collisions, and TLX workload. Assisted planning in the teleautonomy interface achieves faster task execution and removes a significant interaction with the operator's expertise level, resulting in a performance equalizer across users. Our study protocol, metrics, and models for statistical analysis might also serve as a general benchmarking framework in teleoperation domains. Accompanying video and reference R code: https://people.csail.mit.edu/cdarpino/THRIteleop/ [ABSTRACT FROM AUTHOR]

When synthesizing systems for railway interlocking, it is recommended to use automated models to implement the logic of railway automation and remote control units. Finite-state machines (FSMs) can be implemented on any hardware component. When using relay technology, the functional safety of electrical interlocking is achieved by using uncontrolled (safety) relays with a high coefficient of asymmetry of failures in types 1 → 0 and 0 → 1. When using programmable components, the use of backup and diverse protection methods is required. This paper presents a flexible approach to synthesizing FSMs for railway automation and remote control units that offer both individual and route-based control. Unlike existing solutions, this proposal considers the pre-failure states of railway automation and remote control units during the finite-state machine synthesis stage. This enables the implementation of self-checking and self-diagnostic modules to manage automation units. By increasing the number of states for individual devices and considering the states of interconnected objects, the transition graphs can be expanded. This expansion allows for the synthesis of the transition graph of the control subsystem and other systems. The authors used a field-programmable gate array (FPGA) to implement a finite-state machine. In this case, the proposal is to encode the states of a finite-state machine using weight-based sum codes in the residue class ring based on a given modulus. The best coverage of errors occurring at the outputs of the logic converter in the structure of the FSM can be ensured by selecting the weighting coefficients and the value of the module. This paper presents an example of synthesizing an FPGA-based FSM using state encoding through modular weight-based sum codes. The operation of the synthesized device was modeled. It was found to operate according to the same algorithm as the real devices. When synthesizing self-checking and self-controlled train control devices, it is recommended to consider the solutions proposed in this paper. [ABSTRACT FROM AUTHOR]

In recent years, interest in renewable energy and photovoltaic systems has increased significantly. The design and implementation of photovoltaic systems are various, and they are in continuous development due to the technologies used. Photovoltaic systems are becoming increasingly complex due to the constantly changing needs of people, who are using more and more intelligent functions such as remote control and monitoring, power/energy prediction, and detection of broken devices. Advanced remote supervision and control applications use artificial intelligence approaches and expose photovoltaic systems to cyber threats. This article presents a detailed examination of the applications of various remote-control, artificial intelligence, and cybersecurity techniques across a diverse range of solar energy sources. The discussion covers the latest technological innovations, research outcomes, and case studies in the photovoltaics field, as well as potential challenges and the possible solutions to these challenges. [ABSTRACT FROM AUTHOR]

Aiming at the problems of grinding wheel wear during high-speed cylindrical grinding, communication delays, and slow response during data acquisition, processing, and system operation, an intelligent online monitoring technology frame for CNC manufacturing units is proposed, incorporating a real-time-perception grinding mechanism and a cloud-edge device. Based on the grinding data and grinding wheel wear mechanism, a monitoring model using multi-sensor information fusion is constructed to assess the grinding wheel wear state. In addition, edge data acquisition and online monitoring software have been developed to improve the speed of data transmission and processing. Finally, based on the proposed framework, a cloud-edge device collaborative intelligent monitoring system for assessing grinding wheel wear during high-speed cylindrical grinding of bearing rings is constructed. It improves the grinding quality and efficiency, reduces the grinding cost, and incorporates remote control functionality. [ABSTRACT FROM AUTHOR]

Mobile robots have many applications in the modern world. The autonomy of robots is increasing, but critical cases like search and rescue missions must involve the possibility of human intervention for ethical reasons and safety. To achieve effective human–robot interaction, the operator needs to have a sense of agency (SoA) over the activities of the robot. One possible way to increase one's SoA in remote control could be the use of VR technology. The remote control situation has some important features, so indicators of SoA need to be reproduced there independently. In our study, participants controlled a mobile robot using either a monitor or a VR-headset as an output device. In both cases, active control was contrasted with passive observation of the robot's movement. In each trial, participants estimated the distance traveled by the robot—a putative implicit indicator of SoA. A significant difference between subjective distance estimates was found in the active and passive conditions with the monitor, but not in the active and passive conditions with VR. The effect obtained in the monitor conditions suggests that distance estimates can be used as an implicit indicator of SoA in robot remote control. We believe that the lack of difference between the active and passive conditions in VR was caused by motion sickness due to a mismatch of visual and vestibular sensory cues, leading to a weakened SoA. [ABSTRACT FROM AUTHOR]

Remote control engineering in industry usually requires cameras to assist target identification and detection, but the cameras working in nuclear environments face the threat of radiation-induced degradation. Both γ- and X-rays in nuclear environments will cause ionizing radiation damage, but the difference in degradation of camera’s performance induced by ionizing radiation damage with equivalent total ionizing dose (TID) of these two rays is unclear, which is crucial for the evaluation of camera performance in a nuclear radiation environment. In order to figure out the degradation of CMOS cameras by ionization radiation damage under different rays, this study conducted irradiation experiments on CMOS image sensors under X-ray with 10 keV and 60Co-γ ray with 1.25 MeV, respectively, and then tested and calculated the resolution of camera based on this CMOS image sensor. After comparing and analyzing the results, it was found that the dark current and full well capacity of the CIS, as well as the resolution of the camera, were more severely degraded after X-ray irradiation. Further analysis found that the interface dose enhancement effect of X-ray, as well as the generation of high-density oxide trapped charges in the gate oxide, aggravated the degradation of full well capacity on the CIS after X-ray irradiation, resulting in more severe degradation in the resolution of the CMOS camera. This study provides theoretical basis for the safety and reliability evaluation of cameras in strong nuclear radiation environments. [ABSTRACT FROM AUTHOR]

As screen sizes are becoming larger and larger, exceeding human physical limitations for direct interaction via touching, remote control is inevitable. However, among the current solutions, inertial gyroscopes are susceptible to positional inaccuracies, and gesture recognition is limited by cameras' focus depths and viewing angles. Provided that the issue of ghost points can be effectively addressed, grating antenna light-trapping technology is an ideal candidate for multipoint inputs. Therefore, we propose a differential amplitude modulation scheme for grating antenna-based multi-beam optical touch, which can recognize different incidence points. The amplitude of the incident beams was first coded with different pulse widths. Then, following the capture of incident beams by the grating antenna and their conversion into electrical currents by the aligned detector arrays, the incident points of the individual beams were recognized and differentiated. The scheme was successfully verified on an 18-inch screen, where two-point optical touch with a position accuracy error of under 3 mm and a response time of less than 7 ms under a modulation frequency of 10 kHz on both incident beams was achieved. This work demonstrates a practical method to achieve remote multi-point touch, which can make digital mice more accurately represent the users' pointing directions by obeying the natural three-point one-line aiming rule instantaneously. [ABSTRACT FROM AUTHOR]

Teleoperation of manipulators has allowed extending the human skills to several areas, where the commands generated by a human operator on the leader robot are followed by a remote robot. For this purpose, position-position tracking requires a mapping given the mismatch between robot workspaces. This paper compares a pair of functions for mapping the haptic device commands to handle a remote robot, considering non-identical workspaces and a classic P+d control scheme. As part of the theoretical analysis, a Lyapunov-Krasovskii-based stability analysis is developed in steps, allowing us for determining the boundedness of velocities and coordination errors. Subsequently, the performance of the teleoperation system is compared using two mapping functions. To achieve a fair comparison of results, a test protocol is developed, where different levels of haptic device damping, time delays, and workspace scales are used to evaluate the time to complete the task and the average coordination errors. Based on the results, the mapping function influences the calculation of force feedback, stability of the system, and performance metrics. During a pick-and-place task, a reduction in coordination error is observed when the linear function is chosen, while the time to complete the task is lower when a non-linear function is considered. [ABSTRACT FROM AUTHOR]

Currently, self-propelled trimming machines for tea gardens have problems of low automation level and poor maneuverability. In this work, a contact-style automatic ridge-following navigation system and its corresponding control algorithm for a small-scale, wheeled trimming machine in tea gardens were proposed considering the structural features of tearidge boundaries. A contact-style automatic ridge detection mechanism based on low-cost laser ranging sensors was designed.The working principle of the detection mechanism was introduced and analyzed. The position and heading information of the trimming machine with respect to the tea ridge was derived through the opening and closing of two side baffles of the detection mechanism caused by the changing profiles of the tea ridge boundaries. The navigation system hardware included a power supply unit, remote control unit, sensing unit, steering unit, driving unit, and control unit. The sensing unit consisted of twolow-cost laser ranging sensors for measuring the changing distances of the baffles of the ridge following the detection mechanism and an absolute optical encoder for determining the real-time steering angle of the steering wheel. The steering unit replaced the original manual steering mechanism of the trimming machine with a stepper motor to realize electrical control. By analyzing the four pose states of the trimming machine with respect to the tea ridge, the kinematic navigation model of the trimming machine was derived, and the lateral and heading deviations of the trimming machine with respect to the tea ridge centerline were obtained. A navigation controller was designed based on an LQR (linear quadratic regulator) algorithm derived from the kinematic model of the trimming machine. The position and heading information of the machine were taken as control inputs. After calculation by the control algorithm, proper steering signals were sent to the stepper motor for deviation correction. Tovalidate the feasibility of the contact-style navigation system and evaluate the performance of the control algorithm, field experiments in a tea garden were conducted. The trimming machine was controlled to automatically follow a tea ridge at three different speeds, 0.2, 0.4, and 0.6 m/s. The experiment for each speed was repeated three times. Results showed that under three speeds, the maximum absolute deviation of the trimming machine was no larger than 0.134 m, the absolute deviation maximum was no larger than 0.107 m, and the standard deviation maximum was no larger than 0.105 m. This navigation performance was comparable to mainstream navigation systems developed based on RTKGNSS, vision and laser sensors. The mean absolute deviation and standard deviation increased slightly as the running speed of the trimming machine increased. However, theywere kept in the 0.15 m limit. This indicated that the navigation method based on the contact-style automatic ridge-following mechanism was feasible, and the LQR algorithm derived based on the kinematic model of the trimming machine could meet the accuracy requirement of tea ridge following under a practical tea garden environment. The low-cost, contact-style navigation system and its corresponding algorithm proposed in this work can provide a reference for the development of automatic navigation systems for self-propelled operation machines in tea gardens. [ABSTRACT FROM AUTHOR]

In the current 5G vehicle network system, there are security issues such as wireless intrusion, privacy leakage, and remote control. To address these challenges, an improved lightweight anonymous authentication key negotiation scheme based on certificate-less aggregate signatures is proposed and its security and efficiency are analyzed. The result shows that the scheme can offer security attributes including anonymity, traceability, and revocability, as well as effective identity authentication, and it can resist forgery attacks, man-in-the-middle attacks, tampering attacks, and smart card loss attacks. Moreover, compared with similar schemes, it possesses superior security and more efficient computational efficiency and less communication overhead, thereby being more appropriate for high-speed, large-capacity, low-latency, and resource-constrained 5G vehicle network application scenarios. [ABSTRACT FROM AUTHOR]

RFID (Radio Frequency Identification), which transmits control data through electronic tags in a non-contact manner, provides a new approach for efficient and low-cost remote control of oil downhole tools. However, the interference of harsh downhole environments and the high-speed movement of tags seriously affect the performance of the current downhole reader. To effectively address this issue, in this study, a novel downhole RFID reader is presented. By introducing the half-duplex communication protocol to replace the current full-duplex communication protocol in the hardware circuits of the reader, its tag recognition ability can be improved. Then, the corresponding hardware circuits and software programs are designed. Furthermore, a sparse solenoid antenna is adopted to replace the traditional tightly wound solenoid antenna, which can provide a longer reading area range to cope with the high-moving tag, and its total length and spacing parameters between adjacent coils are designed in detail. The test results show that the proposed RFID reader based on a half-duplex communication protocol can communicate with tags normally, and its sparse solenoid antenna provides significantly more tag reading times than traditional tightly wound solenoid antennas under the same antenna inductance. [ABSTRACT FROM AUTHOR]

The broad spread of cooperative robots into many application domains has resulted in a demand for intuitive and effective solutions for teleoperated control. A relevant role in teleoperation has been assumed by impedance controllers, that allow the increase of stability and accuracy during interaction. This paper aims to test a teleoperation method based on an impedance controller, namely tele-impedance control, that is usable in unstructured environments since it relies only on wearable sensors. The proposed solution maps the joint stiffness and position of the human user, computed through six EMG and two M-IMU sensors, into the remote system to be teleoperated. We developed a 2-DoFs virtual task involving virtual physical interactions to compare the performance of our solution with the one of a traditional position-based controller. The study has been conducted on five healthy participants, who experienced both controllers in two different sessions. The tele-impedance approach has proved to be less physically demanding and more intuitive than the position-based one. Experimental data also allow us to investigate the strategy employed by the volunteers in the case of remote interactions, while using the two controllers. Of note, even though with the position controller the variation of subject impedance has no effect on the virtual arm, participants still tend to regulate both impedance and position of their own arm. [ABSTRACT FROM AUTHOR]

To support people working in dangerous industries, virtual reality (VR) can ensure operators manipulate standardized tasks and work collaboratively to deal with potential risks. Surprisingly, limited research has paid attention to the cognitive load of operators in their collaborative tasks, especially via VR interfaces. Once task demands become complex, many researchers focus on optimizing the design of the interaction interfaces to reduce the cognitive load on the operator. In this paper, we propose a new collaborative VR system with edge enhancement to support two teleoperators working in the VR environment to remote control an uncrewed ground vehicle. We use a compared experiment to evaluate the collaborative VR systems, focusing on the time spent on tasks and the total number of operations. Our results show that the total number of processes and the cognitive load during operations were significantly lower in the two-person group than in the single-person group. Our study sheds light on designing VR systems to support collaborative work with respect to the flow of work of teleoperators instead of simply optimizing the design outcomes. [ABSTRACT FROM AUTHOR]

An adaptive event-triggered security control method is proposed for networked robotic teleoperation systems subject to time-varying delays and false data injection (FDI) attacks. An event-triggered scheme is designed via the position and velocity signals of the master and slave robots, where the triggering thresholds can change adaptively with the system states. The position and velocity triggered signals and the feedback error between the operator and the environment forces are utilized to detect whether the transmitted signals suffered from FDI attacks. Then, a switching controller is designed, which is able to adopt the corresponding control strategy according to the corresponding detection result. The stability of the system and the convergence of the tracking errors are proved through Lyapunov functions, and the proposed method is validated through practical experiments. The proposed method is able to adaptively adjust the triggering frequency and effectively reduce the transmitted data, thus saving the network resources. Meanwhile, it can ensure the stability of networked teleoperation systems under time-varying delays and FDI attacks, as well as the position and force tracking performance. [ABSTRACT FROM AUTHOR]

The Laser Blow-Off (LBO) impurity injection system is a crucial tool for studying impurity transport and plasma behavior. Conducting proactive impurity transport research is challenging on experimental advanced superconducting tokamak (EAST) due to the uncontrollable generation of impurity sources; therefore, it is necessary to develop a laser blow-off impurity injection system for injecting controlled trace impurity particles. This study presents the design and test results of an LBO system for the EAST. The system aims to provide precise and repeatable control over the timing and quantity of impurity injection. The system primarily consists of a laser source, two mirrors, a moveable focusing lens, a target material, and a vacuum system. The movement of the focusing lens is achieved by a three-dimensional displacement system. The operation of the system is completed by a remote control system. With the accurate control system, the laser spot diameter is adjustable, allowing for modification of impurity injection quantity. The test results demonstrate that the system can rapidly detect external trigger signals and ensure precise timing for the impurity injection. Furthermore, this system can also quickly change the focal point of the laser spot, addressing the requirements for impurity injections during the experiments with less than 0.4 mm position error for laser spot focusing. Test results have shown that the aluminum film material can be peeled off by the LBO system when the laser energy exceeds 650 mJ and the smallest ablation spot is about 1 mm. This study is of significant importance for conducting plasma impurity transport research on the EAST. [ABSTRACT FROM AUTHOR]

A set of new millimeter-wave diagnostics will deliver unique measurement capabilities for National Spherical Torus Experiment-Upgrade to address a variety of plasma instabilities believed to be important in determining thermal and particle transport, such as micro-tearing, global Alfvén eigenmodes, kinetic ballooning, trapped electron, and electron temperature gradient modes. These diagnostics include a new integrated intermediate-k Doppler backscattering (DBS) and cross-polarization scattering (CPS) system (four channels, 82.5–87 GHz) to measure density and magnetic fluctuations, respectively. The system can access reasonably large normalized wavenumbers kθρs ranging from ≤0.5 to 15 (where ion sound gyroradius ρs = 1 cm and kθ is the binormal density turbulence wavenumber). The system addresses the challenges for making useful DBS/CPS measurements with a remote control of launch polarization (X- or O-mode), probed wavenumber, polarization match of the launch beam with the edge magnetic field pitch angle, and beam steering of the launched beam for wave-vector alignment. In addition, a low-k DBS system consisting of eight fixed frequencies (34–52 GHz) and four tunable frequencies (55–75 GHz) for low-k density turbulence and fast ion physics will be located at a nearby port location. The combined systems cover the near LCFS and pedestal regions (34–52 GHz), the pedestal or mid-radius (50–75 GHz), and core plasmas (82.5–87 GHz). [ABSTRACT FROM AUTHOR]

Recently, research has been conducted on mixed reality (MR), which provides immersive visualization and interaction experiences, and on mapping human motions directly onto a robot in a mixed reality (MR) space to achieve a high level of immersion. However, even though the robot is mapped onto the MR space, their surrounding environment is often not mapped sufficiently; this makes it difficult to comfortably perform tasks that require precise manipulation of the objects that are difficult to see from the human perspective. Therefore, we propose a system that allows users to operate a robot in real space by mapping the task environment around the robot on the MR space and performing operations within the MR space. [ABSTRACT FROM AUTHOR]