Index
A
Abdominal simulators and models, 397, 398, 400, 401
Acoustetron, 148
Acoustic trackers, 51, 199-200, 203
Actuators, 6, 63, 80, 81, 310-313
Adaptation and readaptation, 43-44, 71, 102, 103, 104, 112, 143-144, 147-148, 159, 207, 219
Additive synthesis, 154-155
Adoptive Control of Thought (ACT) theory, 106
Advanced Research Projects Agency (ARPA), 235, 363, 385, 390
Advanced Technology Program, 84
Advanced Unmanned Search System (AUSS), 323
Aerospace applications, 389, 392-395, 435
Airline Travel Information Service (ATIS), 235-236
American National Standards Institute (ANSI), 366
American Textile Partnership (AMTEX), 390
Anatomical modeling, 38, 69-70, 395, 396-397, 398-399, 400-401, 404-405
Anchored instruction, 424n, 429, 431
Apparel CIM Center, 391
Applications, 3-4, 15, 35-37, 68-71, 381-385.
See also Defense applications;
Design, manufacturing, and marketing;
Education applications;
Entertainment and games;
Hazardous operations;
Information visualization;
Medical and health care applications;
Scientific visualization;
Telecommunications;
Teletravel;
Training applications
Architectural visualization, 57, 251, 271, 388, 389
aerospace applications, 394-395
for disabled persons, 403-404
Argonne National Laboratory, 176, 406
Argo submersible vehicle, 412
Artistic expression, 382, 383-384
Ascension Bird sensor, 193, 194
Astrophysics, 436
Asynchronous mode technology (ATM), 364, 367
Atomic force microscopes (AFMs), 313
Auditory channel, 23, 46, 48-50, 79, 80, 82, 134-144, 248, 249
in anatomical modeling, 70
in augmented-reality systems, 145, 153
display and hardware, 23, 47, 48-49, 134, 136-137, 141, 144-153, 159
information transfer rates, 96, 135-136
movement and directional cues, 214, 225-226, 229, 442
and sensory substitution, 50, 95, 100, 143-144, 159
synthetic display, 49, 50, 153-159, 160
in training applications, 415
Augmented-reality systems, 2, 19-21, 95, 145, 153, 432
image registration and alignment, 5, 15, 48, 74, 75, 79, 404
medical applications, 38, 397, 398-399, 400-401, 404, 436
in production line, 37, 393-394
software, 5, 60, 79, 275-276, 295-296
AutoCAD, 273
AutoDesk Cyberspace project, 426-427
Automobile industry, 389-390, 394
Autonomic nervous system, 240-243
Autonomous agents, 5, 22, 60, 77, 79-80, 281-286, 413
in teleoperations, 306, 354, 361
AUTOSEVOCOM network, 439
Autostereoscopic displays, 121, 124-128, 132
B
Behavioral therapy, 404
Binocular vision, 118
Biocybernetic controllers, 402
Boston Computer Museum, 426
Brain activity, 243-245
Bulk transport, 411-412
Bulletin board systems, 427
C
CAD, see Computer-aided design
CAE Electronics, 128
CAM, see Computer-aided manufacturing
Carnegie Mellon University (CMU), 324
Cathode ray tubes (CRTs), 122, 123, 124, 132
CAVE display system, 152-153, 428, 442
Celesco Transducer Products, 200
Charged-couple device (CCD) arrays, 194, 197, 204
Children's Hospital, Boston, 403
Chrysler Corp., 389
CIM, see Computer-integrated manufacturing
Circular vection, 213
Clean-room operations, 408
Coding systems, 96-97
Cognitive models, 4, 44-45, 71, 72, 93, 99, 105-107, 110
training applications, 45, 71, 106, 110, 418-419
Collaboration, 97
in design and manufacturing, 387, 388, 389, 392, 393, 437
interdisciplinary, 13-14, 65, 85-86, 375
learning, 425
Collision, 156-157, 185, 326-328, 394, 407
Color Sim Eye, 129
Comfort, see Ergonomics and comfort issues
Communications, see Networks and distributed systems;
Telecommunications
Competition and market forces, 8-9, 86, 88
Compression algorithms, 256-257
Computer-aided design (CAD), 59, 273, 295, 384, 387
aerospace, 392-394
Computer-aided manufacturing (CAM), 37, 387
Computer-assisted tomography (CT), 397, 400
Computer-integrated manufacturing (CIM), 387, 391
Computers, see Hardware technologies;
Software
Concurrent model, 259
Constructionism, 424-425
Continuous motion illusion, 94-95
Contrast sensitivity function (CSF), 117-118
Coriolis forces, 208, 209, 210, 221
Cost-effectiveness, 36, 37, 65, 67, 374, 375
educational applications, 41, 429-430
and human performance characteristics, 43, 94, 110
medical applications, 405
teleoperator systems, 39, 412-413
training applications, 40, 70, 415, 416, 422
Crossover model, 98
Cruise missiles, 411
CURV remote vehicle, 412
D
DataGlove, 177, 242, 314, 403-404, 463
Decision-making, 432
Defense applications, 36, 73, 87, 128-129, 382, 384-385
networks, 36, 63-64, 83, 363, 369-370, 385, 439
teleoperator systems, 36, 305, 320-321, 384, 411, 438
Defense Simulation Internet, 363, 370
Definitions, see Terminology and definitions
Deleterious effects, see Motion sickness;
Psychological issues, side effects;
Sopite syndrome
Demand Activated Manufacturing Architecture (DAMA), 390
Department of Defense (DOD), 87, 320, 363, 384-385
Department of Energy (DOE), 86, 87, 390, 406
Depth perception, 118, 119-120
Design, manufacturing, and marketing, 3, 37-38, 68, 384, 387-395
collaboration and data sharing, 387, 388, 389, 392, 393, 437
shopping vignette, 26-28
see also Aerospace applications;
Production lines;
Prototypes;
Textile industry
Dextrous Hand, 177, 242, 313, 314, 315
Dextrous Teleoperation System Master, 176
Disability and rehabilitation, 38-39, 100, 402-404
education applications, 107, 431n
Discomfort, see Ergonomics and comfort issues
Displays, see Auditory channel;
Force-feedback display systems;
Graphical displays and imaging;
Haptic channel;
Head-mounted display systems;
Off-head displays;
See-through displays;
Spatial display and resolution;
Tactile information and feedback;
Visual channel
Distributed Interactive Simulation (DIS), 64, 385
Distributed systems, see Networks and distributed systems
Dynamic time warping (DTW), 232-233
E
Earphones, 23, 47, 49, 138-139, 145-149
Education applications, 3-4, 40-41, 68-69, 423-432
cognitive modeling, 45, 71, 110
in entertainment domain, 41, 69, 107, 423, 427, 430, 431
networks, 40, 69, 107, 425-426, 438
research agenda, 430-432
vignette, 28-32
see also Training applications
Electrochromic polymers, 124
Electrodermal activity (EDA), 242-243
Electromagnetic sensors, 317
Electromyography (EMG), 242
Electronic Visualization Laboratory, 152, 436
Electrostatic actuators, 312
Electrotactile displays, 177
Emotional response, 240-241
Emu Morpheus Synthesizer, 158
Engineering applications, 387, 394, 434-435
Enhancing distortions, 44, 48, 71, 93, 103, 119-120, 409
Entertainment and games, 3, 4, 15, 35-36, 46, 67, 381, 382-383
education applications, 41, 69, 107, 423, 427, 430, 431
networks, 63, 88, 363, 365, 372, 383
role-playing, 45, 109, 427, 431
Ergonomics and comfort issues, 3, 47, 67, 94, 110, 239-240
haptic interfaces, 175-176, 186
head-mounted displays, 47, 73, 104-105, 121, 131, 437
Evaluation and testing, 7, 65-66, 83-84, 373-378
cost-effectiveness, 37, 65, 374, 375
position-tracking devices, 204
standardization, 7, 83, 84, 378
teleoperations, 337-338, 345-346
training applications, 70, 374, 375, 415, 416, 420, 421-422
Event-driven model, 258-259
Event-related potentials (ERPs), 243
Exoskeleton, 52, 172, 173-174, 176-177, 178, 180
Explosive ordnance disposal, 411
EYEGEN3, 129
Eyes, see Visual channel
F
Facilities design, see Production lines
Fake Space labs, 128, 130, 192
Federal Coordinating Council for Science, Engineering, and Technology (FCCSET), 387-388
Federal research and development, 8, 16, 76-77, 79, 86-87, 381-382
Fiber Channel, 367
Field of view, 73, 117, 121, 132
Firefighting and fire rescue, 246, 410-411, 413, 420-421
Flicker, 117
Flight simulators, 210, 220-222, 251, 271-272, 414, 416, 420
Force-feedback display systems, 16, 23-24, 52-53, 172, 173-176, 178, 184, 394, 436
sensory substitution in, 100
in teleoperator systems, 332, 333-334, 355-356, 409
Ford Motor Co., 389
Frame rates, 57, 117, 249-250, 287-288
Freedom graphics hardware, 299, 302
Frequency modulation (FM), 155, 157
Functional fidelity, 419
G
Galvanic skin reflex (GSR), 242
Games, see Entertainment and games
GAMS tracker, 199-200
General Electric, 128
General Motors, 389
General relativity, 435-436
Geometric modeling, 273-275, 294-295
Georgia Institute of Technology, 404
Glasses, see Head-mounted display systems
Gloves, 52, 177, 180, 191-193, 199, 417, 421
DataGlove, 177, 242, 314, 403-404, 463
Government policy and infrastructure, 8-9, 84-88
Graphical displays and imaging, 42, 56, 77, 111, 249-250
hardware, 57-58, 251-261, 296-303, 394, 430
medical applications, 38, 395, 398, 404
in teleoperation systems, 81-82, 344-345, 407, 409
see also Augmented-reality systems;
Information visualization
Graphics, Visualization, and Usability Center, 404
Graphic user interface (GUI), 264, 265, 266
Greenleaf Medical Systems, 403
Green Telepresence system, 401-402
Ground-based linkage devices, 51, 52, 173-174, 175-176, 192-193, 203
in robotics, 309
Gustatory channel, 23, 55, 245
GyroChip, 200
GyroEngine, 200
H
Hand tracking, 188-189, 192, 193, 266-267
Haptic channel, 5, 16, 23, 46, 52-53, 72, 74, 161-174, 248-249
hand and arm tracking, 188-189, 192, 193, 266-267
hardware development, 53, 174-177, 180-182, 184-185, 186, 394
information transfer rates, 96-97
in medical applications, 70, 398, 399, 404
sensorimotor resolution, 94, 177
and sensory substitution, 100, 186
software development, 53, 79, 80, 178-180, 185
in telecommunications, 42
teleoperator systems, 52, 62, 81, 176, 177, 179-180, 189, 304, 305, 315-317, 345
see also Augmented-reality systems;
Information visualization
Hardware technologies, 3, 5, 57-58, 67, 75-76, 251-261, 289-290
auditory channel, 23, 47, 48-49, 134, 136-137, 141, 144-153, 159
computation and data management capability, 254-260, 290
graphics, 57-58, 251-261, 296-303, 394, 430
haptic, 53, 174-177, 180-182, 184-185, 186, 394
telerobotics, 6, 62-63, 80-81, 349-353, 359-360
training applications, 415, 421
Hazardous operations, 39, 100, 405-412
research agenda, 3, 68, 412-413
telerobotics, 4, 39, 46, 102, 304, 305, 381, 405-413, 438, 441
see also Firefighting and fire rescue;
Security applications;
Space applications;
Underwater applications
Hazardous waste disposal, 406-407
Head-mounted display (HMD) systems, 23, 47-48, 73, 104, 120-121, 123, 128-130, 131, 426
auditory, 23, 47, 49, 138-139, 145-149
in augmented-reality systems, 47, 73, 121, 393, 394, 397
comfort issues, 47, 73, 104-105, 121, 131, 437
in entertainment, 35-36, 47, 73
ergonomics issues, 47, 73, 104-105, 121, 131, 437
and motion sickness, 208-209, 215
in scientific visualization, 436, 437
see-through glasses, 47, 73, 119, 440, 441, 442
Head movement and tracking, 47, 59, 121, 131, 151, 189-190, 193, 201, 207-209, 912
Head-related transfer functions (HRTFs), 147-148, 159
Health care, see Medical and health care applications;
Telemedicine
HELIOS, 353
Hidden Markov modeling (HMM), 232-233, 234, 235, 236-237
High Performance Computing and Communications (HPCC) program, 15, 64, 84, 364-365
High-performance parallel interface (HPPI), 366-367
Holographic displays, 124, 125, 127-128
Hubbell telescope, 420
Human Interface Technology (HIT) Laboratory, 124, 426
Human-machine interface, 1, 4-5, 21, 46-47, 72-75
in production lines, 389
in rehabilitation systems, 38-39, 402-403
in teleoperator systems, 17-18, 21-22, 305-307, 329-330
in virtual environment systems, 2, 18, 21-22
see also Auditory channel;
Gloves;
Haptic channel;
Head-mounted display systems;
Locomotion interfaces;
Multimodal interfaces;
Off-head displays;
Visual channel
Human operator models, 43, 97-100
Human performance characteristics, 3, 15, 43, 65, 67, 375, 376-378, 392, 393
information transfer rates, 43, 95-97
research needs, 4, 71, 110, 422
sensorimotor resolution, 43, 94-95, 99-100, 104
see also Illusions;
Sensorimotor loop alterations
Hydraulic actuators, 312
Hypermedia integration, 61, 286-287
I
IC Sensors, 200
Identical elements, 418
whole-body motion, 95, 206-207, 213-215
Imaging, see Augmented-reality systems;
Graphical displays and imaging;
Information visualization
Inertial tracking, 51, 74, 200-201, 203-204
Information transfer rates, 43, 95-97
Information visualization, 3, 4, 41-42, 68, 69, 251, 254, 256, 384, 432-433
cognitive modeling, 45, 71, 110
Infrared light emitting diodes (IREDS), 194, 195
Integrated Services Local Area Network Interface, 65
Intel Corporation, 426
Interdisciplinary cooperation, 13-14, 65, 85-86, 375
and communication difficulties, 2, 14, 17, 86
Interface, see Force-feedback display systems;
Human-machine interface;
Locomotion interfaces
International competition, 15-17, 390
Internet, 64, 364, 365, 368, 427
J
Japan, 16-17, 128, 176, 383, 408
Jason remote vehicle, 412, 425-426
Joints, 165-167, 171, 191-192, 202
robotic, 6, 81, 308-310, 314-316, 360
Joysticks, 23, 52, 172, 173, 175-176, 180
K
KEMAR mannequin, 148
Kinematics, 308-310
Kinesthetics and proprioception, 100, 163-164, 165-167, 170, 171, 226-227
Knowledge, see Cognitive models
Kopin, Inc., 123-124
L
Laparoscopic surgery, 38, 398, 400
Laser interferometers, 198-199, 203
Laser radar (LADAR), 194, 197-198, 203, 327
Laser scanning, 60, 124, 194, 196-199, 203, 274, 295
Learning, see Cognitive models;
Education applications;
Training applications
Lenticular displays, 124-125
Libraries and data bases, 85, 261-262, 362, 399
Limb position and motion, 99, 165-167, 171, 202
Linear operator models, 98
Linear vection, 213-214
Link Trainer, 414
Liquid crystal displays (LCDs), 122, 123, 124
Loading equipment, 409, 411-412
Local-area networks (LANs), 64-65, 366-367
Locomotion interfaces, 5, 54-55, 72, 74, 205, 206, 211-212, 223-224, 228-229
Loma Linda University Medical Center, 402, 403
Loudspeakers, 49, 145, 151-153
Lunakhod lunar rover, 407-408
Lunar operations, 407-408
M
Magnetic bearings and levitation, 311-312
Magnetic resonance angiography (MRA), 245
Magnetic resonance imaging (MRI), 243, 244-245, 397, 400
Magnetic tracking, 51, 193-194, 203
Magnification, 44, 103, 116-117, 144
Manipulation, 52, 162-163, 172, 207
Manipulators, robotic, 20, 307-317, 347-348, 406, 407, 408, 409-410, 413, 436
Manual control and tracking, 43, 93, 97-101
Manufacturing, see Design, manufacturing, and marketing
Marker systems, 194-195
Marketing, see Design, manufacturing, and marketing
Massachusetts General Hospital, 245
Massachusetts Institute of Technology (MIT), 123, 127, 128, 175, 176, 178, 201
Measurement Systems Inc., 175
Mechatronics, 334
Medical and health care applications, 38-39, 395-405
accreditation, 399-400
computational models, 85
imaging, 38, 395, 397, 398, 398-399, 400-401, 404, 436
planning, 400
research agenda, 3, 68, 69-70, 404-405
training, 38, 69-70, 395, 396-400, 414, 416
see also Disability and rehabilitation;
Telemedicine
Medical College of Georgia, 401
Merged display effects, 73, 95
Meta-modeling, 78
Microelectromechanical systems (MEMS), 6, 63, 180, 185, 312-313
Microrobotics, 63, 80, 81, 176, 312-313, 402
MIDI (musical instrument digital interface) technology, 157, 158
Military uses, see Defense applications
Millimeter wave (MMW) radar, 326-327
Mobile Detection Assessment and Response System (MDARS), 322-323
Mock-ups, see Prototypes;
Simulator systems
Modeling software, 5, 59-60, 77, 78, 85, 272-281, 294-296, 369
Molecular modeling, 436
MOOs (MUD, object-oriented), 427
Motion blur, 113
Motion sickness, 94, 103, 104, 110, 121, 206, 207-209, 215-220, 229-230
MUDs (multi-user dungeons), 109, 427
Muller-Lyer illusion, 95
Multiaxis high-resolution tactile sensors, 6, 80, 80-81, 359
Multimedia, see Hypermedia integration
Multimodal interfaces, 3, 37, 53, 67, 71, 72, 76, 77, 78, 82, 133, 247-249, 287-289
merged display effects, 73, 95
in telerobotics, 61
MUSE (multi-user simulation environment), 427
N
Nanomanipulator, 436
National Aeronautics and Space Administration (NASA), 64, 87, 128, 140, 222, 362, 401, 420, 427
National Board of Medical Examiners, 400
National Center for Supercomputing Applications, 428, 436
National Council for Teachers of Mathematics, 431
National defense, see Defense applications
National Institute of Standards and Technology, 84
National Institutes of Health, 244, 396
National Research and Education Network (NREN), 64, 364-365, 366-367
National Science and Technology Council, 84
National standards and regulations, 8, 87-88
National Television Standard Code (NTSC), 129
Naval Ocean Systems Center, 128, 176
Navigation, 5, 59, 77, 79, 267-272, 293-294, 324-326
Navlab, 324
Networks and distributed systems, 15, 63-65, 362-363
collaborative, 42, 384, 437-441, 439, 440-441
defense applications, 36, 63-64, 83, 363, 369-370, 385, 439
education applications, 40, 69, 107, 425, 425-426, 438
entertainment, 63, 88, 363, 365, 372, 383
research agenda, 6-7, 82-83, 370-372
software, 64, 369-370, 371-372
standards, 7, 64, 65, 82, 82-83, 364, 366, 368, 372
telerobotics, 6, 62, 63, 64, 80, 81-82
vignette, 32-33
see also Telemedicine
Noise, see Signal variation and noise
Nonanthropomorphic robots, 44, 71, 93, 103
Northern Digital, 195
NPSNET system, 274, 284-286, 370, 371
Nuclear power facilities, 406, 416, 441
Nuclear waste disposal, 406
O
Ocean, see Underwater applications
Odetics 3D Laser Imaging System, 198
Off-ground environments, 409-410
Off-head displays (OHDs), 47-48, 49, 73, 104, 120, 121-122, 130, 131, 132, 151-153
Off-shore oil operations, 412
Olfactory channel, 23, 55, 245, 246
Open-system environment, 79
Operating systems, 61, 77, 78-79, 291-292
telerobotics, 353-354
Optical technologies, 51, 60, 74, 75, 124, 194-199, 203, 274, 295, 317.
See also Visual channel
Optic nerve model, 396-397
Optimal control model, 98
Optotrak, 195-196
Orientation (body), 212-213
P
Pacific Science Center, 426
Packet switching, 363, 365, 371
Parallax barrier displays, 124-126
Parallel computing, 58, 257-258, 260, 290
in teleoperations, 81-82, 351-353, 358
Paramount Communication, 383
Passive stereo vision systems, 194
Patient counseling, 38, 69, 70
PER-Force hand controller, 176
Personal computers (PCs), 260-261, 350-351
PHANTOM interface device, 176, 178
Physical fidelity, 419
Physiological responses and interfaces, 56, 75, 99, 239-245
Pneumatic actuators, 312
Police operations, 411
Polygon flow minimization, 269-272
Polygon processing, 58
Position mapping, 50, 190, 262-264, 392
Position-sensing detectors (PSDs), 194, 195
Position-tracking systems, 5, 50-51, 59, 74-75, 188-204, 262-263
in augmented-reality production line, 394
eye movements, 48, 51-52, 112-113, 115, 117, 132, 189, 201, 204
head movements, 47, 121, 131, 151, 189-190, 193, 201, 912
inertial, 51, 74, 200-201, 203-204
mechanical, 51, 74, 190-193, 202-203
optical sensing, 51, 74, 75, 194-199, 203
in teleoperation systems, 62, 411-412
Positron emission tomography (PET), 243, 244-245
Power line maintenance, 409-410
Predictive displays, 6, 19, 80, 355-356, 371, 408-409
Production lines, 388, 389-390
augmented-reality systems, 37, 393-394
textile industry, 391
Proprioception, see Kinesthetics and proprioception
Prostheses, 242
aerospace, 392-395
Psychological issues, 4, 40, 43-46, 71-72, 93-110
side effects, 4, 33-35, 45-46, 66, 71, 72, 108-109, 110, 377-378
see also Cognitive models;
Human performance characteristics;
Motivation;
Sensorimotor loop alterations
Public opinion and support, 84-85
educational applications, 41, 430
hazardous operations applications, 39
medical applications, 405
R
Rasterization, 253-254
Reality Built for Two (RB2) system, 274, 402
RealityEngine (RE2), 58, 254, 298-301
Real-time interaction, 2, 18, 77, 250, 254-260, 408, 434-435
in teleoperations, 6, 62-63, 80, 346-354, 357-358
Registration and alignment, 5, 15, 48, 74, 75, 79, 275-276, 295-296, 404
Rehabilitation, see Disability and rehabilitation
Remote Manipulator System (RMS), 308, 332, 408, 409
Remote operations, see Teleoperator systems and telerobotics
Representation, simulation, and rendering (RSR) techniques, 272-273
computer generation, 5-6, 75-80, 289-296
evaluation, 83-84
human-machine interfaces, 4-5, 72-75
psychological issues, 4, 71-72, 110
telerobotics, 6, 80-82, 354-361
Risk tolerance, 108-109
Robotics, see Teleoperator systems and telerobotics
Rockwell International, 392
Rocky III, 322
Role-playing games, 45, 109, 427, 431
ROTEX, 311, 315, 317, 355, 408, 409
Run-time software architecture, 258-260
S
Sand play, 404
Scanning tunneling microscopy (STM), 313, 436
SCARA robot, 308
Scientific visualization, 42, 45, 433-437
Security applications, 63, 322-323, 411, 441
See-through displays, 20, 47, 73, 117, 119, 404, 440, 441, 442
Selspot, 195
Sensorimotor loop alterations, 43-44, 103-104
adaptation and readaptation, 43-44, 71, 102, 103, 104, 147-148, 159
enhancing distortions, 44, 71, 93, 103
research needs, 4, 71, 72, 110
subjective telepresence, 22, 44, 45, 71, 101-103, 181
technology deficiency and distortions, 44, 71, 94, 103-104, 230
see also Illusions;
Sopite syndrome
Sensors (telerobotic), 6, 17-18, 62-63, 80-81, 313-317, 407, 409, 413
force, 6, 80, 81, 315-316, 317, 360
joint motion and torque, 314-315
navigational, 324-326
Sensory modeling, 99-100
Sensory substitution, 44, 50, 71, 100-101, 159
auditory, 50, 95, 100, 143-144, 159
Sentry robots, 411
Shape memory alloys (SMAs), 180, 185, 313
Shared workspaces, 440-441
Sherlock computer system, 106
SIGGRAPH conference, 199, 383-384
Signal variation and noise, 43, 44, 48, 77, 95-96, 103-104, 230
Silicon Graphics, 58, 254, 261, 298, 299, 300
SIMNET battle simulation, 63-64, 274, 282, 363, 369-370, 372, 385
Simulation frameworks, 5, 78, 294
Simulation loops, 258
Simulator systems, 2, 14, 22-23
educational applications, 427-428
training applications, 40, 356, 413-414, 415, 416, 420, 421-422
Situated cognition, 424n
Slice-stacking displays, 125, 126-127
Social and ethical issues, 9, 43, 88, 378
Social interaction and influence, 108, 109, 440
Software, 3, 5-6, 67, 76-80, 261, 291-296
augmented-reality systems, 5, 60, 79, 275-276, 295-296
autonomous agents, 5, 22, 60, 77, 79-80, 281-286, 413
communications, 64, 369-370, 371-372
hypermedia integration, 61, 286-287
interaction, 58-59, 261-267, 292-293
modeling, 5, 59-60, 77, 78, 85, 272-281, 294-296, 369
navigation, 5, 59, 77, 79, 267-272, 293-294
operating system, 61, 77, 78-79, 291-292
training applications, 415, 421
Sonet standard, 364
Sopite syndrome, 44, 47, 48, 71, 116, 220, 377
Sound, see Auditory channel
Space applications, 87, 308, 332, 354, 362, 407-409
Space Automation/Robotics Consortium, 64
Spatial display and resolution, 37, 44, 94, 116, 265, 426-427
auditory, 49-50, 137-140, 144, 146-151, 159
tactile, 169-170, 171, 172, 184-185
Spatiotemporal blur, 113
recognition, 55-56, 231, 232-237
synthesis, 20, 55, 56, 154, 231-232, 237-238, 403
SRI International, 401
networks, 7, 64, 65, 82-83, 364, 366, 368, 372
Star Trek game, 383
Statistical variation, see Signal variation and noise
Stereo displays, 48, 117, 119-120, 121, 133, 194, 196, 203, 275, 442
Stereographics Corp., 128, 130
Structured light systems, 196-197
Subtractive synthesis, 155, 156
Supervisory control, 6, 80, 81, 306, 307, 338-346, 354, 413
Surgery
and anatomical modeling, 69-70, 396, 397, 398-399, 400-401, 404
training, 25-26, 38, 395, 398-399, 405
Surveyor lunar rover, 407-408
Switched multimegabit data service (SMDS), 364
Sympathetic nervous response, 240
Synthetic environment (SE) systems, definition, 1n, 2, 13, 21
Systron Donner, 200
T
Tactile information and feedback, 99-100, 163-164, 165, 167-171, 177, 179, 180, 184-185, 392
see also Force-feedback display systems;
Haptic channel
Technology Academy Program, 426
Technology Innovation Group, 128, 129
Technology Reinvestment Program (TRP), 292
Telecommunications, 3, 4, 42, 43, 68, 69, 437-443
research agenda, 442-443
see also Networks and distributed systems
Teleconferences, 42, 439, 440, 442
communication networks, 38, 64, 395, 401, 405, 437-438
surgical applications, 38, 80, 305, 308, 381, 395, 401-402, 405, 437
TeleOperated Vehicle (TOV), 320-321
Teleoperator systems and telerobotics, 6, 14, 21-22, 42-43, 61-63, 304-307, 441-442
autonomous agents, 306, 354, 361
cost-effectiveness, 39, 412-413
defense applications, 36, 305, 320-321, 384, 411, 438
distributed and networked, 6, 62, 63, 64, 80, 81-82
haptic interfaces, 52, 62, 81, 176, 177, 179-180, 189, 304, 305, 315-317, 345
hardware development, 6, 62-63, 80-81, 349-353, 359-360
in hazardous operations, 4, 39, 46, 102, 304, 305, 381, 405-413, 438, 441
low-level control, 330-338, 347-348
microrobotics, 63, 80, 81, 176, 312-313, 402
nonanthropomorphic models, 44, 71, 93, 103
research agenda, 6, 80-82, 354-361
see also Sensors (telerobotic);
Telemedicine
Teletravel, 3, 4, 42-43, 68, 69, 437-443
and distributed collaboration, 439, 440-441
educational applications, 40, 107, 425-426, 438
Terminology and definitions, 13, 17-24
Testing, see Evaluation and testing
Texas Instruments, 126
Textile industry, 389, 390-392
shopping vignette, 26-28
Time delays, 44, 57, 58, 77-78, 103-104, 250, 288
in auditory channel systems, 140
intermodal, 288
position tracking, 205-206
in scientific visualization, 436-437
in telerobotics, 6, 62, 80, 335-336, 344, 355-356, 408
in visual channel systems, 48, 117-118
Tonic vibration reflex, 214
Tool-handle interfaces, 52, 74, 173, 180-181
Touch, see Force-feedback display systems;
Haptic channel;
Tactile information and feedback
Toxic materials and environments, 406-407
Training applications, 39-40, 87, 384-385, 392, 413-418
cognitive modeling, 45, 71, 106, 110, 418-419
evaluation, 70, 374, 375, 415, 416, 420, 421-422
medical, 38, 395, 398-400, 414, 416
research agenda, 3, 4, 68, 69, 70-71, 422-423
transfer, 40, 45, 69, 70-71, 385, 417-422
see also Education applications;
Flight simulators
Transport delays, see Time delays
Treadmills, 55, 211, 223-224, 228-229
U
Ultrasonic technology, 199-200, 317, 397, 436
Underground storage facilities, 406-407
Underwater applications, 304, 319, 321, 323, 327-328, 355, 362, 409
educational, 425-426
military, 411
United Technologies, 390
University of Illinois, 152, 428, 436
University of Michigan, 390
University of Minnesota, 417
University of North Carolina (UNC), 128, 176, 290, 299, 302, 389, 397, 436
University of Washington, 128, 426
UNIX, 61, 78, 291, 293, 353, 354, 368, 371
Unmanned Ground Vehicle Program, 320
Update rates, 117, 140, 287-288
User interface, see Ergonomics and comfort issues;
Human-machine interface
V
Variable gravity displays, 222-223
Velocity storage, 218
Vertigo, 212-213
Very large scale integrated (VLSI) technologies, 123, 236
Vestibular displays, 226
Vibration, 169, 170-171, 177, 184
Viking deep-space probe, 408
Virtex CyberGlove, 177
see also Autonomous agents
Virtual environment (VE) systems, definition, 1-2, 13, 18-19, 22-23
Virtual reality (VR) systems, definition, 1n, 13
Virtual Spacetime, 435-436
Visible Human, 396
Visual channel, 5, 23, 46, 47-48, 57, 70, 72, 73-74, 91, 95, 111-120, 415
ambient system, 115-116
in augmented-reality systems, 48, 95, 117, 118-119
display resolution and distortion, 47, 48, 57, 73, 94, 113-114, 116-118, 119-120, 132
display technologies, 122-131, 276-281
eye movement and tracking, 48, 51-52, 112-113, 115, 117, 132, 189, 201, 204
in head-mounted displays, 23, 47-48, 73, 120-121
information transfer rates, 96, 112
line of sight, 264
and movement, 213-214, 215, 224-225, 229
and sensory substitution, 50, 100
see also Information visualization
VPL Research, Inc., 128, 129, 158, 177, 274, 314, 396, 402, 403, 417
VxWorks, 353
W
Whole-body motion, 53-54, 55, 205-206
illusions, 95, 206-207, 213-215
inertial displays, 54, 220-222, 228
motion sickness, 215-220
noninertial displays, 54, 224-227
see also Locomotion interfaces
Wide-area networks (WAN), 7, 64, 65, 363-365, 405
Woods Hole Oceanographic Institution, 412
World ToolKit, 262
Wright-Patterson Air Force Base, 128, 148, 222
X
Xerox PARC, 440