Télétravail Robotisé et Réalité Augmentée : Application à la Téléopération via Internet. (Robotised Telework and Augmented Reality : Application to Teleoperation via Internet)

Telepresence or virtual presence has became more and more commonplace thanks to evolutionof technology which implies an opening to the telework capacities. Telework is essentially linkedto virtuality and telepresence and consequently linked to robotics and computing as well ascommunications. This work deals with the methods and the tools necessary to the achievementof a telework system via Internet.We have first presented, the technologies which has contributed to the advance of the telework.We will then focus on teleoperation and telerobotics and we will realize how virtual reality tech-nologies contribute to cope with some problems due to the distance between the master and theslave sites. Secondly, our interest will focus on telework assistance via Internet. The methodsand tools necessary to the achievement of transportable and configurable virtual fixtures arestudied and a formalism is proposed.Thirdly, the useful methods for augmented reality control are studied (environment modeling,camera an robot calibration), then the selected method for the telework via Internet is pre-sented. Then, the description of the experimental telework system namely ARITI (AugmentedReality Interface for Telerobotic applications via Internet) is given. Fourthly, Two applicationsare presented, one is about telemanipulation tasks, the other one is about teleoperation of themobile robot.Finally, we will estimate the efficiency of some teleoperation tasks and video images compressionmethods. On the one hand, we will see the efficiency of the ARITI system with multiple connec-tions, locale, medium and high distance. On the other hand, we will see how the distributedpredictive display makes it easy for different operators to work together in cooperative mode.