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Developing Extended Reality Projects in Support of Design, Fabrication and Procedure

The goal of this internship was to improve and create virtual reality simulations and visualizations for use in parallel with the design, fabrication, and analysis of flight ready hardware for areas like the Environmental Control and Life Support Systems (ECLSS) and also Space Systems. Specifically, my work was done in the XRSpace lab at Marshall Space Flight Center (MSFC) with assistance directly and indirectly from workers at KSC, JSC and LaRC. Led by David Reynolds, the XRSpace lab develops products for various entities at NASA. The work done in the XRSpace lab focuses on Extended Reality (XR) solutions for both simulations and visualization capabilities. The goal of the lab is to support the larger systems of NASA and to help find ways that XR technologies can streamline and optimize the design process. Extended Reality is an umbrella term that encompasses Mixed Reality, Augmented Reality, and Virtual Reality. In this capacity, I was able to complete several elements in the design, building, testing, and deployment for a variety of immersive experiences, including a VR procedure simulation, visualization aids, and a 360-image capture tool.

Joseph Chambers↗

Seeing the Future of Spaceflight: Applications of Extended Reality (XR) Technologies

INTRODUCTION Advances in Earth Independent Medical Operations (EIMO) focused capabilities will be crucial for completing successful beyond low-earth-orbit (LEO) missions, where traditional Earth-based medical support and near real-time communication are limited, intermittent, or absent. In such restricted or limited communication environments, emerging extended reality (ER or XR) technologies may play a vital role in ensuring crew health and safety. Virtual Reality (VR), Augmented Reality (AR), and Mixed Reality (MR) are common terms used to describe technologies that "generate or modify" while “extended reality” (ER or XR) is often used as an umbrella term for these technologies. This review explores how such cutting-edge “extended reality” information delivery systems are currently applied across various disciplines within NASA. The review focuses on their capabilities, limitations, and prospective future applications as they pertain to Earth-Independent Medical Operations and its components of pre-mission planning, medical decision making, resource management, and task load management. METHODS/DESIGN The review began with a literature search to identify relevant disciplines (e.g., medical education, austere environments) where XR technologies have been studied to highlight areas where evidence is lacking. Previous and current NASA XR projects and applications, as well as commercial partnerships, such as those with Small Business Innovation Research (SBIR), were identified. Discussions with technical experts involved in the design, development, and application of these technologies allowed for classification based on their respective spaceflight applications. RESULTS AND CONCLUSION This review highlights current and emerging XR technologies that have been developed, tested, and implemented both terrestrially and in spaceflight by NASA, its international partners, the U.S. Armed Forces, and various relevant commercial entities. While these novel information delivery systems vary in their respective technology readiness levels (TRL), they have the potential to be implemented on Earth, in LEO, and during deep space exploration. These systems have the potential for impacting and optimizing many aspects of EIMO.

Yevgeniy Zhivotovskiy↗

Implementing Mixed Reality Tools to Support Mission Delivery at Hanford - 20520

Mission Support Alliance's (MSA) Public Works and Information Systems organizations have been working with Microsoft Corporation to develop and implement mixed reality operational solutions using their HoloLens technology. This collaborative effort is intended to drive innovative solutions and significantly improve MSA's efficiency in performing work at the Hanford Site. HoloLens, a mixed reality tool, is a commercial off-the-shelf technology that combines a head-mounted viewing screen with applications to help people and organizations learn, communicate, and collaborate more effectively through the use of mixed reality. https://microsoft.com/en-us/hololens MSA's initial pilot successfully demonstrated its ability to use mixed reality utilizing HoloLens' advanced features in a variety of ways, illustrating the potential efficiency gains previously stated as goals of this pilot. These achievements include the development of proprietary technology that allows synchronization between a HoloLens device and a mobile device or alternate global positioning system (GPS) device. This synchronization enables the HoloLens device to access real time GPS location data anywhere on the Hanford Site. This real time location data, combined with MSA's improved Hanford Geographical Information System (GIS) data, enables the mixed reality pilot application to identify underground utility systems as well as related utility attributes. This ability will aid utility workers in several areas, including excavation activities, the placement of large cranes, identifying interactions and conflicts with future underground utility placements and, eventually, recognizing and de-conflicting tank waste transfer system valve alignments. The HoloLens mixed reality application is also able to provide full or small scale holographic images of a facility's digital twin. This feature will allow MSA's Water and Sewer Utilities team to train and validate procedures associated with the new water treatment facility virtually, before it is constructed. This reduces the amount of time it takes to complete the training and procedure validation, and accelerates the overall construction schedule. (authors)

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Internship in Augmented and Virtual Reality - Rapid Model Import Tool

The integration of virtual and augmented reality, sometimes called mixed reality, is an emerging technology which will likely skyrocket overnight much in the way smartphones did a decade ago. Kennedy Space Center's Augmented and Virtual Reality (AVR) Lab is developing a Rapid Model Import Tool (RMIT) to create a quick and efficient way to bring NASA's complex engineering 3D models into virtual and augmented environments. The long-term objective is to create a tool that will ultimately benefit KSC engineers. Its various uses within NASA can potentially span from astronaut training, to marketing, to public outreach, to name a few. Unity is a prolific cross-platform game engine that allows users to build high quality 2D and 3D games for desktop, mobile, web, and game console platforms. It is perhaps also the most widely used software for virtual reality game development. At the AVR lab, we are looking at alternative uses of Unity to build tools for NASA engineers to perform design, development, testing, and training on spacecraft, rocket delivery systems, ground support equipment, and facilities at KSC. As an intern for the RMIT project, I am charged with the task of performing research on Unity-compatible file types to develop an efficient, affordable, preservative process to bring models from CATIA 3D engineering software into the Unity environment. With a tool called the NASA Enterprise Visualization Application (NEVA), developed by the Boeing Design Visualization group at KSC, we are able to easily convert CATIA's design models to. DAE (also known as COLLADA) and .OBJ file formats. I first reduce the polygon count of the model within CATIA itself, make any necessary tweaks to reduce the model further, and then export using NEVA. The .OBJ or. DAE files that I am left with are then converted by another intern to a Unity-compatible file format using a custom Python script. I have generated extensive documentation of this process in a NEVA User Guide. By the end of this semester, we will have built a solid framework for RMIT based on a thorough understanding of virtual reality specifications and file requirements, allowing future software development teams to go forward with development on the custom tool.

Leap Motion↗

An Evaluation of Extended Reality Technologies for Use in Verification Testing at NASA 2024 HRP IWS Abstract

BACKGROUND At NASA, verification testing is the formal process of ensuring that a product conforms to requirements set by a project or program. Some verification methods, such as Demonstrations and Test, require either the end product or a mockup of the product with sufficient fidelity to stand-in for the product during the test. Traditionally, these mockups have been physical (e.g., foam-core and wood) but there is growing interest in exploring new methods for testing with these mockups. These methods include virtual reality (VR), mixed reality, and augmented reality which are collectively referred to as eXtended Reality (XR) technologies. VR has already been adopted and used by many in the aerospace industry as a tool for use in early design phases (e.g., developmental testing) and may have the most potential for use in verification tests. Benefits of using VR mockups offer cost effectiveness, ease of iteration, simulation of hazardous conditions (e.g., an egress through a hatch with smoke obscuring vision), and the ability to simulate microgravity conditions, which are challenging to do with physical mockups. However, the validity of test results obtained from VR mockup demonstrations or testing, compared to the current gold standard of physical mockups, remains uncertain. It is unlikely that there is one clean answer as there are many different types of verification outcomes and each XR technology must be evaluated on its own merits. This is not an issue during developmental testing as the design is still in flux and the total success of the design is not dependent upon the results of a developmental test. Verification tests, however, only happen once, assuming no change to the design, and the results are used to certify the product. Therefore, establishing the validity of XR mockup-based verification outcomes is essential before considering them for any use in verification tests. OBJECTIVE AND METHOD To address this concern, the Human Research Program has funded a project to explore and qualify how XR technologies might be used in verification demonstration and testing at NASA. Currently, we are conducting a review of the literature on the utilization of XR mockups for design activities, prototyping, and user testing. We are employing the Strengths, Weaknesses, Opportunities, and Threats (SWOT) analysis method to identify the pros, cons, and barriers to adoption of XR technologies for verification testing at NASA. Additionally, we are developing a framework to guide the deployment of XR mockups for verification tests. Building upon available evidence from the literature and subject-matter expert feedback, our goal for the framework is to provide guidelines for which forms of XR mockups are suitable for a given verification test, when only physical mockups should be employed and to highlight areas for which more evidence is needed. To further refine our framework and to contribute to the body of evidence, we are planning a lab-based experiment comparing a VR mockup to a physical twin for a set of select verification outcomes. ANTICIPATED RESULTS In this presentation, we will present the work we conducted to evaluate XR technologies for use in verification tests at NASA. We will summarize and report our findings from the SWOT analysis and our lab-based study, and we will present the current state of the XR Technologies for Verification Testing framework. We will conclude by summarizing remaining work and future directions for the project. Technologies for Verification Testing framework. We will conclude by summarizing remaining work and future directions for the project.

Extended Reality↗

Virtual Reality Simulation of the International Space Welding Experiment

Virtual Reality (VR) is a set of breakthrough technologies that allow a human being to enter and fully experience a 3-dimensional, computer simulated environment. A true virtual reality experience meets three criteria: (1) It involves 3-dimensional computer graphics; (2) It includes real-time feedback and response to user actions; and (3) It must provide a sense of immersion. Good examples of a virtual reality simulator are the flight simulators used by all branches of the military to train pilots for combat in high performance jet fighters. The fidelity of such simulators is extremely high -- but so is the price tag, typically millions of dollars. Virtual reality teaching and training methods are manifestly effective, and we have therefore implemented a VR trainer for the International Space Welding Experiment. My role in the development of the ISWE trainer consisted of the following: (1) created texture-mapped models of the ISWE's rotating sample drum, technology block, tool stowage assembly, sliding foot restraint, and control panel; (2) developed C code for control panel button selection and rotation of the sample drum; (3) In collaboration with Tim Clark (Antares Virtual Reality Systems), developed a serial interface box for the PC and the SGI Indigo so that external control devices, similar to ones actually used on the ISWE, could be used to control virtual objects in the ISWE simulation; (4) In collaboration with Peter Wang (SFFP) and Mark Blasingame (Boeing), established the interference characteristics of the VIM 1000 head-mounted-display and tested software filters to correct the problem; (5) In collaboration with Peter Wang and Mark Blasingame, established software and procedures for interfacing the VPL DataGlove and the Polhemus 6DOF position sensors to the SGI Indigo serial ports. The majority of the ISWE modeling effort was conducted on a PC-based VR Workstation, described below.

Phillips, James A.↗

Comparing Virtual Reality to Conventional Simulator Visuals: Effects of Peripheral Visual Cues in Roll-Axis Tracking Tasks

This paper compares the effects of peripheral visual cues on manual control between a conventional fixed-base simulator and virtual reality. The results were also compared with those from a previous experiment conducted in a motion-base simulator. Fifteen participants controlled a system with second-order dynamics in a disturbance-rejection task. Tracking performance, control activity, simulator sickness questionnaire answers, and biometrics were collected. Manual control behavior was modeled for the first time in a virtual reality environment. Virtual reality did not degrade participants’ manual control performance or alter their control behavior. However, peripheral cues were significantly more effective in virtual reality. Control activity decreased for all conditions with peripheral cues. The trends introduced by the peripheral visual cues from the previous experiment were replicated. Finally, VR was not more nauseogenic than the conventional simulator. These results suggest that virtual reality might be a good alternative to conventional fixed-base simulators for training manual control skills.

Terenzi, Lorenzo↗

Assessments of Physiology And Cognition in Hybrid-reality Environments (APACHE) – Physical Workload Approximation

The Human Physiology, Performance, Protection & Operations Laboratory (H-3PO) at NASA Johnson Space Center (JSC) is developing a hybrid reality exploration surface analog, “Assessments of Physiology and Cognition in Hybrid-reality Environments” (APACHE). The goal of APACHE is to create a planetary extravehicular activity (EVA) simulation environment that provides a representative physical and cognitive workload approximation using a combination of virtual reality (VR), physical reality, and hybrid reality (HR) techniques. To develop and characterize the physical workload approximation within the APACHE environment, a two-part approach was implemented. In part 1, baseline physical work load during ambulation within APACHE was evaluated and compared with that in other planetary EVA analog environments and with existing data sets from Apollo planetary EVAs and reduced gravity testing of prototype planetary spacesuits. For this evaluation, 10 subjects were asked to ambulate in three surface analog environments: a passive treadmill in APACHE, natural terrain in an outdoor field environment, and a standard motorized treadmill. Subjects’ heart rate and metabolic rate (VO2/VCO2) were measured and compared among the different test conditions and existing data sets. Gait parameters were also collected to compare with suited mechanics and to understand the role of gait kinematics in physical workload. In part 2, the aim is to evaluate the addition of a custom weighted body suit to the aforementioned surface analog environments and the ability to titrate the suit configuration to provide the best possible physical workload approximation for simulation of lunar and Martian EVAs.

Alex Baughman↗

Assessments of Physiology And Cognition in Hybrid-reality Environments (APACHE) – Physical Workload Approximation

The Human Physiology, Performance, Protection & Operations Laboratory (H-3PO) at NASA Johnson Space Center (JSC) is developing a hybrid reality exploration surface analog, “Assessments of Physiology And Cognition in Hybrid-reality Environments” (APACHE). The goal of APACHE is to create a planetary extravehicular activity (EVA) simulation environment that provides a representative physical and cognitive workload approximation using a combination of virtual reality (VR), physical reality, and hybrid reality (HR) techniques. To develop and characterize the physical workload approximation within the APACHE environment, a two-part approach was implemented. In part 1, baseline physical workload during ambulation within APACHE was evaluated and compared with that in other planetary EVA analog environments and with existing data sets from Apollo planetary EVAs and reduced gravity testing of prototype planetary spacesuits. For this evaluation, 10 subjects were asked to ambulate in three surface analog environments: a passive treadmill in APACHE, natural terrain in an outdoor field environment, and a standard motorized treadmill. Subjects’ heart rate and metabolic rate (VO2/VCO2)were measured and compared among the different test conditions and existing data sets. Gait parameters were also collected to compare with suited mechanics and to understand the role of gait kinematics in physical workload. In part 2, the aim is to evaluate the addition of a custom weighted body suit to the aforementioned surface analog environments and the ability to titrate the suit configuration to provide the best possible physical workload approximation for simulation of lunar and Martian EVAs.

Alexander J Baughman↗

Evaluation Challenges for the Application of Extended Reality Devices in Medicine

Augmented and virtual reality devices are being actively investigated and implemented for a wide range of medical uses. However, significant gaps in the evaluation of these medical devices and applications hinder their regulatory evaluation. Addressing these gaps is critical to demonstrating the devices’ safety and effectiveness. We outline the key technical and clinical evaluation challenges discussed during the US Food and Drug Administration’s public workshop, “Medical Extended Reality: Toward Best Evaluation Practices for Virtual and Augmented Reality in Medicine” and future directions for evaluation method development. Evaluation challenges were categorized into several key technical and clinical areas. Finally, we highlight current efforts in the standards communities and illustrate connections between the evaluation challenges and the intended uses of the medical extended reality (MXR) devices. Participants concluded that additional research is needed to assess the safety and effectiveness of MXR devices across the use cases.

60 APPLIED LIFE SCIENCES↗

Augmented and Virtual Reality Navigation for Interventions in the Musculoskeletal System

Purpose of Review: Augmented reality (AR) and virtual reality (VR) are cutting-edge technologies that offer advanced navigational solutions. These systems are just starting to be used in interventional radiology and the literature has been limited to pre-clinical and translational experiments. In this paper, we present a review of AR and VR for musculoskeletal interventions. Recent Findings: Mixed reality systems have evolved from costly research systems to fully commercialized clinical instruments designed to facilitate operators in navigating complex anatomy. Studies within interventional radiology have demonstrated safety, improved accuracy, and decreased exposure to ionizing radiation. Summary: We review the progression of mixed reality systems from their early origins in computer science through their current day surgical applications, with a special focus on landmark studies within radiologic interventions for the musculoskeletal system. We highlight the instrumentation, clinical workflow, benefits and drawbacks, and suggested future directions for the two main AR systems: head-mounted display and image-overlay.

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Enabling human–infrastructure interfaces for inspection using augmented reality

Decaying infrastructure maintenance cost allocation depends heavily on accurate and safe inspection in the field. New tools to conduct inspections can assist in prioritizing investments in maintenance and repairs. The industrial revolution termed as “Industry 4.0” is based on the intelligence of machines working with humans in a collaborative workspace. Contrarily, infrastructure management has relied on the human for making day-to-day decisions. New emerging technologies can assist during infrastructure inspections, to quantify structural condition with more objective data. However, today’s owners agree in trusting the inspector’s decision in the field over data collected with sensors. If data collected in the field is accessible during the inspections, the inspector decisions can be improved with sensors. New research opportunities in the human–infrastructure interface would allow researchers to improve the human awareness of their surrounding environment during inspections. This article studies the role of Augmented Reality (AR) technology as a tool to increase human awareness of infrastructure in their inspection work. The domains of interest of this research include both infrastructure inspections (emphasis on the collection of data of structures to inform management decisions) and emergency management (focus on the data collection of the environment to inform human actions). This article describes the use of a head-mounted device to access real-time data and information during their field inspection. The authors leverage the use of low-cost smart sensors and QR code scanners integrated with Augmented Reality applications for augmented human interface with the physical environment. This article presents a novel interface architecture for developing Augmented Reality–enabled inspection to assist the inspector’s workflow in conducting infrastructure inspection works with two new applications and summarizes the results from various experiments. The main contributions of this work to computer-aided community are enabling inspectors to visualize data files from database and real-time data access using an Augmented Reality environment.

Maharjan, D.↗

Augmented Reality for Enabling Smart Nuclear Infrastructure

This work presents a novel, comprehensive framework that leverages emerging augmented reality headset technology to enable smart nuclear industrial infrastructure that a human can easily interact with to improve their performance in terms of safety, security, and productivity. Nuclear industrial operations require some of the most complicated infrastructure that must be managed today. Nuclear infrastructure and their associated industrial operations typically features stringent requirements associated with seismic, personnel management (e.g., access control, equipment access), safety (e.g., radiation, criticality, mechanical, electrical, spark, and chemical hazards), security (cyber/physical), and sometimes international treaties for nuclear non-proliferation. Furthermore, a wide variety of manufacturing and maintenance operations take place within these facilities further complicating their management. Nuclear facilities require very thorough and stringent documentation of the operations occurring within these facilities as well as maintaining a tight chain-of-custody for the materials being stored within the facility. The emergence of augmented reality and a variety of Internet of Things (IoT) devices offers a possible solution to help mitigate these challenges. This work provides a demonstration of a prototype smart nuclear infrastructure system that leverages augmented reality to illustrate the advantages of this system. It will also present example augmented reality tools that can be leveraged to create the next generation of smart nuclear infrastructure. The discussion will layout future directions of research for this class of work.

22 GENERAL STUDIES OF NUCLEAR REACTORS↗

Surgery applications of virtual reality

Virtual reality is a computer-generated technology which allows information to be displayed in a simulated, bus lifelike, environment. In this simulated 'world', users can move and interact as if they were actually a part of that world. This new technology will be useful in many different fields, including the field of surgery. Virtual reality systems can be used to teach surgical anatomy, diagnose surgical problems, plan operations, simulate and perform surgical procedures (telesurgery), and predict the outcomes of surgery. The authors of this paper describe the basic components of a virtual reality surgical system. These components include: the virtual world, the virtual tools, the anatomical model, the software platform, the host computer, the interface, and the head-coupled display. In the chapter they also review the progress towards using virtual reality for surgical training, planning, telesurgery, and predicting outcomes. Finally, the authors present a training system being developed for the practice of new procedures in abdominal surgery.

Rosen, Joseph↗

Virtual reality and planetary exploration

Exploring planetary environments is central to NASA's missions and goals. A new computing technology called Virtual Reality has much to offer in support of planetary exploration. This technology augments and extends human presence within computer-generated and remote spatial environments. Historically, NASA has been a leader in many of the fundamental concepts and technologies that comprise Virtual Reality. Indeed, Ames Research Center has a central role in the development of this rapidly emerging approach to using computers. This ground breaking work has inspired researchers in academia, industry, and the military. Further, NASA's leadership in this technology has spun off new businesses, has caught the attention of the international business community, and has generated several years of positive international media coverage. In the future, Virtual Reality technology will enable greatly improved human-machine interactions for more productive planetary surface exploration. Perhaps more importantly, Virtual Reality technology will democratize the experience of planetary exploration and thereby broaden understanding of, and support for, this historic enterprise.

Mcgreevy, Michael W.↗

Computer Based Training: Field Deployable Trainer and Shared Virtual Reality

Astronaut training has traditionally been conducted at specific sites with specialized facilities. Because of its size and nature the training equipment is generally not portable. Efforts are now under way to develop training tools that can be taken to remote locations, including into orbit. Two of these efforts are the Field Deployable Trainer and Shared Virtual Reality projects. Field Deployable Trainer NASA has used the recent shuttle mission by astronaut Shannon Lucid to the Russian space station, Mir, as an opportunity to develop and test a prototype of an on-orbit computer training system. A laptop computer with a customized user interface, a set of specially prepared CD's, and video tapes were taken to the Mir by Ms. Lucid. Based upon the feedback following the launch of the Lucid flight, our team prepared materials for the next Mir visitor. Astronaut John Blaha will fly on NASA/MIR Long Duration Mission 3, set to launch in mid September. He will take with him a customized hard disk drive and a package of compact disks containing training videos, references and maps. The FDT team continues to explore and develop new and innovative ways to conduct offsite astronaut training using personal computers. Shared Virtual Reality Training NASA's Space Flight Training Division has been investigating the use of virtual reality environments for astronaut training. Recent efforts have focused on activities requiring interaction by two or more people, called shared VR. Dr. Bowen Loftin, from the University of Houston, directs a virtual reality laboratory that conducts much of the NASA sponsored research. I worked on a project involving the development of a virtual environment that can be used to train astronauts and others to operate a science unit called a Biological Technology Facility (BTF). Facilities like this will be used to house and control microgravity experiments on the space station. It is hoped that astronauts and instructors will ultimately be able to share common virtual environments and, using telephone links, conduct interactive training from separate locations.

Mullen, Terence J.↗

Leveraging 3D CAD and Virtual Reality in Design of the Calcine Disposition Project - 20512

Fluor Idaho's Calcine Disposition Project (CDP) is leveraging the power of three-dimensional (3D) visualization, light detection and ranging (Lidar), and virtual reality to improve designs and worker safety. With the use of computer-aided design (CAD) modeling software, the CDP has created 3D models of the facility and systems to aid in the design, development, and operation of its retrieval and transfer system. This by itself is nothing new and has been done in industry for years. The CDP project however is taking this a few steps farther with the use of Lidar and virtual reality software. The CRP is tasked with removing a radioactive granular material from stainless steel bins located in concrete vaults that were constructed in the late 1950's and early 1960's. While construction drawings are available, it is not certain that the drawings are as-built or how accurate they truly are. Part of the project requires precise placement of equipment on to bins around multiple pipe, electrical lines, and bin stiffeners. Relying solely on the existing drawings and models created from these drawings is highly risky and prone to failure. The first step to determine the precise location and orientation of all obstructions in the vault the project will use a Lidar system to scan the vault structure and precisely locate all vault and bin components. Once this information is obtained, the data will be integrated into the CAD model. The model will then be verified, and a true as-built model developed. Precise component location, size, and orientation will be used for final design and placement of retrieval components. The second step will be to take the verified 3D model and scan data and import it into virtual reality software creating a virtual world. While some work on the project requires all work to be completed remotely due to high radiation fields, some areas have low enough radiation levels that personnel can enter and perform work. With the use of a virtual reality headset, operators and technicians will be able to enter our virtual world and become familiar with the surroundings and perform work prior to ever entering the radiation environment. This training is expected to pay dividends by improving worker efficiency, reducing errors, and improving confidence that the work can be performed as expected. It will play a key aspect in as low as reasonably achievable (ALARA) principles. An additional aspect in using the Lidar scans and virtual environment, is that it will give engineers and managers an opportunity to revisit the facility, especially radiation areas, at any time to obtain design information and measurements that may be costly or impossible to obtain once the facility transitions into radiation operations. (authors)

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Augmented reality system for remote operation - 200

This paper presents a new approach to applications of augmented reality techniques for performing telerobotic operations in uncertain and hazardous environments. Particular application examples include remote or partially-automated operation of robotic manipulators in nuclear waste facilities, decommissioning sites, or as a part of incident remediation. Recently advances in virtual reality (VR) and augmented reality (AR) technology presents opportunity for enhancing the performance of such remote operations. VR can provide immersive artificial environment for the operator to interact with. As an advanced concept, AR adds to it the blending or artificial contents with real world - users are able to interact with virtual contents in the real world. This work addresses key technological innovations necessary for adopting the VR/AR technologies for the remote operation of hardware robotic systems in real world tasks. To this end, this work focuses on implementation of 'virtual fixtures', which allows intuitive and precise guidance of remote operation, as well as key enhancements in 3D sensing/reconstruction technology. In addition, the implementation details of the integration of the multi-modal augmented reality system to the telerobotic control system are presented. (authors)

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