A haptic teleoperation scheme has been designed and implemented on a hydraulically actuated lifter which is laboratory version of a forklift truck[1], [2]. This control scheme has two novel features. It produces virtual fixtures based on measurements from a proximity sensor located on its end effector. Secondly, the control system has the ability to switch between position and rate modes during normal operation. In order to evaluate the effectiveness of these features, a series of human factors tests were conducted. Twenty test subjects participated in these experiments. Statistical analysis of the results indicates that both of the aforementioned novel features could enhance an operator's ability to conduct pick and place maneuvers using a forklift truck.

The Virtual Training Environment (VTE, https://www.vte.cert.org) is an online education and training system developed by the Immersive Learning Technologies group at the Carnegie Mellon University Software Engineering Institute. VTE offers asynchronous, remote training in cyber-security, information technology, digital forensics, and other technical areas to over 30,000 users, primarily within the Department of Defense (DoD) and various branches of the United States Federal Civilian Agencies. A key aspect of the comprehensive training suite offered by VTE is an on-demand virtual lab system, featuring automated delivery of complex virtual lab environments to users through a standard web browser, with no additional client-side software installation required. VTE is able to deliver training environments 24 hours a day to users in remote locations, operating within various levels of network security. In addition to a virtual lab system that is uniformly accessible to student users, VTE provides a virtual lab authoring system with the same ease of use, delivering powerful virtual lab development tools through an accessible interface to domain experts and educators, eliminating the need for expertise in proprietary virtualization technologies. This paper will present the design and function of the VTE virtual lab system, including both student and lab author user experience descriptions.