Patent Publication Number: US-2022229413-A1

Title: System for remote operation of non-networked production equipment units

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This Application claims the benefit of U.S. Provisional Application No. 63/140,122, filed on 21 Jan. 2021, which is incorporated in its entirety by this reference. 
    
    
     TECHNICAL FIELD 
     This invention relates generally to the field of robotics and more specifically to a new and useful system for remote operation of non-networked production equipment units in the field of robotics. 
    
    
     
       BRIEF DESCRIPTION OF THE FIGURES 
         FIG. 1  is a flowchart representation of a system; 
         FIG. 2  is a schematic representation of one variation of the system; 
         FIG. 3  is a schematic representation of one variation of the system; 
         FIG. 4  is a flowchart representation of one variation of the system; 
         FIG. 5  is a flowchart representation of one variation of the system; 
         FIG. 6  is a schematic representation of one variation of the system; 
         FIG. 7  is a schematic representation of one variation of the system; 
         FIGS. 8A-8F  are schematic representations of variations of the system; and 
         FIGS. 9A and 9B  are a flowchart representation of one variation of the system. 
     
    
    
     DESCRIPTION OF THE EMBODIMENTS 
     The following description of embodiments of the invention is not intended to limit the invention to these embodiments but rather to enable a person skilled in the art to make and use this invention. Variations, configurations, implementations, example implementations, and examples described herein are optional and are not exclusive to the variations, configurations, implementations, example implementations, and examples they describe. The invention described herein can include any and all permutations of these variations, configurations, implementations, example implementations, and examples. 
     1. System 
     As shown in  FIGS. 1-5 , a system  100  for remote operation of non-networked production equipment units includes: a chassis  110  configured to locate over a physical user interface of a production equipment unit, the physical user interface including a set of physical input fields; a set of actuators  120  coupled to the chassis  110 ; a selector  130  manipulated by the set of actuators  120  and configured to interface with the set of physical input fields; and a communication module  150  configured to receive a first command during a procedure at the production equipment unit, the first command corresponding to a first virtual input entered by a remote operator at a virtual user interface  182 , the virtual user interface  182  representing the physical user interface and depicted within an operator portal  180  remote from the production equipment unit. The system  100  also includes a controller  160  configured to: interpret a first set of motions of the selector  130  based on the first command; and drive the set of actuators  120  according to the first set of motions to manipulate the selector  130  across a first physical input field, in the set of physical input fields, on the physical user interface and physically reproduce the first virtual input at the physical user interface of the production equipment unit. 
     One variation of the system  100  includes: a chassis  110  configured to transiently install over a physical user interface of a production equipment unit, the physical user interface including a set of physical input fields; a set of actuators  120  coupled to the chassis  110 ; a selector  130  manipulated by the set of actuators  120  and configured to interface with the set of physical input fields; and an optical sensor  140  arranged on the chassis  110 , facing the physical user interface, and configured to capture an image feed depicting the physical user interface during a procedure at the production equipment unit. In this variation, the system  100  also includes a network communication module  150  configured to: broadcast the image feed for access by an operator portal  180 ; and receive a first command during the procedure, the first command corresponding to a first virtual input entered by a remote operator at a virtual user interface  182 , the virtual user interface  182  representing the physical user interface and depicted within an operator portal  180  remote from the production equipment unit. In this variation, the system  100  further includes a controller  160  configured to: interpret a first set of motions of the selector  130  based on the first command; and drive the set of actuators  120  according to the first set of motions to manipulate the selector  130  across a first physical input field, in the set of physical input fields, on the physical user interface and physically reproduce the first virtual input at the physical user interface of the production equipment unit. 
     2. Applications 
     Generally, the system  100  can assimilate: virtual inputs entered by a remote operator working in a virtual operator portal  180  at a remote machine (e.g., a desktop computer, a tablet, a mixed-reality display); physical manipulation of a physical user interface in a non-networked production equipment unit, thereby enabling the remote operator to perform a procedure at a non-networked production equipment unit in a production facility while the remote operator works remotely from the production facility (e.g., “from home”) or in an isolated room in the production facility away from the production equipment unit. 
     In particular, the system  100  can be temporarily or permanently installed or integrated over a user interface on a non-networked production equipment unit. The system  100  includes: a set of actuators  120 ; a selector  130 ; and a controller  160  configured to receive a command entered by a remote operator and to manipulate the selector  130  across the physical user interface—via the set of actuators  120 —to physically enter the command into the physical user interface. For example, the remote operator may: access a virtual operator portal  180  executing on a computing device (e.g., a desktop computer, a tablet); view a virtual representation of a user interface on a production equipment unit within the operator portal  180 ; and enter virtual inputs into this virtual representation of the physical user interface to remotely perform a procedure at the production equipment unit. During this procedure, the operator portal  180  can log into the system  100  and return commands—specifying virtual inputs entered by the remote operator into the virtual representation of the physical user interface—to the system  100 , such as via a computer network. The system  100  can then manipulate the set of actuators  120  to: depress the selector  130  onto a touchscreen (an “input field”) to enter a command; drive the selector  130  across a toggle switch (an “input field”) to change a state of the toggle switch; and drive the selector  130  in an arc over a rotary dial (an “input field”) to change a position of the rotary dial based on these commands received from the remote operator via the operator portal  180 . 
     The system  100  can therefore be (temporarily, transiently) installed on a non-networked (or “siloed”) production equipment unit in a production facility (e.g., a pharmaceutical production facility) in order to enable a remote operator to remotely operate the production equipment unit and/or to enable concurrent operation of multiple production equipment units in different locations by the same local or remote operator. In particular, these production equipment units may exclude wireless communication functions and may not be connected to wired or wireless computer networks. While such configuration prevents hacking and otherwise reduces or eliminates security risk related to operation of these production equipment units, these production equipment units can require physical inputs to operate and perform procedures. Therefore, to enable a remote operator to operate a production equipment unit remotely, the system  100 : can be temporarily installed on the production equipment unit during a procedure at the production equipment unit; can transform virtual inputs entered by the remote operator at an operator portal  180  into physical inputs into the production equipment unit; and can be physically removed from the production equipment unit upon completion of the procedure to prevent hacking and reduce security risk at the production equipment unit. Similarly, the system  100 : can be permanently installed on or integrated into the production equipment unit; can be physically moved into an active position over an user interface by an onsite operator in preparation for a procedure at the production equipment unit; can transform virtual inputs entered by the remote operator at an operator portal  180  into physical inputs into the production equipment unit; and can be physically retracted from the physical user interface upon completion of the procedure to prevent hacking and reduce security risk at the production equipment unit. 
     3. Fixed Robotic System 
     Generally, the system  100  can be temporarily or permanently installed over or integrated into a user interface on a non-networked production equipment unit, as shown in  FIGS. 2-5 . In particular, the system  100  includes: a set of actuators  120 ; a selector  130 ; and a controller  160  configured to receive a command entered by a remote operator and to manipulate the selector  130  across the physical user interface—via the set of actuators  120 —to physically enter the command into the physical user interface. 
     3.1 Chassis 
     As shown in  FIG. 4 , the system  100  can include a chassis  110  configured to mount the system  100  to the production equipment unit. 
     In one implementation, the chassis  110  includes a perimeter frame configured to retrofit over a perimeter of a user interface on the production equipment unit, such as a touchscreen display or a control panel with multiple discrete displays, gauges, dials, physical switches, physical buttons, a physical keypad, and/or a physical keyboard. For example, the perimeter frame can define a fixed width and length sized for a common user interface size and geometry. 
     Alternatively, the perimeter frame can be adjustable to enable the system  100  to install on multiple user interfaces of different sizes and geometries. For example, the perimeter frame can include a set of telescoping vertical and/or lateral segments that can be adjusted to the size and geometry of a user interface when the system  100  is installed around this user interface. 
     However, the chassis  110  can define any other size or geometry. 
     3.2 Mounting 
     In one implementation, the system  100  includes a set of clamps (or other attachment mechanism) that extend rearward from the chassis  110 , are configured to wrap behind the perimeter of the physical user interface, and include a cam or spring element that draws the chassis  110  against the perimeter of the physical user interface to (temporarily) fasten the chassis  110  to the physical user interface. 
     In another implementation, the system  100  includes: a set of flanges arranged on vertical and/or horizontal sections of the chassis  110 ; and a set of clips configured to slide along the flanges and to fasten the chassis  110  to the physical user interface. For example, an installer may remove existing fasteners from the front of the physical user interface, adjust the clips on the frame to align through-bores in the clips to threaded bores in the physical user interface, and replace the fasteners in these threaded bores to assemble the frame onto the physical user interface. In another example, the installer may fasten the chassis  110  to the physical user interface by inserting self-tapping screws through these clips and into the physical user interface. 
     In another implementation, the system  100  includes a flange and a return extending rearward from the top edge of the chassis  110  and configured to seat over a top of the physical user interface to carry the vertical load of the system  100  into the physical user interface. In this implementation, the system  100  can also include a clamp, a clip, a magnetic element, a suction cup, or elastic cord, etc. configured to couple to the physical user interface or to the production equipment unit more generally to further retain the chassis  110  against the physical user interface. 
     In yet another implementation, the system  100  includes a set of suction cups configured to mount the chassis  110  against smooth surfaces on the production equipment unit, such as a glass or polycarbonate touchscreen or a smooth bezel around a display or other user interface on the production equipment unit. 
     However, the system  100  can be configured to mount or fasten to the physical user interface in any other way. 
     Alternatively, in one variation, the chassis  110  is integrated into (e.g., constructed with, physically coextensive with) the physical user interface, such as during manufacture of the production equipment unit. 
     3.3 X- and Y-axis Actuators 
     In one implementation, the system  100  includes an (x,y) gantry  122  arranged on the frame and configured to move the selector  130  horizontally (i.e., along an x-axis) and vertically (i.e., along a y-axis) across the physical user interface. In this implementation, the gantry  122  can include: a set of x-axis rails mounted to horizontal sections of the chassis  110 ; a bridge supported between the x-axis rails; a linear or rotary x-axis actuator  120  (e.g., a servo, a stepper motor) that drives the bridge along the x-axis rails to position the bridge over a range of x-axis positions on the chassis  110 ; a set of y-axis rails mounted to the bridge; a carriage supported on the y-axis rails; and a linear or rotary y-axis actuator  120  drives the carriage along the y-axis rails to position the carriage over a range of y-axis positions along the bridge. 
     However, the system  100  can include another type or format of (x,y) position system. 
     3.4 Selector and Z-axis Actuator 
     The system  100  also includes: a selector  130  configured to interface with input fields on the physical user interface; and a z-axis actuator  120  (or “depth actuator  120 ”) mounted to the carriage described above and configured to extend and retract the selector  130  to selectively engage input fields on the physical user interface. 
     For example, the system  100  can include a gantry  122 : configured to run on the chassis  110  over a range of longitudinal positions greater than a height of the physical user interface; and supporting the selector  130  over a range of lateral positions and over a range of vertical positions on the chassis  110 , the range of lateral positions greater than a width of the physical user interface. In this example, the set of actuators  120  can include: a first actuator  120  configured to drive the gantry  122  over the range of longitudinal positions; a second actuator  120  configured to drive the gantry  122  over the range of lateral positions; and a third actuator  120  configured to drive the gantry  122  over the range of vertical positions. 
     The system  100  can also include a force sensor (e.g., a strain gauge) integrated into or coupled to the selector  130  and configured to output a signal representative of a force applied by the selector  130  to the physical user interface. (Alternatively, the controller  160  can monitor current draw of x-, y-, and/or z-axis actuators  120  and interpret force applied by the selector  130  to the physical user interface based on these currents.) 
     In one implementation, the selector  130  includes a silicone rubber depressor; and the z-axis actuator  120  includes a solenoid configured to move the rubber button along a z-axis of the system  100  (i.e., perpendicular to the x- and y-axes; normal to the physical user interface) between an extended position and a retracted position to depress and release a mechanical button on a control panel or a virtual button on a touchscreen (e.g., a capacitive touch screen) of the physical user interface. 
     In another implementation, the z-axis actuator  120  includes a rotary servo; and the selector  130  includes a servo arm mounted to the servo and a silicone rubber depressor mounted to a distal end of the servo arm. In this implementation, to select a mechanical button on a control panel or a virtual button on a touchscreen of the physical user interface, the controller  160  can: drive the rotary servo to a 0° home position that locates the distal end of the servo arm retracted from the physical user interface; drive the x- and y-axis actuators  120  to an (x,y) position that locates the selector  130  over the button; and drive the rotary servo forward (e.g., to a depress position of 70°) to engage the depressor against the button. (Alternatively, the controller  160  can cease actuation of the rotary servo: when current draw of servo increases, which may indicate that the toggle switch has reached a stop; or when a force detected by the force sensor in the selector  130  rises with minimal change in the position of the rotary servo, which may indicate that the button has reached a stop.) The controller  160  can then reverse the rotary servo to disengage the depressor from the button to complete the input. 
     In this implementation, to select a mechanical toggle switch on the physical user interface, the controller  160  can: drive the rotary servo to a 0° home position that locates the distal end of the servo arm retracted from the physical user interface; drive the x- and y-axis actuators  120  to an (x,y) position that locates the selector  130  below the mechanical toggle switch; drive the rotary servo forward to a toggle engage position (e.g., 45°); drive the y-axis actuator  120  to raise the selector  130  toward the mechanical toggle switch; track current draw of the rotary servo to hold the toggle engage position and/or current draw of the y-axis actuator  120  to raise the selector  130 ; and detect the selector  130  overcoming a yield force of the toggle switch—and thus the toggle switch transitioning into a different position—in response to a momentary drop in the current draw of the rotary servo and/or the y-axis actuator  120 . (Alternatively, the controller  160  can cease actuation of the y-axis actuator  120 : when the current draw of the rotary servo and/or the y-axis actuator  120  increases, which can indicate that the toggle switch has reached a stop; or when a force detected by the force sensor in the selector  130  rises within minimal change in position of the y-axis actuator  120 , which can indicate that the toggle switch has reached a stop.) The controller  160  computer network can then reverse the y-actuator  120  to release the selector  130  from the toggle switch and return the rotary servo to the home position to complete this input. 
     In this implementation, to move a mechanical slider on the physical user interface, the controller  160  can: drive the rotary servo to a 0° home position that locates the distal end of the servo arm retracted from the physical user interface; drive the x- and y-axis actuators  120  to an (x,y) position that locates the selector  130  below the lowest position of the mechanical slider; drive the rotary servo forward to a slider engage position (e.g., 45°); drive the y-axis actuator  120  to raise the selector  130  toward the bottom of the mechanical slider; continue driving the y-axis actuator  120  to raise the selector  130  to a vertical location corresponding to a new target position of the mechanical slider; and then reverse the y-actuator  120  to release the selector  130  from the toggle switch and return the rotary servo to the home position to complete this input. 
     In another implementation, the z-axis actuator  120  includes a linear actuator  120 . In this implementation, the controller  160  can implement similar methods and techniques to interface the selector  130  to mechanical and virtual input fields on the physical user interface. 
     In one variation, the system  100  further includes a fourth-axis rotary actuator  120  coupled to the z-axis actuator  120  and configured to rotate the selector  130  about the z-axis of the system  100 . In this variation, the computer system can include a forked selector  130  configured to interface with panel-mounted lever switches. In particular, to manipulate a panel-mounted lever switch, the controller  160  can engage the forked selector  130  against flats on the panel-mounted lever switch and then trigger the fourth-axis rotary actuator  120  to rotate the forked selector  130 , thereby rotating the panel-mounted lever switch to a new position. In this implementation, the controller  160  can also: track a current draw of the fourth-axis rotary actuator  120 ; and cease actuation of the fourth-axis rotary actuator  120  when this current draw momentarily drops, which can indicate that the lever switch broke over to a next position; or cease actuation of the fourth-axis rotary actuator  120  when this current draw increases, which can indicate that the lever switch has reached a stop. 
     In yet another implementation, the system  100  includes a hollow flexible selector  130  configured to set over rotary and knob switches. For example, the selector  130  can include a rubber barrel with a tapered internal bore. In this example, to rotate a rotary switch on the physical user interface between angular positions, the controller  160  can: retract the z-axis actuator  120  to a 0° home position that offsets the distal end of the selector  130  from the physical user interface; drive the x- and y-axis actuators  120  to an (x,y) position that locates the selector  130  coaxial with the rotary switch; and drive the z-axis actuator  120  forward to engage the tapered bore of the selector  130  over the rotary switch. The controller  160  can then cease actuation of the z-axis actuator  120  when a current draw of the z-axis actuator  120  increases or when a force detected by the force sensor in the selector  130  rises with minimal change in position of the z-axis actuator  120 , which may indicate that the rotary switch has bottomed within the selector  130 . The controller  160  can then drive the fourth-axis rotary actuator  120  to rotate the selector  130 —and thus the rotary switch—by a target change in angular position of the rotary switch. The controller  160  can then reverse the z-axis actuator  120  to release the selector  130  from the rotary switch. 
     However, the system  100  can include any arrangement and type(s) of actuators  120  and can include a selector  130  of any other geometry, as shown in  FIGS. 8A, 8B, 8C, and 8D . The controller  160  can also execute any other lead-in, input field actuation, and lead-out trajectories to manipulate the foregoing and/or other input field types. 
     3.5 Selector Changer 
     In one variation, the system  100  further includes: multiple different selectors  130  configured to engage input fields of different types, sizes, and/or geometries on the physical user interface; and a selector tray configured to store these selectors  130 . In this variation, upon receipt of a command from the remote operator, the controller  160  can: identify a particular selector type for a particular input field specified in this command; execute a tool change operation to return a selector  130  currently located on the z-axis actuator  120  to a storage location in the selector tray and to attach a second selector  130  of the particular selector type to the z-axis actuator  120 ; and then execute lead-in, input field actuation, and lead-out trajectories to manipulate this input field—with the particular selector  130 —according to the command. 
     In a similar variation, the system  100  includes: a multi-position selector  130  that includes multiple selector surfaces defining different geometries and configured to engage inputs of different types, sizes, and/or geometries on the physical user interface; and a selector actuator  120  coupled to the multi-position selector  130  to the z-axis actuator  120  and configured to reposition (e.g., rotates) the multi-position selector  130  to position a particular selector surface to engage the physical user interface. In this variation, upon receipt of a command from the remote operator, the controller  160  can: identify a particular selector type for a particular input field specified in this command; drive the selector actuator  120  to position a particular selector surface—of the particular selector type—to face the physical user interface; and then execute lead-in, input field actuation, and lead-out trajectories to manipulate this input field—with the particular selector  130 —according to the command. 
     3.6 Multiple Selectors 
     In one variation shown in  FIG. 8A , the system  100  includes multiple sets of actuators  120  and selectors  130 , such as: two gantries and two sets of actuators  120  supporting two independently-operable selectors  130 ; or a gantry  122  and a set of actuators  120  supporting a first selector  130  and a secondary robotic arm supporting a second selector  130 . Accordingly, in this variation, the system  100  can execute methods and techniques described herein to control a physical user interface that includes a multitouch digital display. 
     3.7 User interface Imager 
     The system  100  can also include an optical sensor  140  (e.g., a color camera) configured to capture images of the physical user interface, and the communication module  150  can return these images (or processed variants of these images) to the operator portal  180  in (near) real-time, thereby enabling the remote operator to view the physical user interface, states of inputs on the physical user interface, and statuses of the production equipment unit during remote execution of the procedure at the production equipment unit. In particular, the system  100  can include an optical sensor  140 : arranged on the chassis  110 ; facing the physical user interface; and configured to capture an image feed depicting the physical user interface, such as including a first image depicting the physical user interface at a first time, a second image depicting the physical user interface at a second time, etc. 
     In one implementation, the computer system includes a set of optical sensors  140  arranged on the corners of the chassis  110  and facing inwardly toward a center of the chassis  110 . When the system  100  is installed over a user interface, the physical user interface can thus fall within the fields of view of these optical sensors  140 . During operation, the controller  160  can: capture a set of concurrent images from the set of optical sensors  140 ; stitch these concurrent images into one composite 2D image—projected onto a plane of the physical user interface—based on known positions and orientations of the optical sensors  140  on the system  100 ; and return this composite 2D image to the operator portal  180 , which then renders this composite 2D image for the remote operator. 
     In another implementation shown in  FIG. 6 , the system  100  includes an optical sensor  140  located on the gantry  122 . During operation, the controller  160  can: scan (e.g., raster) the optical sensor  140  across the physical user interface; capture images of the physical user interface via the optical sensor  140 ; assemble a sequence of images captured by the optical sensor  140  into one composite 2D image of the physical user interface; and return this composite 2D image to the operator portal  180 , which then renders this composite 2D image for the remote operator. 
     In yet another implementation, the system  100  further includes: a boom extending outwardly from the chassis  110 ; and an optical sensor  140  mounted on the boom and facing inwardly toward the center of the chassis  110 . During operation, the controller  160  can: capture a video feed of the physical user interface via the optical sensor  140 ; and return this video feed to the operator portal  180 , which then renders this video feed for the remote operator. 
     Alternatively, the system  100  (or a remote computer system) can implement methods and techniques described in U.S. patent application Ser. No. 16/700,851 to extract states of displays, gauges, dials, etc. from an image of the physical user interface and return these states to the operator portal  180 . The operator portal  180  can then update virtual representations of these displays, gauges, dials, etc.—within a virtual representation of the physical user interface—according to their states, thereby enabling the remote operator to directly track these displays, gauges, dials, etc. and enter virtual inputs via this virtual representation of the physical user interface. For example, the system  100  and the operator portal  180  can execute this process to update a virtual representation of a display, gauge, or dial, etc. at the physical user interface within 200 milliseconds of refresh of the display, gauge, or dial, etc. at the physical user interface. 
     3.8 Controls 
     As shown in  FIG. 1 , the system  100  also includes a wireless communication module  150  configured: to return user interface images to a computer network, which distributes these user interface images to a operator portal  180  accessed by the remote operator; and to receive commands entered by the remote operator at the operator portal  180 . The system  100  can also include an integrated battery and/or a power supply configured to draw electrical power from the production equipment unit or a nearby power outlet. 
     The system  100  further includes the controller  160  configured: to interpret a sequence of lead-in, input field actuation, and lead-out trajectories of the selector  130  based on the command; and to drive the x-, y-, and z-axis actuators  120 , etc. to sweep the selector  130  across these lead-in, input field actuation, and lead-out trajectories, thereby interfacing the selector  130  to a particular input field on the physical user interface according to the command. 
     4. System Location for Remote Control 
     In one implementation shown in  FIG. 1 , to enable a remote operator to perform a procedure at a production equipment unit via the system  100 , an onsite operator may: temporarily install the system  100  over a user interface of a production equipment unit; connect the system  100  to a power outlet and/or or engage a power switch on the system  100  to draw electrical power from an onboard battery; and/or remove a physical lock on the chassis  110  (e.g., on the gantry  122 , on the robotic arm), thereby enabling the system  100  to physically manipulate the selector  130  across the physical user interface. 
     In one example, the chassis  110  is configured to: transiently mount to the physical user interface of the production equipment unit during a first time period; and transiently mount to a second physical user interface of a second production equipment unit during a second time period. In particular, an onsite operator can move the system  100  between production equipment units, such as based on a schedule of procedures assigned to production equipment units throughout the facility. Accordingly, in this example, the communication module  150  can execute methods and techniques described herein to receive a first series of commands during the procedure at the production equipment unit during the first time period; and the controller  160  can drive the set of actuators  120  according to a first set of motions to physically reproduce a first series of virtual inputs—defined in the first series of commands—at the physical user interface of the production equipment unit during the first time period. 
     Similarly, in this example, the communication module  150  can receive a second series of commands during a second procedure at the second production equipment unit during the second time period, wherein the second series of commands corresponds to a second series of virtual inputs entered by a second remote operator at a second virtual user interface  182 , and wherein the second virtual user interface  182  represents the second physical user interface and is depicted within a second operator portal  180  remote from the second production equipment unit. The controller  160  can then: interpret a second set of motions of the selector  130  based on the second series of commands; and drive the set of actuators  120  according to the second set of motions to physically reproduce the second series of virtual inputs—defined in the second series of commands—at the second physical user interface of the second production equipment unit during the second time period. 
     4.1 Retractable Chassis 
     In one variation shown in  FIG. 5 , the chassis  110  includes: a fixed chassis  110  component configured to fixedly mount to a production equipment unit and including a set of rails; and a retractable chassis  110  component configured to slide along the set of rails between a) an active position in which the retractable chassis  110  component locates the gantry  122  over the physical user interface to enable the selector  130  to access the physical user interface and b) a secured position in which the retractable chassis  110  component retracts the gantry  122  from the physical user interface to prevent the selector  130  from accessing the physical user interface. (However, the retractable chassis  110  component can pivot, rotate, or otherwise retract from the active position to the secured position in any other way.) 
     In this variation, the system  100  can also include: a spring element configured to draw the retractable chassis  110  component (or “rack”) from the active position into the secured position; a latch  116  configured to retain the retractable chassis  110  component in the active position; and a latch actuator controlled by the controller  160  and configured to release the latch  116  to enable the spring element to draw the retractable chassis  110  component into the secured position. In one implementation, the system  100  includes a rack  112  supporting the set of actuators  120  on the chassis  110  and operable in: an active (or “advanced”) position to locate the selector  130  over the physical user interface; and a secured (or “retracted”) position to physically isolate the selector  130  from the physical user interface. In this example, the system  100  can also include a latch  116  configured to retain the rack  112  in the advanced position, such as responsive to manual advancement of the rack  112  from the secured position to the active position. For example, the latch  116  can include a fail-safe electromagnetic lock that automatically unlocks and releases the rack  112  to the secured position in response to loss of power or interrupted communication from the controller  160 . 
     In this variation, an onsite operator may manually pull the retractable chassis  110  component into the active position in preparation for a procedure at the production equipment unit. A remote operator may then log in to the operator portal  180 , access remote control of the system  100  via the operator portal  180 , and remotely perform the procedure at the production equipment unit via the operator portal  180  and the system  100 . The controller  160  can then trigger the latch  116  to release the rack  112  to the secured (or “retracted”) position in response to conclusion of the procedure at the production equipment unit. For example, when the remote operator completes the procedure, the remote operator may select—at the operator portal  180 —a command to disable the system  100 , or the operator portal  180  can automatically generate a command to disable the system  100  upon completion of the procedure. Upon receipt of this command, the controller  160  can trigger the latch actuator to release the latch  116 , thereby enabling the spring element to draw the retractable chassis  110  component back into the secured position. 
     Because the system  100  excludes an actuator  120  to draw the retractable chassis  110  component into the active position, this action prevents the system  100  from entering further inputs into the production equipment unit until an onsite operator manually moves the retractable chassis  110  component back to the active position, thereby physically securing the system  100  and the production equipment unit against network intrusion. 
     Furthermore, the system  100  can remain intransiently (e.g., permanently) attached to the physical user interface, but the retractable chassis  110  component can enable the onsite operator to separate the gantry  122  from the physical user interface by releasing the latch  116 , thereby enabling the onsite operator to view and operate the production equipment unit locally. 
     4.2 Security Controls 
     In the foregoing variation and as shown in  FIG. 9B , the controller  160  can be further configured to trigger the latch  116  to release the rack  112  from the active position to the secured position in response to detection of one of: a security threat to the system  100 ; a security attack on the operator portal  180 ; a sequence of commands, received from the operator portal  180 , that differ from historical sequences of actions associated with the procedure; loss or interruption of network connectivity via the communication module  150 ; and/or login by a remote operator, at the operator portal  180 , excluded from access to the production equipment unit via the virtual user interface  182 . 
     For example, in this variation, the controller  160  can: directly implement security protocols to detect security threats to the system  100 ; trigger the latch  116  to release in response to detecting a possible security threat, thereby releasing the rack  112  to the secured position without means to automatically return the rack  112  to the active position; and output an alarm or prompt to an onsite operator to manually return the rack  112  to the active position only after verifying security of the system  100 . 
     Additionally or alternatively, the computer network, remote computer system, and/or operator portal  180  can implement security protocols to detect security threats to the system  100  and transmit an alarm to the controller  160  in response to detecting a security threat. In this example, the controller  160  can: trigger the latch  116  to release in response to receipt of the alarm, thereby releasing the rack  112  to the secured position without means to automatically return the rack  112  to the active position; and output an alarm or prompt to an onsite operator to manually return the rack  112  to the active position only after verifying security of the system  100 . 
     In this example, the controller  160 , the computer network, the remote computer system, and/or the operator can implement methods and techniques described in U.S. patent application Ser. No. 16/386,178, filed on 16 Apr. 2019 and which is incorporated in its entirety by this reference, to: access historical instances of the procedure currently in process at the production equipment unit; track a sequence of virtual inputs entered by the remote operator at the virtual user interface  182  during the current instance of the procedure; characterize a difference between these historical and current instances of the procedure; and flag the current instance of the procedure as suspicious if this difference exceeds a threshold amplitude or threshold rate over time (e.g., misordered steps of the procedure, inputs outside of historical ranges). Accordingly, the controller  160  can: trigger the latch  116  to release responsive to this flag, thereby releasing the rack  112  to the secured position without means to automatically return the rack  112  to the active position; and output an alarm or prompt to an onsite operator to manually return the rack  112  to the active position only after verifying the current instance of the procedure. 
     4.3 Retractable Shield 
     In a similar variation, the system  100  includes an interface shield  114 : mounted to the chassis  110 ; transparent to light in a visible spectrum; and operable in 1) an advanced position to locate over the physical user interface to isolate the physical user interface from input by the selector  130  and 2) a retracted position to enable the selector  130  to access the physical user interface. In this variation, the system  100  can also include a latch  116  configured to retain the interface shield  114  in the retracted position, such as described above. Accordingly, the controller  160  is configured to trigger the latch  116  to release the rack  112  to the advanced position in response to conclusion of the procedure at the production equipment unit. 
     For example, in this implementation, the interface shield  114  can include a transparent (e.g., polycarbonate) panel configured to insert between the physical user interface and the chassis  110  in the advanced position, thereby: preventing contact between the selector  130  and the physical user interface and preventing the system  100  from physically reproducing virtual inputs at the physical user interface; while concurrently enabling an onsite operator to view the physical user interface without manipulating or moving the system  100  directly. However, when a procedure is scheduled at the production equipment unit and/or once the onsite operator confirms a procedure at the production equipment unit, the onsite operator can manually retract the interface shield  114 —away from the physical user interface—to engage the latch  116 , thereby enabling the system  100  to manipulate the physical user interface directly via the selector  130 . Upon conclusion of the procedure, detection of a security threat, or loss of power, etc. the latch  116  can release the interface shield  114 , thereby shielding the physical user interface from the selector  130  and preventing the system  100  from entering further physical inputs into the physical user interface. 
     5. User Interface Identification 
     In one implementation, the system  100  further includes a display and a control panel (e.g., numerical or alphanumerical control panel). When installing the system  100  on a user interface at a production equipment unit, the onsite operator may read a code on or adjacent the physical user interface and enter this code into the control panel on the system  100  to manually identify the physical user interface for the system  100 . In this implementation, the system  100  can also interface with the onsite operator via the display to confirm the identity of the remote operator (e.g., via video telepresence), request and receive confirmation of the remote operator&#39;s identity, and/or confirm remote access to the production equipment unit for performance of the procedure via the system  100 . 
     In another implementation, the system  100  further includes or connects to a scanner (e.g., a barcode scanner). In this implementation, the onsite operator may: install the system  100  over the physical user interface on a production equipment unit; and scan an identifier (e.g., a barcode) on or adjacent the physical user interface with the scanner. The scanner may return this identifier to the controller  160 , which identifies the physical user interface accordingly. 
     In yet another implementation, the system  100  implements computer vision to automatically read an identifier of the physical user interface from an image captured by the optical sensor  140  in the system  100  following installation of the system  100  over the physical user interface. 
     In another implementation, the system  100  includes an RFID reader configured to read an identifier from a RFID tag in the production equipment unit. In this implementation, the system  100  can thus identify the physical user interface based on a RFID value received from the RFID tag in the production equipment unit following installation of the system  100  over the physical user interface. 
     However, the remote operator or the system  100  can implement any other method or technique to identify the physical user interface following installation of the system  100  over the physical user interface. 
     6. Interface Model 
     Once the system  100 , the onsite operator, or the remote operator identifies the physical user interface coupled to the system  100 , the system  100  can retrieve an interface model for the physical user interface specifically or for a type of the physical user interface, such as from a database of predefined interface models for user interfaces and/or user interface types on production equipment units in the production facility, as shown in  FIGS. 1 and 9A . 
     For example, an interface model can define: a set of stored commands enabled for this particular user interface or user interface type; and a sequence of lead-in, input field actuation, and lead-out trajectories for each command in this set. In this example, a sequence of lead-in, input field actuation, and lead-out trajectories for a particular command can: define three-dimensional (e.g., (x,y,z)) waypoints, directions, and feed rates executable by the system  100  to manipulate a particular input field on the physical user interface—via the selector  130 —according to a virtual input at the virtual representation of the physical user interface rendered at the operator portal  180 ; and force limits at the selector  130  and/or torque limits at the x-, y-, and/or z-axis actuators  120  to trigger transition between these waypoints and/or to verify manipulation of the input field according to the virtual input. 
     6.1 Coordinate System and Calibration 
     Furthermore, each sequence of lead-in, input field actuation, and lead-out trajectories for a particular command can be defined within a physical user interface coordinate system aligned to a feature (e.g., an “origin”) on the physical user interface. Thus, once the system  100  is installed over the physical user interface, the system  100  can: capture a calibration image of the physical user interface; detect this feature; and derive an offset between a machine coordinate system of the system  100  and the physical user interface coordinate system based on a position of this feature in the calibration image. The system  100  can then execute lead-in, input field actuation, and lead-out trajectories—associated with commands received from the operator portal  180 —within this machine coordinate system. 
     In one implementation shown in  FIG. 9A , the optical sensor  140 —arranged on the chassis  110  and facing the physical user interface—can capture a calibration image of the physical user interface once the system  100  is located on the physical user interface and activated, such as in preparation for the remote control of the procedure at the production equipment unit. The controller  160  can then: implement computer vision techniques to detect a constellation of features in the calibration image; and register a coordinate system of the system  100  relative to the constellation of features. Later, the controller  160  can: receive a command from the virtual user interface  182 ; convert a virtual two-dimensional position of a virtual input at the virtual user interface  182 —stored in the command—into a longitudinal position and a lateral position within the coordinate system of the system  100 ; and then navigate the selector  130  to this longitudinal and lateral position and drive the selector  130  toward the physical user interface (e.g., according to generic lead-in, input field actuation, and lead-out trajectories or lead-in, input field actuation, and lead-out trajectories specific to this command) to execute the command at the production equipment unit. 
     For example, the controller  160  can scan: the calibration image for peripheral edges of the physical user interface and/or a barcode located or rendered on the physical user interface; locate a physical user interface origin at the intersection of the bottom-horizontal and left-vertical edges of the physical user interface detected in the calibration image; and calculate a yaw rotation value of the system  100  on the physical user interface based on angular positions of the peripheral edges of the physical user interface in the calibration image. The controller  160  can then calculate a linear and angular offset between a machine coordinate system of the system  100  and the physical user interface based on: the position of the physical user interface origin detected in the calibration image; the yaw rotation value derived from the calibration image; and a known position of the optical sensor  140  on the system  100 . The computer system can then convert locations of inputs on the virtual user interface  182 —prescribed by commands received from the virtual user interface  182  during the procedure—into machine coordinates based on this linear and angular offset. 
     Alternatively, upon remotely accessing the system  100  via the operator portal  180 , the remote operator may review an image received from the system  100  and manually align the machine coordinate system of the system  100  to the user interface based on features depicted in the calibration image. 
     7. Remote Procedure Initialization 
     Later, a remote operator may log in to the operator portal  180  and select a procedure and/or select a production equipment unit within the operator portal  180 , such as from a calendar of scheduled procedures within the production facility or from a dropdown menu of production equipment units. However, the remote operator may manually select a procedure and/or the production equipment unit in any other way, or a scheduler can push the procedure—with a specification for the production equipment unit—to the remote operator via the operator portal  180 . 
     The operator portal  180  can then: retrieve a virtual representation of the physical user interface on the production equipment unit, such as including: virtual representations of a set of digital displays, analog gauges, dials, etc. with virtual states linked to physical states of these physical digital displays, analog gauges, dials, etc. on the physical user interface; and virtual representations of a set of input fields (e.g., virtual switches, virtual sliders, virtual dials) linked to commands—defined in the interface model for this user interface—executable by the system  100  to manipulate the corresponding physical input fields on the physical user interface. 
     For example, the virtual representation of the physical user interface can depict virtual displays and/or virtual input fields in locations, formats, geometries, and colors, etc. that mimic the locations, formats, geometries, and colors, etc. of the physical displays and physical input fields on the physical user interface. Each virtual input field is thus linked to a command—interpretable by the system  100  to manipulate the corresponding physical input field on the physical user interface—when the virtual input field is selected and modified within the operator portal  180  by the remote operator. Throughout a procedure, the physical user interface can also update the state or position of a virtual input field based on a last state or position of the corresponding physical input field manipulated by the system  100 . Similarly, each virtual display in the virtual representation of the physical user interface can be linked to a physical display on the physical user interface. Throughout the procedure, the physical user interface can update the state of or data depicted on each virtual display based on data read from a section of an image—captured by the system  100 —depicting this corresponding physical display on the physical user interface. 
     Alternatively, in one variation, the operator portal  180  can present a modified virtual representation of the physical user interface that depicts virtual displays and virtual input fields in locations, formats, geometries, and/or colors, etc. that differ from the locations, formats, geometries, and/or colors, etc. of the corresponding physical displays and physical input fields on the physical user interface, respectively. For example, the remote operator may customize the virtual representation of the physical user interface on a production equipment unit for more intuitive or more efficient remote operation of the production equipment unit. Additionally or alternatively, the operator portal  180  can automatically mute a subset of virtual displays and/or virtual input fields in the virtual representation of the physical user interface—corresponding to lower-priority or extraneous displays and/or input fields on the physical user interface—such as in order to reduce screen area allocated to this virtual representation of the physical user interface, thereby enabling the remote operator to focus on virtual representations of the (most) relevant displays and input fields on the physical user interface only and/or enabling the remote operator to view virtual representations of user interfaces on multiple production equipment units simultaneously within a single operator portal  180 . 
     8. Remote Procedure 
     At the start of remote execution of a procedure at a production equipment unit by the remote operator via the system  100  and the operator portal  180 , the operator portal  180  can: collect security information from the remote operator; validate the remote operator&#39;s credentials; and then access the system  100  via a computer network to enable remote control of the production equipment unit via commands entered at the operator portal  180  transmitted to the system  100 . 
     Subsequently, the remote operator may: select virtual input fields within the virtual representation of the physical user interface rendered within the operator portal  180 ; and adjust positions, adjust states, or modify values of the virtual input fields according to steps of the procedure and/or states or values indicated on first displays depicted within the operator portal  180 . Upon selection and adjustment of an input field, the remote operator can generate a command specifying this input field and representing the adjustment (e.g., the magnitude or value of the adjustment) and transmit this command to the system  100  via the computer network. 
     Upon receipt, the controller  160  can implement the interface model for the physical user interface to transform the command into a selector type and/or interpret lead-in, input field actuation, and lead-out trajectories (or motion of the selector  130  more generally) for the selector  130 . The controller  160  can then autonomously orchestrate operation of the x-, y-, and z-axis actuators  120 , etc. to load the selector type and/or to drive the selector  130  through the lead-in, input field actuation, and lead-out trajectories, thereby executing the command at the physical user interface according to the remote operator&#39;s input at the operator portal  180 . The controller  160  can repeat the process for each command received from the operator portal  180  throughout this procedure. 
     8.1 Physical Input Reproduction 
     For example, during the procedure, the communication module  150  receives a first command—selected by the remote operator from a set of predefined commands defined in the interface model—from the operator portal  180 . 
     The controller  160  then: retrieves a first lead-in trajectory, a first input field actuation trajectory, and a first lead-out trajectory associated with the first command; and locates the first lead-in trajectory, a first input field actuation trajectory, and a first lead-out trajectory relative to the first physical input field (e.g., a mechanical input or a virtual input on a physical display) on the physical user interface of the production equipment. More specifically, the controller  160  can define the first lead-in trajectory, the first input field actuation trajectory, and the first lead-out trajectory within the machine coordinate system of the system  100  based on: the location of the command defined in the physical user interface coordinate system by the interface model; and the stored offset between the machine coordinate system of the system  100  and the physical user interface coordinate system described above. Accordingly, the controller  160  can physically reproduce the first virtual input at the physical user interface of the production equipment unit by driving the set of actuators  120 : to a start position of the first lead-in trajectory in the machine coordinate system; along the first lead-in trajectory to engage the first physical input field; along the first input field actuation trajectory to manipulate the first physical input field according to the first virtual input; and along the first lead-out trajectory to release the first physical input field. 
     8.2 Physical/Virtual User Interface Status Update 
     In one variation in which the virtual user interface  182  renders a graphical representation of the physical user interface (i.e., rather than a dewarped photographic image of the physical user interface), the controller  160  can: access a feed of images captured by the optical sensor  140 ; extract equipment and input field statuses from these images; and stream these statuses to the operator portal  180 . The operator portal  180  can then update the graphical representation of the physical user interface according to these statuses. 
     For example, the optical sensor  140 —arranged on the chassis  110  and facing the physical user interface—can capture a first image depicting the physical user interface at a first time. The controller  160  can then: access the first image; detect a first constellation of features (e.g., positions of physical or digital switch positions, values of sensor readouts) in the first image; and interpret a first set of system statuses of the production equipment unit at the first time based on the first constellation of features. The communication module  150  then broadcasts the first set of system statuses for access by the operator portal  180 . Accordingly, the operator portal  180 : renders a graphical representation of the physical user interface within the virtual user interface  182 ; accesses the first set of system statuses; and updates visual elements (e.g., virtual representations of physical switches, digital switches, sensor readouts) within the graphical representation of the physical user interface according to the first set of system statuses. 
     In this example, the controller  160  and the operator portal  180  can repeat this process for each image captured by the optical sensor  140  or on a regular interval (e.g., once per five-second interval). Alternatively, the controller  160  can: detect and extract system statuses from each image captured by the optical sensor  140 ; detect status changes between consecutive images; and transmit only status changes to the operator portal  180 . Yet alternatively, the system  100  can broadcast these images to the operator portal  180 , and the operator portal  180  can implement similar methods and techniques to extract system statuses from these images and to update the graphical representation of the physical user interface accordingly. 
     Thus, the optical sensor  140 , the controller  160 , and the operator portal  180  can cooperate to present current statuses of the production equipment unit to the remote operator via a graphical representation of the physical user interface, thereby enabling the remote operator to remotely monitor the production equipment unit before, during, and after inputting commands to the virtual user interface  182  during each step of the procedure. 
     In this variation, the system  100  and/or the operator portal  180  can also: capture a verification image of the physical user interface during a step of the procedure; implement methods and techniques described in U.S. patent application Ser. No. 17/478,817, filed on 17 Sep. 2021 and incorporated in its entirety by this reference, to detect and extract current values of sensor readouts from the verification image; and retrieve target or historical sensor ranges for this step of the procedure. Then, if a current sensor value deviates from a corresponding target or historical sensor range, the operator portal  180  can: flag the current step of the procedure; lockout a next step of the procedure; and transmit the verification image to a second operator portal  180 —such as accessed by or associated with a second remote operator or the onsite operator—for verification of the current step of the procedure. The operator portal  180  and/or the system  100  can then enable the remote operator to progress to the next step of the procedure upon receipt of confirmation from the second operator portal  180 . 
     8.3 Input Verification 
     Additionally or alternatively, the optical sensor  140 , the controller  160 , and the operator portal  180  can cooperate to capture and return a verification image of the physical user interface to the remote operator after executing a command, thereby enabling the remote operator to verify completion and accuracy of the command. The operator portal  180  can also prompt the remote operator to confirm the command before enabling the remote operator to access or initiate a next step of the procedure, as shown in  FIG. 9B . 
     For example, the optical sensor  140  can capture a verification image of the physical user interface after the system  100  reproduces a first command received from the remote operator, as described above. The communication module  150  can broadcast the verification image for access by the operator portal  180 , such as an original, photographic verification image or a dewarped photographic variant of the verification image. The operator portal  180  can then: access the verification image; render the verification image within the virtual user interface  182 ; and prompt the remote operator to confirm reproduction of a first virtual input—defined in the first command—at the physical user interface based on the verification image. Then, in response to confirmation of reproduction of the virtual input at the physical user interface by the remote operator, the operator portal  180  can unlock a next step of the procedure. However, if the remote operator indicates failed or incomplete reproduction of the first virtual input at the physical user interface, the operator portal  180  can return a command to the system  100  to recalibrate its position on the physical user interface, repeat emulation of the first command at the physical user interface, and return a second verification image of the physical user interface. 
     Additionally or alternatively, the system  100  can transmit the verification image to a second operator portal  180 —such as accessed by or associated with a second remote operator or the onsite operator—for verification that the first command was fully and accurately reproduced at the production equipment unit before unlocking the next step of the procedure for the remote operator. 
     8.4 Command Pre-Verification 
     In a similar variation, in response to the remote operator entering a command at the virtual user interface  182  during the procedure, the operator portal  180  can transmit the command—such as in the form of a graphical representation or animation of the corresponding virtual input—to a second operator portal  180  for verification. For example, the operator portal  180  can transmit the command to a second operator portal  180  accessed by or associated with a second remote operator or the onsite operator for confirmation or verification of the command. If the second operator portal  180  returns confirmation to the operator portal  180 , the operator portal  180  can release the command to the controller  160  for execution. Alternatively, the operator portal  180  can transmit the command to both the controller  160  and the second operator portal  180 ; and the controller  160  can execute the command only upon receipt of confirmation from the second operator portal  180 . 
     8.5 Selector Position 
     In another variation shown in  FIG. 9B , the controller  160  streams positions of the selector  130 —over the physical user interface—to the operator portal  180 , which then renders an icon representing the selector  130  over corresponding positions of the virtual user interface  182 , thereby enabling the remote operator to: monitor the real-time position of the selector  130  during the procedure; and/or access an analog of proprioception of the remote operator&#39;s hands if physically interfacing within the physical user interface in the facility. 
     For example: the controller  160  can track real-time positions of the selector  130 —over the physical user interface—in the physical user interface coordinate system during the procedure; and the communication module  150  can broadcast these real-time positions of the selector  130  for access by the operator portal  180  during the procedure. Accordingly, the operator portal  180  can render a visual icon representing the selector  130  (e.g., a virtual translucent dot, a virtual pointer)—such as over a raw photographic image feed of the physical user interface or over a graphical representation of the physical user interface derived from these images—based on real-time positions of the selector  130  broadcast by the communication module  150 . 
     8.6 Input/Output Access 
     In another variation, the operator portal  180  can implement methods and techniques described below to selectively deactivate remote controls within a region of the virtual user interface  182  (i.e., reject or discard virtual inputs in this region of the virtual user interface  182 ) in order to prevent the remote operator from remotely controlling corresponding functions on the physical user interface or the production equipment unit. 
     For example, the operator portal  180  can redact regions of the graphical representation of the physical user interface or lock virtual inputs within these regions that correspond to inputs or functions of the production equipment unit not specified in the procedure, that the remote operator is not qualified to access, or flagged in the interface model as requiring physical presence at the production equipment unit to access. 
     Similarly, the operator portal  180  can obfuscate (e.g., redact, blur) regions of the virtual user interface  182  containing sensitive information in order to prevent the remote operator from remotely accessing such information, thereby securing this information. For example, the remote operator can redact or blur a region of the graphic representation of the physical user interface (and/or a raw or dewarped photographic image of the physical user interface) containing a contract or contractee identifier, a batch number, or sensitive or trade secret production equipment unit parameters, etc., such as: based on regions of the physical user interface containing sensitive data as defined in the procedure; or based on the remote operator&#39;s qualifications or login credentials. 
     9. Remote Operator Verification 
     In one variation in which an onsite operator has unlocked or setup the system  100  on the production equipment unit in preparation for remote completion of the procedure by the remote operator, the onsite operator may contact the remote operator, such as via a video teleconferencing system, to verify the remote operator&#39;s identity. For example, the system  100  can include an integrated display, and the controller  160  can host a video call between the local and remote operators via the integrated display. Alternatively the onsite operator may verify the remote operator identity via a mobile device executing video teleconferencing application. The remote operator may then provide authentication codes or personal information for access to the system  100 , and the onsite operator may grant the remote operator access to the system  100  accordingly, such as by drawing the rack  112  into the active position or moving the interface shield  114  to the retracted position as described above. 
     In another implementation, the operator portal  180  interfaces with the remote operator to complete an authentication protocol prior to accessing the system  100 , such as: a single- or multi-factor authentication protocol; facial recognition; fingerprint verification; and/or verification of IP address, computer type, SSID connection, corporate VPN connection, etc. 
     10. Live Image Feed of Physical User interface as Virtual User Interface 
     In one variation shown in  FIGS. 9A and 9B , the system  100  streams raw, composite, or dewarped photographic images of the physical user interface to the operator portal  180 . The operator portal  180  then: renders this image stream within the virtual user interface  182  (rather than a graphical representation of the physical user interface); records virtual inputs entered by the remote operator over this image stream; generates commands based on these virtual inputs; and returns the commands to the system  100  for execution on the physical user interface. 
     10.1 Direct Image to System Coordinate Conversion 
     In one example: the optical sensor  140 —arranged on the chassis  110  and facing the physical user interface—captures an image feed depicting the physical user interface; and the communication module  150  broadcasts the image feed for access by the operator portal  180 . The operator portal  180 —operating on a computing device remote from the production equipment unit—then: accesses the image feed; renders the image feed within the virtual user interface  182 ; and records a first virtual input position of the first virtual input—entered by the remote operator during a first step of the procedure—on a first image in the image feed rendered within the virtual user interface  182 . The operator portal  180  can then: store the first virtual input position of the first virtual input—such as defined in physical user interface coordinate system based on positions of reference features present in the first image (e.g., bottom and left peripheral edges of the physical user interface)—in a first command; and returns the first command to the system  100  via the communication module  150 . 
     Upon receipt of the command, the controller  160  then: extracts the first virtual input position from the first command; and converts the first virtual input position into a first longitudinal position and a first lateral position of the selector  130  within the machine coordinate system of the system  100 . In particular, the controller  160  can convert the first longitudinal position and the first lateral position of the first virtual input—defined in the physical user interface coordinate system—into longitudinal and lateral machine coordinate positions based on the stored linear and angular offset between the machine coordinate system of the system  100  and the physical user interface coordinate system described above. The controller  160  then: triggers the set of actuators  120  to drive the selector  130  to these longitudinal and lateral machine coordinate positions; then triggers the set of actuators  120  to drive the selector  130  in a vertical direction to engage the first physical input field; and finally triggers the set of actuators  120  to withdraw the selector  130  in the vertical direction away from the physical user interface to complete reproduction of the first virtual input according to the first command. 
     More specifically, the controller  160  can: extract a first virtual two-dimensional position of the first virtual input from the first command; convert the first virtual two-dimensional position of the first virtual input at the virtual user interface  182  into a first longitudinal position and a first lateral position of a first input location on the physical user interface (e.g., a touch display); drive the set of actuators  120  to move the selector  130  to the first longitudinal position and the first lateral position; drive the set of actuators  120  to advance the selector  130  into contact with a surface of the touch display at the first physical input field on the physical user interface; and drive the set of actuators  120  to retract the selector  130  from the surface of the touch display. 
     10.2 Input and Command Maps 
     Alternatively, in this variation, the operator portal  180  can convert a location of a virtual input on a live image of the physical user interface into a command, such as based on a stored input-to-command map that links discrete regions in an image to the physical user interface into particular commands executable at the physical user interface. Upon receipt of a command from the operator portal  180 , the controller  160  converts the command back into a machine-executable selector  130  path, such as based on: a) a stored command-to-input map that links particular commands to target input positions on the physical user interface (or to lead-in, input field actuation, and lead-out trajectories over the physical user interface, as described above); and b) the stored offset between the machine coordinate system of the system  100  and the physical user interface coordinate system described above. 
     In one example, the operator portal  180 : accesses the input-to-command map for the physical user interface of the production equipment unit during the procedure; accesses a live feed of images captured by the optical sensor  140  in the system  100 ; aligns the input-to-command map to images of the physical user interface received from the system  100  (e.g., based on features detected in these images); renders these images of the physical user interface within the virtual user interface  182 ; records a virtual location of a first virtual input over a first image of the physical user interface; converts the virtual location of the first virtual input into a first command based on the input-to-command map; and then returns the first commands to the system  100 . 
     In this example, the controller  160  then: accesses the command-to-input map for the physical user interface of the production equipment unit; converts the first command into a target input position on the physical user interface based on the command-to-input map; calculates a first set of motions based on a current position of the selector  130  and the target input position; and then drives the set of actuators  120  according to the first set of motions in order to reproduce the first virtual input at the physical user interface. 
     10.3 Virtual Input Access Limitations 
     As described above and shown in  FIGS. 9A and 9B , the operator portal  180  can disable virtual inputs on select regions of images of the physical user interface during the procedure, such as based on: the remote operator&#39;s credentials or training qualifications; or controls not needed during or specified in the procedure. 
     In one example, the optical sensor  140 —arranged on the chassis  110  and facing the physical user interface—captures an image feed depicting the physical user interface during the procedure; and the communication module  150  broadcasts this image feed for access by the operator portal  180 . In this example, the operator portal  180 —operating on a computing device remote from the production equipment unit—retrieves an input image mask linked or assigned to the procedure; accesses a first image in the image feed; locates a first inactive region on the first image based on the input image mask, such as by projecting the input image mask onto the first image; and renders the first image within the virtual user interface  182 . Later, the operator portal  180  can similarly: access a second image in the image feed; locate a second inactive region on the second image based on the input image mask, such as by again projecting the input image mask onto the second image; and render the second image within the virtual user interface  182 . 
     In this example, the operator portal  180  can: record a first virtual input position of a first virtual input—entered by the remote operator—on the first image and outside of the first inactive region of the first image; store the first virtual input position of the first virtual input in a first command; and return the first command to the system  100  for execution. Conversely, the operator portal  180  can discard a second virtual input—entered by the remote operator—within the second region in the second image flagged as inactive. 
     The operator portal  180  repeats this process for each image received from the system  100  during the procedure. 
     10.4 Visual Access Limits 
     As described above and shown in  FIGS. 9A and 9B , the operator portal  180  can selectively obfuscate regions of images of the physical user interface during the procedure, such as based on: the remote operator&#39;s credentials or training qualifications; or redaction specifications defined in the procedure for trade secret and/or other sensitive information presented on the physical user interface during the procedure. 
     For example: the optical sensor  140 —arranged on the chassis  110  and facing the physical user interface—can capture an image feed depicting the physical user interface; and the communication module  150  can broadcast the image feed for access by the operator portal  180 . In this example, the operator portal  180 —operating on a computing device remote from the production equipment unit—can retrieve a redaction image mask for the procedure and/or for the remote operator; access a first image in the image feed; obfuscate a first region on the first image based on the redaction image mask, such as by projecting the redaction image mask onto the first image; render the first image within the virtual user interface  182 ; and repeat this process for each subsequent image received from the system  100  during the procedure. 
     Furthermore, in this example, the operator portal  180  can: access an operator credential entered by the remote operator before or during the procedure; retrieve a data access level assigned to the remote operator based on the operator credential; and retrieve the redaction image mask for the procedure and/or corresponding to the data access level of the remote operator. 
     10.5 Digital File 
     In one variation shown in  FIGS. 9A and 9B , the controller  160 , the remote computer system, and/or the operator portal  180  further compiles remote operator credentials, virtual inputs, physical reproduction of virtual inputs, and images of the physical user interface, etc. into a digital file that forms an audit trail for the procedure completed at the production equipment unit. 
     In one implementation, the optical sensor  140 —arranged on the chassis  110  and facing the physical user interface—captures an image feed depicting the physical user interface, such as at a rate of 10 Hz. In this implementation, the controller  160  can: initialize a digital file for the procedure at the production equipment unit; write an identifier of the remote operator to the digital file; write the image feed to the digital file; write commands received from the operator portal  180  to the digital file; and write timeseries motions of the selector  130  to the digital file, such as in real-time during the procedure. In response to completion of the procedure, the communication module  150  can then upload the digital file to a procedure database for storage and subsequent (or “post hoc”) review. 
     Additionally or alternatively, the operator portal  180  can execute similar methods and techniques to generate and store a digital file linked to the procedure. 
     Additionally or alternatively, during the procedure: the system  100  can stream the image feed, positions of the selector  130 , and/or motions of the actuators  120 , etc. to the remote computer system; and the operator portal  180  can similarly stream virtual inputs, virtual input locations, and/or commands—generated within the virtual user interface  182 —to the remote computer system. The remote computer system can then: distribute the image feed, selector  130  positions, and commands, etc. between the system  100  and the operator portal  180 ; compile these data into digital file linked to the procedure; and write this digital file to the procedure database for storage and subsequent review. 
     11. Variation: Robotic Arm 
     In one variation shown in  FIGS. 7 and 8B , rather than a gantry  122  and a z-axis actuator  120 , the system  100  includes a robotic arm, such as including: a set of arm segments; a set of joints interposed between adjacent arm segments; a set of actuators  120  configured to drive the set of joints over ranges of angular positions; and an end effector arranged on the distal end of a last arm segment and including the selector  130 . In this variation, the controller  160  can implement methods and techniques similar to those described above to drive the end effector and the selector  130  through lead-in, input field actuation, and lead-out trajectories and thus manipulate input fields at the physical user interface according to commands entered by the remote operator via the operator portal  180 . 
     12. Variation: Cart 
     In one variation shown in  FIG. 7 , the system  100  includes: a wheeled cart  170 ; and a lift (or “jack”) mounted to the cart and supporting the gantry  122 . In this variation, to deploy the system  100  to a production equipment unit and thus enable remote operation of the production equipment unit, an onsite operator may: wheel the cart up to the physical user interface on the production equipment unit; adjust the lift to vertically align the gantry  122  to the physical user interface; and lock wheels of the cart to fix the cart next to the physical user interface. Additionally or alternatively, the onsite operator may engage a latch  116 , lock, or strap on the cart or gantry  122  to the production equipment unit or to the physical user interface specify in order to physically couple the gantry  122  to the physical user interface. 
     Furthermore, in this variation, once the system  100  is deployed to the production equipment unit, the controller  160  can: trigger the optical sensor  140  to capture an image of the physical user interface; identify a type of the physical user interface and the production equipment unit based on features extracted from the image; retrieve an interface model for executing commands at the physical user interface based on the physical user interface type; and register the interface model—and thus motion of the x, y-, and z-axis actuators  120  and the selector  130 —to the physical user interface based on features detected in the image. 
     Additionally or alternatively, the remote operator may manually identify the production equipment unit, identify the physical user interface, select the interface model, and/or remotely control the x-, y-, and z-axis actuators  120  of the system  100  via the operator portal  180  to align the system  100  to the physical user interface, such as described above. 
     The system  100  can then implement methods and techniques described above to drive the end effector and the selector  130  through lead-in, input field actuation, and lead-out trajectories and thus manipulate input fields at the physical user interface according to commands entered by the remote operator via the operator portal  180 . 
     For example, the chassis  110  includes a wheeled cart  170  configured for: mobile transport to the production equipment unit for execution of the procedure by the remote operator during a first time period; and mobile transport to a second production equipment unit for execution of a second procedure by a second remote operator during a second time period. Accordingly, in this example, the communication module  150  can execute methods and techniques described herein to receive a first series of commands during the procedure at the production equipment unit during the first time period (i.e., once the onsite operator wheels the cart up to the physical user interface of the first production equipment unit); and the controller  160  can drive the set of actuators  120  according to a first set of motions to physically reproduce a first series of virtual inputs—defined in the first series of commands—at the physical user interface of the production equipment unit during the first time period. 
     Similarly, in this example, the communication module  150  can receive a second series of commands during a second procedure at the second production equipment unit during the second time period (i.e., once the onsite operator wheels the cart up to the physical user interface of the second production equipment unit at a later time), wherein the second series of commands corresponds to a second series of virtual inputs entered by a second remote operator at a second virtual user interface  182 , and wherein the second virtual user interface  182  represents the second physical user interface and is depicted within a second operator portal  180  remote from the second production equipment unit. The controller  160  can then: interpret a second set of motions of the selector  130  based on the second series of commands; and drive the set of actuators  120  according to the second set of motions to physically reproduce the second series of virtual inputs—defined in the second series of commands—at the second physical user interface of the second production equipment unit during the second time period. 
     In a similar example, the system  100  includes an articulated and adjustable robotic arm mounted on a mobile cart and configured for manual location near a first physical user interface of a production equipment unit followed by relocation to a second physical user interface of the production equipment unit during execution of corresponding steps of a procedure. In this example, the system  100  can include telescoping and/or articulating elements configured accommodate various heights, anglular positions, and/or sizes of these physical user interfaces within one production equipment unit or across various different production equipment units within the facility. 
     Furthermore, in this variation, once the remote operator completes a procedure at the production equipment unit via the system  100 , the onsite operator may unlock the cart and withdraw the cart from the production equipment unit, thereby physically securing the system  100  and the production equipment unit against network intrusion. 
     Additionally or alternatively, the system  100  can further include: a set of rails arranged on the cart; and a sled supporting the gantry  122  (or the robotic arm) and configured to slide along the set of rails between a) an active position in which the sled locates the gantry  122  near the front of the cart to enable the selector  130  to access the physical user interface and b) a secured position in which the sled retracts the gantry  122  toward the rear of the cart to prevent the selector  130  from accessing the physical user interface. In this implementation, the system  100  can further include: a spring element configured to draw the sled from the active position into the secured position; a latch  116  configured to retain the sled in the active position; and a latch actuator controlled by the controller  160  and configured to release the latch  116  to enable the spring element to draw the sled into the secured position. Thus, in this implementation, the onsite operator may manually pull the retractable chassis  110  component into the active position in preparation for a procedure at the production equipment unit. A remote operator may then log in to the operator portal  180 , access remote control of the system  100  via the operator portal  180 , and remotely perform the procedure at the production equipment unit via the operator portal  180  and the system  100 . When the remote operator completes the procedure, the remote operator may select a command at the operator portal  180  to disable the system  100 , or the remote operator can automatically generate this command and return this command to the system  100 . Upon receipt of this command, the controller  160  can automatically trigger the latch actuator to release the latch  116 , thereby enabling the spring element to draw the retractable chassis  110  component back into the secured position. Because the system  100  excludes an actuator  120  to draw the retractable chassis  110  component into the active position, this action prevents the system  100  from entering further inputs into the production equipment unit until an onsite operator manually moves the retractable chassis  110  component back to the active position, thereby physically securing the system  100  and the production equipment unit against network intrusion. The onsite operator may then move the cart to a second production equipment unit in the facility in preparation for execution of a procedure at this second production equipment unit. 
     Furthermore, in this variation, the system  100  can include a robotic arm—rather than the gantry  122 —mounted to the cart or sled and similar configured to enable the remote operator to remotely manipulate the physical user interface on the production equipment unit. 
     13. Actuator Array 
     In yet another variation, shown in  FIG. 8E  the system  100  includes a flexible, multi-layered transparent film: configured to overlay the physical user interface of the physical user interface; including a set of pneumatic or hydraulic cavities  192  configured to fill with a fluid (e.g., air, alcohol, water); and defining an array of microfluidic channels  191  connected to each cavity. In this variation, the system further includes a set of valves  193  connected to the of microfluidic channels, a pump  190 , and a reservoir that cooperate to selectively pump fluid into the cavities and thus enter physical inputs into a physical user interface responsive to commands received from the operator portal. In particular, the transparent film can apply physical inputs onto target regions of the physical user interface responsive to injection of fluid into corresponding cavities, which increases pressure within these cavities, applies pressure to adjacent regions of the physical user interface, and thus recreates physical inputs into the touchscreen based on commands received from the operator portal. Alternatively, the transparent film can interface with a touchscreen by pumping a conductive fluid (e.g., saline) into cavities to induce capacitance changes in corresponding, target regions of the touchscreen, thereby recreating physical inputs into the touchscreen based on commands received from the operator portal. 
     In a similar variation shown in  FIG. 8F , the system  100  includes a flexible transparent film  195  containing an array of small and/or translucent actuators  194  configured selectively actuate responsive to electrical signals from the controller and thus make contact with the physical user interface to recreate physical inputs based on commands received from the operator portal. 
     Furthermore, in these variations, the system  100  can enable a local operator to view and interface with a physical user interface directly through the flexible transparent film and without (re)moving the system  100  from the physical user interface. 
     The systems and methods described herein can be embodied and/or implemented at least in part as a machine configured to receive computer-readable medium storing computer-readable instructions. The instructions can be executed by computer-executable components integrated with the application, applet, host, server, network, website, communication service, communication interface, hardware/firmware/software elements of an operator computer or mobile device, wristband, smartphone, or any suitable combination thereof. Other systems and methods of the implementation can be embodied and/or implemented at least in part as a machine configured to receive computer-readable medium storing computer-readable instructions. The instructions can be executed by computer-executable components integrated by computer-executable components integrated with apparatuses and networks of the type described above. The computer-readable medium can be stored on any suitable computer readable media such as RAMs, ROMs, flash memory, EEPROMs, optical devices (CD or DVD), hard drives, floppy drives, or any suitable device. The computer-executable component can be a processor, but any suitable dedicated hardware device can (alternatively or additionally) execute the instructions. 
     As a person skilled in the art will recognize from the previous detailed description and from the figures and claims, modifications and changes can be made to the implementations of the invention without departing from the scope of this invention as defined in the following claims.