Collision Detection and Response and Haptic Interaction in Virtual Environment Simulations with Deformable Objects PDF Download
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Author: Paul D. Jacobs
Publisher:
ISBN:
Category :
Languages : en
Pages : 108
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Book Description
Author: Paul D. Jacobs
Publisher:
ISBN:
Category :
Languages : en
Pages : 108
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Book Description
Author: Guido Böttcher
Publisher: Springer Science & Business Media
ISBN: 0857299352
Category : Computers
Languages : en
Pages : 148
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Book Description
The focus from most Virtual Reality (VR) systems lies mainly on the visual immersion of the user. But the emphasis only on the visual perception is insufficient for some applications as the user is limited in his interactions within the VR. Therefore the textbook presents the principles and theoretical background to develop a VR system that is able to create a link between physical simulations and haptic rendering which requires update rates of 1\,kHz for the force feedback. Special attention is given to the modeling and computation of contact forces in a two-finger grasp of textiles. Addressing further the perception of small scale surface properties like roughness, novel algorithms are presented that are not only able to consider the highly dynamic behaviour of textiles but also capable of computing the small forces needed for the tactile rendering at the contact point. Final analysis of the entire VR system is being made showing the problems and the solutions found in the work
Author: Dangxiao Wang
Publisher: Springer
ISBN: 3662449498
Category : Computers
Languages : en
Pages : 170
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Book Description
This book introduces the latest progress in six degrees of freedom (6-DoF) haptic rendering with the focus on a new approach for simulating force/torque feedback in performing tasks that require dexterous manipulation skills. One of the major challenges in 6-DoF haptic rendering is to resolve the conflict between high speed and high fidelity requirements, especially in simulating a tool interacting with both rigid and deformable objects in a narrow space and with fine features. The book presents a configuration-based optimization approach to tackle this challenge. Addressing a key issue in many VR-based simulation systems, the book will be of particular interest to researchers and professionals in the areas of surgical simulation, rehabilitation, virtual assembly, and inspection and maintenance.
Author: René Weller
Publisher: Springer Science & Business Media
ISBN: 3319010204
Category : Computers
Languages : en
Pages : 248
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Book Description
Starting with novel algorithms for optimally updating bounding volume hierarchies of objects undergoing arbitrary deformations, the author presents a new data structure that allows, for the first time, the computation of the penetration volume. The penetration volume is related to the water displacement of the overlapping region, and thus corresponds to a physically motivated and continuous force. The practicability of the approaches used is shown by realizing new applications in the field of robotics and haptics, including a user study that evaluates the influence of the degrees of freedom in complex haptic interactions. New Geometric Data Structures for Collision Detection and Haptics closes by proposing an open source benchmarking suite that evaluates both the performance and the quality of the collision response in order to guarantee a fair comparison of different collision detection algorithms. Required in the fields of computer graphics, physically-based simulations, computer animations, robotics and haptics, collision detection is a fundamental problem that arises every time we interact with virtual objects. Some of the open challenges associated with collision detection include the handling of deformable objects, the stable computation of physically-plausible contact information, and the extremely high frequencies that are required for haptic rendering. New Geometric Data Structures for Collision Detection and Haptics presents new solutions to all of these challenges, and will prove to be a valuable resource for researchers and practitioners of collision detection in the haptics, robotics and computer graphics and animation domains.
Author: Ming C. Lin
Publisher: CRC Press
ISBN: 1439865140
Category : Computers
Languages : en
Pages : 623
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Book Description
For a long time, human beings have dreamed of a virtual world where it is possible to interact with synthetic entities as if they were real. It has been shown that the ability to touch virtual objects increases the sense of presence in virtual environments. This book provides an authoritative overview of state-of-theart haptic rendering algorithms
Author: Murat Cenk C̦avușoǧlu
Publisher:
ISBN:
Category :
Languages : en
Pages : 17
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Book Description
Author: Miguel A. Otaduy
Publisher: Morgan & Claypool Publishers
ISBN: 1598291149
Category : Dokunma
Languages : en
Pages : 113
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Book Description
The human haptic system, among all senses, provides unique and bidirectional communication between humans and their physical environment. Yet, to date, most human-computer interactive systems have focused primarily on the graphical rendering of visual information and, to a lesser extent, on the display of auditory information. Extending the frontier of visual computing, haptic interfaces, or force feedback devices, have the potential to increase the quality of human-computer interaction by accommodating the sense of touch. They provide an attractive augmentation to visual display and enhance the level of understanding of complex data sets. They have been effectively used for a number of applications including molecular docking, manipulation of nano-materials, surgical training, virtual prototyping, and digital sculpting. Compared with visual and auditory display, haptic rendering has extremely demanding computational requirements. In order to maintain a stable system while displaying smooth and realistic forces and torques, high haptic update rates in the range of 5001000 Hz or more are typically used. Haptics present many new challenges to researchers and developers in computer graphics and interactive techniques. Some of the critical issues include the development of novel data structures to encode shape and material properties, as well as new techniques for geometry processing, data analysis, physical modeling, and haptic visualization. This synthesis examines some of the latest developments on haptic rendering, while looking forward to exciting future research in this area. It presents novel haptic rendering algorithms that take advantage of the human haptic sensory modality. Specifically it discusses different rendering techniques for various geometric representations (e.g. point-based, polygonal, multiresolution, distance fields, etc), as well as textured surfaces.
Author: Kelly S. Hale
Publisher: CRC Press
ISBN: 080583270X
Category : Technology & Engineering
Languages : en
Pages : 1273
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Book Description
This Handbook, with contributions from leading experts in the field, provides a comprehensive, state-of-the-art account of virtual environments (VE). It serves as an invaluable source of reference for practitioners, researchers, and students in this rapidly evolving discipline. It also provides practitioners with a reference source to guide their development efforts and addresses technology concerns, as well as the social and business implications with which those associated with the technology are likely to grapple. While each chapter has a strong theoretical foundation, practical implications are derived and illustrated via the many tables and figures presented throughout the book. The Handbook presents a systematic and extensive coverage of the primary areas of research and development within VE technology. It brings together a comprehensive set of contributed articles that address the principles required to define system requirements and design, build, evaluate, implement, and manage the effective use of VE applications. The contributors provide critical insights and principles associated with their given area of expertise to provide extensive scope and detail on VE technology. After providing an introduction to VE technology, the Handbook organizes the body of knowledge into five main parts: *System Requirements--specifies multimodal system requirements, including physiological characteristics that affect VE system design. *Design Approaches and Implementation Strategies--addresses cognitive design strategies; identifies perceptual illusions that can be leveraged in VE design; discusses navigational issues, such as becoming lost within a virtual world; and provides insights into structured approaches to content design. *Health and Safety Issues--covers direct physiological effects, signs, symptoms, neurophysiology and physiological correlates of motion sickness, perceptual and perceptual-motor adaptation, and social concerns. *Evaluation--addresses VE usability engineering and ergonomics, human performance measurement in VEs, usage protocols; and provides means of measuring and managing visual, proprioceptive, and vestibular aftereffects, as well as measuring and engendering sense of presence. *Selected Applications of Virtual Environments--provides a compendium of VE applications. The Handbook closes with a brief review of the history of VE technology. The final chapter provides information on the VE profession, providing those interested with a number of sources to further their quest for the keys to developing the ultimate virtual world.
Author: Bruno Siciliano
Publisher: Springer Science & Business Media
ISBN: 3540003053
Category : Technology & Engineering
Languages : en
Pages : 671
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Book Description
This book is a collection of papers on the state of the art in experimental robotics. Experimental Robotics is at the core of validating robotics research for both its systems science and theoretical foundations. Because robotics experiments are carried out on physical, complex machines, of which its controllers are subject to uncertainty, devising meaningful experiments and collecting statistically significant results, pose important and unique challenges in robotics. Robotics experiments serve as a unifying theme for robotics system science and algorithmic foundations. These observations have led to the creation of the International Symposia on Experimental Robotics. The papers in this book were presented at the 2002 International Symposium on Experimental Robotics.
Author: Adam S. Coutee
Publisher:
ISBN:
Category : Feedback control systems
Languages : en
Pages :
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Book Description
In recent years, researchers have developed virtual environments, which allow more realistic human-computer interactions and have become increasingly popular for engineering applications such as computer-aided design and process evaluation. For instance, the demand for product service, remanufacture, and recycling has forced companies to consider ease of assembly and disassembly during the design phase of their products. Evaluating these processes in a virtual environment during the early stages of design not only increases the impact of design modifications on the final product, but also eliminates the time, cost, and material associated with the construction of physical prototypes. Although numerous virtual environments for assembly analysis exist or are under development, many provide only visual feedback. A real-time haptic simulation test bed for the analysis of assembly and disassembly operations has been developed, providing the designer with force and tactile feedback in addition to traditional visual feedback. The development such a simulation requires the modeling of collisions between virtual objects, which is a computationally expensive process. Also, the demands of a real-time simulation incorporating haptic feedback introduce additional complications for reliable collision detection. Therefore, the first objective of this work was to discover ways in which current collision detection libraries can be improved or supplemented to create more robust interaction between virtual objects. Using the simulation as a test bed, studies were then conducted to determine the potential usefulness of haptic feedback for analysis of assembly and disassembly operations. The following significant contributions were accomplished: (1) a simulation combining the strengths of an impulse-based simulation with a supplemental constraint maintenance scheme for modeling object interactions, (2) a toolkit of supplemental techniques to support object interactions in situations where collision detection algorithms commonly fail, (3) a haptic assembly and disassembly simulation useful for experimentation, and (4) results from a series of five experimental user studies with the focus of determining the effectiveness of haptic feedback in such a simulation. Additional contributions include knowledge of the usability and functionality of current collision detection libraries, the limitations of haptic feedback devices, and feedback from experimental subjects regarding their comfort and overall satisfaction with the simulation.
