Hierarchical spatial hashing-based collision detection and hybrid collision response in a haptic surgery simulator

2008 ◽  
Vol 4 (1) ◽  
pp. 77-86 ◽  
Author(s):  
X. Li ◽  
L. Gu ◽  
S. Zhang ◽  
J. Zhang ◽  
G. Zheng ◽  
...  
Keyword(s):  
Collision Detection ◽  
Collision Response ◽  
Surgery Simulator

Collision Detection Analysis of 2D Layout Based on Convex Hull Plus Rubber Band Simulation

2014 ◽  
Vol 488-489 ◽  
pp. 1480-1484
Author(s):  
Juan Lu ◽  
Jia Xun Wei ◽  
Wei Xia ◽  
Jun Yan Ma ◽  
Li Ying ◽  
...  
Keyword(s):  
Convex Hull ◽  
Collision Detection ◽  
Design Method ◽  
Rubber Band ◽  
Digital Design ◽  
Detection Methods ◽  
Movement Model ◽  
Model Based ◽  
Collision Response ◽  
Optimized Model

It is an innovative design method in physics that product layout design is abstracted into convex hull plus rubber band simulation layout mode by setting up the optimized model. Based on the physics model of Newtons Second Law, this paper analyzed collision detection methods during the process of realizing reasonable layout, and it is founded that real-time collision detection and collision response during movement, produced components within the given beat, appeared to be the key content of resolving digital model design. In this paper, Area Difference method was adopted to detect when the collision occurred during component movement and what kind of state the component tended to be in collision. At the same time, it also determined the interference degree, solved critical point pose for collision response as well as its generation time and related torque and force, which can confirm the components continued movement model of rotation and sliding. Meanwhile, it employed the Judgment Matrix method to analyze collision response so as to confirm the collision interference relationship and collision action state, movement possessing mode (rotation, sliding and retraction, etc.) within the remaining time after collision with given beat during the layout process. All these provided with a practical solution for digital design of optimized model based on convex hull plus rubber band simulation compact layout.

Computer Prototyping of Moving Mechanical Parts

1995 ◽  
Author(s):  
Uday N. Pai ◽  
F. W. Liou
Keyword(s):  
Feature Extraction ◽  
Collision Detection ◽  
Volume Density ◽  
Rigid Bodies ◽  
Geometric Feature ◽  
Constrained Mechanical Systems ◽  
Collision Response ◽  
Automated Simulation ◽  
Physical Laws ◽  
Automatic Simulation

Abstract In this paper computer implementation of automated simulation of rigid bodies in collision is presented. It can be used for automatic simulation of unconstrained and/or constrained mechanical systems. The key tasks include feature extraction, collision detection, constraint identification, collision response, and simulation. Feature extraction includes volumetric feature extraction such as mass, volume, density and moment of inertia, and planar geometric feature extraction like the faces, edges, vertices and their inter-relationships. Collision detection is a kinematic problem involving the positional relationships of rigid bodies in space, while collision response is a dynamic problem involving the prediction of rigid body behavior according to physical laws. Case studies are used to explain the behavior of a typical system comprising of two rigid bodies to explain the underlying principles.

Collision response and obstacle avoidance of the tethered-space net robot system with non-target objects

2022 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Weiliang Zhu ◽  
Zhaojun Pang ◽  
Jiyue Si ◽  
Zhonghua Du
Keyword(s):  
Obstacle Avoidance ◽  
Collision Detection ◽  
Space Debris ◽  
Detection Method ◽  
Correction Method ◽  
Robot System ◽  
Content Type ◽  
Collision Model ◽  
Collision Response ◽  
Detection Failure

Purpose This paper aims to study the encounter issues of the Tethered-Space Net Robot System (TSNRS) with non-target objects on orbit during the maneuver, including the collision issues with small space debris and the obstacle avoidance from large obstacles. Design/methodology/approach For the collision of TSNRS with small debris, the available collision model of the tethered net and its limitation is discussed, and the collision detection method is improved. Then the dynamic response of TSNRS is studied and a closed-loop controller is designed. For the obstacle avoidance, the variable enveloping circle of the TSNRS has coupled with the artificial potential field (APF) method. In addition, the APF is improved with a local trajectory correction method to avoid the overbending segment of the trajectory. Findings The collision model coupled with the improved collision detection method solves the detection failure and speeds up calculation efficiency by 12 times. Collisions of TSNRS with small debris make the local thread stretch and deforms finally making the net a mess. The boundary of the disturbance is obtained by a series of collision tests, and the designed controller not only achieved the tracking control of the TSNRS but also suppressed the disturbance of the net. Practical implications This paper fills the gap in the research on the collision of the tethered net with small debris and makes the collision model more general and efficient by improving the collision detection method. And the coupled obstacle avoidance method makes the process of obstacle avoidance safer and smoother. Originality/value The work in this paper provides a reference for the on-orbit application of TSNRS in the active space debris removal mission.

scholarly journals Real-Time Smoke and Bleeding Simulation in Virtual Surgery

2006 ◽  
Author(s):  
Stefan Daenzer ◽  
Kevin Montgomery ◽  
Ruediger Dillmann ◽  
Roland Unterhinninghofen
Keyword(s):  
Minimally Invasive Surgery ◽  
Soft Tissue ◽  
Minimally Invasive ◽  
Open Source ◽  
Real Time ◽  
Invasive Surgery ◽  
Collision Detection ◽  
Virtual Surgery ◽  
Surgery Simulation ◽  
Surgery Simulator

We describe the implementation of smoke and bleeding simulation in the open source surgery simulator SPRING , which is particularly targeted for minimally invasive surgery simulation. Many smoke and bleeding simulations offer high physical and visual accuracy, but the underlaying models are to complex to run in real-time while performing soft-tissue simulation, collision detection and haptic device support at the same time. Our algorithms are based on simple models, that allow the surgery simulation to run in real-time.

3D fabric dynamic simulation based on Mapreduce

2015 ◽  
Vol 27 (6) ◽  
pp. 793-802 ◽  
Author(s):  
Hengliang Shi ◽  
Xiaolei Bai ◽  
Jianhui Duan
Keyword(s):  
Real Time ◽  
Collision Detection ◽  
Detection Algorithm ◽  
Calculation Model ◽  
3D Animation ◽  
Content Type ◽  
Collision Response ◽  
Simulation Based ◽  
Mass Spring Model ◽  
Mass Spring

Purpose – In cloth animation field, the collision detection of fabric under external force is very complex, and difficult to satisfy the needs of reality feeling and real time. The purpose of this paper is to improve reality feeling and real-time requirement. Design/methodology/approach – This paper puts forward a mass-spring model with building bounding-box in the center of particle, and designs the collision detection algorithm based on Mapreduce. At the same time, a method is proposed to detect collision based on geometric unit. Findings – The method can quickly detect the intersection of particle and triangle, and then deal with collision response according to the physical characteristics of fabric. Experiment shows that the algorithm improves real-time and authenticity. Research limitations/implications – Experiments show that 3D fabric simulation can be more efficiency through parallel calculation model − Mapreduce. Practical implications – This method can improve the reality feeling, and reduce calculation quantity. Social implications – This collision-detection can be used into more fields such as 3D games, aero simulation training and garments automation. Originality/value – This model and method have originality, and can be used to 3D animation, digital entertainment, and garment industry.

scholarly journals Force Aware Haptic Rendering for Intubation Simulation

2018 ◽  
Vol 7 (3.16) ◽  
pp. 61
Author(s):  
Yan Meng ◽  
. .
Keyword(s):  
Collision Detection ◽  
Material Properties ◽  
Surgical Simulation ◽  
Haptic Rendering ◽  
Multiple Models ◽  
Simulation Environment ◽  
Detection Mechanism ◽  
Collision Response ◽  
Multiple Contacts ◽  
Position Correction

We introduce a new haptic rendering method for neonatal endotracheal intubation simulation. The challenging procedure involves multiple models of different material properties, and is performed in the narrow oral cavity involving multiple contacts with tongue, lips, and laryngoscope. Our method first sets up simple collision detection mechanism with adaptive inner sphere tree structure for deformable tongue tissue. Then a collision response is handled with a novel force aware projective position correction. Our method is proved to be effective for heterogeneous simulation environment, therefore can be applied to surgical simulation with similar difficult settings.   

DESIGNING AND SIMULATING CLOTHES

2001 ◽  
Vol 01 (01) ◽  
pp. 1-17 ◽  
Author(s):  
NADIA MAGNENAT-THALMANN ◽  
PASCAL VOLINO ◽  
LAURENT MOCCOZET
Keyword(s):  
Collision Detection ◽  
Mechanical Model ◽  
Design System ◽  
Natural Approach ◽  
Numerical Resolution ◽  
Collision Response ◽  
Virtual Actors ◽  
Approach Working ◽  
Garment Design ◽  
Fabric Material

The most intuitive and natural approach for building garments takes its inspiration from the traditional garment industry where garments are created from two-dimensional patterns and then seamed together. MIRACloth uses this approach. Working with 2D patterns is the simplest way of keeping an accurate, precise and measurable description and representation for a cloth surface. In the traditional garment and fashion design approach, garments are usually described as a collection of cloth surfaces, tailored in fabric material, along with the description of how these patterns should be seamed together to obtain the final garment. Our virtual garment design system reproduces this approach by providing a framework for accurately designing the patterns with the information necessary for their correct seaming and assembly. Subsequently, these are placed on the 3D virtual bodies and animated along with the virtual actor's motion. In the following sections, we describe the different components — mechanical model, numerical resolution, collision detection and collision response — to develop for the simulation of clothes, then, we provide the different steps and tasks involved in dressing virtual actors, constructing and animating garments on them.

Sign in / Sign up

Export Citation Format

Share Document