Collision Detection for Virtual Objects in a Haptic Assembly and Disassembly Simulation Environment

2002 ◽  
Author(s):  
Adam S. Coutee ◽  
Bert Bras
Keyword(s):  
Virtual Environment ◽  
Collision Detection ◽  
State Of The Art ◽  
Large Body ◽  
Detection Algorithm ◽  
Simulation Environment ◽  
Virtual Objects ◽  
Haptic Simulation ◽  
Object Interactions ◽  
Assembly Analysis

There exist a large body of work in the field of assembly, sometimes involving the use of a virtual environment to assist the user in assembly analysis. We have developed HIDRA (Haptic Integrated Dis/Re-assembly Analysis), a real-time haptic simulation for the analysis of assembly and disassembly operations. In this paper, we address the state of the art in collision detection and the implications it has on the effectiveness of our simulation. In particular, we focus on the usability of current collision detection libraries and discuss some of their limitations. Also, techniques to improve the robust ness of object interactions, in support of a collision detection algorithm, are presented. Although HIDRA is focused on assembly and disassembly simulations, the techniques described are relevant for the broader development of haptically enabled simulations.

A Comparison of Two Collision Detection Libraries in a Haptic Simulation Environment

2004 ◽  
Author(s):  
Adam S. Coutee ◽  
Bert Bras
Keyword(s):  
Virtual Environment ◽  
Collision Detection ◽  
High Speed ◽  
Limiting Factors ◽  
Simulation Environment ◽  
Assembly Sequences ◽  
High Speed Collision ◽  
Dynamic Objects ◽  
Haptic Simulation

Modeling the interaction between dynamic objects in a haptically enabled virtual environment requires high-speed collision detection. We present an independent comparison of two publicly available collision detection libraries, V-Clip and SWIFT++, as they perform in our assembly and disassembly simulation. Three assembly sequences, differing only by the complexity of the objects involved, are tested and compared based on speed of execution. In the process, some potentially limiting factors experienced while using these libraries are exposed.

Collision Detection Based on SIMD Model

2014 ◽  
Vol 519-520 ◽  
pp. 833-837
Author(s):  
Hui Yan Qu ◽  
Wei Zhao
Keyword(s):  
Real Time ◽  
Virtual Environment ◽  
Collision Detection ◽  
Time Complexity ◽  
Reconstruction Algorithm ◽  
Detection Algorithm ◽  
Data Selection ◽  
Iterative Sequence ◽  
The Public ◽  
Virtual Objects

In order to solve the virtual objects intersect problem in virtual environment, real-time fast CD application must be used in virtual environment. Collision detection algorithm based on a SIMD parallel was proposed. For ordered lists we used methods for N processors to search ordered sequence simultaneously, to select a valid range through an iterative, to retain the public segment as an iterative sequence so that to complete the division of the interval and data selection. It can improve the reconstruction of the bounding box of the data selected when these two algorithms applied to the detection of the CD. Experimental results show that compared with the classical reconstruction algorithm, the proposed algorithm has better time complexity and improve the efficiency of the CD.

Haptic Interaction Within a Planar Environment

2000 ◽  
Author(s):  
S. P. DiMaio ◽  
S. E. Salcudean ◽  
M. R. Sirouspour
Keyword(s):  
Collision Detection ◽  
Effective Means ◽  
Simulation Software ◽  
Environment Design ◽  
Simulation Environment ◽  
Haptic Interaction ◽  
Interface Control ◽  
Simulated Environments ◽  
Three Degree Of Freedom ◽  
Haptic Simulation

Abstract A haptic simulation environment to simulate planar three-degree-of-freedom motion has been developed by the authors. The system consists of a novel parallel manipulandum and associated control, collision detection and dynamic simulation software running on a QNX PC. This paper describes haptic interface control and outlines the control systems that have been designed for the haptic rendering of virtual environments. Virtual environment design and implementation are also discussed. Using the haptic simulation environment that has been developed, a four-channel teleoperation architecture is shown to be an effective means to display a variety of simulated environments and is compared with a popular impedance-based approach.

Research on Bounding Box-Tree Algorithm for Collision Detection

2011 ◽  
Vol 186 ◽  
pp. 645-649
Author(s):  
Yu Mei Xiong ◽  
Yi Min Chen ◽  
Yi Hao Chen
Keyword(s):  
Virtual Environment ◽  
Collision Detection ◽  
Detection Algorithm ◽  
Test Results ◽  
Tree Algorithm ◽  
Bounding Box ◽  
Bottom To Top

In order to improve the efficiency of the collision detection for polyhedron, the paper proposed a collision detection algorithm based on bounding box-tree. The hierarchical bounding box –tree was built by dividing the polyhedron into tetrahedron. The collision detection can be completed by the method searching the bounding box-tree from top to bottom or from bottom to top. The algorithm quickly eliminated the possibility of collision between objects far apart. And it well adapted to the needs of the dynamic collision detection. Test results showed that the algorithm greatly improved the collision detection’s speed in virtual environment.

A Haptic Assembly and Disassembly Simulation Environment and Associated Computational Load Optimization Techniques

2001 ◽  
Vol 1 (2) ◽  
pp. 113-122 ◽  
Author(s):  
Adam S. Coutee ◽  
Scott D. McDermott ◽  
Bert Bras
Keyword(s):  
Computer Architecture ◽  
Computer Aided Design ◽  
Haptic Feedback ◽  
Large Body ◽  
Two Dimensions ◽  
Optimization Techniques ◽  
Simulation Environment ◽  
Design Environment ◽  
Load Optimization ◽  
Assembly Analysis

There exist a large body of work in the field of assembly, sometimes involving the use of a virtual environment to assist the user in assembly analysis. Typically, these environments limit the user’s interaction with the environment to one sense, sight, and two dimensions, the table upon which the mouse rests. The introduction of a haptic interface into the computer-aided design environment allows users to incorporate both a third dimension and a second sense, that of touch, into their work. In this paper, the development of an application called HIDRA (Haptic Integrated Dis/Re-assembly Analysis) is discussed, which integrates haptic feedback into an assembly/disassembly simulation environment. In particular, the focus is on the computer architecture developed to support such haptic simulations and the methods that have been created to meet some of the application time constraints unique to haptic simulation. Although focused on assembly and disassembly simulations, these issues and developments are relevant for the broader development of haptically enabled simulations in general.

Research on Collision Detection Algorithm Based on OBB

2013 ◽  
Vol 433-435 ◽  
pp. 936-939 ◽  
Author(s):  
Xue Jing Ding
Keyword(s):  
Real Time ◽  
Virtual Environment ◽  
Collision Detection ◽  
Detection Algorithm ◽  
Rigid Bodies ◽  
The Real ◽  
Bounding Box

To enhance the real-time and accuracy of collision detection in virtual environment, introduces oriented bounding box (OBB) technology of hierarchical bounding box collision detection algorithm:construction of bounding box, generation of bounding box tree, implementation of collision detection algorithm,overlap judgement of bounding box. Collision detection algorithm based on OBB in this article is applied to solve the problem of collision detection between rigid bodies.

scholarly journals Prototyping and Design for Assembly Analysis Using Multimodal Virtual Environments

1995 ◽  
Author(s):  
Rakesh Gupta ◽  
David Zeltzer
Keyword(s):  
Virtual Environments ◽  
Virtual Environment ◽  
Force Feedback ◽  
Human Subjects ◽  
3D Models ◽  
Design Tool ◽  
Design For Assembly ◽  
Manual Assembly ◽  
Virtual Objects ◽  
Assembly Analysis

Abstract This work investigates whether estimates of ease of part handling and part insertion can be provided by multimodal simulation using virtual environment (VE) technology, rather than by using conventional table-based methods such as Boothroyd and Dewhurst Charts. To do this, a unified physically based model has been developed for modeling dynamic interactions among virtual objects and haptic interactions between the human designer and the virtual objects. This model is augmented with auditory events in a multimodal VE system called the “Virtual Environment for Design for Assembly” (VEDA). Currently these models are 2D in order to preserve interactive update rates, but we expect that these results will be generalizable to 3d models. VEDA has been used to evaluate the feasibility and advantages of using multimodal virtual environments as a design tool for manual assembly. The designer sees a visual representation of the objects and can interactively sense and manipulate virtual objects through haptic interface devices with force feedback. He/She can feel these objects and hear sounds when there are collisions among the objects. Objects can be interactively grasped and assembled with other parts of the assembly to prototype new designs and perform Design for Assembly analysis. Experiments have been conducted with human subjects to investigate whether Multimodal Virtual Environments are able to replicate experiments linking increases in assembly time with increase in task difficulty. In particular, the effect of clearance, friction, chamfers and distance of travel on handling and insertion time have been compared in real and virtual environments for peg-in-hole assembly task. In addition, the effects of degrading/removing the different modes (visual, auditory and haptic) on different phases of manual assembly have been examined.

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