Development of a Networked Haptic Environment in VR to Facilitate Collaborative Design Using Voxmap Pointshell (VPS) Software

2004 ◽  
Author(s):  
Chang E. Kim ◽  
Judy M. Vance
Keyword(s):  
Virtual Environments ◽  
Virtual Environment ◽  
Collaborative Design ◽  
Force Feedback ◽  
Global Network ◽  
Local Network ◽  
Haptic Devices ◽  
Geographically Dispersed ◽  
Networked Virtual Environment ◽  
Sharing Space

A networked virtual environment is a hardware and software system where people who are geographically dispersed over the world can interact with each other by sharing space, presence, and time [1]. The goal of the work presented here is to develop methods to facilitate the use of force feedback, or haptic, devices within a networked virtual environment. Our research aims at investigating and constructing a networked haptic environment (NHE) over a non-dedicated channel for multiple users. The NHE consists of a local network between each haptic device and each virtual environment, as well as a global network linking all of the virtual environments. Position synchronization throughout the global network is accomplished using “Released-but-not-released” method (RNR) which allows computers with different performance capabilities to participate in the network without users experiencing inaccurate object motions. The networked virtual assembly application has been demonstrated using several haptic devices and several virtual environments, without a limitation on number of users or complexity of input models. Performance measures are examined and future work is outlined.

The Quality of Service Issue in Virtual Environments

2010 ◽  
pp. 1333-1340 ◽  
Author(s):  
Pedro Morillo ◽  
Juan Manuel Orduña ◽  
Marcos Fernandez
Keyword(s):  
Virtual Environments ◽  
Virtual Environment ◽  
Virtual World ◽  
Collaborative Design ◽  
Local Area Network ◽  
Local Area ◽  
Area Network ◽  
Simulation Techniques ◽  
Technological Means ◽  
Team Design

Networked virtual environments (NVEs) have become a major trend in distributed computing, mainly due to the enormous popularity of multi-player online games in the entertainment industry. Nowadays, NVE systems are considered as the supporting technology for many networked and virtual organizations (NVO) (Singhal & Zyda, 1999), especially to those classified within the field of computer supported cooperative work (CSCW), where networked computer can be seen as a standard to provide the technological means to support the team design (Ott & Nastansky, 1997). These highly interactive systems simulate a virtual world where multiple users share the same scenario. The system renders the images of the virtual world that each user would see if he was located at that point in the virtual environment. Each user is represented in the shared virtual environment by an entity called avatar, whose state is controlled by the user through the client computer. Hundreds and even thousands of client computers can be simultaneously connected to the NVE system through different networks, and even through the Internet. NVE systems are currently used in many different applications (Singhal & Zyda, 1999) such as civil and military distributed training (Miller & Thorpe, 1995), collaborative design (Salles, Galli, Almeida et al., 1997) and e-learning (Bouras, Fotakis, & Philopoulos, 1998). Nevertheless, the most extended example of NVE systems are commercial multi-player online game (MOG) environments. These systems use the same simulation techniques that NVE systems do, and they are predicted to make up over 25 percent of local area network (LAN) traffic by 2010 (McCreary & Claffy, 2000).

Networked SPIDAR:A Networked Virtual Environment with Visual, Auditory, and Haptic Interactions

1994 ◽  
Vol 3 (4) ◽  
pp. 351-359 ◽  
Author(s):  
Masahiro Ishii ◽  
Masanori Nakata ◽  
Makoto Sato
Keyword(s):  
Virtual Environment ◽  
Collaborative Design ◽  
Collaborative Work ◽  
Three Dimensional ◽  
Functional Space ◽  
Object Space ◽  
Multimodal Interactions ◽  
Haptic Interactions ◽  
Networked Virtual Environment ◽  
Furniture Layout

This research aims at the realization of a networked virtual environment for the design of three-dimensional (3-D) objects. Based on an analysis of an ordinary collaborative design, we illustrate that a collaborative work space consists of a dialog space and an object space. In the dialog space, a participant interacts with partners, and in the object space with an object. The participants enter the dialog space and the object space in turn, appropriately. In addition, collaborative design of 3-D objects is carried out with multimodal interactions: visual, auditory, and haptic. A networked virtual environment must support these interactions without contradiction in either time or space. In this paper, we propose a networked virtual environment for a pair of participants to satisfy the conditions described above. To implement the networked system, we take into account the necessity of visual, auditory, and haptic interactions, the need for participants to switch between the dialog space and the object space quickly and appropriately, and human ergonomics on the functional space of hands and eyes. An experiment on hand-over task was done to investigate the effect of the networked haptic device with the proposed system. Object layout tasks, such as toy block layout, office furniture layout, city building layout, etc., can be performed by using this environment.

The VR—Link™ Networked Virtual Environment Software Infrastructure

1995 ◽  
Vol 4 (2) ◽  
pp. 194-208 ◽  
Author(s):  
John Morrison
Keyword(s):  
Virtual Environments ◽  
Virtual Environment ◽  
Programming Language ◽  
Object Oriented ◽  
Software Infrastructure ◽  
Current Generation ◽  
Networked Virtual Environments ◽  
Networked Virtual Environment ◽  
Portable Software

Four challenges to building large networked virtual environments (NVEs) are ever-increasing complexity, fidelity, scalability, and portability. We require a powerful, flexible, efficient, portable software infrastructure to overcome these challenges. We examine one such example, software infrastructure, which is currently the basis of dozens of NVE efforts. Its use of modern object-oriented inheritance and its use of an interpreted configuration programming language meet these requirements while achieving the efficiency to support thousands of entities on current-generation hardware.

scholarly journals Haptic Virtual Environments for Blind People: Exploratory Experiments with Two Devices

1999 ◽  
Vol 4 (1) ◽  
pp. 8-17 ◽  
Author(s):  
G Jansson ◽  
H Petrie ◽  
C Colwell ◽  
D. Kornbrot ◽  
J. Fänger ◽  
...  
Keyword(s):  
Virtual Environments ◽  
Virtual World ◽  
Force Feedback ◽  
Virtual Object ◽  
Blind People ◽  
Haptic Devices ◽  
Virtual Objects ◽  
3D Objects

This paper is a fusion of two independent studies investigating related problems concerning the use of haptic virtual environments for blind people: a study in Sweden using a PHANToM 1.5 A and one in the U.K. using an Impulse Engine 3000. In general, the use of such devices is a most interesting option to provide blind people with information about representations of the 3D world, but the restriction at each moment to only one point of contact between observer and virtual object might decrease their effectiveness. The studies investigated the perception of virtual textures, the identification of virtual objects and the perception of their size and angles. Both sighted (blindfolded in one study) and blind people served as participants. It was found (1) that the PHANToM can effectively render textures in the form of sandpapers and simple 3D geometric forms and (2) that the Impulse Engine can effectively render textures consisting of grooved surfaces, as well as 3D objects, properties of which were, however, judged with some over- or underestimation. When blind and sighted participants' performance was compared differences were found that deserves further attention. In general, the haptic devices studied have demonstrated the great potential of force feedback devices in rendering relatively simple environments, in spite of the restricted ways they allow for exploring the virtual world. The results highly motivate further studies of their effectiveness, especially in more complex contexts.

Stability Control of Haptic Interface

2007 ◽  
Author(s):  
Jisheng Zhang ◽  
Jiting Li ◽  
Mileta M. Tomovic ◽  
Yuru Zhang
Keyword(s):  
Virtual Environment ◽  
Pid Control ◽  
Closed Loop ◽  
Force Feedback ◽  
Control Method ◽  
Stability Control ◽  
Haptic Device ◽  
System Stability ◽  
Haptic Devices ◽  
Loop Equation

Haptic devices and man-machine interaction have attracted intense research interest in recent years due to numerous potential applications, including medical, dental, military, and nuclear. One of the challenges involved with haptic devices is providing human operator realistic sensory feeling through force feedback output from the haptic device. In order to acquire adequate fidelity, the stiffness of the virtual environment must be sufficiently large. However, this is typically accompanied with vibration of the haptic device. Hence, one of the key issues related to haptic systems is to ensure system’s stability. Although some effort has been done to address this issue, this is so far an unresolved problem. This paper presents current closed-loop PID control method for achieving system stability on the example of one-degree-of-freedom haptic device. In order to identify parameters of the PID controller, the control system is first modeled and the equation of the current closed-loop PID control is formulated. Then, by generalizing the relationship between the motor output torque and the virtual force at the output end of the device, the current closed-loop equation is transferred into that of the force. In addition, the paper analyzes the robustness of PID controlled haptic device. To validate the method, three simulation experiments are performed, with spring model, damper model, and spring damper model. The results show that there is a set of PID parameters which result in stable haptic device. One of the advantages of the proposed method is that it can regulate PID parameters to fit different virtual environment. This provides a fundamental approach to improve stability of haptic systems. In addition, the proposed method can be embedded in the software.

Presence in Text-Based Networked Virtual Environments or “MUDS”

1997 ◽  
Vol 6 (5) ◽  
pp. 590-595 ◽  
Author(s):  
John Towell ◽  
Elizabeth Towell
Keyword(s):  
Social Interaction ◽  
Virtual Environments ◽  
Real Time ◽  
Virtual Environment ◽  
Networked Virtual Environments ◽  
Sense Of Presence ◽  
Networked Virtual Environment ◽  
Being There ◽  
Anecdotal Information

A text-based networked virtual environment represents to a user a system of rooms joined by exits and entrances. When navigating this system of rooms, a user can communicate in real time with other connected users occupying the same room. Hence, these virtual environments are aptly suited for networked conferencing and teaching. Anecdotal information suggested that some people feel a sense of “being there” or presence when connected to one of these environments. To determine how many people feel this sense of presence, we surveyed 207 people from 6 different groups of users of text-based networked virtual environments. The results indicated that 69% of these subjects felt a sense of presence. Experiments with people in text-based networked virtual environments may be helpful in understanding the contribution to presence by social interaction in other virtual environments.

The Quality of Service Issue in Virtual Environments

2011 ◽  
pp. 296-305
Author(s):  
Pedro Morillo ◽  
Juan Manuel Orduña ◽  
Marcos Fernandez
Keyword(s):  
Virtual Environments ◽  
Virtual Environment ◽  
Virtual World ◽  
Collaborative Design ◽  
Local Area Network ◽  
Local Area ◽  
Area Network ◽  
Simulation Techniques ◽  
Technological Means ◽  
Team Design

Networked virtual environments (NVEs) have become a major trend in distributed computing, mainly due to the enormous popularity of multi-player online games in the entertainment industry. Nowadays, NVE systems are considered as the supporting technology for many networked and virtual organizations (NVO) (Singhal & Zyda, 1999), especially to those classified within the field of computer supported cooperative work (CSCW), where networked computer can be seen as a standard to provide the technological means to support the team design (Ott & Nastansky, 1997). These highly interactive systems simulate a virtual world where multiple users share the same scenario. The system renders the images of the virtual world that each user would see if he was located at that point in the virtual environment. Each user is represented in the shared virtual environment by an entity called avatar, whose state is controlled by the user through the client computer. Hundreds and even thousands of client computers can be simultaneously connected to the NVE system through different networks, and even through the Internet. NVE systems are currently used in many different applications (Singhal & Zyda, 1999) such as civil and military distributed training (Miller & Thorpe, 1995), collaborative design (Salles, Galli, Almeida et al., 1997) and e-learning (Bouras, Fotakis, & Philopoulos, 1998). Nevertheless, the most extended example of NVE systems are commercial multi-player online game (MOG) environments. These systems use the same simulation techniques that NVE systems do, and they are predicted to make up over 25 percent of local area network (LAN) traffic by 2010 (McCreary & Claffy, 2000).

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.

Perception-Based Traffic Control for Shared Haptic Virtual Environments

2014 ◽  
Vol 23 (3) ◽  
pp. 320-338 ◽  
Author(s):  
Clemens Schuwerk ◽  
Giulia Paggetti ◽  
Rahul Chaudhari ◽  
Eckehard Steinbach
Keyword(s):  
Virtual Environments ◽  
Virtual Environment ◽  
Traffic Control ◽  
Force Feedback ◽  
Haptic Feedback ◽  
Dead Reckoning ◽  
Distributed Applications ◽  
Haptic Device ◽  
Object State ◽  
Feedback Quality

Shared Haptic Virtual Environments (SHVEs) are often realized using a client–server communication architecture. In this case, a centralized physics engine, running on the server, is used to simulate the object-states in the virtual environment (VE). At the clients, a copy of the VE is maintained and used to render the interaction forces locally, which are then displayed to the human through a haptic device. While this architecture ensures stability in the coupling between the haptic device and the virtual environment, it necessitates a high number of object-state update packets transmitted from the server to the clients to achieve satisfactory force feedback quality. In this paper, we propose a perception-based traffic control scheme to reduce the number of object-state update packets by allowing a variable but not perceivable object-state error at the client. To find a balance between packet rate reduction and force rendering fidelity, our approach uses different error thresholds for the visual and haptic modality, where the haptic thresholds are determined by psychophysical experiments in this paper. Force feedback quality is evaluated with subjective tests for a variety of different traffic control parameter settings. The results show that the proposed scheme reduces the packet rate by up to 97%, compared to communication approaches that work without data reduction. At the same time, the proposed scheme does not degrade the haptic feedback quality significantly. Finally, it outperforms well-known dead reckoning, commonly used in visual-only distributed applications.

Sign in / Sign up

Export Citation Format

Share Document