A Sophisticated Manipulation Aid in a Virtual Environment using Dynamic Constraints among Object Faces

1998 ◽  
Vol 7 (5) ◽  
pp. 460-477 ◽  
Author(s):  
Yoshifumi Kitamura ◽  
Amy Yee ◽  
Fumio Kishino
Keyword(s):  
Real Time ◽  
Virtual Environment ◽  
Collision Detection ◽  
Completion Time ◽  
Detection Method ◽  
Virtual Object ◽  
Efficient Tool ◽  
Dynamic Constraints ◽  
Visual Constraints ◽  
Intuitive Method

A natural and intuitive method is proposed to help a user manipulate an object in a virtual environment. The method does not need to assign special properties to the object faces in advance and does not require special hardware. Instead, it uses only the visual constraints of motion among object faces that are dynamically selected by a real-time collision detection method while the user manipulates the object. By constraining more than two faces during the user's manipulation, the proposed method provides an efficient tool for complicated manipulation tasks. First, the method of manipulation aid is described. Then several experiments demonstrate the effectiveness of this method, particularly when the user is requested to precisely place a virtual object in a certain location. Finally, as an application of the proposed manipulation aid, an experiment is conducted to compare the performances of a task (constructing a simple toy) in a real versus a virtual environment. Results show that the distance accuracy and completion time of the virtual task with the manipulation aid is close to that of the real task.

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.

Real-time motion planning for robot manipulators in unknown environments using infrared sensors

Robotica ◽  
2007 ◽  
Vol 25 (2) ◽  
pp. 201-211 ◽  
Author(s):  
Shuguo Wang ◽  
Jin Bao ◽  
Yili Fu
Keyword(s):  
Motion Planning ◽  
Real Time ◽  
Collision Detection ◽  
Detection Method ◽  
Computation Time ◽  
Robot Arm ◽  
Infrared Sensors ◽  
Geometry Model ◽  
Time Motion ◽  
Series Of Experiments

SUMMARYThis paper deals with sensor-based motion planning method for a robot arm manipulator operating among unknown obstacles of arbitrary shape. It can be applied to online collision avoidance with no prior knowledge of the obstacles. Infrared sensors are used to build a description of the robot's surroundings. This approach is based on the configuration space but the construction of the C-obstacle surface is avoided. The point automation is confined on some planes with square grids in the C-space. A path-searching algorithm based on square grids is used to guide the automation maneuvering around the C-obstacles on the selected planes. To avoid the construction of the C-obstacle surface, the robot geometry model is expanded, and the static collision detection method is used. Hence, the computation time is reduced and the algorithm can work in real time. The effectiveness of the proposed method is verified by a series of experiments.

Real-Time Collision Detection Method for Fluid and Cloth

2018 ◽  
Vol 30 (4) ◽  
pp. 602 ◽  
Author(s):  
Hui Zang ◽  
Zhen Liu ◽  
Yanjie Chai ◽  
Tingting Liu ◽  
Kun Zhou
Keyword(s):  
Real Time ◽  
Collision Detection ◽  
Detection Method

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 Proposition and evaluation of a collision detection method for real time surgery simulation of opening a brain fissure

2014 ◽  
Vol 1 (1) ◽  
Author(s):  
Akira Fukuhara ◽  
Teppei Tsujita ◽  
Kazuya Sase ◽  
Atsushi Konno ◽  
Xin Jiang ◽  
...  
Keyword(s):  
Real Time ◽  
Collision Detection ◽  
Detection Method ◽  
Surgery Simulation

Implementation and evaluation of a model processing pipeline for assembly simulation

2017 ◽  
Vol 37 (4) ◽  
pp. 400-410 ◽  
Author(s):  
Robert Iacob ◽  
Diana Popescu ◽  
Frederic Noel ◽  
Cedric Masclet
Keyword(s):  
Real Time ◽  
Virtual Environment ◽  
Collision Detection ◽  
Computer Aided Design ◽  
Degrees Of Freedom ◽  
Haptic Device ◽  
Performance Criteria ◽  
Stereoscopic Display ◽  
Content Type ◽  
Processing Pipeline

Purpose The paper aims to present the processing pipeline of an assembly immersive simulation application which can manage the interaction between the virtual scene and user using stereoscopic display and haptic devices. A new set of elements are integrated in a Collaborative Virtual Environment (CVE) and validated using an approach based on subjective and objective users’ performance criteria. The developed application is intended for Assembly/Disassembly (A/D) analysis, planning and training. Design/methodology/approach A mobility module based on contact information is used to handle the assembly components’ movements through real-time management of collision detection and kinematically constraint guidance. Information on CVE architecture, modules and application configuration process are presented. Impact of device type (3 degrees of freedom (DoFs) vs 6 DoFs) over user’s experience is evaluated. Parameters (number of assembled components and components assembly time) are measured for each user and each haptic device, and results are compared and discussed. Findings Test results proved the efficiency of using a mobility module based on predefined kinematic constraints for reducing the complexity of collision detection algorithms in real-time assembly haptic simulations. Also, experiments showed that, generally, users performed better with 3 DoFs haptic device compared to 6 DoFs haptic equipment. Originality/value The proposed immersive application automates the kinematical joints inference from 3D computer-aided design (CAD) assembly models and integrates it within a haptic-based virtual environment, for increasing the efficiency of A/D process simulations.

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