Collision Detection and Part Interaction Modeling to Facilitate Immersive Virtual Assembly Methods

2004 ◽  
Vol 4 (2) ◽  
pp. 83-90 ◽  
Author(s):  
Chang E. Kim ◽  
Judy M. Vance
Keyword(s):  
Virtual Environment ◽  
Collision Detection ◽  
Virtual Assembly ◽  
Physically Based Modeling ◽  
Proximity Detection ◽  
Projection Screen ◽  
Static Object ◽  
Physically Based ◽  
Interaction Modeling ◽  
Swept Volume

Realistic part interaction is an important component of an effective virtual assembly application. Both collision detection and part interaction modeling are needed to simulate part-to-part and hand-to-part interactions. This paper examines several polygonal-based collision detection packages and compares their usage for virtual assembly applications with the Voxmap PointShell (VPS) software developed by the Boeing Company. VPS is a software developer’s toolkit for real-time collision and proximity detection, swept-volume generation, dynamic animation, and 6 degree-of-freedom haptics which is based on volumetric collision detection and physically based modeling. VPS works by detecting interactions between two parts: a dynamic object moving in the virtual environment, and a static object defined as a collection of all other objects in the environment. The method was found to provide realistic collision detection and physically-based modeling interaction, with good performance at the expense of contact accuracy. Results from several performance tests on VPS are presented. This paper concludes by presenting how VPS has been implemented to handle multiple dynamic part collisions and two-handed assembly using the 5DT dataglove in a projection screen virtual environment.

scholarly journals Using VPS (VoxMap Pointshell) as the Basis for Interaction in a Virtual Assembly Environment

2003 ◽  
Author(s):  
Chang E. Kim ◽  
Judy M. Vance
Keyword(s):  
Virtual Environment ◽  
Collision Detection ◽  
Virtual Assembly ◽  
Performance Tests ◽  
Excellent Performance ◽  
Detection Algorithms ◽  
Dynamic Part ◽  
Projection Screen ◽  
Interaction Modeling

Realistic part interaction is an important component of an effective virtual assembly application. Both collision detection and part interaction modeling are needed to simulate part-topart and hand-to-part interactions. This paper presents a comparison of several common collision detection algorithms and examines the VoxMap Pointshell (VPS) method as it is used in an application to evaluate proposed assembly methods. Results from several performance tests on VPS are presented. VPS was found to provide realistic collisions and physicallybased modeling interaction with excellent performance. This paper concludes by presenting how VPS has been implemented to handle multiple dynamic part collisions and two-handed assembly using the 5DT dataglove in a projection screen virtual environment.

Enabling Technologies for Virtual Parts Handling Environment: An Overview

1996 ◽  
Author(s):  
F. W. Liou
Keyword(s):  
Virtual Environment ◽  
Collision Detection ◽  
Future Trend ◽  
Special Focus ◽  
Friction Modeling ◽  
Contact Modeling ◽  
The Core ◽  
Enabling Technologies ◽  
Physically Based ◽  
Parts Feeding

Abstract Due to the current advances in simulation, computer graphics, robotics, and other related technologies, virtual environment has become a future trend in design and development of new products. This paper summarizes the current enabling technologies to develop a virtual environment for parts handling applications, such as parts feeding, assembling, and robotic grasping. A special focus is on developing a physically-based simulation system, which is the core of a virtual parts handling environment. Critical technologies such as object collision detection and response, contact modeling and friction modeling are reviewed. The technological challenges in these areas are also pointed out.

Collision Detection

2011 ◽  
pp. 36-67
Author(s):  
Gabriel Zachmann
Keyword(s):  
Virtual Reality ◽  
Real Time ◽  
Collision Detection ◽  
Serious Games ◽  
Medical Training ◽  
Virtual Assembly ◽  
Virtual Objects ◽  
Enabling Technologies ◽  
Assembly Simulation ◽  
Physically Based

Collision detection is one of the enabling technologies in many areas, such as virtual assembly simulation, physically-based simulation, serious games, and virtual-reality based medical training. This chapter will provide a number of techniques and algorithms that provide efficient, real-time collision detection for virtual objects. They are applicable to various kinds of objects and are easy to implement.

The Creation of Virtual Assembly System Based on Virtools

2014 ◽  
Vol 998-999 ◽  
pp. 486-490 ◽  
Author(s):  
Yan Cheng ◽  
Yun Peng Han
Keyword(s):  
Virtual Environment ◽  
Collision Detection ◽  
Virtual Assembly ◽  
Assembly System ◽  
Data Glove ◽  
Virtual Scene ◽  
The Creation ◽  
Key Techniques

Aiming to improve the assembly efficiency of machinery products, a Virtools-based virtual assembly system is presented. Firstly, the framework of the Virtools-based virtual assembly system is proposed. Then, how the virtual scene built is introduced. Based on VE (virtual environment), combined with the data glove, the dynamic and interactive assembly is designed via the Virtools platform. Finally, the key techniques of supporting virtual assembly system such as collision detection are also studied by using the Virtools.

Interactive Continuous Collision Detection Using Swept Volume for Avatars

2007 ◽  
Vol 16 (2) ◽  
pp. 206-223 ◽  
Author(s):  
Young J Kim ◽  
Stephane Redon ◽  
Ming C Lin ◽  
Dinesh Manocha ◽  
Jim Templeman
Keyword(s):  
Virtual Environment ◽  
Collision Detection ◽  
Graphics Hardware ◽  
Prototype System ◽  
Bounding Volume ◽  
Interactive Algorithm ◽  
Close Proximity ◽  
Continuous Collision Detection ◽  
Swept Volumes ◽  
Swept Volume

We present an interactive algorithm for continuous collision detection between a moving avatar and its surrounding virtual environment. Our algorithm is able to compute the first time of contact between the avatar and the environment interactively, and also guarantees within a user-provided error threshold that no collision ever happens before the first contact occurs. We model the avatar as an articulated body using line skeletons with constant offsets and the virtual environment as a collection of polygonized objects. Given the position and orientation of the avatar at discrete time steps, we use an arbitrary in-between motion to interpolate the path for each link between discrete instances. We bound the swept space of each link using interval arithmetic and dynamically compute a bounding volume hierarchy (BVH) to cull links that are not in close proximity to the objects in the virtual environment. The swept volumes (SVs) of the remaining links are used to check for possible interference and estimate the time of collision between the surface of the SV and the rest of the objects. Furthermore, we use graphics hardware to accelerate collision queries on the dynamically generated swept surfaces. Our approach requires no precomputation and is applicable to general articulated bodies that do not contain a loop. We have implemented the algorithm on a 2.8 GHz Pentium IV PC with an NVIDIA GeForce 6800 Ultra graphics card and applied it to an avatar with 16 links, moving in a virtual environment composed of hundreds of thousands of polygons. Our prototype system is able to detect all contacts between the moving avatar and the environment in 10–30 ms.

scholarly journals Physically Based Modeling in Virtual Assembly

2001 ◽  
Vol 5 (1) ◽  
pp. 185-199 ◽  
Author(s):  
Yong Wang ◽  
Sankar Jayaram ◽  
Uma Jayaram ◽  
Kevin Lyons ◽  
Peter Hart
Keyword(s):  
Virtual Reality ◽  
Computer Graphics ◽  
Computer Aided Design ◽  
Virtual Assembly ◽  
Physically Based Modeling ◽  
Cad System ◽  
Physically Based ◽  
Gravity Acceleration ◽  
Aided Design ◽  
Assembly Models

Virtual assembly is a promising application of virtual reality in design and manufacturing that has drawn much attention from industry and research institutes. Physically based modeling has been an important research topic in computer graphics and virtual reality. In this paper, physically based modeling issues in virtual assembly are investigated. The specific requirements and characteristics of physically based modeling in virtual assembly versus those in traditional computer graphics are analyzed and studied. The mass properties of the assembly models are extracted from the Computer Aided Design (CAD) system while the design models are transferred from the CAD system to the virtual assembly environment. The assembly models are categorized using human strength survey data. The interaction between the parts, the environment objects, and the human are analyzed. In the fully immersed virtual environment, it is discovered that the gravity acceleration needs to be scaled down to achieve maximum realistic feeling. Finally, the benefits and limitations of physically based modeling in virtual environments are discussed.

Validation of Virtual Crane Behavior Through Comparison With a Real Crane

2002 ◽  
Author(s):  
Frank Taylor ◽  
Sankar Jayaram ◽  
Uma Jayaram ◽  
Tatsuki Mitsui
Keyword(s):  
Virtual Environment ◽  
Real World ◽  
Angular Displacement ◽  
Virtual Assembly ◽  
Assembly Systems ◽  
Overhead Crane ◽  
Heavy Machinery ◽  
Physically Based

A module has been developed for virtual assembly systems allowing them to more realistically simulate heavy machinery assembly. The module provides a virtual overhead crane for manipulating heavy assembly components and physically based motion of components attached to the crane. This paper shows validation of the heavy machinery virtual assembly module by performing real world tasks in the virtual environment. More importantly, it compares the simulated motions of the crane and attached load in the virtual environment with motions of a real crane and attached load. The results show a correlation between the virtual and real world for the crane velocity and acceleration, as well as angular displacement and damped motion of the attached load due to crane acceleration.

Physically Based Modeling in Virtual Assembly

2001 ◽  
Author(s):  
Yong Wang ◽  
Uma Jayaram ◽  
Sankar Jayaram ◽  
Kevin Lyons
Keyword(s):  
Virtual Reality ◽  
Computer Graphics ◽  
Computer Aided Design ◽  
Virtual Assembly ◽  
Physically Based Modeling ◽  
Gravitational Acceleration ◽  
Cad System ◽  
Physically Based ◽  
Aided Design ◽  
Assembly Models

Abstract Virtual assembly is a promising application of virtual reality in design and manufacturing and has drawn much attention from industry and research institutes. Physically based modeling has been an important research topic in computer graphics and virtual reality. In this paper, physically based modeling issues in virtual assembly are investigated. The specific requirements and characteristics of physically based modeling in virtual assembly versus those in traditional computer graphics are analyzed and studied. The mass properties of the assembly models are extracted from the Computer Aided Design (CAD) system while the design models are transferred from the CAD system to the virtual assembly environment. This added information allows the assembly models to be categorized using human strength survey data. The interaction of parts, environment objects, and the human are analyzed. In the fully immersed virtual environment, it is discovered that certain presentations of gravitational acceleration needs to be scaled down to achieve maximum realistic feeling. Finally the benefits and limitations of physically based modeling in virtual environments are discussed.

scholarly journals Interacting With a Large Virtual Environment by Combining a Ground-Based Haptic Device and a Mobile Robot Base

2013 ◽  
Author(s):  
Ryan A. Pavlik ◽  
Judy M. Vance ◽  
Greg R. Luecke
Keyword(s):  
Mobile Robot ◽  
Virtual Environments ◽  
Virtual Environment ◽  
Tracking System ◽  
Virtual Assembly ◽  
Haptic Device ◽  
Optical Tracking ◽  
Assembly Planning ◽  
Head Mounted Display ◽  
Projection Screen

Ground-based haptic devices provide the capability of adding force feedback to virtual environments; however, the physical workspace of such devices is very limited due to the fixed base. By mounting a haptic device on a mobile robot, rather than a fixed stand, the reachable volume can be extended to function in full-scale virtual environments. This work presents the hardware, software, and integration developed to use such a mobile base with a Haption Virtuose™ 6D35-45. A mobile robot with a Mecanum-style omni-directional drive base and an Arduino-compatible microcontroller development board communicates with software on a host computer to provide a VRPN-based control and data acquisition interface. The position of the mobile robot in the physical space is tracked using an optical tracking system. The SPARTA virtual assembly software was extended to 1) apply transformations to the haptic device data based on the tracked base position, and 2) capture the error between the haptic device’s end effector and the center of its workspace and command the robot over VRPN to minimize this error. The completed system allows use of the haptic device in a wide area projection screen or head-mounted display virtual environment, providing smooth free-space motion and stiff display of forces to the user throughout the entire space. The availability of haptics in large immersive environments can contribute to future advances in virtual assembly planning, factory simulation, and other operations where haptics is an essential part of the simulation experience.

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