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.

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 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.

scholarly journals Multi-Objective Optimization of Traffic Signal Timing for Oversaturated Intersection

2013 ◽  
Vol 2013 ◽  
pp. 1-9 ◽  
Author(s):  
Yan Li ◽  
Lijie Yu ◽  
Siran Tao ◽  
Kuanmin Chen
Keyword(s):  
Simulation Software ◽  
Traffic Signal ◽  
Signal Control ◽  
Traffic Signal Control ◽  
Signal Timing ◽  
Simulation Environment ◽  
Multi Objective Optimization ◽  
Good Efficiency ◽  
Multi Objective ◽  
Traffic Signal Timing

For the purpose of improving the efficiency of traffic signal control for isolate intersection under oversaturated conditions, a multi-objective optimization algorithm for traffic signal control is proposed. Throughput maximum and average queue ratio minimum are selected as the optimization objectives of the traffic signal control under oversaturated condition. A simulation environment using VISSIM SCAPI was utilized to evaluate the convergence and the optimization results under various settings and traffic conditions. It is written by C++/CRL to connect the simulation software VISSIM and the proposed algorithm. The simulation results indicated that the signal timing plan generated by the proposed algorithm has good efficiency in managing the traffic flow at oversaturated intersection than the commonly utilized signal timing optimization software Synchro. The update frequency applied in the simulation environment was 120 s, and it can meet the requirements of signal timing plan update in real filed. Thus, the proposed algorithm has the capability of searching Pareto front of the multi-objective problem domain under both normal condition and over-saturated condition.

scholarly journals Haptic Virtual Prototyping of Buttons

2013 ◽  
Vol 4 (1) ◽  
pp. 86-96
Author(s):  
Pranav Shrestha
Keyword(s):  
Low Cost ◽  
Virtual Prototyping ◽  
Design Tool ◽  
Haptic Device ◽  
Haptic Interaction ◽  
Push Button ◽  
Commercial Success ◽  
Physical Product ◽  
Tactile Response ◽  
Haptic Simulation

The design of any physical product involves prototyping. Building physical prototypes of the products can be expensive and time consuming. An alternate to physical prototyping is haptic virtual prototyping, which simulates the product using a computer and a haptic device. A haptic device is one that produces the forces similar to that of the product, giving the user a realistic feel of the product. Since the feel of a product plays a significant role in its commercial success, the importance of haptic virtual prototyping as a design tool is increasing. This paper discusses the haptic simulation of a push button on a low cost and commercially available haptic device called Novint Falcon.  Two different models were created – the first one was a simple push button, and the second was an on/off click button. The parameters of the two models were selected such that they have the most accurate tactile response or feel of the product. The two models successfully simulated the feel of the buttons, and it was found that haptic virtual prototyping of buttons is achievable using a low cost haptic interaction system.

Haptic Wrists: An Alternative Design Strategy Based on User Perception

2009 ◽  
Vol 9 (1) ◽  
Author(s):  
Javier Martín ◽  
Joan Savall ◽  
Iñaki Díaz ◽  
Josune Hernantes ◽  
Diego Borro
Keyword(s):  
Collision Detection ◽  
Design Problem ◽  
Force Feedback ◽  
Mechanical Design ◽  
Design Strategy ◽  
User Perception ◽  
Satisfactory Solution ◽  
Alternative Design ◽  
Three Degree Of Freedom ◽  
Mechanical Design Problem

A new three degree-of-freedom (3DOF) torque feedback wrist is being developed to be added to an existing 3DOF force feedback haptic device. It is difficult to find a satisfactory solution to the mechanical design problem, mainly because of the required large rotational workspace and severe weight constraints. This work proposes an alternative design strategy based on user perception, which allows simplification of the mechanics. The proposed approach consists of substituting the last rotational DOF of the wrist with a pseudohaptic DOF. Thanks to specially designed visuotactile cues, the pseudohaptic DOF is integrated with the active DOF into the same device, being able to generate free motion and collision detection perception to the user. This approach provides for simpler kinematics, lightweight designs, lower inertias, and less friction, which are key advantages for the inclusion of torque feedback into force feedback devices.

The Presence Research on 6-DOF Tank Driving Simulator

2010 ◽  
Vol 44-47 ◽  
pp. 1229-1233
Author(s):  
Qing Hua Cao
Keyword(s):  
Collision Detection ◽  
Driving Simulator ◽  
System Development ◽  
Object Oriented ◽  
Simulation Software ◽  
Visual Simulation ◽  
Object Model ◽  
Motion Simulation ◽  
Dynamics Model ◽  
Multigen Creator

with computer graphics technology continually improved, visual simulation system development of sports simulators has become the hotspot. The structure and work principle of 6-DOF tank virtual driving simulator are presented, motion simulation of driven equipment are done by developed based on advanced simulation software(MultiGen Creator and OpenGVS SDK), which is combined with the Object-Oriented method. Dynamics model of simulate system is established , object model is disposed and collision detection is briefly analyzed. The immersion of this visual simulation has been confirmed experimentally.

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