12,810 research outputs found
Sketched Reality: Sketching Bi-Directional Interactions Between Virtual and Physical Worlds with AR and Actuated Tangible UI
This paper introduces Sketched Reality, an approach that combines AR
sketching and actuated tangible user interfaces (TUI) for bidirectional
sketching interaction. Bi-directional sketching enables virtual sketches and
physical objects to "affect" each other through physical actuation and digital
computation. In the existing AR sketching, the relationship between virtual and
physical worlds is only one-directional -- while physical interaction can
affect virtual sketches, virtual sketches have no return effect on the physical
objects or environment. In contrast, bi-directional sketching interaction
allows the seamless coupling between sketches and actuated TUIs. In this paper,
we employ tabletop-size small robots (Sony Toio) and an iPad-based AR sketching
tool to demonstrate the concept. In our system, virtual sketches drawn and
simulated on an iPad (e.g., lines, walls, pendulums, and springs) can move,
actuate, collide, and constrain physical Toio robots, as if virtual sketches
and the physical objects exist in the same space through seamless coupling
between AR and robot motion. This paper contributes a set of novel interactions
and a design space of bi-directional AR sketching. We demonstrate a series of
potential applications, such as tangible physics education, explorable
mechanism, tangible gaming for children, and in-situ robot programming via
sketching.Comment: UIST 202
Interactive and cooperative sensing and control for advanced teleoperation
This paper presents the paradigm of interactive and cooperative sensing and control as a fundamental mechanism of integrating and fusing the strengths of man and machine for advanced teleoperation. The interactive and cooperative sensing and control is considered as an extended and generalized form of traded and shared control. The emphasis of interactive and cooperative sensing and control is given to the distribution of mutually nonexclusive subtasks to man and machine, the interactive invocation of subtasks under the man/machine symbiotic relationship, and the fusion of information and decisionmaking between man and machine according to their confidence measures. The proposed interactive and cooperative sensing and control system is composed of such major functional blocks as the logical sensor system, the sensor-based local autonomy, the virtual environment formation, and the cooperative decision-making between man and machine. The Sensing-Knowledge-Command (SKC) fusion network is proposed as a fundamental architecture for implementing cooperative and interactive sensing and control. Simulation results are shown
Real Time Animation of Virtual Humans: A Trade-off Between Naturalness and Control
Virtual humans are employed in many interactive applications using 3D virtual environments, including (serious) games. The motion of such virtual humans should look realistic (or ‘natural’) and allow interaction with the surroundings and other (virtual) humans. Current animation techniques differ in the trade-off they offer between motion naturalness and the control that can be exerted over the motion. We show mechanisms to parametrize, combine (on different body parts) and concatenate motions generated by different animation techniques. We discuss several aspects of motion naturalness and show how it can be evaluated. We conclude by showing the promise of combinations of different animation paradigms to enhance both naturalness and control
Computational methods and software systems for dynamics and control of large space structures
Two key areas of crucial importance to the computer-based simulation of large space structures are discussed. The first area involves multibody dynamics (MBD) of flexible space structures, with applications directed to deployment, construction, and maneuvering. The second area deals with advanced software systems, with emphasis on parallel processing. The latest research thrust in the second area involves massively parallel computers
Interacting Unities: An Agent-Based System
Recently architects have been inspired by Thompsonis Cartesian deformations and Waddingtonis flexible topological surface to work within a dynamic field characterized by forces. In this more active space of interactions, movement is the medium through which form evolves. This paper explores the interaction between pedestrians and their environment by regarding it as a process occurring between the two. It is hypothesized that the recurrent interaction between pedestrians and environment can lead to a structural coupling between those elements. Every time a change occurs in each one of them, as an expression of its own structural dynamics, it triggers changes to the other one. An agent-based system has been developed in order to explore that interaction, where the two interacting elements, agents (pedestrians) and environment, are autonomous units with a set of internal rules. The result is a landscape where each agent locally modifies its environment that in turn affects its movement, while the other agents respond to the new environment at a later time, indicating that the phenomenon of stigmergy is possible to take place among interactions with human analogy. It is found that it is the environmentis internal rules that determine the nature and extent of change
SOFA: A Multi-Model Framework for Interactive Physical Simulation
International audienceSOFA (Simulation Open Framework Architecture) is an open-source C++ library primarily targeted at interactive computational medical simulation. SOFA facilitates collaborations between specialists from various domains, by decomposing complex simulators into components designed independently and organized in a scenegraph data structure. Each component encapsulates one of the aspects of a simulation, such as the degrees of freedom, the forces and constraints, the differential equations, the main loop algorithms, the linear solvers, the collision detection algorithms or the interaction devices. The simulated objects can be represented using several models, each of them optimized for a different task such as the computation of internal forces, collision detection, haptics or visual display. These models are synchronized during the simulation using a mapping mechanism. CPU and GPU implementations can be transparently combined to exploit the computational power of modern hardware architectures. Thanks to this flexible yet efficient architecture, \sofa{} can be used as a test-bed to compare models and algorithms, or as a basis for the development of complex, high-performance simulators
A discrete geometric approach for simulating the dynamics of thin viscous threads
We present a numerical model for the dynamics of thin viscous threads based
on a discrete, Lagrangian formulation of the smooth equations. The model makes
use of a condensed set of coordinates, called the centerline/spin
representation: the kinematical constraints linking the centerline's tangent to
the orientation of the material frame is used to eliminate two out of three
degrees of freedom associated with rotations. Based on a description of twist
inspired from discrete differential geometry and from variational principles,
we build a full-fledged discrete viscous thread model, which includes in
particular a discrete representation of the internal viscous stress.
Consistency of the discrete model with the classical, smooth equations is
established formally in the limit of a vanishing discretization length. The
discrete models lends itself naturally to numerical implementation. Our
numerical method is validated against reference solutions for steady coiling.
The method makes it possible to simulate the unsteady behavior of thin viscous
jets in a robust and efficient way, including the combined effects of inertia,
stretching, bending, twisting, large rotations and surface tension
Creative design and modelling of large-range translation compliant parallel manipulators
Compliant parallel mechanisms/manipulators (CPMs) are parallel manipulators that
transmit motion/load by deformation of their compliant members. Due to their merits
such as the eliminated backlash and friction, no need for lubrication, reduced wear and
noise, and monolithic configuration, they have been used in many emerging
applications as scanning tables, bio-cell injectors, nano-positioners, and etc.
How to design large-range CPMs is still a challenging issue. To meet the needs for
large-range translational CPMs for high-precision motion stages, this thesis focuses on
the systematic conceptual design and modelling of large-range translational CPMs with
distributed-compliance.
Firstly, several compliant parallel modules with distributed-compliance, such as
spatial multi-beam modules, are identified as building blocks of translational CPMs. A
normalized, nonlinear and analytical model is then derived for the spatial multi-beam
modules to address the non-linearity of load-equilibrium equations. Secondly, a new
design methodology for translational CPMs is presented. The main characteristic of the
proposed design approach is not only to replace kinematic joints as in the literature, but
also to replace kinematic chains with appropriate multiple degrees-of-freedom (DOF)
compliant parallel modules. Thirdly, novel large-range translational CPMs are
constructed using the proposed design methodology and identified compliant parallel
modules. The proposed novel CPMs include, for example, a 1-DOF compliant parallel
gripper with auto-adaptive grasping function, a stiffness-enhanced XY CPM with a
spatial compliant leg, and an improved modular XYZ CPM using identical spatial
double four-beam modules. Especially, the proposed XY CPM and XYZ CPM can
achieve a 10mm’s motion range along each axis in the case studies. Finally,
kinematostatic modelling of the proposed translational CPMs is presented to enable
rapid performance characteristic analysis. The proposed analytical models are also
compared with finite element analysis
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