Simulation modelling and visualisation: toolkits for building artificial worlds

Simulations users at all levels make heavy use of compute resources to drive computational simulations for greatly varying applications areas of research using different simulation paradigms. Simulations are implemented in many software forms, ranging from highly standardised and general models that run in proprietary software packages to ad hoc hand-crafted simulations codes for very specific applications. Visualisation of the workings or results of a simulation is another highly valuable capability for simulation developers and practitioners. There are many different software libraries and methods available for creating a visualisation layer for simulations, and it is often a difficult and time-consuming process to assemble a toolkit of these libraries and other resources that best suits a particular simulation model. We present here a break-down of the main simulation paradigms, and discuss differing toolkits and approaches that different researchers have taken to tackle coupled simulation and visualisation in each paradigm

Virtual Reality Games for Motor Rehabilitation

This paper presents a fuzzy logic based method to track user satisfaction without the need for devices to monitor users physiological conditions. User satisfaction is the key to any product’s acceptance; computer applications and video games provide a unique opportunity to provide a tailored environment for each user to better suit their needs. We have implemented a non-adaptive fuzzy logic model of emotion, based on the emotional component of the Fuzzy Logic Adaptive Model of Emotion (FLAME) proposed by El-Nasr, to estimate player emotion in UnrealTournament 2004. In this paper we describe the implementation of this system and present the results of one of several play tests. Our research contradicts the current literature that suggests physiological measurements are needed. We show that it is possible to use a software only method to estimate user emotion

IMPLEMENTATION OF A LOCALIZATION-ORIENTED HRI FOR WALKING ROBOTS IN THE ROBOCUP ENVIRONMENT

This paper presents the design and implementation of a human–robot interface capable of evaluating robot localization performance and maintaining full control of robot behaviors in the RoboCup domain. The system consists of legged robots, behavior modules, an overhead visual tracking system, and a graphic user interface. A human–robot communication framework is designed for executing cooperative and competitive processing tasks between users and robots by using object oriented and modularized software architecture, operability, and functionality. Some experimental results are presented to show the performance of the proposed system based on simulated and real-time information. </jats:p

Building a Open Source Framework for Virtual Medical Training

This paper presents a framework to build medical training applications by using virtual reality and a tool that helps the class instantiation of this framework. The main purpose is to make easier the building of virtual reality applications in the medical training area, considering systems to simulate biopsy exams and make available deformation, collision detection, and stereoscopy functionalities. The instantiation of the classes allows quick implementation of the tools for such a purpose, thus reducing errors and offering low cost due to the use of open source tools. Using the instantiation tool, the process of building applications is fast and easy. Therefore, computer programmers can obtain an initial application and adapt it to their needs. This tool allows the user to include, delete, and edit parameters in the functionalities chosen as well as storing these parameters for future use. In order to verify the efficiency of the framework, some case studies are presented

Autonomous Obstacle Collision Avoidance System for UAVs in rescue operations

The Unmanned Aerial Vehicles (UAV) and its applications are growing for both civilian and military purposes. The operability of an UAV proved that some tasks and operations can be done easily and at a good cost-efficiency ratio. Nowadays, an UAV can perform autonomous tasks, by using waypoint mission navigation using a GPS sensor. These autonomous tasks are also called missions. It is very useful to certain UAV applications, such as meteorology, vigilance systems, agriculture, environment mapping and search and rescue operations. One of the biggest problems that an UAV faces is the possibility of collision with other objects in the flight area. This can cause damage to surrounding area structures, humans or the UAV itself. To avoid this, an algorithm was developed and implemented in order to prevent UAV collision with other objects. “Sense and Avoid” algorithm was developed as a system for UAVs to avoid objects in collision course. This algorithm uses a laser distance sensor called LiDAR (Light Detection and Ranging), to detect objects facing the UAV in mid-flights. This light sensor is connected to an on-board hardware, Pixhawk’s flight controller, which interfaces its communications with another hardware: Raspberry Pi. Communications between Ground Control Station or RC controller are made via Wi-Fi telemetry or Radio telemetry. “Sense and Avoid” algorithm has two different modes: “Brake” and “Avoid and Continue”. These modes operate in different controlling methods. “Brake” mode is used to prevent UAV collisions with objects when controlled by a human operator that is using a RC controller. “Avoid and Continue” mode works on UAV’s autonomous modes, avoiding collision with objects in sight and proceeding with the ongoing mission. In this dissertation, some tests were made in order to evaluate the “Sense and Avoid” algorithm’s overall performance. These tests were done in two different environments: A 3D simulated environment and a real outdoor environment. Both modes worked successfully on a simulated 3D environment, and “Brake” mode on a real outdoor, proving its concepts.Os veículos aéreos não tripulados (UAV) e as suas aplicações estão cada vez mais a ser utilizadas para fins civis e militares. A operacionalidade de um UAV provou que algumas tarefas e operações podem ser feitas facilmente e com uma boa relação de custo-benefício. Hoje em dia, um UAV pode executar tarefas autonomamente, usando navegação por waypoints e um sensor de GPS. Essas tarefas autónomas também são designadas de missões. As missões autónomas poderão ser usadas para diversos propósitos, tais como na meteorologia, sistemas de vigilância, agricultura, mapeamento de áreas e operações de busca e salvamento. Um dos maiores problemas que um UAV enfrenta é a possibilidade de colisão com outros objetos na área, podendo causar danos às estruturas envolventes, aos seres humanos ou ao próprio UAV. Para evitar tais ocorrências, foi desenvolvido e implementado um algoritmo para evitar a colisão de um UAV com outros objetos. O algoritmo "Sense and Avoid" foi desenvolvido como um sistema para UAVs de modo a evitar objetos em rota de colisão. Este algoritmo utiliza um sensor de distância a laser chamado LiDAR (Light Detection and Ranging), para detetar objetos que estão em frente do UAV. Este sensor é ligado a um hardware de bordo, a controladora de voo Pixhawk, que realiza as suas comunicações com outro hardware complementar: o Raspberry Pi. As comunicações entre a estação de controlo ou o operador de comando RC são feitas via telemetria Wi-Fi ou telemetria por rádio. O algoritmo "Sense and Avoid" tem dois modos diferentes: o modo "Brake" e modo "Avoid and Continue". Estes modos operam em diferentes métodos de controlo do UAV. O modo "Brake" é usado para evitar colisões com objetos quando controlado via controlador RC por um operador humano. O modo "Avoid and Continue" funciona nos modos de voo autónomos do UAV, evitando colisões com objetos à vista e prosseguindo com a missão em curso. Nesta dissertação, alguns testes foram realizados para avaliar o desempenho geral do algoritmo "Sense and Avoid". Estes testes foram realizados em dois ambientes diferentes: um ambiente de simulação em 3D e um ambiente ao ar livre. Ambos os modos obtiveram funcionaram com sucesso no ambiente de simulação 3D e o mode “Brake” no ambiente real, provando os seus conceitos

The Design of a Graphics Engine for the Development of Virtual Reality Applications

This work presents the design and the features of a flexible realtime 3D graphics engine aimed at the development of multimedia applications and collaborative virtual environments. The engine, called EnCIMA (Engine for Collaborative andImmersive Multimedia Applications), enables a fast development process of applications by providing a high level interface, which has been implemented using the C++object-oriented programming paradigm. The main features of the proposed engine are the support to scene management, ability to load static and animated 3D models, particle system effects, network connection management to support collaboration, and collision detection. In addition, the engine supports several specialized interaction devices such as 3D mice, haptic devices, 3D motion trackers, data-gloves, and joystickswith and without force feedback. The engine also enables the developer to choose the way the scene should be rendered to, i.e. using standard display devices, stereoscopy, or even several simultaneous projection for spatially immersive devices. As part of the evaluation process, we have compared the performance of EnCIMA to a game engine and two scene graph toolkits, through the use of a testbed application. The performanceresults and the wide variety of non-conventional interaction devices supported are evidences that EnCIMA can be considered a real time virtual reality engine