The development of local solar irradiance for outdoor computer graphics rendering

Atmospheric effects are approximated by solving the light transfer equation, LTE, of a given viewing path. The resulting accumulated spectral energy (its visible band) arriving at the observer’s eyes, defines the colour of the object currently on the line of sight. Due to the convenience of using a single rendering equation to solve the LTE for daylight sky and distant objects (aerial perspective), recent methods had opt for a similar kind of approach. Alas, the burden that the real-time calculation brings to the foil had forced these methods to make simplifications that were not in line with the actual world observation. Consequently, the results of these methods are laden with visual-errors. The two most common simplifications made were: i) assuming the atmosphere as a full-scattering medium only and ii) assuming a single density atmosphere profile. This research explored the possibility of replacing the real-time calculation involved in solving the LTE with an analytical-based approach. Hence, the two simplifications made by the previous real-time methods can be avoided. The model was implemented on top of a flight simulator prototype system since the requirements of such system match the objectives of this study. Results were verified against the actual images of the daylight skies. Comparison was also made with the previous methods’ results to showcase the proposed model strengths and advantages over its peers

Lightness, Brightness, and Transparency in Optical See-Through Augmented Reality

Augmented reality (AR), as a key component of the future metaverse, has leaped from the research labs to the consumer and enterprise markets. AR optical see-through (OST) devices utilize transparent optical combiners to provide visibility of the real environment as well as superimpose virtual content on top of it. OST displays distinct from existing media because of their optical additivity, meaning the light reaching the eyes is composed of both virtual content and real background. The composition results in the intended virtual colors being distorted and perceived transparent. When the luminance of the virtual content decreases, the perceived lightness and brightness decrease, and the perceived transparency increases. Lightness, brightness, and transparency are modulated by one physical dimension (luminance), and all interact with the background and each other. In this research, we aim to identify and quantify the three perceptual dimensions, as well as build mathematical models to predict them. In the first part of the study, we focused on the perceived brightness and lightness with two experiments: a brightness partition scaling experiment to build brightness scales, and a diffuse white adjustment experiment to determine the absolute luminance level required for diffuse white appearances on 2D and 3D AR stimuli. The second part of the research targeted at the perceived transparency in the AR environment with three experiments. The transparency was modulated by the background Michelson contrast reduction in either average luminance or peak-to-peak luminance difference to investigate, and later illustrated, the fundamental mechanism evoking transparency perception. The first experiment measured the transparency detection thresholds and confirmed that contrast sensitivity functions with contrast adaptation could model the thresholds. Subsequently, the transparency perception was investigated through direct anchored scaling experiment by building perceived transparency scales from the virtual content contrast ratio to the background. A contrast-ratio-based model was proposed predicting the perceived transparency scales. Finally, the transparency equivalency experiment between the two types of contrast modulation confirmed the mechanism difference and validated the proposed model

Interactive inspection of complex multi-object industrial assemblies

The final publication is available at Springer via http://dx.doi.org/10.1016/j.cad.2016.06.005The use of virtual prototypes and digital models containing thousands of individual objects is commonplace in complex industrial applications like the cooperative design of huge ships. Designers are interested in selecting and editing specific sets of objects during the interactive inspection sessions. This is however not supported by standard visualization systems for huge models. In this paper we discuss in detail the concept of rendering front in multiresolution trees, their properties and the algorithms that construct the hierarchy and efficiently render it, applied to very complex CAD models, so that the model structure and the identities of objects are preserved. We also propose an algorithm for the interactive inspection of huge models which uses a rendering budget and supports selection of individual objects and sets of objects, displacement of the selected objects and real-time collision detection during these displacements. Our solution–based on the analysis of several existing view-dependent visualization schemes–uses a Hybrid Multiresolution Tree that mixes layers of exact geometry, simplified models and impostors, together with a time-critical, view-dependent algorithm and a Constrained Front. The algorithm has been successfully tested in real industrial environments; the models involved are presented and discussed in the paper.Peer ReviewedPostprint (author's final draft

Perceptual Enhancement of Arteriovenous Malformation in MRI Angiography Displays

The importance of presenting medical images in an intuitive and usable manner during a procedure is essential. However, most medical visualization interfaces, particularly those designed for minimally-invasive surgery, suffer from a number of issues as a consequence of disregarding the human perceptual, cognitive, and motor system\u27s limitations. This matter is even more prominent when human visual system is overlooked during the design cycle. One example is the visualization of the neuro-vascular structures in MR angiography (MRA) images. This study investigates perceptual performance in the usability of a display to visualize blood vessels in MRA volumes using a contour enhancement technique. Our results show that when contours are enhanced, our participants, in general, can perform faster with higher level of accuracy when judging the connectivity of different vessels. One clinical outcome of such perceptual enhancement is improvement of spatial reasoning needed for planning complex neuro-vascular operations such as treating Arteriovenous Malformations (AVMs). The success of an AVM intervention greatly depends on fully understanding the anatomy of vascular structures. However, poor visualization of pre-operative MRA images makes the planning of such a treatment quite challenging

Efficient and High-Quality Rendering of Higher-Order Geometric Data Representations

Computer-Aided Design (CAD) bezeichnet den Entwurf industrieller Produkte mit Hilfe von virtuellen 3D Modellen. Ein CAD-Modell besteht aus parametrischen Kurven und Flächen, in den meisten Fällen non-uniform rational B-Splines (NURBS). Diese mathematische Beschreibung wird ebenfalls zur Analyse, Optimierung und Präsentation des Modells verwendet. In jeder dieser Entwicklungsphasen wird eine unterschiedliche visuelle Darstellung benötigt, um den entsprechenden Nutzern ein geeignetes Feedback zu geben. Designer bevorzugen beispielsweise illustrative oder realistische Darstellungen, Ingenieure benötigen eine verständliche Visualisierung der Simulationsergebnisse, während eine immersive 3D Darstellung bei einer Benutzbarkeitsanalyse oder der Designauswahl hilfreich sein kann. Die interaktive Darstellung von NURBS-Modellen und -Simulationsdaten ist jedoch aufgrund des hohen Rechenaufwandes und der eingeschränkten Hardwareunterstützung eine große Herausforderung. Diese Arbeit stellt vier neuartige Verfahren vor, welche sich mit der interaktiven Darstellung von NURBS-Modellen und Simulationensdaten befassen. Die vorgestellten Algorithmen nutzen neue Fähigkeiten aktueller Grafikkarten aus, um den Stand der Technik bezüglich Qualität, Effizienz und Darstellungsgeschwindigkeit zu verbessern. Zwei dieser Verfahren befassen sich mit der direkten Darstellung der parametrischen Beschreibung ohne Approximationen oder zeitaufwändige Vorberechnungen. Die dabei vorgestellten Datenstrukturen und Algorithmen ermöglichen die effiziente Unterteilung, Klassifizierung, Tessellierung und Darstellung getrimmter NURBS-Flächen und einen interaktiven Ray-Casting-Algorithmus für die Isoflächenvisualisierung von NURBSbasierten isogeometrischen Analysen. Die weiteren zwei Verfahren beschreiben zum einen das vielseitige Konzept der programmierbaren Transparenz für illustrative und verständliche Visualisierungen tiefenkomplexer CAD-Modelle und zum anderen eine neue hybride Methode zur Reprojektion halbtransparenter und undurchsichtiger Bildinformation für die Beschleunigung der Erzeugung von stereoskopischen Bildpaaren. Die beiden letztgenannten Ansätze basieren auf rasterisierter Geometrie und sind somit ebenfalls für normale Dreiecksmodelle anwendbar, wodurch die Arbeiten auch einen wichtigen Beitrag in den Bereichen der Computergrafik und der virtuellen Realität darstellen. Die Auswertung der Arbeit wurde mit großen, realen NURBS-Datensätzen durchgeführt. Die Resultate zeigen, dass die direkte Darstellung auf Grundlage der parametrischen Beschreibung mit interaktiven Bildwiederholraten und in subpixelgenauer Qualität möglich ist. Die Einführung programmierbarer Transparenz ermöglicht zudem die Umsetzung kollaborativer 3D Interaktionstechniken für die Exploration der Modelle in virtuellenUmgebungen sowie illustrative und verständliche Visualisierungen tiefenkomplexer CAD-Modelle. Die Erzeugung stereoskopischer Bildpaare für die interaktive Visualisierung auf 3D Displays konnte beschleunigt werden. Diese messbare Verbesserung wurde zudem im Rahmen einer Nutzerstudie als wahrnehmbar und vorteilhaft befunden.In computer-aided design (CAD), industrial products are designed using a virtual 3D model. A CAD model typically consists of curves and surfaces in a parametric representation, in most cases, non-uniform rational B-splines (NURBS). The same representation is also used for the analysis, optimization and presentation of the model. In each phase of this process, different visualizations are required to provide an appropriate user feedback. Designers work with illustrative and realistic renderings, engineers need a comprehensible visualization of the simulation results, and usability studies or product presentations benefit from using a 3D display. However, the interactive visualization of NURBS models and corresponding physical simulations is a challenging task because of the computational complexity and the limited graphics hardware support. This thesis proposes four novel rendering approaches that improve the interactive visualization of CAD models and their analysis. The presented algorithms exploit latest graphics hardware capabilities to advance the state-of-the-art in terms of quality, efficiency and performance. In particular, two approaches describe the direct rendering of the parametric representation without precomputed approximations and timeconsuming pre-processing steps. New data structures and algorithms are presented for the efficient partition, classification, tessellation, and rendering of trimmed NURBS surfaces as well as the first direct isosurface ray-casting approach for NURBS-based isogeometric analysis. The other two approaches introduce the versatile concept of programmable order-independent semi-transparency for the illustrative and comprehensible visualization of depth-complex CAD models, and a novel method for the hybrid reprojection of opaque and semi-transparent image information to accelerate stereoscopic rendering. Both approaches are also applicable to standard polygonal geometry which contributes to the computer graphics and virtual reality research communities. The evaluation is based on real-world NURBS-based models and simulation data. The results show that rendering can be performed directly on the underlying parametric representation with interactive frame rates and subpixel-precise image results. The computational costs of additional visualization effects, such as semi-transparency and stereoscopic rendering, are reduced to maintain interactive frame rates. The benefit of this performance gain was confirmed by quantitative measurements and a pilot user study

The Shape of Damping: Optimizing Damping Coefficients to Improve Transparency on Bilateral Telemanipulation

This thesis presents a novel optimization-based passivity control algorithm for hapticenabled bilateral teleoperation systems involving multiple degrees of freedom. In particular, in the context of energy-bounding control, the contribution focuses on the implementation of a passivity layer for an existing time-domain scheme, ensuring optimal transparency of the interaction along subsets of the environment space which are preponderant for the given task, while preserving the energy bounds required for passivity. The involved optimization problem is convex and amenable to real-time implementation. The effectiveness of the proposed design is validated via an experiment performed on a virtual teleoperated environment. The interplay between transparency and stability is a critical aspect in haptic-enabled bilateral teleoperation control. While it is important to present the user with the true impedance of the environment, destabilizing factors such as time delays, stiff environments, and a relaxed grasp on the master device may compromise the stability and safety of the system. Passivity has been exploited as one of the the main tools for providing sufficient conditions for stable teleoperation in several controller design approaches, such as the scattering algorithm, timedomain passivity control, energy bounding algorithm, and passive set position modulation. In this work it is presented an innovative energy-based approach, which builds upon existing time-domain passivity controllers, improving and extending their effectiveness and functionality. The set of damping coefficients are prioritized in each degree of freedom, the resulting transparency presents a realistic force feedback in comparison to the other directions. Thus, the prioritization takes effect using a quadratic programming algorithm to find the optimal values for the damping. Finally, the energy tanks approach on passivity control is a solution used to ensure stability in a system for robotics bilateral manipulation. The bilateral telemanipulation must maintain the principle of passivity in all moments to preserve the system\u2019s stability. This work presents a brief introduction to haptic devices as a master component on the telemanipulation chain; the end effector in the slave side is a representation of an interactive object within an environment having a force sensor as feedback signal. The whole interface is designed into a cross-platform framework named ROS, where the user interacts with the system. Experimental results are presented