A survey on active simultaneous localization and mapping: state of the art and new frontiers

Active simultaneous localization and mapping (SLAM) is the problem of planning and controlling the motion of a robot to build the most accurate and complete model of the surrounding environment. Since the first foundational work in active perception appeared, more than three decades ago, this field has received increasing attention across different scientific communities. This has brought about many different approaches and formulations, and makes a review of the current trends necessary and extremely valuable for both new and experienced researchers. In this article, we survey the state of the art in active SLAM and take an in-depth look at the open challenges that still require attention to meet the needs of modern applications. After providing a historical perspective, we present a unified problem formulation and review the well-established modular solution scheme, which decouples the problem into three stages that identify, select, and execute potential navigation actions. We then analyze alternative approaches, including belief-space planning and deep reinforcement learning techniques, and review related work on multirobot coordination. This article concludes with a discussion of new research directions, addressing reproducible research, active spatial perception, and practical applications, among other topics

WebGL-Based Simulation of Bone Removal in Surgical Orthopeadic Procedures

The effective role of virtual reality simulators in surgical operations has been demonstrated during the last decades. The proposed work has been done to give a perspective of the actual orthopeadic surgeries such as a total shoulder arthroplasty with low incidence and visibility of the operation to the surgeon. The research in this thesis is focused on the design and implementation of a web-based graphical feedback for a total shoulder arthroplasty (TSA) surgery. For portability of the simulation and powerful 3D programming features, WebGL is being applied. To simulate the reaming process of the shoulder bone, multiple steps has been passed to be able to remove the volumetric amount of bone which was touched by the reamer tool. A fast and accurate collision detection algorithm utilizing Möller –Trumbore ray-triangle method was implemented to detect the first collision of the bone and the tool in order to accelerate the computations for the bone removal process. Once the collision detected, a mesh Boolean operation using CSG method is being invoked to calculate the volumetric amount of bone which is intersected with the tool and should be removed. This work involves the user interaction to transform the tool in a Three.js scene for the simulated operation

Developing a Framework for Heterotopias as Discursive Playgrounds: A Comparative Analysis of Non-Immersive and Immersive Technologies

The discursive space represents the reordering of knowledge gained through accumulation. In the digital age, multimedia has become the language of information, and the space for archival practices is provided by non-immersive technologies, resulting in the disappearance of several layers from discursive activities. Heterotopias are unique, multilayered epistemic contexts that connect other systems through the exchange of information. This paper describes a process to create a framework for Virtual Reality, Mixed Reality, and personal computer environments based on heterotopias to provide absent layers. This study provides virtual museum space as an informational terrain that contains a "world within worlds" and presents place production as a layer of heterotopia and the subject of discourse. Automation for the individual multimedia content is provided via various sorting and grouping algorithms, and procedural content generation algorithms such as Binary Space Partitioning, Cellular Automata, Growth Algorithm, and Procedural Room Generation. Versions of the framework were comparatively evaluated through a user study involving 30 participants, considering factors such as usability, technology acceptance, and presence. The results of the study show that the framework can serve diverse contexts to construct multilayered digital habitats and is flexible for integration into professional and daily life practices

Analysis domain model for shared virtual environments

The field of shared virtual environments, which also encompasses online games and social 3D environments, has a system landscape consisting of multiple solutions that share great functional overlap. However, there is little system interoperability between the different solutions. A shared virtual environment has an associated problem domain that is highly complex raising difficult challenges to the development process, starting with the architectural design of the underlying system. This paper has two main contributions. The first contribution is a broad domain analysis of shared virtual environments, which enables developers to have a better understanding of the whole rather than the part(s). The second contribution is a reference domain model for discussing and describing solutions - the Analysis Domain Model

Real-time detection of geometric interference : application to full-body 5-axis haptics

Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1999.Includes bibliographical references (leaves 81-83).Stephen Ho.S.M

Actas do 12º Encontro Português de Computação Gráfica

Actas do 12º Encontro Portugês de Computação Gráfica, Porto, 8-10 de Outubro de 2003O Encontro Português de Computação Gráfica teve lugar nesse ano 2003, naquela que foi a sua 12ª edição, no ISEP – Instituto Superior de Engenharia do Porto, entre os 8 a 10 de Outubro. O 12º Encontro Português de Computação Gráfica (12EPCG) veio no seguimento de encontros anteriores realizados anualmente e reuniu investigadores, docentes e profissionais nacionais e estrangeiros, que realizam trabalho ou utilizam a Computação Gráfica, Realidade Virtual e Multimédia, assim como todas as suas áreas afins, no sentido de permitir a divulgação de projectos realizados ou em curso e fomentar a troca de experiências e a discussão de questões relacionadas com a Computação Gráfica em Portugal, entre as comunidades académica,industrial e a de utilizadores finais. Este é o livro de actas do 12EPCG.Fundação Ilídio PinhoFC

A Characterization Of Low Cost Simulator Image Generation Systems

Report identifies and briefly discusses the characteristics that should be considered in the evaluation, comparison, and selection of low cost computer image generation systems to be used for simulator applications