The NPSNET Research Group is working in the area of robust representations of humans and real-time interactions
in the DIS synthetic environment. Our focus is on building the software bed for applications such as medical corpsmen
rescue training and dismounted infantry in the DIS environment. In conjunction with our academic, government and
industry partners, recent work has included novel hierarchical networking of multi-resolution humans in the DIS synthetic
environment, accurate articulated human viewpoints, simple networked wounding, networked autonomous
evacuation units, real-time arm articulations and realistic wounding model investigations.
Planned work over the next two years includes networked Personal Status Monitors, multi-resolution view switching,
networked autonomous air evacuations units, accurate wounding model integration, dynamic object networking,
physiological model integration, energy extraction input device integration, and the completion of the full-up human
in the NPSNET/DIS synthetic environment

Barham, Paul

Falby, John S.

Pratt, David R.

Pratt, Shirley

Zyda, Michael J.

Calhoun, Institutional Archive of the Naval Postgraduate School

Calhoun: The NPS Institutional ArchiveFaculty and Researcher Publications Faculty and Researcher Publications1995-09NPSNET-human: inserting the humaninto the networked synthetic environmentZyda, Michael J.Monterey, California.  Naval Postgraduate Schoolhttp://hdl.handle.net/10945/41059 INTRODUCTION The representation of the human figure in a real-time,interactive 3D virtual environment (VE) is a sought forgoal of the VE research community [1]. Significant workhas been done in animating human figures for single-frame animations [2]. As our workstations have becomefaster and more capable, both graphically and computa-tionally, the integration of articulated human figures intoour real-time VEs has become possible. For the DIS community, the integration of human fig-ures has become an extremely important issue. To date,the primary usage of DIS has been for vehicles, bothground and air, with few articulations. Accurate humanfigures require an order of magnitude more articulationsand put a significantly larger load on the DIS network. The NPSNET Research Group over the last two yearshas begun looking at the complete set of issues regardingintegrating the human figure into the DIS synthetic envi-ronment. The driving problems of our current efforts arethe integration of dismounted infantry [3] and medicalcorpsmen into the DIS virtual environment. Some of themajor issues we face are: the robust representation of hu-mans in the DIS synthetic environment, the multi-resolu-tion networking of human interactions, and the additionof physical, wounding models into the DIS synthetic en-vironment. This paper presents a progress report on someof the efforts to date of the NPSNET-Human project. PROJECT GOALS The robust representation of a human figure in a VEmeans that we have an instrumented human whosemovements and interactions are accurately reflected inthat environment such that a particular set of tasks ortraining become possible. Such a system would allowmedical corpsmen, for example, to move to the site of awounded soldier, bend down over that soldier and utilizefull hand and finger movement, with that movement af-fecting the downed soldier. If we carry this further, wewould like to be able to see accurate wounds, have themedical corpsman practice treating the particularly diag-nosed wound, with eventual access to physically-basedunderlying organs. Since we want this training to occurin a networked VE, we want all finger, hand and bodymovements to be reflected across the DIS network andvisible, in some fashion, at other nodes in the DIS VE. In order to achieve our project’s goals, there are manyhardware and software research avenues to explore andtechnologies to test and develop. We present below someof the areas we are investigating. RECENT ACCOMPLISHMENTSAccurate Articulated Human Viewpoint One of the first things that one needs in putting a hu-man figure into a VE is the ability to display an accurate,articulated human viewpoint. The NPSNET-Humanproject has recently completed work on this so that view NPSNET-HUMAN: INSERTING THE HUMAN INTO THE NETWORKED SYNTHETIC ENVIRONMENT Michael J. Zyda*,  David R. Pratt, Shirley Pratt, Paul Barham & John S. FalbyNaval Postgraduate SchoolDepartment of Computer Science, Code CS/ZkMonterey, California 93943-5118E-mail: { zyda, pratt, pratts, barham, falby }@cs.nps.navy.mil* contact author KEYWORDS Humans in the DIS synthetic environment, synthetic environments. ABSTRACT The NPSNET Research Group is working in the area of robust representations of humans and real-time interactionsin the DIS synthetic environment. Our focus is on building the software bed for applications such as medical corpsmenrescue training and dismounted infantry in the DIS environment. In conjunction with our academic, government andindustry partners, recent work has included novel hierarchical networking of multi-resolution humans in the DIS syn-thetic environment, accurate articulated human viewpoints, simple networked wounding, networked autonomousevacuation units, real-time arm articulations and realistic wounding model investigations.Planned work over the next two years includes networked Personal Status Monitors, multi-resolution view switch-ing, networked autonomous air evacuations units, accurate wounding model integration, dynamic object networking,physiological model integration, energy extraction input device integration, and the completion of the full-up humanin the NPSNET/DIS synthetic environment.Thi d t t d ith F M k 4 0 2 position/orientation are now computed based on bodyposture and joint articulations. This means that one’s vir-tual body parts are clearly visible and the user’s eyepointis updated intuitively while the head is tracked with anHMD sensor. This viewpoint improvement allows for re-alistic viewing at close range, e.g. when a medic looksdownward to attend to a victim.  It replaces the earlier ap-proximated view which was based solely on posture andassumed only small deviations in head/neck angles. Simple Networked Wounding In early versions of NPSNET, a wounded human wasa dead human, with a dead 3D icon displayed for that fig-ure. We have recently begun an effort to provide an in-termediate display. We now have networked simplewounding of soldiers in the virtual battlefield. Soldiericons display simple networked wound representationson their body when and where they are hit.  In the lowerresolution battlefield environment, the wounds ade-quately indicate the need for medical attention and thelocation of the injury. Multiple hits cause multiplewounds to be displayed. Currently, only a ballistic typeof wound is displayed. Networked Autonomous Evacuation Unit For the medical corpsman scenarios we are develop-ing in NPSNET, we have begun prototyping a net-worked, autonomous evacuation unit. Companion soft-ware has been developed to dispatch a networked, auton-omous ambulance to the location of a wounded soldier inNPSNET. Upon reaching the victim, a two man stretcherteam disembarks from the rear of the ambulance, walksto one side of the victim and kneels to pick him up.  Thewounded soldier (for now) is instantaneously transferredto the stretcher and is carried back to the ambulance. Theambulance returns to the aid station from which it wasdispatched. Real-Time Arm Articulations Work underway in the NPSNET-Human project to-wards the goal of instrumenting the human body is cur-rently focused on real-time arm articulations. An inter-face has been developed to give a user with Polhemusmagnetic sensors attached to his arms the ability to con-trol an icon’s arms in real-time. This is a low-cost alter-native to the Sarcos ISMS and Sensor Suit. A user can in-teract with the synthetic environment independent oflimited scripted animations. Efficient multicast network-ing means have been developed to receive/send high fre-quency data from the user interface tracking real-timeupper body motions. The networking of the arm articula-tions is carried out by a “high resolution” parallel-to-DISnetwork. This parallel network is needed to reduce theamount of articulation data placed onto the net as wouldbe required were standard DIS utilized. Realistic Wounding Model Investigations We have started work on investigating the use of re-alistic wounding models for the human figures in NPS-NET. We have begun to identify what models exist andare readily available, and their interface requirements,i.e. parameters regarding weapon type, firing range, pro-jectile's direction of travel, as well as the soldier's postureand his protective equipment. MILESTONES We envision that the full integration of a human intothe DIS synthetic environment is a project that requiresat least five years of steady funding. In the following sec-tion, we outline our expectations of accomplishment forthe next one to three years should steady funding be pro-vided. Near-Term (within a year)Networked Personal Status Monitors There is a plan in the US Army to equip each soldierwith a personal status monitor (PSM), a device that indi-cates the health, well-being and location of the soldier inthe battlefield. Before the full deployment of that device,there is a requirement for its simulation in the DIS VE.This simulation requirement directly impacts our medi-cal corpsman scenarios as it provides cues for our medicsand soldiers. We plan to look at the networked commu-nication of each soldier’s PSM data while in the battle-field for triage training. We plan to build a networkedmedic GUI prototype to monitor and manage  PSM datafor soldiers who are under a particular medic’s care andresponsibility. High/Low Resolution View Switching In the project goals described above, there is theeventual goal of being able to accurately display and in-teract with the internal organs of the wounded soldier. Todo so requires a seamless capability to switch view reso-lutions from the low resolution battlefield environmentto the high resolution medical, internal organs environ-ment. We hope to begin work on this over the next year.This is a significant multi-year effort requiring the acqui-sition of an accurate, physically-based internal organmodel. Networked Autonomous Air Evacuation Unit Besides having an autonomous ground evacuationcapability, we also need a networked autonomous airevacuation unit for our scenarios. We plan to show theusage of the evacuation pod or other equipment as re-quired. This is also work we expect to begin over the nextyear. Wounding Model Integration We have been looking at low-complexity woundingmodels for use in NPSNET. Once we have identified such a model, we will begin integration of that interimwounding model(s). We desire a model that can ade-quately describe the major battlefield injuries desired formedic training.  We are looking for a model that has var-ied low resolution wound representations based on typeof injury. Dynamic Object Networking A full-up human in the networked VE has the abilityto pick up arbitrary objects in the virtual world and to op-erate on those objects, and pass those objects to other hu-mans in the VE, similar in fashion to what humans in thereal world can do. In the next year, we begin work on thenetworked representation of dynamic objects in the VE,with the goal objects that can be picked up, passed be-tween entities, or left behind. We need to develop im-proved collision detection techniques to support this ca-pability. Longer-Term (1-3+ years) The full development of the human in the networkedVE with hierarchical networking (DIS and multicast),rendering and collision detection schemes to supportboth a high resolution medic environment and a concur-rent low resolution battlefield environment is a signifi-cant multiple year effort. This effort includes fundamen-tal VE hardware and software development efforts. Ourplans include the following areas of research. Accurate Wounding & Physiological Model Integration The initial efforts we plan for NPSNET-Human in-clude the usage of relatively low-level wounding models.The long term plan is the integration of detailed woundrepresentations, physiological models, high resolutionmedic with fully articulated fingers, and scripted anima-tions for the high resolution semi-automated medicalcorpsman. The NPS work on this task is to integrate intoNPSNET the wounding and physiological models devel-oped by others as indicated by the ARPA BiomedicalTechnology Program Manager. Energy Extraction Input Device Integration A key component to all humans in the VE work is thehuman body instrumentation hardware. Over the years,the NPSNET Research Group has built software inter-faces to NPSNET for any input device provided to thatgroup. We continue this policy today and will accept theloan/donation of any human body instrumentation hard-ware for our humans in the VE effort. In the past, wehave supported the Sarcos ISMS aka ARL I-Port and willbe supporting the newer Tread-Port device. The purposeof the Sarcos devices is to fatigue the medic and infantry-man in the virtual battlefield. We are also examininglower-cost alternatives to this platform such as the Pol-hemus Ultratrak and a hybrid system of the Polhemusand the BioControl BioMuse device. We are also per-forming a study for ARPA on BodySuit alternatives,with a focus on immediate-term, near-term (1 - 3 years)and long term (3 years to 7 years). Full-up Human in the Synthetic Environment The ultimate goal of the NPSNET-Human project isreal-time interaction with entities and objects in the VEwith input devices allowing high resolution human mo-tions and force feedback. The NPS work on this task is asynthesis of all the pieces previously developed so thatthe NPSNET-Human system can then show a full-up, in-teractive human in the NPSNET synthetic environment.Our driving problems, again, are specific for the medicand infantryman but our software is general in nature. Task Completion Caveat Time of completion of all aspects of the NPSNET-Human project is influenced by many factors outside ourcontrol, including availability of high resolution models/behaviors and input devices. Parallel efforts will proceedwhere possible to insure a timely completion. Technology Transition Plan The software developed for this effort will be inte-grated with the core NPSNET software bed. NPSNET iscurrently under configuration management for the DoDby the technical staff of the NPSNET Research Group atthe Naval Postgraduate School, Monterey, California.The configuration management efforts are carried out viareimbursable contracts with the faculty of the NPSNETResearch Group. Over 100 DoD laboratories and con-tractors currently utilize NPSNET. The NPSNET soft-ware developed from this effort is demoed all the time.The next major demonstration is for the Oct 95 AUSAconference in Washington, DC, where the NPSNET-Hu-man efforts will be a highly visible part of the simulationdemonstrations. Project Coordination The work on this contract is joint with the Universityof Pennsylvania (Norm Badler & Bonnie Webber), San-dia National Laboratories (Sharon Stansfield), US ArmyResearch Laboratory (Ron Spencer), and Sarcos Re-search Corporation. The efforts detailed above are car-ried out in cooperation with these organizations, thoughthe funding to NPS is separate. ACKNOWLEDGMENTS This work would not have been possible without thesupport of our research sponsors: ARPA, USA ARL,DMSO, USA TRAC, STRICOM, NPS Research Initia-tion Program. REFERENCES 1. “Virtual Reality: Scientific and Technological Challenges,”Editors: Nathaniel I. Durlach and Anne S. Mavor, Committeeon Virtual Reality Research and Development, National Re-search Council, National Academy of Sciences Press, Wash-ington, DC 1994. 2. Badler, N., Phillips, C. and Webber, B.  Simulating Hu-mans , Oxford University Press, 1993.3. Pratt, D. R., Barham, P. T., Locke, J., Zyda, M., Eastman, B.,Moore, T. Biggers, K. Douglass, R., Jacobsen, S. Hollick,M., Granieri, J., Ko, H., Badler, N. “Insertion of an Articulat-ed Human into a Networked Virtual Environment,” Proceed-ings of the 1994 AI, Simulation and Planning in High Auton-omy Systems Conference, University of Florida, Gainesville,7-9 December 1994. RESOURCES All papers from the NPSNET Research Group areavailable via the NPSNET Research Group’s web page:http://www.cs.nps.navy.mil/research/npsnetThe full source code to NPSNET is also available atthat location. NPSNET is currently under configurationmanagement for the DoD by the technical staff of theNPSNET Research Group at the Naval PostgraduateSchool, Monterey, California. The configuration man-agement efforts are carried out via reimbursable con-tracts with the faculty of the NPSNET Research Group. 

NPSNET-human: inserting the human into the networked synthetic environment

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NPSNET-human: inserting the human into the networked synthetic environment

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