S pojavom visoko razlučive grafike, brzog računanja, te dobre interakcije uređaja s korisnikom, tehnologija virtualne stvarnosti (VS) u posljednjih nekoliko godina je jedna od glavnih tehnologija. Važan koncept koji predstavlja VS je sustav predočavanja, koji se odnosi na osjećaj potpune uronjenosti u trodimenzijskom računalno generiranom okruženju, pomoću koje se iz korisničke perspektive uvelike olakšava praćenje. Glavna prednost korištenja virtualne stvarnosti očituje se kao mogućnost stvaranja i simuliranja novih tehnoloških jedinica prije njihove realizacije. Ovo može doprinijeti povećanju sigurnosti, povećanju ergonomije i smanjenju troškova. Virtualni model radnog mjesta mogao bi otkriti skrivene pogreške koje se eliminiraju, a koje bi u kasnijoj fazi na tom radnom mjestu mogle uzrokovati velike poteškoće.With the advent of high-resolution graphics, high-speed computing, and user interaction devices, virtual reality (VR) has emerged as a major new technol­ogy in recent years. An important new concept introduced by many VR sys­tems is immersion, which refers to the feeling of complete immersion in a three-dimensional computer-generated environment by means of user-cen­tered perspective achieved through tracking the user. Main advantage of virtual reality application usage is the possibility of creation and simulation of new technological unit before its realization. This may contribute to increasing of safety and ergonomics and decreasing of economical aspects of new proposed unit. Virtual model of proposed workcell could reveal hidden errors whose elimination in later stage of the new workcell creation should cause great difficulties

Jozef Novak-Marcincin

Marek Kocisko

Miroslav Janak

Peter Brazda

Hrčak - Portal of scientific journals of Croatia

1IntroductionVirtual reality may be a clone of physical (real) realityor a kind of closer not defined (cyber) space that has its ownrules. In both of these cases a simulation of the environmenthas to be done. In case of newly defined cyberspace the taskis relatively easy – we can invent new laws or use simplifiedphysics. The real challenge is to simulate the rules ofphysics precisely, because they are very complexphenomena: dynamics of objects, electromagnetic forces,atomic forces etc. For the human-computer interactionpurposes a subset of them has to be considered. Newton'slaws are the basis when simulating movements, collisionsand force-interaction between objects. The simulation,collision detection and animation of autonomous objects,may be a very complex and time-consuming task, so otherapproaches must be applied than in standard (i.e. non-realtime) animation. The simulation process that manages thebehavior of the whole environment (including interactionbetween different users) should be run in the "background"– decoupled from the user's interaction in order to supportthe full performance. The updates between these applicationparts are realized by means of asynchronous operations [2,3].With the advent of high-resolution graphics, high-speed computing, and user interaction devices, virtualreality (VR) has emerged as a major new technology inrecent years.An important new concept introduced by manyVR systems is immersion, which refers to the feeling ofcomplete immersion in a three-dimensional computer-generated environment by means of user-centeredperspective achieved through tracking the user. Mainadvantage of virtual reality application usage is thepossibility of creation and simulation of new technologicalunit before its realization. This may contribute to increasing,577J  Novak-Marcincin. et al.ISSN 1330-3651UDC/UDK 004.94:65.011.56APPLICATION OF VIRTUAL REALITY TECHNOLOGY IN SIMULATIONOF AUTOMATED WORKPLACESJozef Novak-Marcincin, Peter Brazda, Miroslav Janak, Marek KociskoWith the advent of high-resolution graphics, high-speed computing, and user interaction devices, virtual reality (VR) has emerged as a major new technology inrecent years. An important new concept introduced by many VR systems is immersion, which refers to the feeling of complete immersion in a three-dimensional computer-generated environment by means of user-centered perspective achieved through tracking the user. Main advantage of virtual realityapplication usage is the possibility of creation and simulation of new technological unit before its realization. This may contribute to increasing of safety andergonomics and decreasing of economical aspects of new proposed unit. Virtual model of proposed workcell could reveal hidden errors whose elimination inlater stage of the new workcell creation should cause great difficultiesautomatedmanufacturingworkplace, simulation, virtual reality technology.Keywords:Preliminary notesS pojavom visoko e grafike, brzog r , te dobre s korisnikom, tehnologija virtualne stvarnosti (VS) u posljednjih nekolikogodina je jedna od glavnih tehnologija. Važan koncept koji predstavlja VS je sustav , koji se odnosi na potpune uronjenosti utrodimenzi om generiranom okruženju, koje se iz e perspektive uvelike olakšava . Glavna prednost korištenja virtualnestvarnosti stvaranja i simuliranja novih tehnoloških jedinica prije njihove realizacije. Ovo može doprinijeti sigurnosti,ergonomije i smanjenju troškova. Virtualni model radnog mjesta mogao otkriti skrivene pogreške koje se eliminiraju, a koje bi u kasnijoj fazi natom radnom mjestu mogle uzrokovati velike po .razlučiv ačunanja interakcije uređajapredočavanja osjećajjsk računalno pomoću korisničk praćenjeočituje se kao mogućnost povećanjupovećanjuteškoćebiKljučne riječi: automatizirano proizvodno radnomjesto, simulacija, virtualna tehnologijaPrethodno priopćenjePrimjena tehnologija virtualne stvarnosti u simulaciji automatiziranih radnih mjestaTehni ki vjesnikč 18, 4(2011)  577-580,Primjena tehnologija virtualne stvarnosti u simulaciji automatiziranih radnih mjestaof safety and ergonomics and decreasing of economicalaspects of new proposed unit. Virtual model of proposedworkcell could reveal hidden errors whose elimination inlater stage of new workcell creation should cause greatdifficulties [6, 7].One of the most useful techniques for acceleration ofthe design process is virtual model creation. This techniqueresolves interface dependencies between all systemcomponents, thus enabling parallel, rather than sequential,development of hardware and software components of thesystem. The paper describes the creation of workshopmodel followed by design verification in virtual realityenvironment. The main goal was to verify the proposedarrangement of automated workplace design in order to testthe accessibility of welding robots to workpiece and toconfirm spatial set up of the whole workshop. Theprocedure of virtual model creation could be divided intothree main steps [9, 10]:- creation of 2D drawing,- creation of 3D models,- creation of workshop virtual mock-up.First step, the 2D drawing creation was made accordingto input information in AutoCAD software. Output 2Ddrawing served as basic start point for all other activities forvirtual model creation [1].Further process consists of creation of 3D modelswhich are based on above mentioned drawings.After modelbuilding they have to be exported in generally acceptedformat in the order of their following usage and import invirtual reality system. For 3D models creation was usedPro/ENGINEER Wildfire 2 (Fig. 1) and as transfer format2Creation of Virtual Automated Workplace578Application of virtual reality technology in simulation of automated workplacesTechnical Gazette 18, 4(2011)  577-580,J  Novak-Marcincin. et al.was chosen Wavefront format. Models created in thisformat are described with two files, and while one heldinformation about measure and geometric characteristics ofthe model the second contained additional information forexample about the model's material. This format wasselected because of its support in virtual reality systemwhich was used in this experiment [8] (Fig. 2).assemblies of polyhedra, LODs, light sources,viewpoint(s), the user, etc. Most of the functionality andinteraction presented below will operate on the scene graph,i.e., it will, eventually, change some attribute(s) of someobject(s) [4].For the creation of virtual reality for verificationpurpose the following components were used:- virtual reality environment creation system Vizard,- head mounted display agin Z800 (Fig. 3).eMFigure 1 Model of robot created in Pro/ENGINEERFigure 2 Virtual model in virtual reality environmentA complete VR system is a large software system,consisting of many modules. Every VR system contains anobject manager, renderer, device drivers, communicationmodule, navigation and interaction module, and, usually,physically based simulation, sound rendering, scientificvisualization, application-specific modules, etc. The visualpart of the virtual world is represented by a hierarchicalscene graph. Everything is a node in this graph: polyhedra,Figure 3 agin Z800 HMDeMFigure 4 Virtual model in Vizard software environment,eMVizard system (Fig. 4) for virtual environment creationis a package of high-end graphical tools designated forgraphical applications creation including virtual reality,scientific visualizations etc. Vizard uses powerful enginebased on object-oriented programming which includes fullusage of OpenGL and DirectX possibilities. VRenvironments created in Vizard environment are optimizedwith the usage of VizardLAXMI tools for achieving of fullgraphical performance. This application was selectedbecause of its support of wide range of VR hardware andconversion formats. Output visualization was performedwith HMD agin Z800. This HMD is equipped withOLED visualization technology with high contrast. HMDhas integrated motion sensor for head position andorientation location [11].Creation of virtual environment started with defining ofnew virtual environment, its parameters and behavior. Thisaction was followed by objects importing and theirallocation in virtual environment (Fig. 5). Arrangement ofeach object followed primary 2D drawing so the workplacevirtual shape was built in 1:1 ratio to its real model. Thepurpose of our virtual model is the verification of designproposal with reference to robot access to workpiece during579Tehni ki vjesnikč 18, 4(2011)  577-580,work mode. In order to fulfill this goal it is necessary todefine motion action of robot which can be controlled byuser. In this way the designer can verify the correct proposalof workcell design [12, 13].One of the main goals of using a VR system for designverification is the potentially high degree of reality whichcan be experienced when immersed in a VE. In order toachieve this, the VR system needs to be able to visualizeobject behavior at interactive frame rates. Other tasks of aVR system in the context of design verification aregeometrical and spatial analyses. In order to checkserviceability of the proposal, the VR system has to track thework space necessary for the objects to move and it has toreport collisions (Fig. 6). During verification it is oftennecessary to simulate kinematics in order to perform asensible design study. Real-time collision detection ofpolygonal objects undergoing rigid motion is of criticalimportance in many interactive virtual environments. Inparticular, simulation algorithms, utilized in virtual realitysystems to enhance object behavior and properties, oftenneed to perform several collision queries per frame. It is afundamental problem of dynamic simulation of rigid bodiesand simulation of natural interaction with objects.Simplified principle of verification of design in frame ofobject collision detection can be presented:With collisions there are two tasks to be handled:collision detection and collision handling. The former is thegeneral problem of determining whether or not objectspenetrate (i.e. "something happened"), while the latter is theproblem of determining appropriate steps based on thecurrent collision status, which is usually handled." "3Experimental simulation of automated workplacecollision detection within a visualisation looploop forevermove objects according to user inputcheck collisionsif collision detected, take appropriate actionsbased on collision reportselse continue in visualisationEnd of visualizationtechnological unit before its realization. Usage of virtualreality in such way as a verification tool can help tominimize errors which may occur by the creation of newworkplaces. The paper presented simplified procedure ofthe creation of such model with the selection of software andhardware components, followed by a description of thesystem function principle. It presents step by step actionswhich have to be done in order to proceed from idea of newworkplace thr  u 2D drawing design and 3D modelscreation and till import of virtual models in virtual realityenvironment and virtual parameters set up [14].This application allows verifying spatial arrangementof machines of newly proposed workplace and helps inrevealing of hidden errors or may contribute to the creationof better alternative [5].When a single factory may cost over a billion dollars (asis the case in the semiconductor ), it is evident thatmanufacturing decision makers need tools that supportgood decision making about their design, deployment, andoperation. However, in the case of manufacturing models,there is usually no tested one but the factory itself;development of models of manufacturing operations is verylikely to disrupt factory operations while the models arebeing developed and tested [15].Sophisticated computer simulations, what might becalled call for a distributed, integrated,computer-based composite model of a total manufacturingenvironment, incorporating all the tasks and resourcesnecessary to accomplish the operation of designing,producing, and delivering a product. With virtual factoriescapable of accurately simulating factory operations overtime scales of months, managers would be able to exploremany potential production configurations and schedules ordifferent control and organizational schemes at significantsavings of cost and time to determine how best to improveperformance [16].o  ghindustry4Discussion and conclusionsvirtual factories,J  Novak-Marcincin. et al. Primjena tehnologija virtualne stvarnosti u simulaciji automatiziranih radnih mjestaFigure 5 Virtual automated workplaceVirtual reality is one of the enabling "technologies" forall kinds of physically-based visualization in VR and otherapplications. Main advantage of virtual reality applicationusage is the possibility of creation and simulation of newFigure 6 Example of collision error message580 Technical Gazette 18, 4(2011)  577-580,AcknowledgementSlovak Ministry of Education supported this work,contract VEGA No. 1/0036/09, KEGA No. 047-004TUKE-4/2010 and ITMS project code 26220220125.5References[1] Antic, A. Hodolic, J. Sokovic, M. Development of a neural-networks tool-wear monitoring system for a turning processStrojniski estnik-Journal of Mechanical Engineering, 52,11 2006 , p . 763-776[2] Austakalnis, S. Blatner, D. Real about Virtual Reality. Jota,Brno, 1994 (in Czech)[3] Banerjee, P. Zetu, D. Virtual Manufacturing. John Wiley andSons, NewYork, 320 pp.[4] Fain, N. Kline, M. Vukasinovic, N. Duhovnik, J. Theimpact of management on creativity and knowledge transferin an academic virtual enterprise. Technical Gazette, 173 2010 , p . 347-351.[5] Gots, I. Zajac, J. Vojtko, I. Equipment for measuring thedegree of wear to cutting tools Technisches Messen, 62,1 1995 , p . 8-11.[6] Kalpakjian, S. Schmid, S. R. Manufacturing Engineering andTechnology. Prentice-Hall, New Yersey, 2001, 1148 .,ISBN 0-201-36131-0[7] Kocisko, M. Janak, M. Creation Method of VisualDisassembly Procedure. Journal CA Systems in ProductionPlanning, 9, 1 2008 , pp. 37-39, ISSN 1335-3799[8] Kolakovic, I. Dovic, D. Simulation of the solar domestic hotwater system operation. Technical Gazette, 16 1 2009 , pp.37-39, ISSN 1335-3799[9] Kuric, I. Kuba, J Dynamic classification in CAPP. In:Annalsof DAAAM for 2006 & Proceedings of the 17th InternationalDAAAM Symposium, Vienna, 2006, pp. 215-216.[10] Marcincin, J. N. Brazda, P. Kuzmiakova, M. 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Trefftz functionsfor solution of 3D problems with stress concentration In:Proceedings of Leuven Symposium on Applied Mechanics inEngineering, Louvain, 2008, p . 323-337; ;v( ) p;;; ; ;// ,( ) p; ;( ) p;pp;//( );// , ( );; ; ;""; ; ;; ; ;,( ) p;, 1996; ;p..............//////[15] Neaga, I. Kuric, I. Virtual Environments for Product Designand Manufacturing. In: Proceedings CA Systems andTechnologies . Zilina, 1999, pp. 60-65[16] Petruska, P. Marcincin, J. N. Doliak, M. ROANS -Intelligent simulation and programming system for robotsand automated workcell. Proceedings of the IEEEInternational Conference on Intelligent Engineering Systems(INES 97), Budapest 1997, p . 451-456;""; ;p..Authors' addresses:Jozef Novak-MarcincinPeter BrazdaMiroslav JanakMarek KociskoFaculty of Manufacturing Technologiesof Technical Universtity of Kosice with a seat in PresovBayerova 1, 080 01 PrešovSlovak Republicjozef.marcincin@tuke.skFaculty of Manufacturing Technologiesof Technical Universtity of Kosice with a seat in PresovBayerova 1, 080 01 PrešovSlovak RepublicFaculty of Manufacturing Technologiesof Technical Universtity of Kosice with a seat in PresovBayerova 1, 080 01 PrešovSlovak RepublicFaculty of Manufacturing Technologiesof Technical Universtity of Kosice with a seat in PresovBayerova 1, 080 01 PrešovSlovak RepublicApplication of virtual reality technology in simulation of automated workplaces J  Novak-Marcincin. et al.

Application of virtual reality technology in simulation of automated workplaces

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