虚拟现实水下机器人仿真系统

本文采用VR技术,模拟真实情况建立了一个水下机器人仿真系统。该系统使用与真实系统相同的控制器和输入设备,提供操作员训练、人—机智能控制仿真、机器人轨迹规划仿真等功能,仿真数据能够引导真实机器人运动。文中以仿真实例说明了系统的有效性。

非结构环境下基于人机合作技术的抓取作业研究

介绍了一种利用人机合作技术在非结构环境引导机械手抓取静态目标的方法.分别介绍了将激光—CCD摄像机系统与操作者的经验相结合获得抓取目标位置的方法,及将虚拟现实技术与操作者的经验相结合获得抓取目标姿态的方法.继而利用基于模型的视觉引导技术,引导手臂完成抓取操作.

月球机器人仿真中一种消除轮地交互误差的方法

利用虚拟现实技术虚拟出月球机器人在月面上的作业环境和作业过程,是提高机器人作业的安全系数和工作效率的一条有效途径。在3D重建得到的虚拟月面环境中,如果采用通常的单纯基于运动学(或者动力学)模型的仿真方法,对机器人的作业和运动进行虚拟,那么机器人与地形交互的过程中容易产生接触偏差。而且,随着仿真时间的推进,这种接触偏差会逐渐积累并不断增大,进而严重影响仿真测试的精度和效果。为了消除月球机器人仿真中的轮地交互误差,在分析误差来源的基础上,提出了基于运动学优化的解决方法。最后利用实际的虚拟现实仿真系统,验证了所提出方法的有效性。

轮式移动机器人与地形交互运动仿真研究

分析了轮式移动机器人(WMR)在不平坦的三维地形上运动的运动学模型.利用速度投影法,得到了WMR运动模型的一种新形式.基于虚拟现实技术,利用VC++OpenGL实现了WMR虚拟漫游系统.该系统具有较强的交互性和实时性,为星球探测机器人的虚拟导航、遥操作等提供了验证平台.

基于立体视觉的虚拟机械臂平面定位研究

结合星球探测的应用背景,对漫游车的工作方式进行了研究,针对车载机械臂开发了一套基于立体视觉的机械臂平面定位仿真系统。该系统依靠虚拟现实技术,通过虚拟机械臂对三维重建得到的平整物体表面的定位仿真得到机械臂的各关节参数,以此指导真实机械臂的运动。论述了基于立体视觉的机械臂定位机理和基于OpenGL的虚拟机械臂的实现过程。采用VC++构建了仿真实验平台,进行了定位实验,获得了较高的定位精度。

面向任务的虚拟环境和人机交互方法研究

基于虚拟现实技术的人机交互方法为面向任务的机器人远程作业研究提供了新的思想和思路 ,增强了机器人系统的遥控作业能力 .本文对机器人系统中虚拟环境和人机交互方法研究进行了综述 ,对虚拟环境中的示教和遥操作进行了评析 ,并探讨了未来遥操作机器人系统作业的发展趋势

虚拟现实辅助机器人遥操作技术研究

本文以水下机器人的遥操作作业为应用背景 ,提出并实现了虚拟现实技术和视觉感知信息辅助机器人遥操作实验系统 .该系统使用了 CAD模型和立体视觉信息完成遥操作机器人及其作业环境的几何建模和运动学建模 ,实现了虚拟作业环境的生成和实时动态图形显示 .采用了基于立体视觉的虚拟环境与真实环境的一致性校正、图形图像叠加、作业体与环境位姿关系建立、基于网络的监控通讯等关键技术 .在这个实验系统中 ,操作人员可利用所生成的虚拟环境 ,在多视点、多窗口作业状态图形和图像显示帮助下 ,实时动态地进行作业观测与机器人遥操作与运动规划 ,为先进遥操作机器人系统的实现提供了经验和关键技术 .

基于Vega Prime的多水下机器人视景仿真系统的设计与实现

介绍了一套多水下机器人三维视景仿真系统。该系统采用虚拟现实技术，利用虚拟仿真软件VegaPrime 与Visual C++.NET 2003 混合编程实现三维视景仿真。它主要用于海洋环境的模拟和多水下机器人运行时的位姿更新、碰撞检测、环境效果及各种特效的实时显示。此外，它还具有响应各种输入/输出设备的功能和通过人性化图形界面接口与用户进行交互的功能。

工程地质三维建模与可视化技术应用开发

Synthetic Geology Information System (SGIS) is an important constituent part of the theory of Engineering Geomechanics Mate-Synthetic (EGMS), and is the information system more suited for the collection, storage, management, analysis and processing to the information coming from engineering geology,' geological engineering and geotechnical engineering. Its contents involve various works and methods of the investigation, design, and construction in different stages of the geological engineering. Engineering geological and three-dimensional modeling and visualization is the fundamental part of the SGIS, and is a theory, method and technique by which, adopting the computer graphics and image processing techniques, the data derived from engineering geological survey and the calculated results obtained from the geomechanical numerical simulation and analysis are converted to the graphics and images displayed on the computer screen and can be processed interactively. In this paper, the significance and realizing approaches of the three-dimensional modeling and visualization for the complex geological mass in the engineering geology are discussed and the methods of taking advantage of the interpolation and fitting for the scattered and field-surveyed data to simulate the geological layers, such as the topography and earth surface, the groundwater table and the stratum boundary, are researched into. At the mean time, in mind the characteristics of the structure of the basic data for three-dimensional modeling, its visual management can be resolved into the engineering surveyed database management module, plot parameter management module and data output module and the requirement for basic data management can be fulfilled. In the paper, the establishment and development of the three-dimensional geological information system are probed tentatively, and an instance of three-dimensional visual Engineering Distribution Information System (EDIS), theConstruction Management Information System for an airport, in which the functions, such as the real-time browse among the three-dimensional virtual-reality landscapes of the airport construction from start to finish, the information query to the airport facility and the building in the housing district and the recording and playback of the animation sets for the browse and the takeoff and landing of the planes, is developed by applying the component-mode three-dimensional virtual-reality geological information system (GIS) software development kits (SDK), so the three-dimensional visual management platform is provided for the airport construction. Moreover, in the gaper, integrated with the three-dimensional topography visualization and its application in the Sichuan-Tibet Highways, the method of the digital elevation model (DEM) data collection from the topographic maps is described, and the three-dimensional visualization and the roaming about the terrain along the highway are achieved through computer language programming. Understanding to the important role played by the varied and unique topographical condition in the gestation and germination of the highly-dense, frequently-arising and severely-endangered geological hazards can be deepened.

真实和虚拟现实环境下场景识别中的空间更新

Currently，one of the important research areas in Spatial updating is the role of external (for instance visual) and internal (for instance proprioceptive or vestibular) information in spatial updating of scene recognition. Our study uses the paradigm of classic spatial updating research and the experimental design of investigation of Burgess(2004),first, we will explore the concrete influence of locomotion on scene recognition in real world; next, we will use virtual reality technology, which can control many spatial learning parameters and exclude the influence of extra irrelevant variables, to explore the influence of pure locomotion without visual cue on scene recognition, and furthermore, we will explore whether the ability of spatial updating can be transferred to new situations in a short period of time and compare the result pattern in real word with that in virtual reality to test the validity of virtual reality technology in spatial updating of scene recognition research. The main results of this paper can be summarized as follows： 1. In real world, we found two effects: the spatial updating effect and the viewpoint dependent effect, this result indicated that the spatial updating effect based on locomotion does not eliminate the viewpoint dependent effect during the scene recognition process in physical environment. 2. In virtual reality environment, we still found two effects: the spatial updating effect and the viewpoint dependent effect, this result showed us that the spatial updating effect based on locomotion does not eliminate the viewpoint dependent effect during the scene recognition process in virtual reality environment either. 3. The spatial updating effect based on locomotion plays double role in scene recognition: When subjects were tested in different viewpoint, spatial updating based on locomotion promoted scene recognition; while subjected were tested in same viewpoint, spatial updating based on locomotion had a negative influence on scene recognition, these results show us that spatial updating based on locomotion is automated and can not be ignored. 4. The ability of spatial updating can be transferred to new situations in a short period of time , and the experiment in the immersed virtual reality environment got the same result pattern with that in the physical environment, suggesting VR technology is a very effective method to do research on spatial updating of the scene recognition studies. 5. This study about scene recognition provides evidence to double system model of spatial updating in the immersed virtual reality environment.

表征方式对网上购物信息搜索行为影响的工程心理学实验研究

Interface has been becoming a more significant element today which influences the development of shopping on-line greatly. But in practice the attention arisen from society and study made are quite inadequate. Under this circumstance, I focus my study on the purpose of improving understanding of the engineering psychological factors, which definitely will play a crucial role in shopping on-line representation in future, and of the relations between them through the following experimental research. I hope it can give a basic reference to the practical application of shopping on-line representation pattern and continuous study. In current thesis, an analysis was made on the basis of engineering psychology principles from three aspects, i.e. person (users), task and information environment. It was considered that system overview and information behavior model would have great impact on the activities of users on the web and that representation pattern of information system would affect the forming of system overview and behavior pattern and then further after the performances of users in information system. Based on above-mentioned statement, a three-dimensional conceptual model was presented which demonstrates the relations between the crucial factors, which are media representation pattern, system hierarchy and objects in information unit. Thereafter, eight study hypothesis, which are about engineering psychological factors of virtual reality (VR) representation in shopping on-line system, was taken out and four experiments were followed up to testify the hypothesis. -In experiment one, a research was made to study how the three kinds of single media representation pattern influence the forming of system overview and information behavior from the point view of task performance, operating error, overall satisfactory and mental workload etc. -In experiment two, a study of how the combined media representation pattern of system hierarchy influences users' behavior was carried out. -In experiment three, a study of the hierarchy structure feature of VR representation pattern and the tendency of its width and depth to the effects of system behavior was made. -In experiment four, a study of the location relations between different parties in VR scene (information unit) was made. The result is as follows: -During structure dimensional state: Width-increasing caused more damage to the speed of users than depth-increasing in VR representation pattern. Although the performance of subjects was quite slow in wider environment, yet the percentage rate of causing errors was in lowest level. -During hierarchy representation pattern: 1. Between the representation patterns of the three media, no significant differences was found in terms of the speed of fulfilling the task, error rate, satisfactory, mental workload etc. But the pattern with figure- aided gained the worst results on all of these aspects. 2. During primary stage of the task and the first level of the hierarchy, the speed of subjects' performance in VR pattern was slower than that in text pattern. While with developing of the task and going deeper level of the hierarchy, the speed of users' performance in VR representation pattern reached to the highest level. 3. Effects in VR representation pattern was better than that in text pattern in higher level of the system. The representation pattern in highest level has greatest impact on the performance of the system behavior, whereas results of the only VR representation in the middle part of hierarchy would be worst. 4. Activity error in single media representation pattern was more than that in combined media representation pattern. 5. Individual differences among subjects had effects on the representation pattern of the system. During VR environment, behavior tendency of party A had a significant negative correlation to the quantities of errors. -In VR-scene representation: Physical-distance and flash influenced the subjects' task performance greatly, while psychological-distance has no outstanding impact. Subjects' accurate rate of performing increased if objects with same relation were in the same structure position, in the state of close psychological-distance or if the object target flashed (not reliable). Although the article limits the topic only on the present-existing questions and analysis of shopping-on-line, as a matter of fact, it can also apply for other relevant purposes on the web. While the study of this article only gives its emphasis on the researching-task with definite goal, making no consideration of other task conditions and their relations with other navigation tools. So I hope it lay a good start to make continuous research in this areas.

Zmienne graficzne sygnatur punktowych w mobilnym systemie rozszerzonej rzeczywistości

Wydział Nauk Geograficznych i Geologicznych

Exploring the effects of image persistence in low frame rate virtual environments

© 2015 IEEE.In virtual reality applications, there is an aim to provide real time graphics which run at high refresh rates. However, there are many situations in which this is not possible due to simulation or rendering issues. When running at low frame rates, several aspects of the user experience are affected. For example, each frame is displayed for an extended period of time, causing a high persistence image artifact. The effect of this artifact is that movement may lose continuity, and the image jumps from one frame to another. In this paper, we discuss our initial exploration of the effects of high persistence frames caused by low refresh rates and compare it to high frame rates and to a technique we developed to mitigate the effects of low frame rates. In this technique, the low frame rate simulation images are displayed with low persistence by blanking out the display during the extra time such image would be displayed. In order to isolate the visual effects, we constructed a simulator for low and high persistence displays that does not affect input latency. A controlled user study comparing the three conditions for the tasks of 3D selection and navigation was conducted. Results indicate that the low persistence display technique may not negatively impact user experience or performance as compared to the high persistence case. Directions for future work on the use of low persistence displays for low frame rate situations are discussed.

Safer by design: simulating fire and escape at sea

When designing a new passenger ship or modifying an existing design, how do we ensure that the proposed design and crew emergency procedures are safe from an evacuation resulting from fire or other incident? In the wake of major maritime disasters such as the Scandinavian Star, Herald of Free Enterprise, Estonia and in light of the growth in the numbers of high density, high-speed ferries and large capacity cruise ships, issues concerning the evacuation of passengers and crew at sea are receiving renewed interest. Fire and evacuation models with features such as the ability to realistically simulate the spread of fire and fire suppression systems and the human response to fire as well as the capability to model human performance in heeled orientations linked to a virtual reality environment that produces realistic visualisations of the modelled scenarios are now available and can be used to aid the engineer in assessing ship design and procedures. This paper describes the maritimeEXODUS ship evacuation and the SMARTFIRE fire simulation model and provides an example application demonstrating the use of the models in performing fire and evacuation analysis for a large passenger ship partially based on the requirements of MSC circular 1033. The fire simulations include the action of a water mist system.

Integrated fire and evacuation in maritime environments

When designing a new passenger ship or modifying an existing design, how do we ensure that the proposed design and crew emergency procedures are safe from an evacuation resulting from fire or other incident? In the wake of major maritime disasters such as the Scandinavian Star, Herald of Free Enterprise, Estonia and in light of the growth in the numbers of high density high-speed ferries and large capacity cruise ships, issues concerning the evacuation of passengers and crew at sea are receiving renewed interest. Fire and evacuation models with features such as the ability to realistically simulate the spread of fire and fire suppression systems and the human response to fire sas well as the capability to model human performance in heeled orientations linked to a virtual reality environment that produces realistic visualisations of modelled scenarios are now available and can be used to aid the engineer in assessing ship design and procedures. This paper describes the maritmeEXODUS ship evacuation and the SMARTFIRE fire simulation model and provides an example application demonstrating the use of the models in performing fire and evacuation analysis for a large passenger ship partially based on the requirements of MSC circular 1033. The fire simulations include the action of a water mist system.