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Enhancements of the Voxmap-PointShell Algorithm

Sagardia, Mikel (2008) Enhancements of the Voxmap-PointShell Algorithm. Diploma, Tecnun - Uneversity of Navarre.

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Abstract

Providing the user with touch or haptic feedback is crucial in activities performed in virtual worlds, such as assembly or maintenance simulations, and skill training. McNeely et al. introduced in 1999 the Voxmap-PointShellTM (VPS) Algorithm, an appealing haptic rendering algorithm that generates collision and force response with 1 kHz refresh rate even with geometrically complex environments. The VPS algorithm works with two types of data-structures to achieve this high frequency: voxmaps (discretized objects using voxels, equivalent to pixels in 3D), and pointshells (point-clouds representing the surface of the moving objects). This diploma thesis introduces enhancements on a modified VPS algorithm that was reimplemented at DLR. First, the development (using Matlab and C++) of new algorithms that generate these data-structures is explained. The voxmap generator is based on the Separating Axis Theorem, whereas a nonlinear analytical optimization method is applied to compute pointshells. Experiments show both quality and generation speed improvements compared to the previous algorithms. The quality is essential for the VPS algorithm, as the collision and force computation depend on the accuracy of its data-structures. Second, a sphere-point hierarchization implemented to the pointshell is introduced, in order to work at high sampling rates with high resolution. Results of generation tests performed to artificial objects and real models provided by Volkswagen are included to verify the suitability of the new algorithms.

Document Type:Thesis (Diploma)
Title:Enhancements of the Voxmap-PointShell Algorithm
Authors:
AuthorsInstitution or Email of Authors
Sagardia, MikelMikel.Sagardia@dlr.de
Date:March 2008
Status:Published
Keywords:Haptic Feedback, Collision Detection, Force Computation, Algorithm
Institution:Tecnun - Uneversity of Navarre
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - RMC - Mobilität und Exploration (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics
Deposited By: Mikel Sagardia
Deposited On:20 Mar 2012 08:52
Last Modified:20 Mar 2012 08:52

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