Haptic rendering of dynamic volumetric data

With current methods for volume haptics in scientific visualization, features in time-varying data can freely move straight through the haptic probe without generating any haptic feedback the algorithms are simply not designed to handle variation with time but consider only the instantaneous configuration when the haptic feedback is calculated. This article introduces haptic rendering of dynamic volumetric data to provide a means for haptic exploration of dynamic behaviour in volumetric data. We show how haptic feedback can be produced that is consistent with volumetric data moving within the virtual environment and with data that, in itself, evolves over time. Haptic interaction with time-varying data is demonstrated by allowing palpation of a CT sequence of a beating human heart.     

Haptic rendering for dental training system

Immersion and interaction are two key features of virtual reality systems, which are especially important for medical applications. Based on the requirement of motor skill training in dental surgery, haptic rendering method based on triangle model is investigated in this paper. Multi-rate haptic rendering architecture is proposed to solve the contradiction between fidelity and efficiency requirements. Realtime collision detection algorithm based on spatial partition and time coherence is utilized to enable fast contact determination. Proxy-based collision response algorithm is proposed to compute surface contact point. Cutting force model based on piecewise contact transition model is proposed for dental drilling simulation during tooth preparation. Velocity-driven levels of detail haptic rendering algorithm is proposed to maintain high update rate for complex scenes with a large number of triangles. Hapticvisual collocated dental training prototype is established using half-mirror solution. Typical dental operations have been realized including dental caries exploration, detection of boundary within dental cross-section plane, and dental drilling during tooth preparation. The haptic rendering method is a fundamental technology to improve immersion and interaction of virtual reality training systems, which is useful not only in dental training, but also in other surgical training systems. Supported by National Natural Science Foundation of China (Grant Nos. 60605027, 50575011), National High-Tech Research & Development Program of China (Grant No. 2007AA01Z310)     

An introductory tour of interactive rendering

Given the depth and breadth of the field of interactive rendering, an article summarizing all the significant algorithms and hardware developments in the past few years would become a long yet shallow litany of taxonomies and terms. Instead, the author uses a selection of topics from various areas to illustrate this central theme: the influence of 3D graphics hardware on algorithm design. This article provides an understanding of consumer-level personal graphics processors and a sense of how different algorithms are developed in response to their capabilities.     

Haptic rendering based on spatial run-length encoding

In this paper, an extendable volumetric representation based on run-lengths called spatial run-length encoding (S-RLE) is presented. The S-RLE representation is developed for a haptic shape modeling system that is based on simulated machining processes. In the system, shape modeling is simulated as virtual material removal processes similar to machining processes with volume-based haptic rendering. The object and the tools are represented by S-RLE. The data structure of S-RLE consists of two cross-referenced databases: one is a stack of lists in geometrical domain, recording the runs describing the space occupation of the object; the other is a table in physical domain, describing the physical properties of each element. The latter is extendable to include more diverse physical properties such as parts composed of heterogeneous materials. Algorithms for geometric operations and haptic rendering based on S-RLE are developed. The proposed S-RLE data structure has the features of efficient memory usage, quick collision detection, inherent representation for heterogeneous objects, and fast visual rendering.     

Haptic rendering of rigid contacts using impulsive and penalty forces

A new simulation approach is proposed to improve the stability and the perceived rigidity of contacts during haptic interaction with multirigid body virtual environments. The approach computes impulsive forces upon contact and penalty and friction forces during contact. The impulsive forces are derived using a new multiple collision resolution method that never increases the kinetic energy of the system. When new contacts arise, the impulsive forces generate large hand accelerations without requiring increased contact stiffness and damping. Virtual objects and linkages are regarded as points in the configuration space, and no distinction is made between them in the proposed approach.     

The Stringed Haptic Workbench: a New Haptic Workbench Solution

The workbench is an interesting semi‐immersive configuration for interactive tasks. However, haptic feedback, i.e.force and tactile feedback, is one important cue which is missing. To the authors' knowledge, the sole proposedsolution consists in installing an arm force feedback device on one‐screen workbenches. This solution, however,has several drawbacks. The arm can perturb the stereoscopic display, cross virtual objects or hide parts of thevisualization space. Furthermore, the interaction space is limited by the size of the arm, which may also damagethe screen or perturb the electromagnetic tracking system. Some of these difficulties may even be worth with a two‐screenworkbench. This paper discusses an alternative solution, which consists in integrating a stringed hapticdevice on a workbench. This approach is less invasive, more flexible and well‐suited to a two‐screen workbench.     

Compressive rendering: a rendering application of compressed sensing

Recently, there has been growing interest in compressed sensing (CS), the new theory that shows how a small set of linear measurements can be used to reconstruct a signal if it is sparse in a transform domain. Although CS has been applied to many problems in other fields, in computer graphics, it has only been used so far to accelerate the acquisition of light transport. In this paper, we propose a novel application of compressed sensing by using it to accelerate ray-traced rendering in a manner that exploits the sparsity of the final image in the wavelet basis. To do this, we raytrace only a subset of the pixel samples in the spatial domain and use a simple, greedy CS-based algorithm to estimate the wavelet transform of the image during rendering. Since the energy of the image is concentrated more compactly in the wavelet domain, less samples are required for a result of given quality than with conventional spatial-domain rendering. By taking the inverse wavelet transform of the result, we compute an accurate reconstruction of the desired final image. Our results show that our framework can achieve high-quality images with approximately 75 percent of the pixel samples using a nonadaptive sampling scheme. In addition, we also perform better than other algorithms that might be used to fill in the missing pixel data, such as interpolation or inpainting. Furthermore, since the algorithm works in image space, it is completely independent of scene complexity.     

可微绘制技术研究进展

可微绘制技术是当前虚拟现实、计算机图形学与计算机视觉领域研究的热点,其目标是改造计算机图形学中以光栅化或光线跟踪算法为主的真实感绘制流程,支持梯度信息回传以计算由输出图像的变化导致的输入几何、材质属性变化,通过与优化及深度学习技术等相结合支持从数据中学习绘制模型和逆向推理,是可微学习技术在计算机图形学绘制技术中的应用的具体体现,在增强/虚拟现实内容生成、三维重建、表观采集建模和逆向光学设计等领域中有广泛的应用前景。本文对可微绘制当前的发展状况进行调研,重点对该技术在真实感绘制、3维重建和表观采集建模中的研究和应用情况进行综述,并对可微绘制技术发展趋势进行展望,以期推动可微技术在学术界和产业界的进一步发展。     

基于单点式力反馈器的虚拟装配研究

针对PHANToM Desktop 力反馈器工作空间狭小的问题,提出改进的动态 空间匹配算法和代理点移出视锥体时的漫游技术。首先分析设备工作空间在三维方向与视锥 体的匹配关系,通过对x、y 和z 轴方向进行空间匹配,实现近视点处操作精度高和远视点 处可视范围大;然后利用映射区外的工作空间进行视点漫游,可以扩展虚拟装配可视范围。 在虚拟装配过程中,实时地计算代理点与零件间的接触力,并反馈给用户,使用户可以感知 零件的几何外形与硬度特性等;同时采取弹簧质点模型计算约束力引导用户进行装配定位。     

Haptic Cooperative Virtual Workspace: Architecture and evaluation

The Haptic Cooperative Virtual Workspace (HCVW), where users can simultaneously manipulate and haptically feel the same object, is beneficial and in some cases indispensable for training a team of surgeons, or in application areas in telerobotics and entertainment. In this paper we propose an architecture for the haptic cooperative workspace where the participants can kinesthetically interact, feel and push each other simultaneously while moving in the simulation. This involves the ability to manipulate the same virtual object at the same time. A set of experiments carried out to investigate the haptic cooperative workspace is reported. A new approach to quantitatively evaluate the cooperative haptic system is proposed, which can be extended to evaluate haptic systems in general.     

触感信号处理技术

触感技术是21世纪人机交互技术发展的新方向,其利用触觉作为媒介实现人与周围现实环境或虚拟环境的交互。本文介绍了触感技术的发展及其应用,详细叙述了基于触感技术的信号采样压缩编码方式。     

Haptic gas pedal feedback

Active driver support systems either automate a control task or present warnings to drivers when their safety is seriously degraded. In a novel approach, utilising neither automation nor discrete warnings, a haptic gas pedal (accelerator) interface was developed that continuously presents car-following support information, keeping the driver in the loop. This interface was tested in a fixed-base driving simulator. Twenty-one drivers between the ages of 24 and 30 years participated in a driving experiment to investigate the effects of haptic gas pedal feedback on car-following behaviour. Results of the experiment indicate that when haptic feedback was presented to the drivers, some improvement in car-following performance was achieved, while control activity decreased. Further research is needed to investigate the effectiveness of the system in more varied driving conditions. Haptics is an under-used modality in the application of human support interfaces, which usually draw on vision or hearing. This study demonstrates how haptics can be used to create an effective driver support interface.     

Compact disc standards: an introductory overview

The success of the compact disc (CD) as a storage medium for digital audio has, over the last ten years, resulted in a number of initiatives to use the CD for other applications as well, e.g., as read-only memory for computers, as a storage medium for audio-visual material for multimedia applications, and as a storage medium for photographs. Each of these applications poses additional requirements on how the corresponding information is stored and retrieved, resulting in a range of different CD standards. The functional specifications of these standards are each given a specific color for ease of reference: the Red Book for CD-DA, the Yellow Book for CD-ROM, the Green Book for CD-I, etc. This paper aims at giving an overview of the various CD standards by explaining what is specified in each of the colored books and by indicating how they relate to one another.     

触感信号处理技术

触感技术是21世纪人机交互技术发展的新方向，其利用触觉作为媒介实现人与周围现实环境或虚拟环境的交互。本文介绍了触感技术的发展及其应用，详细叙述了基于触感技术的信号采样压缩编码方式。     

Haptic state surface interactions

Haptic state-surface interaction techniques, which encode modes into force states, make interactions with 3D objects more fluid and natural. Our techniques comprise only a subset of those necessary to support a fully functional haptic application with capabilities similar to a drawing program such as Adobe Illustrator. However, these techniques can potentially simplify some common operations, such as editing points on a curve.     

Haptic gas pedal feedback

Active driver support systems either automate a control task or present warnings to drivers when their safety is seriously degraded. In a novel approach, utilising neither automation nor discrete warnings, a haptic gas pedal (accelerator) interface was developed that continuously presents car-following support information, keeping the driver in the loop. This interface was tested in a fixed-base driving simulator. Twenty-one drivers between the ages of 24 and 30 years participated in a driving experiment to investigate the effects of haptic gas pedal feedback on car-following behaviour. Results of the experiment indicate that when haptic feedback was presented to the drivers, some improvement in car-following performance was achieved, while control activity decreased. Further research is needed to investigate the effectiveness of the system in more varied driving conditions. Haptics is an under-used modality in the application of human support interfaces, which usually draw on vision or hearing. This study demonstrates how haptics can be used to create an effective driver support interface.     

Shell rendering

A structure model for volume rendering, called a shell, is introduced. Roughly, a shell consists of a set of voxels in the vicinity of the structure boundary together with a number of attributes associated with the voxels in this set. By carefully choosing the attributes and storing the shell in a special data structure that allows random access to the voxels and their attributes, storage and computational requirements can be reduced drastically. Only the voxels that potentially contribute to the rendition actually enter into major computation. Instead of the commonly used ray-casting paradigm, voxel projection is used. This eliminates the need for render-time interpolation and further enhances the speed. By having one of the attributes as a boundary likelihood function that determines the most likely location of voxels in the shell to be on the structure boundary, surface-based measurements can be made. The shell concept, the data structure, the rendering and measurement algorithms, and examples drawn from medical imaging that illustrate these concepts are described     

Spray rendering

Spray rendering provides a framework for creating and experimenting with different visualization techniques. The name spray rendering is derived from the metaphor of using a virtual spray can to paint data sets. Varying the type of paint in the can highlights data in different ways. Spray rendering is not limited to the paint metaphor, however. Other useful metaphors include a flashlight and a probe. Thus, spray rendering refers to the localized nature of the visualization algorithms and the manner in which the algorithms are sent to the data sets. We gain several advantages by looking at visualization algorithms in this way, including extensibility, grid independence, and ability to handle large data sets. This article presents the benefits, conceptual design, issues and directions of spray rendering