A Turning Cabin Simulator to Reduce Simulator Sickness

Size: px
Start display at page:

Download "A Turning Cabin Simulator to Reduce Simulator Sickness"

Transcription

1 A Turning Cabin Simulator to Reduce Simulator Sickness Ronald R. Mourant, Zhishuai Yin Virtual Environments Laboratory, Northeastern University, 360 Huntington Ave., Boston, MA, USA ABSTRACT A long time problem associated with driving simulators is simulator sickness. A possible cause of simulator sickness is that the optical flow experienced in driving simulators is much different from that experienced in real world driving. With the potential to reduce simulator sickness, a turning cabin driving simulator, whose cabin rotates around the yaw axis was built. In the multi-projector display system, algorithms were implemented to calibrate both geometric distortions and photometric distortions via software to produce a seamless high-resolution display on a cylindrical screen. An automotive seat was mounted on an AC servo actuator at the center of the cylindrical screen. The force feedback steering wheel, and gas and brake pedals, were connected to the simulator s computer. Experiments were conducted to study the effect of optical flow patterns on simulator sickness. Results suggested that the optical flow perceived by drivers in the fixed base simulator was greater than that in the turning cabin simulator. Also, drivers reported a higher degree of simulator sickness in the fixed base simulator. The lower amount of optical flow perceived in the turning cabin simulator is believed to be a positive factor in reducing simulator sickness. Keywords: driving simulator, optical flow, simulator sickness, multi-projector display 1. INTRODUCTION Driving simulators are widely used in many public and private research facilities for various purposes. By reproducing real driving conditions, driving simulators allow researchers to study human factors in a safe manner, develop and evaluate driver assistance systems, and test functionalities of in-vehicle information devices. Existing driving simulators range widely in capability and complexity. Some examples of highly sophisticated simulators are the National Advanced Driving Simulator located in Iowa [11], and the Toyota Driving Simulator [6]. They both have an actual car on a platform inside a six-axis dome which also serves as a 360-degree video screen. Simple driving simulators can be merely a desktop PC with a game steering set. A great number of driving simulators fall somewhere between these two extremes to provide drivers adequate immersive and realistic driving experiences with affordable expenses [1][2][9]. As suggested and generally agreed by previous studies, a wide FOV display would help in enhancing the sense of presence in virtual environments. However, it s also has been reported by some researches that simulator sickness seems to occur more often in a wide FOV display [3][8]. Optical flow patterns generated in the simulator are considered to be a factor in simulator sickness. Our goals are to enhance the realism of the driving experience as well to reduce simulator sickness. This study introduces a mid-level driving simulator with a one-degree of freedom (DOF) motion platform. With the turning cabin driving simulator, experiments were carried out to study the relationship between simulator generated optical flow and simulator sickness. 2. DESCRIPTION The turning cabin driving simulator consists of the following components: a) An image display system that is composed of a 360-degree cylindrical screen and three LCD projectors. b) A 1 DOF driving simulator platform (turning cabin).

2 c) The Main Processing Computer. Figure 1 shows the architecture of the driving simulator system. Each component listed above is described below in detail. Figure 1. Architecture of the turning cabin driving simulator 2.1 The Image Display System The image display system displays the simulation image to drivers and thus plays an importantt role in enhancing the realism of the driving simulator. The goal of building the image display system is to create a compelling visual display which increases the feelings of presence for drivers. Large FOV displays are now part of by most mid-level driving simulators. Some simulators use a set of separated flat screens, typically a left screen, a front screen and a right screen, to provide drivers a virtual environment with a large FOV. A significant disadvantage of using multiple flat screens is the discontinuouss projection of the image on screens. The discontinuity of the image is noticeable at the part where the screens interconnect. A cylindricall screen was used in our driving simulator to solve this problem. Threee LCD projectors are tiled together to produce a 180-degree FOV display. Figure 2 displays a 3D view of the multi-projector display system. Figure 2. A 3D view of the multi-projector display system To produce a usable seamless display with multi-projectors, a variety of image corrections are required. First, geometric distortions resulting from projecting onto the non-planar (cylindrical) surface must be corrected Geometric Distortion Correction

3 A number of techniques have been developed to correct geometric distortion [4][5]. An approach proved flexible and effective is named as 2-pass rendering algorithm [7]. To render correct perspective imagery on irregular surfaces, this approach computes and stores the desired image as a texture map in the first pass. In the second pass, the approach projects the texture from the user s viewpoint onto the polygonal model of the display surface. The desired image texture is then mapped onto the display surface model and rendered from the projector s viewpoint. The result of this approach is a pre-distorted image which appears undistorted from the user s viewpoint. In our case, we developedd a simplified algorithm thatt calculates only the cylindrical correction and allows manually adjustments. Although our algorithm lacks flexibility and some accuracy, the distortion correction has proved acceptable with no assistances from external devices. The fact that the driver sits at the center of the cylindrical screen and only rotates along the yaw axis guarantees a static user s viewpoint. First, by mounting each projector onto a static base and properly placing and rotating the projectors, distortions due to misplacement can be partially eliminated. Instead of calculating calibration information from pictures taken by cameras, we compute the calibration information by introducing some variables. By changing values of these variables, one can adjust the pre-distorted image till it appears un-distortedd on the cylindrical inner surface. Factors that would affect the geometric distortions are: 1) the perpendicular distance of the projector to the screen surface, 2) the height of the projector above the ground, 3) the tilt angle of the projector and 4) the diameter of the cylindrical screen. By looking into the projector specifications, the projection size is easily calculated. Figure 2 illustrates a single projector projecting onto the inner surface of the cylindrical screen. Figure 3. A 3D view and a side view of the image display system As shown in Figure 3, instead of the virtual planar surface L1-R1-H1-R2-H2-L2, the image is projecting onto a curved surface with the left boundary L1-L2, the right boundary R1-R2, the top curved boundary L1- H1 ' -R1, and the bottom curved boundary L2- H2 ' -R2. The pixel at point P is projected at point P onto the cylindrical screen surface. To correct the distortion, the projected position of each pixel on the cylindrical screen should be computed. Figure 3 shows the projection of a pixel (m,n) ontoo the cylindrical screen. As shown in figure 3, the perpendicular distance of the projector to the screen is dp, the height of the projector is hp, the tilt angle of the projector is and the radius of the screen is r. The pixel (m,n) hits the virtual planar screen at point P and hits the cylindrical inner surface at point P. The resolution of the image is w h. The ratio of y coordinates of P and P is given as below: (1) where: a=(r/2-mr/w). Therefore, to correct the image distortion in the vertical direction, a pre-distortion has to be applied. Define the pre- distorted y coordinate of pixel (m,n) as h2, and we have:

4 hence h2 h1 (2) Multiplying y coordinates of each pixel by h2 h1 h1 (3) results in the pre-distorted y coordinates of all pixels. The image is not only distorted along the vertical direction, but also the horizontal direction. When projecting onto a planar screen, we have the horizontal distances between adjacent pixels as: (, ) (, ) (, ) (, ). However, when projecting onto the cylindrical screen, the horizontal distances between adjacent pixels are not equal across the screen as shown in figure 4. To correct the distortion, we have to equalize the horizontal distance between adjacent pixels Cylindrical screen inner surface planar surface distance between two adjacent pixels pixel Figure 4. Distances between adjacent pixels on the cylindrical screen compared to that on the planar screen. Similar to the computation of y coordinates of P and P : (4) Divide the cylindrical into (w-1) equal sections along the curved surface. The pixel (m,n) should be projected onto the screen so that the length of the arc S P π ( ). Therefore, ( ) w1 should be equal to r π( ). To correct the distortion, a ( ) pre-distortion is applied. Define the pre-distorted x coordinate of pixel (m,n) as w2, and we have: w2 rπ( ) (5) ( ) hence w2 r π( ) ( ) rπ( ) ( ) (6) A pre-distortion mesh is generated according to the calibration information computed above. Mapping the image to the pre-distortion mesh and projecting the result onto the cylindrical screen produces an undistorted image from the driver s viewpoint. The diagram of applying the geometric distortion correction is shown in Figure 5.

5 Figure 5. Pre-distortion applied to produce an undistorted image on the cylindrical screen Edge Blending Another image correction needed in a multi-projector display system is photometric correction. Photometric correction deals with two kinds of circumstances: 1) non-uniformity among projectors and 2) non-uniformity within each projector [4]. This study focuses on the former issue. Multiple projectors are combined together to display a single image by each projecting a part of the image source. It is considered a low-cost and effective approach to produce a bright and high-resolution display. However, it s found almost impossible to manually align multiple projectors in a pixel perfect way so that there is no gap between the images or a bright seam. The problem of misalignment can be a significant problem for driving simulators because objects often move acrosss channels. A method thatt is widely adopted to solve the problem is to overlap adjacent images. A consequence of overlapping images is the brighter overlap regions, which is quite noticeable to users. To make the overlap region appear seamless, we use edge blending techniques. Below are the steps to implement the edgee blending technique in this study: 1) Overlap adjacent projected images by a proper pixel amount. The overlapped regions are over illuminated as expected. 2) Apply the blending by fading out the image from one projector in the overlap region, while fading up the image from the adjacent projector in the overlap region. This is done by multiplying the pixel of the right image in the overlap region by the blend function f(x) and the pixel of the left image in the overlap region by 1-f(x). The sum of the values assigned to a pixel in one image and its corresponding pixel in the adjacent image must be 1. Below is the blending function f(x) developed by [10]: (7) Figure 6. Blend function of two adjacent images and the mask created for the center image

6 where P and a are constants. The overlap region is normalized on the interval [0,1], while 0 refers to the left most pixel, and 1 refers to the right most pixel. A graphical look of the blending function and created mask is shown in figure 6 3) Blend the mask with the image source before projecting onto the screen. Figure 7 shows the image projected on the cylindrical screen before and after the implementation of edge blending. Figure 7. Comparison between the images projected on the screen before and after applying edge blending 2.2 The 1 DOF Driving Simulator Platform (Turning Cabin) The platform is composed of two components linked mechanically: 1) the motion control system and 2) the cabin. The motion control system is used to control yaw motion of the platform. It contains a digital servo drive and an AC servo actuator with a reduction ratio of 160. The digital servo drive receives a command signal from the computer and transmits electric current to the AC servo actuator after amplifying the signal to produce motion proportional to the signal. The command signal sent from the computer represents the desired position, velocity or torque of the actuator. The digital servo drive monitors feedback signals from the actuator and continually adjusts for deviation from expected behavior. The communication between the computer and the digital servo drive is performed through the RS232 port in ASCII data format car heading (degree) time (s) Figure 8. Rotation of the actuator compared with the virtual vehicle heading angle The computer updates the states of the virtual vehicle with inputs from gas/brake pedals and the steering wheel. The heading angle of the cabin should be updated so that there is not a mismatch between the driver s heading and the

7 perceived heading from the visual display. As discussedd above, the rotation of the actuator controls the yaw movement of the cabin. The computer sends the heading angle of the virtual vehicle in ASCII format to the digital servo drive continuously. The AC servo actuator, driven by the digital drive, has a speed and acceleration rate of and respectively at the peak current. Figure 8 shows the actual rotation angle of the actuator and the virtual vehiclee heading angle sent from the main computer. The time lag between is about milliseconds. We are examining possible causes of this lag and hope to reduce it. The cabin is mounted on the AC servo actuator and rotates as the actuator moves. It is equipped with gas and brake pedals, and the force feedback steering wheel which allow acquisition of the driver s commands with sensors. The computer reads in these inputs and updates the states of the virtual vehicle based on the vehiclee dynamic model. The functional scheme of the motion platform is shown in figure 9. Figure 9. The functional scheme of the motion platform 3. EXPERIMENTS This section presents the results of experiments done with the driving simulator for the evaluation of optical flow patterns perceived and its relationship with the degree of simulator sickness reported. Twelve subjects, whose age ranges from 18 to 21, participated in the study. The experiment is divided into two runs: 1) using the turning cabin simulator and 2) using the fixed-base simulator. Each subject drove both runs. Half of the subjectss were given run 1 first, and the other half were given run 2 first. Upon arrival in our laboratory, participants filled out a simulator sickness questionnaire (SSQ). They were given the SSQ again after the completion of run 1 and run 2. There is a 5 minutes break for participants between two runs. Figure 10 presents an example of the optical flow field experienced by a subject when making a left turn in the simulator [10]. Each optical flow vector shows the magnitude and direction of optical flow. Figure 10. The optical flow field experienced by a subject in the simulator when making a left turn

8 Figure 11 shows the quantity of optical flow per second at a left and a right turn by drivers when using both simulators. For all drivers, the amount of optical flow is greater when making right turns then left turns. For both left and right turns, the amount of optical flow when using the turning cabin simulator is less than that when using the fixed base simulator. The magnitude of this difference is greater for right turns than for left turns. Figure 11. Quantity of optical flow experienced by 12 drivers per second when making left/right turns Figure 12 shows the means of the amount of optical flow per second for 12 participated drivers when making left/right turns in both the fixed base simulator and turning cabin simulator. It reveals that drivers experienced a higher amount of optical flow in the fixed base simulator. Also, the amount of optical at right turns is significantly higher than that at left turns, for both types of simulators. Amoutn of optical flow ( E05) fixed base simulator turning cabin simulator left turns right turns Figure 12. Means of the amount of optical flow per second when making left/right turns by type of simulator Figure 13 presents the average SSQ scores for the 12 subjects before run 1, after run 1 (using the turning cabin simulator), and after run 2 (using the fixed base simulator). Using the Wilcoxon Matched Pairs Test, we found the difference between these scores to be significant at the less than.1 level of confidence. A higher degree of simulator sickness was reported after Run 2 (using the fixed base simulator) Before Run 1 After Run 1 After Run 2 Figure 13. SSQ scores by run order

9 4. CONCLUSIONS We built a turning cabin driving simulator to decrease the amount of optic flow experienced by drivers as compared with other simulators. Multiple commodity projectors were used together with a 360-degree cylindrical screen to produce a high resolution and seamless display. Pre-distortion of the image was computed and applied before projecting onto the cylindrical screen. This corrected the geometric distortion. To create a smooth image across the display, edge blending was applied to eliminate the gaps between images and over-illuminated overlap regions. Both geometric distortion correction and edge blending were done via software. The 1 DOF platform made it possible to produce yaw motion for the driver s cabin. It helped to enhance the realism of the simulator by giving drivers a feeling more similar to a real world driving experience. More importantly, as revealed from experiments done with the turning cabin simulator, drivers reported a significant lower amount of simulator sickness when the simulator cabin turned along the yaw axis. Therefore, the result of this study suggests that adding the yaw motion component to a driving simulator is a potential way to compensate the undesired simulator sickness caused by a large FOV display. A possible reason why less simulator sickness was reported with the cabin turning, the amount of optical flow experienced by drivers in the simulator was analyzed. Results showed that a much higher amount of optical flow was experienced by all drivers when the cabin was static. REFERENCES [1] Arioui, H., Hima, S. and Nehaoua L., 2 DOF Low Cost Platform for Driving Simulator: Modeling and Control, Proc. IEEE/ASME International Conference on Advancd Intelligent Mechatronics, (2009). [2] Chiew, Y.S., Abdul Jalil, M.K., and Hussein, M., Motion Cues Visualization of a Motion Base for Driving Simulator, Proc. IEEE International Conference on Robotics and Biomimetics, (2008). [3] James Jeng-Weei Lin, Henry B.L. Duh, Donald E.Parker, Habib Abi-Rached, Thomas A. Furness, Effects of Field of View on Presence, Enjoyment, Memory, and Simulator Sickness in a Virtual Environment, Proc. IEEE Virtual Reality Conference, (2002). [4] Li, C., Lin, H., and Shi, J., A Survey of Multi-Projector Tiled Display Wall Construction, Proc. 3 rd International Conference on Image and Graphics, (2004). [5] Moriya, T. Beniyama, F. Utsugi, K. Minakawa, T. Takeda, H. Ando, K., Multi-camera and multiprojector based seamless live image display system, Proc. Multimedia Modelling Conference, (2004). [6] Murano, T., Yonekawa T., Aga, M. and Nagiri, S., Development of High-Performance Driving Simulator, SAE Papers, (2009). [7] Raskar, R., Brown, M., Yang, R., Chen, W., Welch, G., Towles, H., Seales, B., and Fuchs, H., Multi- Projector Displays Using Camera-Based Registration, Proc. IEEE Visualization Conference, (1999). [8] Seay, A.F., Krum, D.M., Hodges, L., Ribarsky, W., Simulator Sickness and Presence in a High FOV Virtual Environment, Proc. Virtual Reality, (2001). [9] Yoichi, A., Nobuyuki, U., Improvement of Driver s Feeling by Turning Cabin Driving Simulator, Proc. Driving Simulator Conference North America, Orlando, FL, (2005). [10] Yin,Z., and Mourant, R.R., The Perception of Optical Flow in Driving Simulators, Proc. The 5th International Driving Symposium on Human Factors in Driver Assessment, Training, and Vehicle Design, Big Sky, Montana, (2009). [11] local.wasp.uwa.edu.au/~pbourke/texture_colour/edgeblend/ [12]

Projection Center Calibration for a Co-located Projector Camera System

Projection Center Calibration for a Co-located Projector Camera System Projection Center Calibration for a Co-located Camera System Toshiyuki Amano Department of Computer and Communication Science Faculty of Systems Engineering, Wakayama University Sakaedani 930, Wakayama,

More information

Feasibility of an Augmented Reality-Based Approach to Driving Simulation

Feasibility of an Augmented Reality-Based Approach to Driving Simulation Liberty Mutual Research Institute for Safety Feasibility of an Augmented Reality-Based Approach to Driving Simulation Matthias Roetting (LMRIS) Thomas B. Sheridan (MIT AgeLab) International Symposium New

More information

DISPLAYING SMALL SURFACE FEATURES WITH A FORCE FEEDBACK DEVICE IN A DENTAL TRAINING SIMULATOR

DISPLAYING SMALL SURFACE FEATURES WITH A FORCE FEEDBACK DEVICE IN A DENTAL TRAINING SIMULATOR PROCEEDINGS of the HUMAN FACTORS AND ERGONOMICS SOCIETY 49th ANNUAL MEETING 2005 2235 DISPLAYING SMALL SURFACE FEATURES WITH A FORCE FEEDBACK DEVICE IN A DENTAL TRAINING SIMULATOR Geb W. Thomas and Li

More information

Static Environment Recognition Using Omni-camera from a Moving Vehicle

Static Environment Recognition Using Omni-camera from a Moving Vehicle Static Environment Recognition Using Omni-camera from a Moving Vehicle Teruko Yata, Chuck Thorpe Frank Dellaert The Robotics Institute Carnegie Mellon University Pittsburgh, PA 15213 USA College of Computing

More information

Visualization Using Flexible Displays

Visualization Using Flexible Displays Visualization Using Flexible Displays Jesus Caban W. Brent Seales University of Kentucky Department of Computer Science jesus, seales @netlab.uky.edu Abstract The resolution, degree of complexity, and

More information

Video Conferencing Display System Sizing and Location

Video Conferencing Display System Sizing and Location Video Conferencing Display System Sizing and Location As video conferencing systems become more widely installed, there are often questions about what size monitors and how many are required. While fixed

More information

CARS Configurable Automotive Research Simulator

CARS Configurable Automotive Research Simulator CARS Configurable Automotive Research Simulator Dagmar Kern, Marco Müller, Stefan Schneegaß, Lukasz Wolejko-Wolejszo, Albrecht Schmidt Pervasive Computing University of Duisburg-Essen Schützenbahn 70 45117

More information

Integrated sensors for robotic laser welding

Integrated sensors for robotic laser welding Proceedings of the Third International WLT-Conference on Lasers in Manufacturing 2005,Munich, June 2005 Integrated sensors for robotic laser welding D. Iakovou *, R.G.K.M Aarts, J. Meijer University of

More information

The Effects of Wheelbase and Track on Vehicle Dynamics. Automotive vehicles move by delivering rotational forces from the engine to

The Effects of Wheelbase and Track on Vehicle Dynamics. Automotive vehicles move by delivering rotational forces from the engine to The Effects of Wheelbase and Track on Vehicle Dynamics Automotive vehicles move by delivering rotational forces from the engine to wheels. The wheels push in the opposite direction of the motion of the

More information

Shape Measurement of a Sewer Pipe. Using a Mobile Robot with Computer Vision

Shape Measurement of a Sewer Pipe. Using a Mobile Robot with Computer Vision International Journal of Advanced Robotic Systems ARTICLE Shape Measurement of a Sewer Pipe Using a Mobile Robot with Computer Vision Regular Paper Kikuhito Kawasue 1,* and Takayuki Komatsu 1 1 Department

More information

Interactive Motion Simulators

Interactive Motion Simulators motionsimulator motionsimulator About the Company Since its founding in 2003, the company Buck Engineering & Consulting GmbH (BEC), with registered offices in Reutlingen (Germany) has undergone a continuous

More information

By: M.Habibullah Pagarkar Kaushal Parekh Jogen Shah Jignasa Desai Prarthna Advani Siddhesh Sarvankar Nikhil Ghate

By: M.Habibullah Pagarkar Kaushal Parekh Jogen Shah Jignasa Desai Prarthna Advani Siddhesh Sarvankar Nikhil Ghate AUTOMATED VEHICLE CONTROL SYSTEM By: M.Habibullah Pagarkar Kaushal Parekh Jogen Shah Jignasa Desai Prarthna Advani Siddhesh Sarvankar Nikhil Ghate Third Year Information Technology Engineering V.E.S.I.T.

More information

Introduction to Computer Graphics

Introduction to Computer Graphics Introduction to Computer Graphics Torsten Möller TASC 8021 778-782-2215 torsten@sfu.ca www.cs.sfu.ca/~torsten Today What is computer graphics? Contents of this course Syllabus Overview of course topics

More information

HIGH-PERFORMANCE INSPECTION VEHICLE FOR RAILWAYS AND TUNNEL LININGS. HIGH-PERFORMANCE INSPECTION VEHICLE FOR RAILWAY AND ROAD TUNNEL LININGS.

HIGH-PERFORMANCE INSPECTION VEHICLE FOR RAILWAYS AND TUNNEL LININGS. HIGH-PERFORMANCE INSPECTION VEHICLE FOR RAILWAY AND ROAD TUNNEL LININGS. HIGH-PERFORMANCE INSPECTION VEHICLE FOR RAILWAYS AND TUNNEL LININGS. HIGH-PERFORMANCE INSPECTION VEHICLE FOR RAILWAY AND ROAD TUNNEL LININGS. The vehicle developed by Euroconsult and Pavemetrics and described

More information

Time Domain and Frequency Domain Techniques For Multi Shaker Time Waveform Replication

Time Domain and Frequency Domain Techniques For Multi Shaker Time Waveform Replication Time Domain and Frequency Domain Techniques For Multi Shaker Time Waveform Replication Thomas Reilly Data Physics Corporation 1741 Technology Drive, Suite 260 San Jose, CA 95110 (408) 216-8440 This paper

More information

Active Vibration Isolation of an Unbalanced Machine Spindle

Active Vibration Isolation of an Unbalanced Machine Spindle UCRL-CONF-206108 Active Vibration Isolation of an Unbalanced Machine Spindle D. J. Hopkins, P. Geraghty August 18, 2004 American Society of Precision Engineering Annual Conference Orlando, FL, United States

More information

ECE 495 Project 3: Shocker Actuator Subsystem and Website Design. Group 1: One Awesome Engineering

ECE 495 Project 3: Shocker Actuator Subsystem and Website Design. Group 1: One Awesome Engineering ECE 495 Project 3: Shocker Actuator Subsystem and Website Design Group 1: One Awesome Engineering Luquita Edwards Evan Whetsell Sunny Verma Thomas Ryan Willis Long I. Executive Summary The main goal behind

More information

Efficient Image Generation for Multiprojector and Multisurface Displays

Efficient Image Generation for Multiprojector and Multisurface Displays Efficient Image Generation for Multiprojector and Multisurface Displays Ramesh Raskar, Matt Cutts, Greg Welch, Wolfgang Stürzlinger Department of Computer Science, University of North Carolina at Chapel

More information

International Year of Light 2015 Tech-Talks BREGENZ: Mehmet Arik Well-Being in Office Applications Light Measurement & Quality Parameters

International Year of Light 2015 Tech-Talks BREGENZ: Mehmet Arik Well-Being in Office Applications Light Measurement & Quality Parameters www.led-professional.com ISSN 1993-890X Trends & Technologies for Future Lighting Solutions ReviewJan/Feb 2015 Issue LpR 47 International Year of Light 2015 Tech-Talks BREGENZ: Mehmet Arik Well-Being in

More information

2D & 3D TelePresence

2D & 3D TelePresence 2D & 3D TelePresence delivers the ultimate experience in communication over a distance with aligned eye contact and a life-size sense of presence in a room setting. Eye Contact systems achieve eye-to-eye

More information

A Short Introduction to Computer Graphics

A Short Introduction to Computer Graphics A Short Introduction to Computer Graphics Frédo Durand MIT Laboratory for Computer Science 1 Introduction Chapter I: Basics Although computer graphics is a vast field that encompasses almost any graphical

More information

REAL TIME 3D FUSION OF IMAGERY AND MOBILE LIDAR INTRODUCTION

REAL TIME 3D FUSION OF IMAGERY AND MOBILE LIDAR INTRODUCTION REAL TIME 3D FUSION OF IMAGERY AND MOBILE LIDAR Paul Mrstik, Vice President Technology Kresimir Kusevic, R&D Engineer Terrapoint Inc. 140-1 Antares Dr. Ottawa, Ontario K2E 8C4 Canada paul.mrstik@terrapoint.com

More information

Parallel Visualization for GIS Applications

Parallel Visualization for GIS Applications Parallel Visualization for GIS Applications Alexandre Sorokine, Jamison Daniel, Cheng Liu Oak Ridge National Laboratory, Geographic Information Science & Technology, PO Box 2008 MS 6017, Oak Ridge National

More information

Mechanics lecture 7 Moment of a force, torque, equilibrium of a body

Mechanics lecture 7 Moment of a force, torque, equilibrium of a body G.1 EE1.el3 (EEE1023): Electronics III Mechanics lecture 7 Moment of a force, torque, equilibrium of a body Dr Philip Jackson http://www.ee.surrey.ac.uk/teaching/courses/ee1.el3/ G.2 Moments, torque and

More information

Optical Digitizing by ATOS for Press Parts and Tools

Optical Digitizing by ATOS for Press Parts and Tools Optical Digitizing by ATOS for Press Parts and Tools Konstantin Galanulis, Carsten Reich, Jan Thesing, Detlef Winter GOM Gesellschaft für Optische Messtechnik mbh, Mittelweg 7, 38106 Braunschweig, Germany

More information

REPRESENTATION, CODING AND INTERACTIVE RENDERING OF HIGH- RESOLUTION PANORAMIC IMAGES AND VIDEO USING MPEG-4

REPRESENTATION, CODING AND INTERACTIVE RENDERING OF HIGH- RESOLUTION PANORAMIC IMAGES AND VIDEO USING MPEG-4 REPRESENTATION, CODING AND INTERACTIVE RENDERING OF HIGH- RESOLUTION PANORAMIC IMAGES AND VIDEO USING MPEG-4 S. Heymann, A. Smolic, K. Mueller, Y. Guo, J. Rurainsky, P. Eisert, T. Wiegand Fraunhofer Institute

More information

A method of generating free-route walk-through animation using vehicle-borne video image

A method of generating free-route walk-through animation using vehicle-borne video image A method of generating free-route walk-through animation using vehicle-borne video image Jun KUMAGAI* Ryosuke SHIBASAKI* *Graduate School of Frontier Sciences, Shibasaki lab. University of Tokyo 4-6-1

More information

Robotics. Lecture 3: Sensors. See course website http://www.doc.ic.ac.uk/~ajd/robotics/ for up to date information.

Robotics. Lecture 3: Sensors. See course website http://www.doc.ic.ac.uk/~ajd/robotics/ for up to date information. Robotics Lecture 3: Sensors See course website http://www.doc.ic.ac.uk/~ajd/robotics/ for up to date information. Andrew Davison Department of Computing Imperial College London Review: Locomotion Practical

More information

Data Sheet. definiti 3D Stereo Theaters + definiti 3D Stereo Projection for Full Dome. S7a1801

Data Sheet. definiti 3D Stereo Theaters + definiti 3D Stereo Projection for Full Dome. S7a1801 S7a1801 OVERVIEW In definiti 3D theaters, the audience wears special lightweight glasses to see the world projected onto the giant dome screen with real depth perception called 3D stereo. The effect allows

More information

A System for Capturing High Resolution Images

A System for Capturing High Resolution Images A System for Capturing High Resolution Images G.Voyatzis, G.Angelopoulos, A.Bors and I.Pitas Department of Informatics University of Thessaloniki BOX 451, 54006 Thessaloniki GREECE e-mail: pitas@zeus.csd.auth.gr

More information

H.Calculating Normal Vectors

H.Calculating Normal Vectors Appendix H H.Calculating Normal Vectors This appendix describes how to calculate normal vectors for surfaces. You need to define normals to use the OpenGL lighting facility, which is described in Chapter

More information

DRIVING SIMULATORS FOR COMMERCIAL TRUCK DRIVERS - HUMANS IN THE LOOP

DRIVING SIMULATORS FOR COMMERCIAL TRUCK DRIVERS - HUMANS IN THE LOOP METHODS DRIVING SIMULATORS FOR COMMERCIAL TRUCK DRIVERS - HUMANS IN THE LOOP Talleah Allen, Ronald Tarr Institute for Simulation and Training University of Central Florida Orlando, Florida, USA E-mail:

More information

Autonomous Mobile Robot-I

Autonomous Mobile Robot-I Autonomous Mobile Robot-I Sabastian, S.E and Ang, M. H. Jr. Department of Mechanical Engineering National University of Singapore 21 Lower Kent Ridge Road, Singapore 119077 ABSTRACT This report illustrates

More information

Bernice E. Rogowitz and Holly E. Rushmeier IBM TJ Watson Research Center, P.O. Box 704, Yorktown Heights, NY USA

Bernice E. Rogowitz and Holly E. Rushmeier IBM TJ Watson Research Center, P.O. Box 704, Yorktown Heights, NY USA Are Image Quality Metrics Adequate to Evaluate the Quality of Geometric Objects? Bernice E. Rogowitz and Holly E. Rushmeier IBM TJ Watson Research Center, P.O. Box 704, Yorktown Heights, NY USA ABSTRACT

More information

Build Panoramas on Android Phones

Build Panoramas on Android Phones Build Panoramas on Android Phones Tao Chu, Bowen Meng, Zixuan Wang Stanford University, Stanford CA Abstract The purpose of this work is to implement panorama stitching from a sequence of photos taken

More information

E190Q Lecture 5 Autonomous Robot Navigation

E190Q Lecture 5 Autonomous Robot Navigation E190Q Lecture 5 Autonomous Robot Navigation Instructor: Chris Clark Semester: Spring 2014 1 Figures courtesy of Siegwart & Nourbakhsh Control Structures Planning Based Control Prior Knowledge Operator

More information

Braking/Traction Control Systems of a Scaled Railway Vehicle for the Active Steering Testbed

Braking/Traction Control Systems of a Scaled Railway Vehicle for the Active Steering Testbed Braking/Traction Control Systems of a Scaled Railway Vehicle for the Active Steering Testbed Min-Soo Kim and Hyun-Moo Hur Vehicle Dynamics & Propulsion System Research Department Korea Railroad Research

More information

Adaptive Cruise Control of a Passenger Car Using Hybrid of Sliding Mode Control and Fuzzy Logic Control

Adaptive Cruise Control of a Passenger Car Using Hybrid of Sliding Mode Control and Fuzzy Logic Control Adaptive Cruise Control of a assenger Car Using Hybrid of Sliding Mode Control and Fuzzy Logic Control Somphong Thanok, Manukid arnichkun School of Engineering and Technology, Asian Institute of Technology,

More information

The process components and related data characteristics addressed in this document are:

The process components and related data characteristics addressed in this document are: TM Tech Notes Certainty 3D November 1, 2012 To: General Release From: Ted Knaak Certainty 3D, LLC Re: Structural Wall Monitoring (#1017) rev: A Introduction TopoDOT offers several tools designed specifically

More information

The Office of the Future: A Unified Approach to Image-Based Modeling and Spatially Immersive Displays

The Office of the Future: A Unified Approach to Image-Based Modeling and Spatially Immersive Displays The Office of the Future: A Unified Approach to Image-Based Modeling and Spatially Immersive Displays Ramesh Raskar, Greg Welch, Matt Cutts, Adam Lake, Lev Stesin, and Henry Fuchs University of North Carolina

More information

A PHOTOGRAMMETRIC APPRAOCH FOR AUTOMATIC TRAFFIC ASSESSMENT USING CONVENTIONAL CCTV CAMERA

A PHOTOGRAMMETRIC APPRAOCH FOR AUTOMATIC TRAFFIC ASSESSMENT USING CONVENTIONAL CCTV CAMERA A PHOTOGRAMMETRIC APPRAOCH FOR AUTOMATIC TRAFFIC ASSESSMENT USING CONVENTIONAL CCTV CAMERA N. Zarrinpanjeh a, F. Dadrassjavan b, H. Fattahi c * a Islamic Azad University of Qazvin - nzarrin@qiau.ac.ir

More information

The Limits of Human Vision

The Limits of Human Vision The Limits of Human Vision Michael F. Deering Sun Microsystems ABSTRACT A model of the perception s of the human visual system is presented, resulting in an estimate of approximately 15 million variable

More information

Parameter identification of a linear single track vehicle model

Parameter identification of a linear single track vehicle model Parameter identification of a linear single track vehicle model Edouard Davin D&C 2011.004 Traineeship report Coach: dr. Ir. I.J.M. Besselink Supervisors: prof. dr. H. Nijmeijer Eindhoven University of

More information

Optimized bandwidth usage for real-time remote surveillance system

Optimized bandwidth usage for real-time remote surveillance system University of Edinburgh College of Science and Engineering School of Informatics Informatics Research Proposal supervised by Dr. Sethu Vijayakumar Optimized bandwidth usage for real-time remote surveillance

More information

A Cognitive Approach to Vision for a Mobile Robot

A Cognitive Approach to Vision for a Mobile Robot A Cognitive Approach to Vision for a Mobile Robot D. Paul Benjamin Christopher Funk Pace University, 1 Pace Plaza, New York, New York 10038, 212-346-1012 benjamin@pace.edu Damian Lyons Fordham University,

More information

Solving Simultaneous Equations and Matrices

Solving Simultaneous Equations and Matrices Solving Simultaneous Equations and Matrices The following represents a systematic investigation for the steps used to solve two simultaneous linear equations in two unknowns. The motivation for considering

More information

Ultra-High Resolution Digital Mosaics

Ultra-High Resolution Digital Mosaics Ultra-High Resolution Digital Mosaics J. Brian Caldwell, Ph.D. Introduction Digital photography has become a widely accepted alternative to conventional film photography for many applications ranging from

More information

TEXTURE AND BUMP MAPPING

TEXTURE AND BUMP MAPPING Department of Applied Mathematics and Computational Sciences University of Cantabria UC-CAGD Group COMPUTER-AIDED GEOMETRIC DESIGN AND COMPUTER GRAPHICS: TEXTURE AND BUMP MAPPING Andrés Iglesias e-mail:

More information

INTERACTIVE WHITE BOARD MANUAL

INTERACTIVE WHITE BOARD MANUAL INTERACTIVE WHITE BOARD MANUAL Thank you for your purchase of a Bi-Bright Interactive Whiteboard. Visite us at www.bibright.com Bi-Bright Comunicação Visual Interactiva S.A. Bi-Bright S.A. Rua Cais da

More information

HIGH AND LOW RESOLUTION TEXTURED MODELS OF COMPLEX ARCHITECTURAL SURFACES

HIGH AND LOW RESOLUTION TEXTURED MODELS OF COMPLEX ARCHITECTURAL SURFACES HIGH AND LOW RESOLUTION TEXTURED MODELS OF COMPLEX ARCHITECTURAL SURFACES E. K. Stathopoulou a, A. Valanis a, J. L. Lerma b, A. Georgopoulos a a Laboratory of Photogrammetry, National Technical University

More information

Force/position control of a robotic system for transcranial magnetic stimulation

Force/position control of a robotic system for transcranial magnetic stimulation Force/position control of a robotic system for transcranial magnetic stimulation W.N. Wan Zakaria School of Mechanical and System Engineering Newcastle University Abstract To develop a force control scheme

More information

SMARTSCAN hardware test results for smart optoelectronic image correction for pushbroom cameras

SMARTSCAN hardware test results for smart optoelectronic image correction for pushbroom cameras SMARTSCAN hardware test results for smart optoelectronic image correction for pushbroom cameras Valerij Tchernykh a, Sergei Dyblenko a, Klaus Janschek a, Wolfgang Göhler b, Bernd Harnisch c a Technsiche

More information

Water Flow in. Alex Vlachos, Valve July 28, 2010

Water Flow in. Alex Vlachos, Valve July 28, 2010 Water Flow in Alex Vlachos, Valve July 28, 2010 Outline Goals & Technical Constraints How Artists Create Flow Maps Flowing Normal Maps in Left 4 Dead 2 Flowing Color Maps in Portal 2 Left 4 Dead 2 Goals

More information

VEHICLE TRACKING USING ACOUSTIC AND VIDEO SENSORS

VEHICLE TRACKING USING ACOUSTIC AND VIDEO SENSORS VEHICLE TRACKING USING ACOUSTIC AND VIDEO SENSORS Aswin C Sankaranayanan, Qinfen Zheng, Rama Chellappa University of Maryland College Park, MD - 277 {aswch, qinfen, rama}@cfar.umd.edu Volkan Cevher, James

More information

VBA Macro for construction of an EM 3D model of a tyre and part of the vehicle

VBA Macro for construction of an EM 3D model of a tyre and part of the vehicle VBA Macro for construction of an EM 3D model of a tyre and part of the vehicle Guillermo Vietti, Gianluca Dassano, Mario Orefice LACE, Politecnico di Torino, Turin, Italy. guillermo.vietti@polito.it Work

More information

Off-line Model Simplification for Interactive Rigid Body Dynamics Simulations Satyandra K. Gupta University of Maryland, College Park

Off-line Model Simplification for Interactive Rigid Body Dynamics Simulations Satyandra K. Gupta University of Maryland, College Park NSF GRANT # 0727380 NSF PROGRAM NAME: Engineering Design Off-line Model Simplification for Interactive Rigid Body Dynamics Simulations Satyandra K. Gupta University of Maryland, College Park Atul Thakur

More information

Robot Perception Continued

Robot Perception Continued Robot Perception Continued 1 Visual Perception Visual Odometry Reconstruction Recognition CS 685 11 Range Sensing strategies Active range sensors Ultrasound Laser range sensor Slides adopted from Siegwart

More information

Power wheelchairs..a New Definition

Power wheelchairs..a New Definition Assistive Technology & Seating Service Vancouver Coastal Health GF Strong Rehab Centre 4255 Laurel Street Vancouver BC V5Z 2G9 Power wheelchairs..a New Definition As an Equipment Specialist working in

More information

3D U ser I t er aces and Augmented Reality

3D U ser I t er aces and Augmented Reality 3D User Interfaces and Augmented Reality Applications Mechanical CAD 3D Animation Virtual Environments Scientific Visualization Mechanical CAD Component design Assembly testingti Mechanical properties

More information

Monash University Clayton s School of Information Technology CSE3313 Computer Graphics Sample Exam Questions 2007

Monash University Clayton s School of Information Technology CSE3313 Computer Graphics Sample Exam Questions 2007 Monash University Clayton s School of Information Technology CSE3313 Computer Graphics Questions 2007 INSTRUCTIONS: Answer all questions. Spend approximately 1 minute per mark. Question 1 30 Marks Total

More information

SSIM Technique for Comparison of Images

SSIM Technique for Comparison of Images SSIM Technique for Comparison of Images Anil Wadhokar 1, Krupanshu Sakharikar 2, Sunil Wadhokar 3, Geeta Salunke 4 P.G. Student, Department of E&TC, GSMCOE Engineering College, Pune, Maharashtra, India

More information

SkillsUSA 2014 Contest Projects 3-D Visualization and Animation

SkillsUSA 2014 Contest Projects 3-D Visualization and Animation SkillsUSA Contest Projects 3-D Visualization and Animation Click the Print this Section button above to automatically print the specifications for this contest. Make sure your printer is turned on before

More information

Solar Tracking Application

Solar Tracking Application Solar Tracking Application A Rockwell Automation White Paper Solar trackers are devices used to orient photovoltaic panels, reflectors, lenses or other optical devices toward the sun. Since the sun s position

More information

PDF Created with deskpdf PDF Writer - Trial :: http://www.docudesk.com

PDF Created with deskpdf PDF Writer - Trial :: http://www.docudesk.com CCTV Lens Calculator For a quick 1/3" CCD Camera you can work out the lens required using this simple method: Distance from object multiplied by 4.8, divided by horizontal or vertical area equals the lens

More information

Developing a Sewer Inspection Robot through a Mechatronics Approach

Developing a Sewer Inspection Robot through a Mechatronics Approach Developing a Sewer Inspection Robot through a Mechatronics Approach Alireza. Hadi, Gholamhossein. Mohammadi Abstract Sewerage is a harsh environment which requires periodically inspection. The inspection

More information

What is launch monitor technology and is it new?

What is launch monitor technology and is it new? SkyTrak : The Drilldown If you re looking for a concise and brief overview of SkyTrak, what it is, how it works and what all the data elements indicate, then please watch our educational video series which

More information

MACHINE VISION MNEMONICS, INC. 102 Gaither Drive, Suite 4 Mount Laurel, NJ 08054 USA 856-234-0970 www.mnemonicsinc.com

MACHINE VISION MNEMONICS, INC. 102 Gaither Drive, Suite 4 Mount Laurel, NJ 08054 USA 856-234-0970 www.mnemonicsinc.com MACHINE VISION by MNEMONICS, INC. 102 Gaither Drive, Suite 4 Mount Laurel, NJ 08054 USA 856-234-0970 www.mnemonicsinc.com Overview A visual information processing company with over 25 years experience

More information

DeskAlign: Automaticlly Aligning a Tiled Windows Desktop

DeskAlign: Automaticlly Aligning a Tiled Windows Desktop DeskAlign: Automaticlly Aligning a Tiled Windows Desktop Grant Wallace, Han Chen and Kai Li Department of Computer Science, Princeton University, Princeton, NJ 08544. {gwallace,chenhan,li}@cs.princeton.edu

More information

MECE 102 Mechatronics Engineering Orientation

MECE 102 Mechatronics Engineering Orientation MECE 102 Mechatronics Engineering Orientation Mechatronic System Components Associate Prof. Dr. of Mechatronics Engineering Çankaya University Compulsory Course in Mechatronics Engineering Credits (2/0/2)

More information

(I) s(t) = s 0 v 0 (t t 0 ) + 1 2 a (t t 0) 2 (II). t 2 = t 0 + 2 v 0. At the time. E kin = 1 2 m v2 = 1 2 m (a (t t 0) v 0 ) 2

(I) s(t) = s 0 v 0 (t t 0 ) + 1 2 a (t t 0) 2 (II). t 2 = t 0 + 2 v 0. At the time. E kin = 1 2 m v2 = 1 2 m (a (t t 0) v 0 ) 2 Mechanics Translational motions of a mass point One-dimensional motions on the linear air track LD Physics Leaflets P1.3.3.8 Uniformly accelerated motion with reversal of direction Recording and evaluating

More information

CE801: Intelligent Systems and Robotics Lecture 3: Actuators and Localisation. Prof. Dr. Hani Hagras

CE801: Intelligent Systems and Robotics Lecture 3: Actuators and Localisation. Prof. Dr. Hani Hagras 1 CE801: Intelligent Systems and Robotics Lecture 3: Actuators and Localisation Prof. Dr. Hani Hagras Robot Locomotion Robots might want to move in water, in the air, on land, in space.. 2 Most of the

More information

FRC WPI Robotics Library Overview

FRC WPI Robotics Library Overview FRC WPI Robotics Library Overview Contents 1.1 Introduction 1.2 RobotDrive 1.3 Sensors 1.4 Actuators 1.5 I/O 1.6 Driver Station 1.7 Compressor 1.8 Camera 1.9 Utilities 1.10 Conclusion Introduction In this

More information

THE CONTROL OF A ROBOT END-EFFECTOR USING PHOTOGRAMMETRY

THE CONTROL OF A ROBOT END-EFFECTOR USING PHOTOGRAMMETRY THE CONTROL OF A ROBOT END-EFFECTOR USING PHOTOGRAMMETRY Dr. T. Clarke & Dr. X. Wang Optical Metrology Centre, City University, Northampton Square, London, EC1V 0HB, UK t.a.clarke@city.ac.uk, x.wang@city.ac.uk

More information

CATIA V5 Tutorials. Mechanism Design & Animation. Release 18. Nader G. Zamani. University of Windsor. Jonathan M. Weaver. University of Detroit Mercy

CATIA V5 Tutorials. Mechanism Design & Animation. Release 18. Nader G. Zamani. University of Windsor. Jonathan M. Weaver. University of Detroit Mercy CATIA V5 Tutorials Mechanism Design & Animation Release 18 Nader G. Zamani University of Windsor Jonathan M. Weaver University of Detroit Mercy SDC PUBLICATIONS Schroff Development Corporation www.schroff.com

More information

Industrial Robotics. Training Objective

Industrial Robotics. Training Objective Training Objective After watching the program and reviewing this printed material, the viewer will learn the basics of industrial robot technology and how robots are used in a variety of manufacturing

More information

VRSPATIAL: DESIGNING SPATIAL MECHANISMS USING VIRTUAL REALITY

VRSPATIAL: DESIGNING SPATIAL MECHANISMS USING VIRTUAL REALITY Proceedings of DETC 02 ASME 2002 Design Technical Conferences and Computers and Information in Conference Montreal, Canada, September 29-October 2, 2002 DETC2002/ MECH-34377 VRSPATIAL: DESIGNING SPATIAL

More information

B2.53-R3: COMPUTER GRAPHICS. NOTE: 1. There are TWO PARTS in this Module/Paper. PART ONE contains FOUR questions and PART TWO contains FIVE questions.

B2.53-R3: COMPUTER GRAPHICS. NOTE: 1. There are TWO PARTS in this Module/Paper. PART ONE contains FOUR questions and PART TWO contains FIVE questions. B2.53-R3: COMPUTER GRAPHICS NOTE: 1. There are TWO PARTS in this Module/Paper. PART ONE contains FOUR questions and PART TWO contains FIVE questions. 2. PART ONE is to be answered in the TEAR-OFF ANSWER

More information

MA 323 Geometric Modelling Course Notes: Day 02 Model Construction Problem

MA 323 Geometric Modelling Course Notes: Day 02 Model Construction Problem MA 323 Geometric Modelling Course Notes: Day 02 Model Construction Problem David L. Finn November 30th, 2004 In the next few days, we will introduce some of the basic problems in geometric modelling, and

More information

3D Scanner using Line Laser. 1. Introduction. 2. Theory

3D Scanner using Line Laser. 1. Introduction. 2. Theory . Introduction 3D Scanner using Line Laser Di Lu Electrical, Computer, and Systems Engineering Rensselaer Polytechnic Institute The goal of 3D reconstruction is to recover the 3D properties of a geometric

More information

DATA ACQUISITION FROM IN VITRO TESTING OF AN OCCLUDING MEDICAL DEVICE

DATA ACQUISITION FROM IN VITRO TESTING OF AN OCCLUDING MEDICAL DEVICE DATA ACQUISITION FROM IN VITRO TESTING OF AN OCCLUDING MEDICAL DEVICE Florentina ENE 1, Carine GACHON 2, Nicolae IONESCU 3 ABSTRACT: This paper presents a technique for in vitro testing of an occluding

More information

Whitepaper. Image stabilization improving camera usability

Whitepaper. Image stabilization improving camera usability Whitepaper Image stabilization improving camera usability Table of contents 1. Introduction 3 2. Vibration Impact on Video Output 3 3. Image Stabilization Techniques 3 3.1 Optical Image Stabilization 3

More information

Virtual CRASH 3.0 Staging a Car Crash

Virtual CRASH 3.0 Staging a Car Crash Virtual CRASH 3.0 Staging a Car Crash Virtual CRASH Virtual CRASH 3.0 Staging a Car Crash Changes are periodically made to the information herein; these changes will be incorporated in new editions of

More information

Path Tracking for a Miniature Robot

Path Tracking for a Miniature Robot Path Tracking for a Miniature Robot By Martin Lundgren Excerpt from Master s thesis 003 Supervisor: Thomas Hellström Department of Computing Science Umeå University Sweden 1 Path Tracking Path tracking

More information

Adaptive Cruise Control System Overview

Adaptive Cruise Control System Overview 5th Meeting of the U.S. Software System Safety Working Group April 12th-14th 2005 @ Anaheim, California USA 1 Introduction Adaptive Cruise System Overview Adaptive Cruise () is an automotive feature that

More information

Immersive Medien und 3D-Video

Immersive Medien und 3D-Video Fraunhofer-Institut für Nachrichtentechnik Heinrich-Hertz-Institut Ralf Schäfer schaefer@hhi.de http://ip.hhi.de Immersive Medien und 3D-Video page 1 Outline Immersive Media Examples Interactive Media

More information

This week. CENG 732 Computer Animation. Challenges in Human Modeling. Basic Arm Model

This week. CENG 732 Computer Animation. Challenges in Human Modeling. Basic Arm Model CENG 732 Computer Animation Spring 2006-2007 Week 8 Modeling and Animating Articulated Figures: Modeling the Arm, Walking, Facial Animation This week Modeling the arm Different joint structures Walking

More information

Chapter 4. Forces and Newton s Laws of Motion. continued

Chapter 4. Forces and Newton s Laws of Motion. continued Chapter 4 Forces and Newton s Laws of Motion continued Clicker Question 4.3 A mass at rest on a ramp. How does the friction between the mass and the table know how much force will EXACTLY balance the gravity

More information

CosmosWorks Centrifugal Loads

CosmosWorks Centrifugal Loads CosmosWorks Centrifugal Loads (Draft 4, May 28, 2006) Introduction This example will look at essentially planar objects subjected to centrifugal loads. That is, loads due to angular velocity and/or angular

More information

521493S Computer Graphics. Exercise 2 & course schedule change

521493S Computer Graphics. Exercise 2 & course schedule change 521493S Computer Graphics Exercise 2 & course schedule change Course Schedule Change Lecture from Wednesday 31th of March is moved to Tuesday 30th of March at 16-18 in TS128 Question 2.1 Given two nonparallel,

More information

Relating Vanishing Points to Catadioptric Camera Calibration

Relating Vanishing Points to Catadioptric Camera Calibration Relating Vanishing Points to Catadioptric Camera Calibration Wenting Duan* a, Hui Zhang b, Nigel M. Allinson a a Laboratory of Vision Engineering, University of Lincoln, Brayford Pool, Lincoln, U.K. LN6

More information

MMGD0203 Multimedia Design MMGD0203 MULTIMEDIA DESIGN. Chapter 3 Graphics and Animations

MMGD0203 Multimedia Design MMGD0203 MULTIMEDIA DESIGN. Chapter 3 Graphics and Animations MMGD0203 MULTIMEDIA DESIGN Chapter 3 Graphics and Animations 1 Topics: Definition of Graphics Why use Graphics? Graphics Categories Graphics Qualities File Formats Types of Graphics Graphic File Size Introduction

More information

Augmented Architectural Environments

Augmented Architectural Environments Laser Pointer Tracking in Projector- Augmented Architectural Environments Daniel Kurz, Ferry Häntsch, Max Große, Alexander Schiewe, Oliver Bimber Bauhaus-University Weimar, ARGroup What is this about?

More information

Using NI Vision & Motion for Automated Inspection of Medical Devices and Pharmaceutical Processes. Morten Jensen 2004

Using NI Vision & Motion for Automated Inspection of Medical Devices and Pharmaceutical Processes. Morten Jensen 2004 Using NI Vision & Motion for Automated Inspection of Medical Devices and Pharmaceutical Processes. Morten Jensen, National Instruments Pittcon 2004 As more control and verification is needed in medical

More information

Virtuelle Realität. Overview. Teil 5: Visual Displays. Prof. Bernhard Jung. Virtuelle Realität

Virtuelle Realität. Overview. Teil 5: Visual Displays. Prof. Bernhard Jung. Virtuelle Realität Teil 5: Visual Displays Virtuelle Realität Wintersemester 2007/08 Prof. Bernhard Jung Overview Stereoscopy and other visual depth cues Properties of visual displays visual presentation qualities logistic

More information

A Reliability Point and Kalman Filter-based Vehicle Tracking Technique

A Reliability Point and Kalman Filter-based Vehicle Tracking Technique A Reliability Point and Kalman Filter-based Vehicle Tracing Technique Soo Siang Teoh and Thomas Bräunl Abstract This paper introduces a technique for tracing the movement of vehicles in consecutive video

More information

The Visualization Simulation of Remote-Sensing Satellite System

The Visualization Simulation of Remote-Sensing Satellite System The Visualization Simulation of Remote-Sensing Satellite System Deng Fei, Chu YanLai, Zhang Peng, Feng Chen, Liang JingYong School of Geodesy and Geomatics, Wuhan University, 129 Luoyu Road, Wuhan 430079,

More information

Experimental Question 1: Levitation of Conductors in an Oscillating Magnetic Field SOLUTION ( )

Experimental Question 1: Levitation of Conductors in an Oscillating Magnetic Field SOLUTION ( ) a. Using Faraday s law: Experimental Question 1: Levitation of Conductors in an Oscillating Magnetic Field SOLUTION The overall sign will not be graded. For the current, we use the extensive hints in the

More information

Introduction. www.imagesystems.se

Introduction. www.imagesystems.se Product information Image Systems AB Main office: Ågatan 40, SE-582 22 Linköping Phone +46 13 200 100, fax +46 13 200 150 info@imagesystems.se, Introduction TrackEye is the world leading system for motion

More information

An Instructional Aid System for Driving Schools Based on Visual Simulation

An Instructional Aid System for Driving Schools Based on Visual Simulation An Instructional Aid System for Driving Schools Based on Visual Simulation Salvador Bayarri, Rafael Garcia, Pedro Valero, Ignacio Pareja, Institute of Traffic and Road Safety (INTRAS), Marcos Fernandez

More information

Model Based Control of a Moving Solar Roof for a Solar Vehicle

Model Based Control of a Moving Solar Roof for a Solar Vehicle Model Based Control of a Moving Solar Roof for a Solar Vehicle G.Coraggio*, C.Pisanti*, G.Rizzo*, A.Senatore* *Dept. Of Mechanical Engineering, University of Salerno, 8484 Fisciano (SA), Italy Email: gcoraggio

More information