• 한국HCI학회:학술대회논문집
• /
• 2008.02a
• /
• pp.65-71
• /
• 2008

This paper proposes a structure of haptic collaboration system over high resolution tiled-display, and proposes a QoE (quality of experience) increase scheme in integrated system. Both haptic system and tiled-display system have requirements of computational power. A haptic device is unstable if haptic rendering rate is less than 1kHz, A requirement of tiled-display systeme is frame rate of display. It requires update of 30 frame fer sec. If we use these systems independently, we can satisfy each requirements. However, if we integrate two systems, performance of entire system significantly decreases because of lack of resources, and QoE of users also decrease. In this paper, therefore, we propose a QoE guaranty scheme which selectively allocates cpu resource between display update and haptic rendering. In order to increase QoE, we set a priority for visual and haptic in order to allocate more resource on visual or haptic. If a user sensitive about touch, then proposed scheme increases haptic rendering rate by allocating more resource. Otherwise a user more sensitive about visual than haptic, proposed scheme decreases haptic rendering rate and increases tiled-display update rate. Therefore, by selectively allocating limited cpu resource, proposed scheme guaranties QoE of both haptic and visual.

• Journal of the Korean Society for Precision Engineering
• /
• v.33 no.1
• /
• pp.17-22
• /
• 2016

In smart factories, the entire manufacturing process from design to the final product is simulated in a virtual manufacturing environment and optimized before starting production. Suppliers and customers make decisions based on the simulation results. Therefore, effective rendering of the information of the virtual products to suppliers and customers is essential for this manufacturing paradigm. In this study, a method of rendering the surface roughness of the virtual products using a tactile display is presented. A tactile display device comprising a $3{\times}3$ array of individually controlled piezoelectric stack actuators is constructed. The surface topology of the virtual products is rendered directly by controlling the piezoelectric stack actuators. A series of experiments is performed to evaluate the performance of the tactile display device. An electrical discharge machined surface is rendered using the proposed method.

• 한국HCI학회:학술대회논문집
• /
• 2009.02a
• /
• pp.572-578
• /
• 2009

This paper introduce a structure of haptic collaboration system over high resolution tiled-display, and proposes a object based efficient display method for high resolution display in integrated system. in addition, a modeling of visualization system is defined to evaluate performance of the proposed method. Both haptic system and tiled-display system have requirements of computational power. A haptic device is unstable if haptic rendering rate is less than 1kHz. A requirement of tiled-display systems is frame rate of display. It requires update of 30 frame fer sec. If we use these systems independently, we can satisfy each requirements. However, if we integrate two systems, performance of entire system significantly decreases because of lack of resources. In this paper, therefore, we propose a segmentation-based display method for ultra high resolution display in integrated system. The proposed method reduces redundancy of display data by reducing a display rate of static objects. Finally, a modeling of visualization system is defined to evaluate performance of the proposed method.

• Journal of Institute of Control, Robotics and Systems
• /
• v.9 no.8
• /
• pp.585-591
• /
• 2003

A virtual force is generated and fed back to the operator to make the teleoperation more reliable, which reflects the relationship between a slave robot and an uncertain remote environment as a form of an impedance. In general, for the teleoperation, the teleoperated mobile robot takes pictures of the remote environment and sends the visual information back to the operator over the Internet. Because of the limitations of communication bandwidth and narrow view-angles of camera, it is not possible to watch certain regions, for examples, the shadow and curved areas. To overcome this problem, a virtual force is generated according to both the distance between the obstacle and the robot and the approaching velocity of the obstacle w.r.t the collision vector based on the ultrasonic sensor data. This virtual force is transferred back to the master (two degrees of freedom joystick) over the Internet to enable a human operator to estimate the position of obstacle at the remote site. By holding this master, in spite of limited visual information, the operator can feel the spatial sense against the remote environment. It is demonstrated by experiments that this collision vector based haptic reflection improves the performance of teleoperated mobile robot significantly.

• Science of Emotion and Sensibility
• /
• v.5 no.4
• /
• pp.77-84
• /
• 2002

In this paper, we propose the NAVER, a general framework for multipurpose virtual environments, and introduce the case study of evaluating car prototypes using cave-like systems. As a framework to implement variant applications in virtual environment, NAVER is extensible, reconfigurable and scalable. NAVER consists of several external modules (Render Server, Control Server and Device Server), which communicate each other to share states and user-provided data and to perform their own functions. NAVER supports its own scripting language based on XML which allows a user to define variant interactions between objects in virtual environments as well as describe the scenario of an application. We used NAVER to implement the system for evaluating car prototyes in a CAVE-like virtual environment system. The CAVE-like virtual environment system at KIST consists three side screens and a floor screen (each of them is a square with side of 2.2m), four CRT projectors displays stereoscopic images to the screens, a haptic armmaster, and a 5.1 channel sound system. The system can provide a sense of reality by displaying auditory and tactile senses as well as visual images at the same time. We evaluate car prototypes in a CAVE-like system in which a user can observe, touch and manipulate the virtual installation of car interior.

• Journal of Broadcast Engineering
• /
• v.15 no.6
• /
• pp.715-722
• /
• 2010

As one of applications in augmented realities, this paper presents a bubble popping system utilizing a haptic vibro-tactile mouse. In this system, virtual bubbles randomly float in the 3D space. By using the vibro-tactile mouse grabbed by a user, the bubbles are popped when they are touched by the mouse in the 3D space. Then a bubble popping effect with addition mouse vibration is delivered to the user's hand through the mouse. The proposed system is developed on ARToolkit environment. Therefore, basic components such as a camera and a marker pattern are required. The systems is composed of a vibro-haptic mouse, a webcam, a marker pattern, a graphic bubble object, and graphic mouse. Mouse vibration as well as bubble fade-out effect is delivered. Therefore, the combination of visual and tactile bubble popping effects outperforms the usage of a single effect in the experience of augmented reality.

• Korean Journal of Computational Design and Engineering
• /
• v.16 no.5
• /
• pp.370-379
• /
• 2011

The increasing complexity of complex buildings, such as high-rise buildings and underground subway stations, presents new challenges to firefighters. In a fire in complex buildings, the importance of the collaboration between firefighters is clear. The increased demand on firefighter training for such environment is now evident. Due to cost, time, and safety issues, it is impossible to experience a real fire in such environments for training. In addition, the use of real fire for training does not enable repeatable training and the evaluation of the training is difficult. We developed a team-based firefighter training simulator for complex buildings using the virtual reality technology. It provides the training and evaluation of firefighting and mission-based team training. To model real fire phenomena in virtual space, a numerical analysis method based on fire dynamics is used. To achieve an immersive virtual environment, an augmented reality technique for the compensation of real world image and a haptic technique for heat experience are adopted. The developed training simulator can help the firefighter to respond to large and complex firefighting scenarios, while maintaining the safety of the trainees.

• Journal of Mechanical Science and Technology
• /
• v.19 no.6
• /
• pp.1290-1303
• /
• 2005

In this research, a remote control system has been developed and implemented, which combines autonomous obstacle avoidance in real-time with force-reflective tele-operation. A tele-operated mobile robot is controlled by a local two-degrees-of-freedom force-reflective joystick that a human operator holds while he is monitoring the screen. In the system, the force-reflective joystick transforms the relation between a mobile robot and the environment to the operator as a virtual force which is generated in the form of a new collision vector and reflected to the operator. This reflected force makes the tele-operation of a mobile robot safe from collision in an uncertain and obstacle-cluttered remote environment. A mobile robot controlled by a local operator usually takes pictures of remote environments and sends the images back to the operator over the Internet. Because of limitations of communication bandwidth and the narrow view-angles of the camera, the operator cannot observe shadow regions and curved spaces frequently. To overcome this problem, a new form of virtual force is generated along the collision vector according to both distance and approaching velocity between an obstacle and the mobile robot, which is obtained from ultrasonic sensors. This virtual force is transferred back to the two-degrees-of-freedom master joystick over the Internet to enable a human operator to feel the geometrical relation between the mobile robot and the obstacle. It is demonstrated by experiments that this haptic reflection improves the performance of a tele-operated mobile robot significantly.

• International Journal of Advanced Culture Technology
• /
• v.6 no.4
• /
• pp.52-57
• /
• 2018

The purpose of this paper is to develop simulations that can be used for virtual education in dentistry. The virtual education to be developed will be developed with clinical training and actual case data of tooth extraction. This development goal is to allow dental students to learn the necessary surgical techniques at the point of their choice, not going into the operating room, away from time, space, and physical limits. I want to develop content using VR. Oculus Rift HMD, Optical Based Outside-in Tracking System, Oculus Touch Motion Controller, and Headset as Input / Output Device. In this configuration, the optimization method is applied convergent, and when the operation of the VR contents is performed, the content data is extracted from the interaction analysis formed in the VR engine, and the data is processed by the content algorithm. It also computes events and dental operations generated within the 3D engine programming and generates corresponding events through data processing according to the input signal. The visualization information is output to the HMD using the rendering information. In addition, the operating room environment was constructed by studying lighting and material for actual operating room environment. We applied the ratio of actual space to virtual space and the ratio between character and actual person to create a spatial composition at a similar rate to actual space.

• The Journal of the Korea Contents Association
• /
• v.10 no.8
• /
• pp.1-10
• /
• 2010

For virtual education, the multimodal learning environment with haptic feedback, termed 'immersive textbook', is necessary to enhance the learning effectiveness. However, the learning contents for immersive textbook are not widely available due to the constraints in creation and playback environments. To address this problem, we propose a framework for producing and displaying the multimodal contents for immersive textbook. Our framework provides an XML-based meta-language to produce the multimodal learning contents in the form of intuitive script. Thus it can help the user, without any prior knowledge of multimodal interactions, produce his or her own learning contents. The contents are then interpreted by script engine and delivered to the user by visual and haptic rendering loops. Also we implemented a prototype based on the aforementioned proposals and performed user evaluation to verify the validity of our framework.