Haptic Systems 530-655 Mohsen Mahvash Lecture 7 18/1/06.

Slides:

Advertisements

Similar presentations

Motivation Hair animation used in movies, games, virtual reality, etc. Problem due to complexity –Human head has over 100,000 strands of hair –Computation.

Advertisements

Surface Modeling with Oriented Particle System Szeliski and Tonnesen Siggraph 1992.

Cross Product-  Produces a vector as a product  Favors orthogonal vectors Dot Product- Produces a scalar as a product Produces a scalar as a product.

Exam II Review Lecture 15.

Introduction to Haptic Rendering Ming C. Lin

Graphics 1 & { Graphics 2 | Visualization | Computer Gaming } Georges Grinstein, University of Massachusetts at Lowell.

The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL Haptic Rendering Max Smolens COMP 259 March 26, 2003.

UNC Chapel Hill M. C. Lin COMP259: Physically-Based Modeling, Simulation & Animation Tues/Thur 12:30pm – 1:45pm (SN 011)

Product Control Drawings. Control Drawings For idea presentation and official record Usually 1:1 or scaled projective drawing Key dimensions marked Colour.

ME221Lecture #371 ME 221 Statics Lecture #37 Final Exam Review.

Vector Products (Cross Product). Torque F r T F r T F1F1 F2F2.

©Larry F. Hodges (modified by Amos Johnson) 1 Shading Models.

Providing Haptic ‘Hints’ to Automatic Motion Planners Providing Haptic ‘Hints’ to Automatic Motion Planners by Burchan Bayazit Department of Computer Science.

Forces & vectors Dynamics lesson 2.

Shawn Kenny, Ph.D., P.Eng. Assistant Professor Faculty of Engineering and Applied Science Memorial University of Newfoundland ENGI.

Computer graphics & visualization Collision Detection – Narrow Phase.

Lecture 19: Triple Integrals with Cyclindrical Coordinates and Spherical Coordinates, Double Integrals for Surface Area, Vector Fields, and Line Integrals.

Section 13.4 The Cross Product.

Marching Cubes: A High Resolution 3D Surface Construction Algorithm

Force Problems involving Friction. What is Friction?  It is a force that opposes motion.  Friction is caused by the contact (rubbing) of 2 surfaces.

Introduction to Haptic Rendering JPL - Virtual Environments Laboratory California Institute of Technology ( Cagatay Basdogan,

Technology and Historical Overview. Introduction to 3d Computer Graphics  3D computer graphics is the science, study, and method of projecting a mathematical.

Haptic rendering Part 1 4/CY/B3 Part 1. Collision detection and response Nic Melder Part 2. Manipulation and polygon transitions (T.B.A.)

Human interface Section, P&I Lab, Titech Real-time Rigid Body Simulation for Haptic Interactions Based on Contact Volume of Polygonal Objects Shoichi Hasegawa,

1 Haptic Systems Mohsen Mahvash Lecture 2 9/1/06.

1 Haptic Systems Mohsen Mahvash Lecture 1 9/1/06.

1 Haptic Systems Mohsen Mahvash Lecture 13 26/1/06.

1 Haptic Systems Mohsen Mahvash Lecture 11 24/1/06.

Haptic Rendering Part 2 4/CY/B3 Part 1. Collision detection and response Nic Melder Part 2. Manipulation and polygon transitions Nic Melder.

1 Haptic Systems Mohsen Mahvash Lecture 3 11/1/06.

1 Haptic Systems Mohsen Mahvash Lecture 14 27/1/06.

Computer Graphics Basic 3D Geometry CO2409 Computer Graphics Week 5-1.

A Computationally Efficient Framework for Modeling Soft Body Impact Sarah F. Frisken and Ronald N. Perry Mitsubishi Electric Research Laboratories.

1 Haptic Systems Mohsen Mahvash Lecture 9 20/1/06.

Model: Sliding Wedge. Introduction This is a NAFEMS benchmark model which treats the behavior of a contactor wedge forced to slide over a stiff target.

M. Zareinejad.  Use haptic device to physically interact with the VE – optical encoders measure position of end effector – actuators apply forces.

Vertices, Edges and Faces By Jordan Diamond. Vertices In geometry, a vertices is a special kind of point which describes the corners or intersections.

CHAPTER 5 CONTOURING. 5.3 CONTOURING Fig 5.7. Relationship between color banding and contouring Contour line (isoline): the same scalar value, or isovalue.

M. Zareinejad.  What ’ s Virtual Proxy? ◦ A substitute for the probe in the VE ◦ An extension of the ‘ God-Object ’ ◦ A finite sized massless sphere.

PhD Defense Emanuele Ruffaldi

Notes: Friction Static friction (F s ) is the force that opposes initial motion between two contacting surfaces. (standing friction) When a force is applied.

1 Haptic Systems Mohsen Mahvash Lecture 7 18/1/06.

HAPTEX-Meeting Tampere, Feb , 2006 Haptic Rendering / Small Scale Model Guido Böttcher haptex.miralab.unige.ch Funded by: FET-IST-FP6 (IST-6549)

Vectors – The Cross Product Lecture 13 Wed, Sep 24, 2003.

3D Haptics and Robotics. What is this talk about? Introduction to Haptics and Haptic Interfaces Commercial and University Haptics Force Feedback Devices.

University of Utah Introduction to Electromagnetics Lecture 14: Vectors and Coordinate Systems Dr. Cynthia Furse University of Utah Department of Electrical.

CS552: Computer Graphics Lecture 35: Rendering. Recap Illumination Model o Light Source and surface o Effect of multiple light source o Colored lights.

1 Haptic Systems Mohsen Mahvash Lecture 6 17/1/06.

Continuum Mechanics (MTH487)

Manipulation by humans and robots

Date of download: 11/7/2017 Copyright © ASME. All rights reserved.

3D Graphics Rendering PPT By Ricardo Veguilla.

COMP259: Physically-Based Modeling, Simulation & Animation

Gravity and Friction Vocabulary

Haptic Rendering Comp 259 Jingdan Zhang 31, Mar, 2004

Haptic Rendering Miguel A. Otaduy COMP 259 Spring 2002.

COMP259: Physically-Based Modeling, Simulation & Animation

Vector Products (Cross Product)

Science 8-Chapter 2 Lesson 1

Licensed Electrical & Mechanical Engineer

Haptic Systems Mohsen Mahvash Lecture 12 25/1/06.

Physics Warm-Up List 15 forces you have applied since you were last in Physics class. Circle the forces that caused an acceleration.

Fig. 1 Schematic illustration and atomic-scale rendering of a silica AFM tip sliding up and down a single-layer graphene step edge on an atomically flat.

Computer Graphics, KKU. Lecture 11

CE Statics Chapter 8 – Lecture 1.

Presentation transcript:

Haptic Systems 530-655 Mohsen Mahvash Lecture 7 18/1/06

Haptic rendering of contact A review of the last lecture Change of force at the edges Force shading Friction rendering References

A review of last lecture

Change of force direction During sliding contact, at the moment that the god-object is crossing an edge, the direction of force changes.

Change of force amplitude During sliding contact, at the moment that the god-object is crossing an edge, the amplitude of the force changes.

Vertex normal

Vertex local surface A local coordinate can be defined at each vertex of the object

local coordinates at contact points The direction of normal vector smoothly changes during sliding contact Local surfaces at different contact points

Proxy location proxy Local surface tip project Object surface tip tip project: the closest point of the local surface to the tip proxy: the closest point of the active surface to the tip project

A friction model for haptic rendering Coulomb model A friction model for haptic rendering

Friction rendering Local surface Object surface

References: C.B. Zilles, J.K. Salisbury, A constraint-based god-object method for haptic display International Conference on Intelligent Robots and Systems-Volume 3. 1995. D. C. Ruspini, K Kolarov, O Khatib - The haptic display of complex graphical environments, SIGGRAPH, 1997. Mahvash, M., Hayward, V. 2004. High Fidelity Haptic Synthesis of Contact With Deformable Bodies. IEEE Computer Graphics and Applications. 24(2): 48-55, 2004. V Hayward, B Armstrong, A New Computational Model of Friction Applied to Haptic Rendering, Lecture Notes in Control and Information Sciences, Vol. 250, Springer-Verlag, pp. 403-412. Tomorrow Haptic assistance: Applications and Design Considerations (guest lecturer Panadda Marayong)