A Haptic Assembly and Disassembly Simulation Environment and Associated Computational Load Optimization Techniques

[+] Author and Article Information
Adam S. Coutee, Scott D. McDermott, Bert Bras

Systems Realization Laboratory, The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332-0405

J. Comput. Inf. Sci. Eng 1(2), 113-122 (Jun 01, 2001) (10 pages) doi:10.1115/1.1389085 History: Received January 01, 2001; Revised June 01, 2001
Copyright © 2001 by ASME
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Grahic Jump Location
Computer infrastructure of HIDRA
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Dual configuration of PHANToM haptic interfaces
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HIDRA’s computer setup
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Schematic of haptic loop (adapted from 24)
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Schematic of graphic loop
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HIDRA simple ring and shaft scene
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Haptic loop response to simple example simulation
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Algorithm for haptic loop partitioning
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Haptic primitives used to represent parts
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Haptic loop response with HIDRA automated optimization techniques enabled
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Haptic loop response with the shaft anchored in addition to the automated techniques
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Haptic loop response with primitives replacing tessellated surfaces and using the automated techniques
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Haptic loop response using all the techniques
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Bounding spheres for objects in large scene
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Closest features for objects in large scene




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