Analysis

relative behavior of a object in 3D space

Name: Pijus Kumar Sarker
Student ID: 103945877
Submit Date: December 12, 2013

This survey is completely done by Pijus Kumar Sarker.
Signature: ____________________

Abstract

Main observation of this project is to analyze change of motion

and direction of a physical element in a three-dimension space
while all of its references will change at a random pattern and
the environment will apply multiple forces on the object. From
the resultant data we will know the behavior of the object in a
unknown environment. This analysis can help us to solve many
real-life problems, like the movement of a boat in storm.

To reduce the complexity of the experiment we have reduced
the problem to very simple problem. A virtual ball will be in a 2D
plane and initially moving at a constant speed in a specific
direction. Now the change of environment will affect the velocity
and direction of the ball. In this analysis environment means, the
reference plane, air forces, gravity.

Table of Contents

Chapter 1
Chapter 2
Chapter 3
Chapter 4
Chapter 5
Bibliography

Introduction
Survey
Investigation
Implementation
Conclusion

INTRODUCTION

The focusing idea of this survey is to exploring unknown or versatile
environment where it is not suitable for living beings to do the
survey. In those cases we can use machine-learning approach to get
the necessary measurements and real data. Using reduction
approach we have reduced the problem to a small problem and
represented in virtual world.

I have used the basic law physics, like Newtons law on motion, and
some vector rules to simulate the work. In the virtual world I have
created a versatile environment with some elements as bellow,

1. A ball
2. Movement of reference plane
3. Variation of air force

A ball will be in a virtual plane and initially the ball will be moving at
a constant speed to a specific direction. In the original experiment
the movement will be controlled at some level. But the environment
will affect the movement of the ball. Like a boat is moving at 3Km/hr
to east but then the air flows strongly from east to west, which will
decrease the speed of the boat and also the direction. In our project
we introduced random movement of the plane in 3D space, which is
the reference for the ball. Here we have given users to control to
move the plane as they wish that will affect the motion of the ball.
Also introduced different airflow regions in the path of ball. So the
ball will again face unknown forces. Air forces will be controlled by
the system and will change its strength randomly in each
experiment.

Including the whole idea of reduced problem we can consider it as a

small game. The scenario will be like, you have started from your
home to a shop in your car and in the way you faced a massive
earthquake or heavy storm then you need to reach a nearest safe
place to go. As like as the example, the ball will be start moving at a
constant speed towards the goal and several air forces will affect the
direction and speed of the ball. But you can still control the ball by
moving the plane and guide the ball to the goal.

SURVEY

Before start concentrating on my work I would like to mention some
relevant work. Most of them are remote controlling of a machine or
theoretical approach to acquire information form a environment.
Below I am describing some of the relevant problems

Localization for Mobile robots: Localization is the estimation of
a robot's location for sensor data, is a fundamental problem in
mobile robotics. Here localization means position estimation or
position control. They maintain a probability density over the
space of all locations of a robot in its environment. It is robust
to approximate model of the environment and noisy sensors.

Planning and Exploration for Robot-Sensor Systems: Here they
considered the view-planning problem where a range sensor is
mounted on a robot mechanism with non-trivial geometry and
kinematics. The robot-sensor system is required to explore the
environment for obstacles and free space. They presented an
information theoretical approach in which the sensing action is
viewed as reducing ignorance of the planning space, the C-
space of the robot. The concept of C-space entropy is
introduced as a measure of this ignorance.

Realistic movement display in virtual reality: In the research a
virtual object display apparatus displays an object moved in
three-dimensional virtual space. A key frame memory section
previously stores move data of each part of the object by unit of
action of the object's movement in three-dimensional virtual
space. A swing calculation section calculates the change of a
basis point of the object by unit of action according to the move

data of each part of the object. A display position set section

calculates the change of display position corresponding to the
change of the basis point in three-dimensional virtual space by
unit of action. A display section displays the object movement
in three-dimensional virtual space according to the display
position by unit of action.

Moving objects in space: As manipulation in immersive virtual
environments is difficult because users must do without the
haptic contact with real objects. So rely on in the real world to
orient themselves and their manipulation. To compensate for
this lac, they propose exploiting the one real object every user
has in virtual environment, his body. The present a unified
framework for virtual-environment interaction based
proprioception, a person's sense of the position and
orientation of his body and limbs.

Automated Tracking and grasping a moving object: Most robotic
grasping tasks assume a stationary or fixed object. So they
explore the requirements for tracking and grasping a moving
object. The focus of our work is to achieve a high level of
interaction between a real-time vision system capable of
tracking moving objects in 3-D and a robot arm with gripper
that can be used to pick up a moving object. There is an interest
in exploring the interplay of hand-eye coordination for
dynamic grasping tasks such as grasping of parts on a moving
conveyor system, assembly of articulated parts, or for grasping
from a mobile robotic system.


All these problems are some extend relevant to my problem but not
exactly.

Investigation
In my research I am also analyzing the localization of a object in a
unknown environment and visualize the scenario using java 3D. I
have created a virtual environment with air forces and a base plane.
The simple we can say that the change of objects natural movement
base on environmental forces (air force, displacement of plane and
gravity of ball).
Here is the system design of my research.


Goal Checker






User

Interaction





Movement





Plane
Ball

Movement
Movement

Calculate

Direction




Calculate
Air Force

Velocity

Velocity

Goal Checker: The goal checker system will check the current
position of the ball and identify whether goal is reached or not.

User Interaction: This system will take the user inputs or identify if
there is any user interaction on the system.

Movement: The movement system will handle all the movements of
each element in the environment, like plane movement, ball
movement.

Plane Movement: Plane movement system will take user interaction
as input and display the plane movement or and also calculate the
amount of rotation of the plane and keep this rotation.

Air Force: Air force system is free of user interaction. The plane is
randomly divided in several parts where different air forces will be
applied. If the ball is in one of the air force region then the ball will
affect by that amount of air force.

Ball Movement: Ball movement will be divided in two subsystems,
Velocity and Direction. This system will display the balls movement
based on the new velocity and direction.

Calculate Velocity: This system will calculate velocity of the ball
based on the air force, previous velocity and plane movement.

Calculate Direction: The direction system calculates the resultant
direction caused by air force and movement of plane.

Process and Algorithm

Initially the ball will be moving at a constant velocity Vi making angle
i with respect to its initial position.

Then check if there is any user interaction. If there is any user
interaction, here movement of plane, then it will calculate the new
velocity Vt and resultant direction t in its previous direction and air
force Fai . Now the ball will continue to move according to new
velocity Vt and direction t . After each movement at t times it will
check whether goal is reached or not. If goal is reached then it will
stop and report goal is reached. In each move the system also
checked whether the ball is on the plane or out of the plane.


Equations:
Initial velocity, Vi : Vi = v constant velocity.
If there is no user interaction the ball will continue move distance S,
S = vt
When air force Fai and gravity force added the we calculate the net
force by, Fnet = Fai+Fmg + Fi

Here,
Fi = initial force
Fnet = summation of all forces applied to the ball.
Fai = the air force
Fmg = force due to gravity

Now,
Fnet = ma, where m is the mass of the ball, which is constant

With vector analysis we can divide the force to its coordinate system.

Fnet = Fnx + Fny

Fnx = Fax + Fix + Fmgx

Fny = Fay + Fiy + Fmgy

And
Fnx = Fnet cos r where r is the rotation of the plane
Fny = Fnet sin r

" %
1 Fny
New direction, n = tan $ '
# Fnx &
New velocity, Vt = Vi + at, where a = Fnet/m

Fnet

Fmg

Fair

Fi
Fig 1: Effect of multiple forces on an object


Flow chart of the Algorithm

Stop











Air Force





Position Detect

Start

Initialize system

Goal
Found?

User
Interaction

Plane Movement

Ball Movement

New Velocity

New Direction


The view of the environment is as like bellow.

Fig 2: Game structure

IMPLEMENTATION

I am representing the scenario with virtual reality because it is one
of the best technologies to visualize environment and interact with
it, which is one of the major requirement for my project. In such
exploration research real-life experiments is very dangerous and
costly. Thats why we are using virtual reality doing such
experiments. With the help of virtual reality, i am creating a
simulation of the problem. The interaction part is most important
where the game player will be given control to guide the ball.

How I am using virtual reality
I am using java3d as a virtual reality tool. There are several features
in java3D that helps me to create a virtual world for my experiment
and interact with it.

I have used GeometryArray to create the plane and goal object. To
differentiate different air force regions I have used TextureLoader .
To create the ball I have used Sphere class. For visualization of
rotation or movement of the plane I used rotY(), rotX(), mul()
functions that helps to rotate the plane to a given angle. To know
about the current position of the ball I used . get() method that gives
me the (x,y,z) value of the object. This is very important for my
project to know the current position of the object. Based on the
position of the ball in the plane different air force are applied and the
velocity and direction is also changed. Track about the experiment
time I have used Timer class. For interaction I have used keys. That
means with the keys one can move the plane and guide ball towards
the goal but other forces will affect the movement. I have used
ActionListener, WindowListener, KeyListener class and keyPressed()
function. To identify the key events I have used getKeyChar()
function.

Here are the keys I am using to move the plane,

Key
Description
A
Move the left side of the plane upward and right side
downwards.
D
Move the right side of the plane upward and left side
downwards
S
Move the start end upwards and goal end downwards
W
Move the goal end upwards and start end downwards
I
Reset the every element to its initial position

There are several cases of plane movement and forces on ball as
bellow

1. Move AD up and BC down

2. Move BC up and AD down

3. Move AB up and CD down

4. Move CD up and AB down

During the experiment it will save all the forces applied to the ball
and the changes in velocity and direction. These information will
help us to analyze the unknown environment.

Program Output:

Fig 3: Initial Scenario

Fig 4: Left side moved up

CONCLUSIONS

Based on the survey of related work on exploring unknown
environment and my research, it is evident that my work will be
useful for guiding a object in a space where it will face different
forces, like air, gravity. This simulation to guide a object in a
unknown environment while practicable experiments are very
dangerous and costly. It will be very useful tool to do several
measurements in aero dynamics, auto driving and simulation tool for
construction of high-rise buildings. We are able to simulate different
experiments before real-life experiments, which will give us
information about the environment and create a suitable element
that will survive in that environment.

BIBLIOGRAPHY

1. Gibbs, J. Willard - Vector Analysis by (1839-1903)

2. Harry F. Davis, Arthur David Snider - Introduction to vector analysis

3. Wolfgang Stuerzlinger, Darius Dadgari Ji & Young Oh - Reality-Based
Object Movement techniques for 3D (2006)

4. W. Burke Applied Differential Geometry (1985)

5. Paolo Fiorini, Zvi Shiller Motion planning in dynamic
environments using the relative velocity paradigm

6. Naoko Umeki, Miwako Doi, Kabushiki Kaisha Toshiba Virtual
object display apparatus and method employing viewpoint updating
for realistic movement display in virtual reality.

7. Mark R. Mine, Frederick P. Brooks Jr1 Moving object in spage:
Exploiting proprioception in virtual-environment interaction

8. Michael Chen, S. Joy Mountfurd, Abigail Sellen A study in
interactive 3-D Rotation using 2-D control Devices.

9. Kurt A. Goszyk Three dimensional object path tracking

10. Jock D. Mackinlay, Stuart K. Card, and George G. Robertson Rapid
controlled movement through a virtual 3D workspace


11. Sukhan Lee, Youngchul Kay An accurate estimation of 3-D
position and orientation of a moving object for robot stereo vision.


12. Koichi Hirote, Masaki Hirayama, Atsuko Tanaka, Toyohisa kaneko
Representation of force in object manipulation.

13. Blaine Bell, Steven Feiner, Tobias Hollerer The force and motion
conceptual evaluation and the evaluation of active learning
laboratory.

14. James E. Cutting High Performance computing and human
vision.

15. Yong Yu, Kamal Gupta - A Measure for View Planning and Exploration
for General Robot-Sensor Systems in Unknown Environments
16. Feng Lu, Evangelos Milios - Robot Pose Estimation in Unknown
Environments by Matching 2D Range Scans (2006)
17. Susanne Albers and Monika R. Henzinger - Exploring Unknown
Environments