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Learning Outcomes
At the end of this section, YOU should be able to:
Chapter 11
Artificial Intelligence
Virtual Reality
Robotics
Chapter 11
Chapter 11
Brooks (1999) defines it as: [an] experience .. in which the user is effectively
immersed in a responsive virtual world
Ivan Sutherlands vision of the ultimate display (1965):
Dont think of that thing as a screen, think of it as a window, a window through
which one looks into a virtual world. The challenge to computer graphics is to make
that virtual world look real, sound real, move and respond to interaction in real time,
and even feel real.
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So what is VR then?
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Discussion Questions
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3.
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VR Technology : Displays
Chapter 11
VR Technology : Displays
Projection-Based Systems
A system in which the user is surrounded by images, projected
onto large screens. The prototypical example is the CAVETM,
developed by Carolina Cruz-Neira et al. at the University of
Illinois, Chicago, and presented at SIGGRAPH in 1993.
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IPDs offer:
a wide, surrounding field of view
the ability to provide a shared experience to
a small group
- but, only one person (or none) in the group will be tracked
(1999) [now (2004), there are possibilities to track two people]
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VR Technology : Displays
Panoramic Displays
one or more screens arranged in a panoramic configuration; or
a single, curved screen, on which images from multiple
projectors are tiled together
[issues: edge blending, on-the-fly color calibration, viewpointdependent distortion correction, viewpoint-dependent gain
correction]
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VR Technology : Displays
Workbenches
flat, rear-projection screens that display images in stereo, and
can be set up in a horizontal or tilted position
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VR Technology : Displays
Boom, developed by Fakespace
a moveable, tracked stereoscopic display that the viewer looks
into.
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VR Technology : Displays
Fishtank VR
a system in which images are displayed on a desktop monitor,
usually in stereo, and coupled to the location of the head,
which is tracked, resulting in the illusion of looking into a
fishtank. [stereo is configured so that the displayed objects
appear to be behind the screen surface]
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Challenges of VR
Virtual reality has been heavily criticized for being an inefficient method for
navigating non-geographical information.
Idea of ubiquitous computing is very popular in user interface design, and this may
be seen as a reaction against VR and its problems. In reality, these two kinds of
interfaces have totally different goals and are complementary.
The goal of ubiquitous computing is to bring the computer into the user's world,
rather than force the user to go inside the computer.
The current trend in VR is actually to merge the two user interfaces to create a fully
immersive and integrated experience.
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What is Robotics
Robotics requires a working knowledge of
electronics,
mechanics,
software
a person working in the field has become known as a roboticist.
The word robotics was first used in print by Isaac Asimov, in his
science fiction short story "Liar!" (1941).
Robotics is the science and technology of robots, their design,
manufacture, and application.
Chapter 11
Robotics - structure
The appearance and capabilities of robots vary vastly,
all robots share the features of a mechanical, movable structure under
some form of control.
The structure of a robot is usually mostly mechanical and can be called
kinematic chain (its functionality being akin to the skeleton of a body).
The chain is formed of links (its bones), actuators (its muscles) and joints
which can allow one or more degrees of freedom.
Chapter 11
Robotics - structure
Contemporary robots use open serial chains in which each link connects the
one before to the one after it.
These robots are called serial robots and often resemble the human arm.
Some robots, such as the Stewart platform, use closed parallel kinematic
chains. Other structures, such as those that mimic the mechanical structure of
humans, various animals and insects, are comparatively rare.
However, the development and use of such structures in robots is an active
area of research (e.g. biomechanics). Robots used as manipulators have an
end effector mounted on the last link. This end effector can be anything from a
welding device to a mechanical hand used to manipulate the environment.
Chapter 11
What is Robotics
The mechanical structure of a robot must be controlled to perform tasks.
The control of a robot involves three distinct phases
perception,
processing
and action (robotic paradigms).
Sensors give information about the environment or the robot itself (e.g. the position
of its joints or its end effector).
Using strategies from the field of control theory, this information is processed to
calculate the appropriate signals to the actuators (motors) which move the
mechanical structure.
The control of a robot involves various aspects such as path planning, pattern
recognition, obstacle avoidance, etc. More complex and adaptable control strategies
can be referred to as artificial intelligence.
Computer and IT in Workplace
Chapter 11
What is Robotics
Any task involves is known as the motion of the robot.
The study of motion can be divided into kinematics and dynamics.
Direct kinematics refers to the calculation of end effector position, orientation,
velocity and acceleration when the corresponding joint values are known. Inverse
kinematics refers to the opposite case in which required joint values are calculated
for given end effector values, as done in path planning.
Some special aspects of kinematics include handling of redundancy (different
possibilities of performing the same movement), collision avoidance and singularity
avoidance.
Chapter 11
What is Robotics
Once all relevant positions, velocities and accelerations have been calculated using
kinematics, methods from the field of dynamics are used to study the effect of forces
upon these movements.
Direct dynamics refers to the calculation of accelerations in the robot once the
applied forces are known. Direct dynamics is used in computer simulations of the
robot.
Inverse dynamics refers to the calculation of the actuator forces necessary to create
a prescribed end effector acceleration. This information can be used to improve the
control algorithms of a robot.
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SO What is Robotics
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Review Questions
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Q&A
Computer and IT in Workplace
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