1999 Fiscal Year Annual Research Report

仮想環境における視覚,力覚,聴覚情報の統合・同期の実現とその応用に関する研究

Research Project

Project/Area Number	11480089
Research Category	Grant-in-Aid for Scientific Research (B)
Research Institution	Kyushu Institute of Technology
Principal Investigator	安部憲広九州工業大学, 情報工学部, 教授 (00029571)
Co-Investigator(Kenkyū-buntansha)	田中和明九州工業大学, 情報工学部, 助手 (70253565) 瀧寛和和歌山大学, システム工学部, 教授 (10304180)
Keywords	仮想3次元音場 / 音と描画の同期 / 高速干渉判定 / 音と触覚の同期 / 並行処理 / 音源イベント / RSS-10
Research Abstract	仮想音場生成システムと高速グラフィック計算機OCTANEを購入し,利用者,仮想人間(avatar),仮想物体から構成される仮想環境に置いて,音を自律的に発生するもの(音源体)と,他との干渉により音を発するもの(音源イベント)が自由に移動するとき,描画と音の発生,干渉に伴う力覚の発生を同期させる基本メカニズムの構築を行った. 購入したローランド社製RSS10には,自由な音源移動を支援する機構が準備されているが,それでは実時間で音源を自由に移動させながら,移動物体を描画することが出来ないので,描画システムから,音源体や音源イベント発生位置情報をRSS-10へ送出するプログラムをPCを用いて作成した.これにより,音と描画の同期が可能となったが,描画対象の形状が複雑になると,一回の描画に要する時間が長くなるため,連続音の発生が難しくなることが判明した.描画をOCTANEで行いながら,音源情報を高速に音生成システムに送出する機構を次年度作成することにより,この問題を解決する予定である. 音源イベントの発生は物体同士の干渉によって生じるため,高速な干渉判定器が必要であり,再帰的空間分割法を実現し,物体データが空間格子のどの部分にあるかを調べることにより,衝突検査に要する時間を大幅に減少させることができた. しかしながら,物体の移動速度が高速になると,シミュレーションの1サイクル中に移動する距離が大きくなり,干渉検出が行えない場合が生じる.すなわち,描画,衝突検出,音発生を逐次的に行ったのでは,高速なイベント処理が予想通り困難なことが判明した.これを解決するために,次年度で描画と干渉検出を並行処理するシステムを作成する予定である.

Research Products

(19 results)

All Other

All Publications (19 results)

[Publications] Kazuaki Tanaka: "Colla boration with two remote robot arms by direct instruction using stereo vision and force feedback device"International Conference on Advanced Manufacturing Technology (ICAMT'99). 1. 845-850 (1999)
[Publications] Kazuaki Tanaka: "A method for constructing virtual envionment from a given real environment"International Conference on Advanced Manufacturing Technology (ICAMT'99). 1. 523-528 (1999)
[Publications] Kazuaki Tanaka: "Support system for redesigning hospital transportation raceway track using virtual reality technique"International Conference on Advanced Manufacturing Technology (ICAMT'99). 1. 678-682 (1999)
[Publications] Norihiro Abe: "Tele-manipalation of real manipulator using haptic feedback device PHANTOM"Proc.of 32nd ISATA. 1. 101-107 (1999)
[Publications] Kazuaki Tanaka: "Collaborative Pedesign of Hospital Transportation Raceway Track Using VR Technology and Client-Communication"International Symposium on Measurament and Control in Rohotics (ISMCR'99). 1. 227-232 (1999)
[Publications] Norihiro Abe: "Understanding of Mechanical Assembly Instraction Manual by Integrating Vision and Language Processing and Simulation"Proceedings of Robotics & Automation. 1. 3091-3096 (1999)
[Publications] Hirokazu Taki: "Case-Based Quality Management System using Expectation Values"Proc.of ICCBR'99 (International Conference on Case-Based Reasoning). 1. 572-580 (1999)
[Publications] Tomoaki Ozaki: "Verbal/Nonverbal cammunication in Virtual Environment"International Conference on Systems,Man,and Cybernetics. VI. 170-175 (1999)
[Publications] Takatomo Matsuo: "Map Generation with Movable Robot"International Conference on Systems,Man,and Cybernetics. VI. 680-685 (1999)
[Publications] Kazuaki Tanaka: "Map Acquisition in the Uncertain Environment by Mobile Robots"International Symposium on Robotics. 1. 669-674 (1999)
[Publications] Seiichi Takeda: "Map Generation wirh Multiple Robots"International Symposium on Robotics. 1. 561-568 (1999)
[Publications] Tomoaki Ozaki: "Verbal/Nonverbal cammunication in Virtual Environment"International Symposium on Robotics. 1. 71-77 (1999)
[Publications] Takao Horie: "Tele-Manipulating Two Remote Robot Arms by Direct Instruction Using Stereo Vision and Force Feedback Device"ICAR. 1. 219-224 (1999)
[Publications] Norihiro Abe: "Assembly Illusstration Understanding from Assembly Explanation and Model of Mechanical Parts"ICAR. 1. 47-52 (1999)
[Publications] Kohidhi Ymamoto: "Cutting operation of virtual object and it application to medical simulation"ICAT'99. 1. 161-165 (1999)
[Publications] Manabu Kimura: "3-dimensional painting system with Tactile Sensation"ICAT'99. 1. 137-142 (1999)
[Publications] 渡辺恭弘: "MRIによる複数破片計測と仮想現実感による復元"電子情報通信学会論文誌DII. J-DII,2. 259-267 (1999)
[Publications] Norihiro Abe: "A system for Understanding A Mechanical Assembly Instruction Manual Using Virtual Space"Lecture in Arttficial Intelligence 1609,Foundations of Intelligent Systems. 1. 385-394 (1999)
[Publications] Norihiro Abe: "Verification of Assembability of Mgcganical Parts and Visualization of Machinery of Assembly in Virtual Space"CAD/CAM Review. 5. 14-23 (1999)

1999 Fiscal Year Annual Research Report

仮想環境における視覚,力覚,聴覚情報の統合・同期の実現とその応用に関する研究

Principal Investigator

安部 憲広 九州工業大学, 情報工学部, 教授 (00029571)

Research Products

[Publications] Kazuaki Tanaka: "Colla boration with two remote robot arms by direct instruction using stereo vision and force feedback device"International Conference on Advanced Manufacturing Technology (ICAMT'99). 1. 845-850 (1999)

[Publications] Kazuaki Tanaka: "A method for constructing virtual envionment from a given real environment"International Conference on Advanced Manufacturing Technology (ICAMT'99). 1. 523-528 (1999)

[Publications] Kazuaki Tanaka: "Support system for redesigning hospital transportation raceway track using virtual reality technique"International Conference on Advanced Manufacturing Technology (ICAMT'99). 1. 678-682 (1999)

[Publications] Norihiro Abe: "Tele-manipalation of real manipulator using haptic feedback device PHANTOM"Proc.of 32nd ISATA. 1. 101-107 (1999)

[Publications] Kazuaki Tanaka: "Collaborative Pedesign of Hospital Transportation Raceway Track Using VR Technology and Client-Communication"International Symposium on Measurament and Control in Rohotics (ISMCR'99). 1. 227-232 (1999)

[Publications] Norihiro Abe: "Understanding of Mechanical Assembly Instraction Manual by Integrating Vision and Language Processing and Simulation"Proceedings of Robotics & Automation. 1. 3091-3096 (1999)

[Publications] Hirokazu Taki: "Case-Based Quality Management System using Expectation Values"Proc.of ICCBR'99 (International Conference on Case-Based Reasoning). 1. 572-580 (1999)

[Publications] Tomoaki Ozaki: "Verbal/Nonverbal cammunication in Virtual Environment"International Conference on Systems,Man,and Cybernetics. VI. 170-175 (1999)

[Publications] Takatomo Matsuo: "Map Generation with Movable Robot"International Conference on Systems,Man,and Cybernetics. VI. 680-685 (1999)

[Publications] Kazuaki Tanaka: "Map Acquisition in the Uncertain Environment by Mobile Robots"International Symposium on Robotics. 1. 669-674 (1999)

[Publications] Seiichi Takeda: "Map Generation wirh Multiple Robots"International Symposium on Robotics. 1. 561-568 (1999)

[Publications] Tomoaki Ozaki: "Verbal/Nonverbal cammunication in Virtual Environment"International Symposium on Robotics. 1. 71-77 (1999)

[Publications] Takao Horie: "Tele-Manipulating Two Remote Robot Arms by Direct Instruction Using Stereo Vision and Force Feedback Device"ICAR. 1. 219-224 (1999)

[Publications] Norihiro Abe: "Assembly Illusstration Understanding from Assembly Explanation and Model of Mechanical Parts"ICAR. 1. 47-52 (1999)

[Publications] Kohidhi Ymamoto: "Cutting operation of virtual object and it application to medical simulation"ICAT'99. 1. 161-165 (1999)

[Publications] Manabu Kimura: "3-dimensional painting system with Tactile Sensation"ICAT'99. 1. 137-142 (1999)

[Publications] 渡辺恭弘: "MRIによる複数破片計測と仮想現実感による復元"電子情報通信学会論文誌DII. J-DII,2. 259-267 (1999)

[Publications] Norihiro Abe: "A system for Understanding A Mechanical Assembly Instruction Manual Using Virtual Space"Lecture in Arttficial Intelligence 1609,Foundations of Intelligent Systems. 1. 385-394 (1999)

[Publications] Norihiro Abe: "Verification of Assembability of Mgcganical Parts and Visualization of Machinery of Assembly in Virtual Space"CAD/CAM Review. 5. 14-23 (1999)

安部憲広九州工業大学, 情報工学部, 教授 (00029571)