CISE PostDoc: Real-Time Multibody Dynamics for Virtual Reality Training Systems with Haptic User Interface

9805823 Amato，Nancy M. Trinkle，Jeffrey，C. 德州农工大学 CISE PostDoc：用于虚拟环境训练的实时多体动力学 具有触觉用户界面的系统 在今天的美国，大约5%的工业工资用于培训。基于虚拟环境（VE）的培训系统将使工人能够在安装新设备之前练习操作，也许更重要的是，将允许模拟不正确操作的结果，而不会产生相关的成本。虚拟现实系统最大的缺陷是它们无法对接触物体的运动进行动画处理。例如，掉落的扳手通常会神奇地从 虚拟场景，或加速通过其路径上的所有障碍物。 该项目将开发所需的基本技术成果和算法：（1）将运动物体的物理特性嵌入到底层运动模拟器中，（2）允许用户和VE之间通过触觉设备进行双向交互，（3）提供帮助工人计划复杂维护任务的系统，（4）系统地分析了虚拟企业动力学模型和几何模型参数的不确定性对虚拟企业的影响。博士后研究员将参与VE培训系统的高级设计，并将对一个或多个系统组件承担主要责任。他/她的专业知识将使该项目能够产生更高质量，更强大的系统。

9805823 Amato, Nancy M. Trinkle, Jeffrey, C. Texas A&M University CISE PostDoc: Real-Time Multibody Dynamics for Virtual Environment Training Systems with Haptic User Interfaces In USA today, about 5% of the industrial salary base is spent on training. Training systems based on virtual environments (VE) will enable workers to practice operating new equipment before it is installed, and perhaps more importantly, will allow the results of improper operation to be simulated without incurring the associated costs. The biggest deficiency in VE systems is their inability to animate the motions of bodies in contact. For example, a dropped wrench will usually either magically disappear from the virtual scene, or accelerate through all obstacles in its path. This project will develop fundamental technical results and algorithms needed to: (1) embed the physics of moving bodies into the underlying motion simulator, (2) allow two-way interaction between the user and the VE through a haptic device, (3) provide a system to help workers plan complex maintenance tasks, and (4) systematically analyze the effects of uncertainty in the parameters of the dynamic and geometric models of the VE. The postdoctoral researcher will participate in the high-level design of the VE training system, and will have primary responsibility for one or more of the system components. His/her expertise will enable the project to produce a higher-quality, more robust system.