Interactive Haptic Simulation for Engineering Design

这笔资金用于研究用于实时触觉模拟的基于物理的交互式几何算法，即具有高效接触确定的互动力显示。要研究的具体问题包括：(1)复杂几何模型之间实时碰撞检测的新算法的设计；(2)用于计算接触力或恢复力的交互速率下的穿透深度的计算；(3)用于变形的柔性模型的接触确定算法的计算效率的提高；(4)整合从拟议的研究中获得的所有算法进展和使用触觉模拟的概念验证演示；(5)验证它们在其他设计和工程应用中的有效性；以及(6)通过发布基于原型软件实现的公共领域软件包并通过将技术转让给商业供应商来快速传播研究结果。这项研究的目标是将用于力显示的底层接触确定算法的性能提高至少一个数量级，以支持交互式触觉模拟并实现对3D CAD模型的自然操纵。这项研究的成功完成将对推动触觉模拟作为三维工程设计的一种新的交互范式产生重大影响。除了用于工程设计的触觉仿真之外，这些算法还将用于虚拟样机和设计自动化中的公差分析和维修性研究。

This grant provides funding to investigate interactive physically-based geometric algorithms for real-time haptic simulation, namely interactive force display with efficient contact determination. The specific research issues to be investigated include: (1) design of new algorithms for real-time collision detection between complex geometric models; (2) computation of penetration depth at interactive rates for calculating contact or restoring forces; (3) improved computational efficiency of contact determination algorithms for flexible models undergoing deformation; (4) integration of all the algorithmic advances gained from the proposed research and a proof-of-concept demonstration using haptic simulation; (5) verification of their utility in other design and engineering applications; and (6) rapid dissemination of the research results by releasing public domain software packages based on the prototype software implementations and by transferring the technology to commercial vendors. The goal of this research is to improve the performance of underlying contact determination algorithms for force display by at least an order of magnitude, in order to sustain interactive haptic simulations and to enable natural manipulation of 3D CAD models. Successful completion of the proposed research can have considerable impact in promoting haptic simulation as a new interaction paradigm for three-dimensional engineering design. Other than haptic simulation for engineering design, these algorithms will also be useful for tolerance analysis and maintainability studies in virtual prototyping and design automation.