• Title/Summary/Keyword: Virtual Object Exploration

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A Study on a Virtual Object Exploration Using a Force Reflection Virtual Teleoperation System (힘 반향 가상원격조작 시스템을 이용한 가상 물체 탐색에 관한 연구)

  • Gwon, Hyeok-Jo;Kim, Gi-Ho;O, Jae-Yun
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.25 no.5
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    • pp.891-898
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    • 2001
  • This paper develops a master manipulator which can reflect a force from a slave manipulator effectively. It many have a big workspace, can represent a human operators manipulation perfectly, and is composed of a position control part, an orientation control part and an end effector control part. This paper also develops a graphic simulator using the Visual C++ and OpenGL in the Window operating system. It can be used to make a virtual slave manipulator and set a virtual working environment, and provide a visual information from a desired view point. A virtual teleoperation system is developed by connecting the developed master manipulator to the graphic simulator using an interfacing hardware bilaterally. It is used for performing a virtual object exploration experiment. In the experiment, two virtual objects are used. They are virtual wall and virtual hexahedron which have 0.7N/mm and 2.2 N/mm stiffness respectively. The experiments are performed under six different working conditions. The experiment results will show the effectiveness of the reflected force from the slave manipulator for improving the efficiency and stability of the teleoperation task.

The effects of active navigation on object recognition in virtual environments (자기주도 탐색(Active navigation)이 가상환경 내 대상재인에 미치는 효과)

  • Hahm, Jin-Sun;Chang, Ki-Won;Lee, Jang-Han;Lim, Seung-Lark;Lee, Kang-Hee;Kim, Sei-Young;Kim, Hyun-Taek
    • 한국HCI학회:학술대회논문집
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    • 2006.02b
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    • pp.633-638
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    • 2006
  • We investigated the importance and efficiency of active and passive exploration on the recognition of objects in a variety of virtual environments (VEs). In this study, 54 participants (19 males and 35 females) were randomly allocated into one of two navigation conditions (active and passive navigation). The 3D visual display was presented through HMD and participants used joysticks to navigate VEs. The VEs consisted of exploring four rooms (library, office, lounge, and conference room), each of which had 15 objects. 'Active navigation' was performed by allowing participants to self-pace and control their own navigation within a predetermined time limitation for each room. 'Passive navigation' was conducted by forced navigation of the four rooms in random order. Total navigation duration and objects for both navigations were identical. After navigating VEs, participants were asked to recognize the objects that had been in the four rooms. Recognition for objects was measured by response time and the percentage of correct, false, hit, and miss responses. Those in the active navigation condition had a significantly higher percentage of hit responses (t (52) = 4.000 p < 0.01), and a significantly lower percentage of miss responses (t (52) = -3.763, p < 0.01) in object recognition than those in the passive condition. These results suggest that active navigation plays an important role in spatial cognition as well as providing a better explanation about the efficiency of learning in a 3D-based program.

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A Conceptual Design of an Integrated Tactile Display Device

  • Son, Seung-Woo;Kyung, Ki-Uk;Yang, Gi-Hun;Kwon, Dong-Soo;Kim, Mun-Sang
    • 제어로봇시스템학회:학술대회논문집
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    • 2003.10a
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    • pp.2753-2758
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    • 2003
  • Tactile sensation is essential for many manipulation and exploration tasks not only in a real environment but also in a virtual environment. In this paper, we discuss a conceptual design of an integrated tactile display system. The system comprises two parts: a 2 DOF force feedback device for kinesthetic display and a tactile feedback device for displaying the normal stimulation to skin and the skin slip/stretch. Psychophysical experiments measure the effects of fingerpad selection, the direction of finger movements and the texture width on tactile sensitivity. We also investigate characteristics of lateral finger movement while subjects perceive different textures. From the experimental results, the principal parameters for designing a tactile display are suggested. A tactile display device is implemented using eight piezoelectric bimorphs and a linear actuator, and is attached to a 2 DOF translational force feedback device to simultaneously simulate texture and stiffness of the object.

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Development of System for Real-Time Object Recognition and Matching using Deep Learning at Simulated Lunar Surface Environment (딥러닝 기반 달 표면 모사 환경 실시간 객체 인식 및 매칭 시스템 개발)

  • Jong-Ho Na;Jun-Ho Gong;Su-Deuk Lee;Hyu-Soung Shin
    • Tunnel and Underground Space
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    • v.33 no.4
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    • pp.281-298
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    • 2023
  • Continuous research efforts are being devoted to unmanned mobile platforms for lunar exploration. There is an ongoing demand for real-time information processing to accurately determine the positioning and mapping of areas of interest on the lunar surface. To apply deep learning processing and analysis techniques to practical rovers, research on software integration and optimization is imperative. In this study, a foundational investigation has been conducted on real-time analysis of virtual lunar base construction site images, aimed at automatically quantifying spatial information of key objects. This study involved transitioning from an existing region-based object recognition algorithm to a boundary box-based algorithm, thus enhancing object recognition accuracy and inference speed. To facilitate extensive data-based object matching training, the Batch Hard Triplet Mining technique was introduced, and research was conducted to optimize both training and inference processes. Furthermore, an improved software system for object recognition and identical object matching was integrated, accompanied by the development of visualization software for the automatic matching of identical objects within input images. Leveraging satellite simulative captured video data for training objects and moving object-captured video data for inference, training and inference for identical object matching were successfully executed. The outcomes of this research suggest the feasibility of implementing 3D spatial information based on continuous-capture video data of mobile platforms and utilizing it for positioning objects within regions of interest. As a result, these findings are expected to contribute to the integration of an automated on-site system for video-based construction monitoring and control of significant target objects within future lunar base construction sites.

"Poor Theatre, Poor Art" - Jerzy Grotowsky's Play and Arte Povera ('가난한 연극, 가난한 미술' - 그로토프스키 연극이론과 아르테 포베라)

  • Kang, Young-Joo
    • The Journal of Art Theory & Practice
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    • no.5
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    • pp.109-133
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    • 2007
  • What a concept of theatricality in modern art became more controversial is through a review "art and object-hood" on Michael Fried's minimal art, as having been already known broadly. As he had been concerned, the art following the minimalism is accepting as the very important elements such as the introduction of temporality, the stage in the exhibition space, and the audience's positive participation, enough to be no exaggeration to say that it was involved in almost all the theatricality. Particularly even in the installation art and the environment art, which have substantially positioned since the 1970s, the space is staged, and the audience's participation is greatly highlighted due to the temporal character and the site-specific in works. In such way, the theatricality in art work is today regarded as one of the most important elements. In this context, it is thought to have significance to examine theatricality, which is shown in the works of Arte Povera artists, who had been active energetically between 1967-1971. That is because the name of this group itself is what was borrowed from "Poor Theatre" in Jerzy Grotowski, who is a play director and theorist coming from Poland, and because of having many common points in the aspect of content and form. It reveals that the art called Arte Povera is sharing many critical minds in the face of commanding the field called a play and other media. Grotowski's theatre theory is very close to the theory and substance in Arte Povera in a sense that liberates a play, which was locked in literature, above all, renews the relationship between stage and seat and between actor and audience, and pursues a human being's change in consciousness through this. That is because Arte Povera also emphasizes the communication with the audience through appealing to a human being's perception and through the direct and living method, not the objective art concept of centering on the work. In addition, the poor play or poor art all has tendency that denies a system, which relies upon economic and cultural system, and seeks for what is anti-cultural, elemental, and fundamental. It is very similar even in a sense that focuses on the exploration process itself rather than the result, excludes the transcendental concept, and attaches importance to empiricism. However, Arte Povera accepts contradictoriness and complexity, and suggests eclecticism and tolerance, thereby being basically the nomadic art and the art difficult to be captured constitutively. On the other hand, there is difference in a sense that the poor play is characterized by purity, asceticism, seriousness, and solemnity. If so, which significance does this theatricality, which was introduced to art, ultimately have? As all the arts desire to be revealed with invisible things beyond the visual thing, theatricality comes to play a very important role at this time. If all the artists and audiences today came to acquire actual or virtual freedom much more, that can be said to be a point attributable to that art relied upon diverse conditions in a play.

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