1,721,021 research outputs found
Nuovo insediamento integrato urbano/universitario nella città di Bologna - catalogo dei progetti - quinto classificato
No full textNella proposta per la Bolognina, area interclusa tra tre fasci di reti ferroviarie a nord ovest di Bologna, abbiamo privilegiato il disegno degli spazi verdi, definendo tre dimensioni (e scale) dei comparti destinati a parco. Gerarchicamente connessi in ordine decrescente dalla scala territoriale a quella di comparto fino a quella di vicinato, i tre sistemi hanno indicato le regole per definirne i bordi e le connessioni. La soluzione della continuità urbana pedonale e ciclabile attraverso i binari è stata affidata a semplici opere di movimento di terra, grandi terrapieni pianumati, capaci di far passare da un comparto all'altro senza interferenze. infrastrutural
Multi-Point Physical Interaction with Real and Virtual Objects
No full textThe problem of robotic and virtual interaction with physical objects has been the subject of research for many years in both the robotic manipulation and haptics communities. Both communities have focused much attention on human touch-based perception and manipulation, modelling contact between real or virtual hands and objects, or mechanism design. However, as a whole, these problems have not yet been addressed from a unified perspective. This edited book is the outcome of a well-attended workshop which brought together leading scholars from various branches of the robotics, virtual-reality, and human studies communities during the 2004 IEEE International Conference on Robotics and Automation. It covers some of the most challenging problems on the forefront of today’s research on physical interaction with real and virtual objects, with special emphasis on modelling contacts between objects, grasp planning algorithms, haptic perception, and advanced design of hands, devices and interfaces
Washout Filter Design for a Motorcycle Simulator
No full textMany motion based simulators have been developed for many different types of vehicles. In order to make a simulation more realistic, linear accelerations and angular rates are exerted on the pilot by moving the platform on which the mock-up vehicle is located. This has to be accomplished without driving the simulator out of its work-space. The software component that is in charge of this is commonly referred to as the washout filter. Washout filters have been widely investigated in the past, mainly in the field of flight simulators. We present a washout filter designed for a motorcycle simulator. The solution is preliminary and follows, as a reference point, techniques previously adopted for large aircraft simulators. Differences between motorcycle and aircraft simulation are analyzed and a preliminary customized solution is proposed. The washout filter, which will be used to drive a motorcycle simulator, currently being built at PERCRO, has been tested off-line showing good results and will soon be tested on real rider
A GPU-friendly Method for Haptic and Graphic Rendering of Deformable Objects
No full textIn this paper we present a new method for real-time inter-
active haptic and graphic rendering of complex objects locally deformed
by multiple contacts. Core algorithms have been designed to be exe-
cutable also on videoboard's GPU, thus taking advantage of parallel ma-
trix and vector computational power. Although complex physical simula-
tion has been simpli ̄ed to run on GPUs, results are characterized by high
visio-tactile realism perceived by users. Graphical rendering algorithms
can be easily added to pre-existing vertex shaders/programs. The pro-
posed method makes use of common triangular meshes, thus making the
method a good choice when adding haptic feedback to existing graphical
applications
The Haptik Library - a Component based Architecture for Haptic Devices Access
No full textHaptik is a component based library recently developed at
the University of Siena. It allows easy but powerful low-level access to
haptic devices, both in a uniform way, common to all devices, or in a more
specialized one. Haptik addresses haptic device access. It is non-invasive
and easily usable with existing applications. Its architecture guarantees
a binary compatibility of applications with future versions of devices,
library and plugins, still maintaining the maximum performance achiev-
able directly with devices SDKs. The library is freely downloadable at
http://sirslab.dii.unisi.it/haptic/haptik.ht
The Fetouch System: Visual-Haptic Rendering of Fetuses
No full textThe system, developed at Siena University in the last two years, allows users to haptically interact with 3D models obtained from ultrasound
scans. Its current prime use is to allow mothers to interact with a model of the
fetus they are carrying. The system, which is freely available on the project web
page (http://www.fetouch.org), has been tested on twelve cases which have
been monitored by doctors at Siena Hospital. New features of the system include the haptic heartbeat feature
The Hand Force-Feedback:Analysis and Control of a Haptic Device for the Human Hand
No full textThe hand force feedback system is an anthropomorphic haptic interface for the replication of the forces arising during grasping and fine manipulation operations. It is composed of four independent finger dorsal exoskeletons which wrap up four fingers of the human hand (the little finger is excluded). Each finger possesses three electrically actuated DOF placed in correspondence with the human finger flexion axes and a passive DOF allowing finger abduction movements. Each exoskeleton finger has three points of attachment to the operator's finger (two for the thumb) at the middle of the phalanges. Mechanical fixtures guarantee that just a force perpendicular to the finger and in its sagittal plane is exchanged at each point of attachment. Such force component is sensed and it is actively controlled in feedback. The paper illustrates the design and testing of the controller for the thumb exoskeleton. First the mechanical system is analyzed and the features which influence the controller design, such as the presence of unidirectional tendon transmission, are modeled. Then haptic controllers, i.e. feedback controllers aiming at improving the performance of the device when used as a haptic interface for virtual environments or telemanipulation, are designed and tested experimentally. Finally the experimental results are discusse
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