PUODARSI http://www.kaemart.it/puodarsi PUODARSI Product User-Oriented Development based on Augmented Reality and Interactive Simulation STATE OF THE ART AND SCENARIOS Summary: The document describes the technologies and the libraries in the fields of interest of the project. Deliverable n°: D1 Version n°: 0.1 Keywords: Virtual Prototyping, Virtual Reality, Augmented Reality, Mixed Reality, scientific visualization, haptic, Reverse Engineering, multimodal interaction, test cases. TECHNICAL REPORT D1 - 1 - PRIN2006 – PUODARSI STATE OF THE ART AND TEST CASE File name D1.doc Deliverable n°: D1 Release date 31/10/2007 Autori: Monica Bordegoni; Francesco Politecnico di Milano Ferrise Giuseppe Monno; Antonello Uva; Politecnico di Bari Michele Fiorentino Fabio Bruno; Francesco Caruso Universita’ della Calabria Piero Mussio; Stefano Valtolina; Universita’ degli studi di Loredana Paralisiti Milano Francesco Caputo; Giuseppe Di Gironimo; Salvatore Gerbino; Massimo Martorelli; Adelaide Università di Napoli Marzano; Stefano Papa; Fabrizio Federico II Renno; Domenico Speranza; Andrea Tarallo TECHNICAL REPORT D1 - 2 - PRIN2006 – PUODARSI STATE OF THE ART AND TEST CASE Index Index________________________________________________________________ 3 1 Introduction ________________________________________________________ 6 2 Augmented Reality and Mixed Reality systems _____________________________ 6 2.1 AR and MR systems ____________________________________________________ 6 2.1.1 Tracking systems ___________________________________________________________7 2.1.2 Visualization systems _______________________________________________________13 2.2 Visualization libraries __________________________________________________ 21 2.2.1 Java 3D __________________________________________________________________22 2.2.2 Open Inventor _____________________________________________________________22 2.2.3 VTK ____________________________________________________________________23 2.2.4 OpenSG__________________________________________________________________23 2.2.5 OpenSceneGraph __________________________________________________________25 2.3 References____________________________________________________________ 27 3 Haptic systems______________________________________________________ 29 3.1 Haptic technology _____________________________________________________ 29 3.1.1 A taxonomy of current haptic technologies ______________________________________29 3.1.2 Possible dimensions in the taxonomy ___________________________________________29 3.1.3 Size scales________________________________________________________________30 3.1.4 Degrees of freedom (DOFs) __________________________________________________30 3.1.5 Grounding and kinematics ___________________________________________________30 3.1.6 Drive type ________________________________________________________________31 3.1.7 Control type ______________________________________________________________31 3.1.8 Contact type ______________________________________________________________31 3.2 Haptic devices_________________________________________________________ 32 3.2.1 Existing force feedback displays_______________________________________________32 3.2.2 1-DOF and 2-DOF displays __________________________________________________32 3.2.3 3-DOF and 6-DOF displays __________________________________________________32 3.2.4 Exoskeleton or humanoid type ________________________________________________34 3.2.5 Existing grasping displays ___________________________________________________36 3.2.6 Existing vibro-tactile and friction displays _______________________________________38 3.2.7 Conclusion on the state of the art in large-scale haptic displays_______________________38 3.3 Haptic libraries _______________________________________________________ 39 3.3.1 CHAI3D _________________________________________________________________39 3.3.2 OpenHaptic _______________________________________________________________40 3.3.3 H3D/VHTK ______________________________________________________________40 3.3.4 Haptik ___________________________________________________________________41 3.3.5 OpenScenceGraph Haptic____________________________________________________42 3.3.6 Haptic libraries overview ____________________________________________________43 3.4 Reference ____________________________________________________________ 43 4 Interactive simulation systems _________________________________________ 44 4.1 CFD analysis technologies_______________________________________________ 44 4.1.1 Deal II ___________________________________________________________________44 4.1.2 OpenFlower ______________________________________________________________44 4.1.3 Comsol Multiphysics _______________________________________________________48 4.1.4 Benchmark of the selected CFD solvers _________________________________________50 4.2 FEM analysis technologies ______________________________________________ 51 4.2.1 Introduction_______________________________________________________________51 4.2.2 Software _________________________________________________________________51 TECHNICAL REPORT D1 - 3 - PRIN2006 – PUODARSI STATE OF THE ART AND TEST CASE 5 Reverse Engineering systems __________________________________________ 53 5.1 Introduction __________________________________________________________ 53 5.2 3D Scanning techniques_________________________________________________ 54 5.2.1 Contact digitizers __________________________________________________________55 5.2.2 Mixed CMM-Optical digitizers _______________________________________________56 5.2.3 Line and Spot Scanners (based on triangulation) __________________________________56 5.2.4 Probes based on the Conoscopic Holography_____________________________________58 5.2.5 Dual-Capability Systems_____________________________________________________60 5.2.6 Other Types of Laser Systems ________________________________________________60 5.2.7 Other Types of Tracking Systems______________________________________________61 5.2.8 Photogrammetry ___________________________________________________________64 5.2.9 Specifications and application criteria __________________________________________66 5.3 Critical issuses related to "Puodarsi" RE systems ___________________________ 68 5.4 Conclusions___________________________________________________________ 69 5.5 References____________________________________________________________ 70 5.6 Reverse Engineering Software: technical specs _____________________________ 71 5.7 Reverse Engineering Hardware: technical specs ____________________________ 72 5.7.1 Mechanical Touch Probe Systems _____________________________________________72 5.7.2 Line Scanners/Triangulation__________________________________________________73 5.7.3 Laser Trackers_____________________________________________________________74 5.7.4 Optical Radar _____________________________________________________________74 5.7.5 Color Capable Systems ______________________________________________________74 5.7.6 3D Metrology Systems for Manufacturing _______________________________________74 5.7.7 Scanners for Very Large Objects and Surveying Applications________________________75 6 Multimodal Annotations______________________________________________ 77 6.1 Introduction: Paper Annotation, electronic annotation and web annotation _____ 77 6.2 Annotation in 2d environments __________________________________________ 77 Tools for Collaborative Annotation: a Comparison among Three Annotation Styles developed by Unimi (University of Milano)____________________________________ 77 A. SyMPA annotation activities ____________________________________________________78 B. T.Arc.H.N.A annotation activities ________________________________________________78 C. BANCO annotation activities ___________________________________________________79 Del.ico.us, Digg, BlinkList _______________________________________________________80 Pliny and traditional scholarly practice ______________________________________________81 DesignDesk ViewLink___________________________________________________________81 Eroiica Edit ___________________________________________________________________82 eReview ______________________________________________________________________82 6.3 Annotation in 3d environments __________________________________________ 83 The Virtual Annotation System ____________________________________________________83 CATIA 3D Functional Tolerancing & Annotation 2 (FTA) ______________________________83 Annotation Authoring in Collaborative 3D Virtual Environments _________________________83 Composing PDF Documents with 3D Content from MicroStation _________________________83 A Direct-Manipulation Tool for JavaScripting Animated Exploded Views Using Acrobat 7.0 Professional ___________________________________________________________________84 NX I-deas Master Notation: For documenting solid model designs ________________________84 Immersive redlining and annotation of 3D design models on the Web ______________________84 Post Processing Tips & Hints: Annotation in ANSYS __________________________________84 Boom Chameleon: Simultaneous capture of 3D viewpoint, voice and gesture annotations on a spatially-aware display___________________________________________________________85 ANNOT3D DESCRIPTION ______________________________________________________85 Drawing for Illustration and Annotation in 3D ________________________________________85 Markup and Drawing Annotation Tools _____________________________________________86