Development of Simulation and Virtual Reality
CM30008-2
Module Leader: Mr Bob Hobbs, Room K210, email: R.G.Hobbs@staffs.ac.uk
Overall View of the Module
This module is a pre-requisite for the 3rd year module Implementation of Simulation and Virtual Reality
module.
The module is essentially split into two sessions.
 Semester one:
 Delivered in the silicon graphics laboratory K103
 Concentrates on graphics aspects of Virtual Reality and factors relating behavioural elements
involved in Virtual Reality environments
 Implements raw 3D graphics handling using openGL and the 'c' programming language
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Semester two:
Delivered in the engineering facility
Concentrates on simulation and factors relating to VR peripherals
Looks at engineering principles underpinning the use of VR and simulation hardware.
Each week’s lecture will introduce new material that is reviewed, extended, discussed and applied to
simple problems in weekly tutorials. The practical sessions will provide you with an opportunity to
implement solutions and develop your practical skills. The tutorial sessions should be highly active.
Practical Development Environment (Semester one)
Operating System:
Editor:
Development Language:
Development Environment:
IRIX (sgi version of unix)
nedit or eMacs
ANSI C using OpenGL
Silicon graphics Octane 2 workstations
Practical Development Environment (Semester two)
Operating System:
Development Environment:
Windows 2000
WorldUp VR simulation development kit
Class Contact
This module comprises two hours of class contact per week. You should attend one lecture and one
tutorial session per week.
Lectures
You should attend one lecture per week.
Tutorials
You should attend one tutorial per week.
In semester two the lecture and practical session will be delivered in one two hour slot.
Teaching Team
TUTOR NAME
TIMETABLED FOR
ROOM
EMAIL
Mr. Bob Hobbs
(Module Leader)
6 weeks lectures plus
Tutorial/practical sessions
K210
R.G.Hobbs@staffs.ac.uk
SDC Module Handbook
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25 Jan. 02
Dr. Len Noriega
6 weeks lectures plus
Tutorial/practical sessions
K3
L.A.Noriega@staffs.ac.uk
Mr. Sam Wane
12 weeks lectures plus
Tutorial/practical sessions
D107
S.O.Wane@staffs.ac.uk
Credits
There are 20 credits for this award
Learning Hours
Contact Hours
48
Total Learning Hours 160
Independent Study Hours 112
Indicative Content
 Concepts involved in nodes, splines and other modelling geometry
 Rendering and surface texturing effects
 Introduction to creation of VR objects using JAVA,C or C++ libraries in a suitable programming
environment
 Concepts of behaviour of VR objects in a virtual world e.g. AI agents
 Examination and appraisal of current VR and simulation projects and practices
 Operation and application of transducers used in VR
 Simulation systems such as touch sensors, microphones, loudspeakers, stepper motors, servo motors,
gearboxes, drives and pivots and hydraulic arms
Learning Strategies
The normal pattern of delivery will be one lecture and one practical session per week. In the lectures you will
be taught about the principles of feedback and control in virtual reality and simulation. In the supervised
practical sessions you will be able to learn how to practice what you were taught in the lectures by asking
questions of the tutor as well as practical applications using appropriate software. During your independent
learning sessions, you will complete work given to do during the lectures and practical sessions. This work
will serve to enhance your understanding of the subject matter.
Learning Outcomes
Which Will Be Assessed By
1. Create virtual worlds
2. Create interactive learning and modelling
spaces which incorporate intelligent behaviour
3. Understand the relationship between
mathematical concepts and generation of VR
objects (using headsets etc.)
4. Demonstrate awareness of concepts of
operation and application of external
components in VR
5. Create simple projects using OO programming
languages utilising relevant libraries
6. Create processes which reflect inward and
outward control of devices re: mechanical,
optical and acoustic systems in VR and
Simulation environments
SDC Module Handbook
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50% in course assessment by means of a series of
practical assignments including a logbook (25%)
(learning outcomes 1,2,5,6)
A written report (25%)
(learning outcomes 3,4)
A written long and short answer exam (50%)
(learning outcomes 1,2,3,4)
25 Jan. 02
Lecture Schedule
Week Lecture Content
Lecturer
Room
Tutorial
Room
Semester One
1.
Introduction to Module
RH
K103
Introduction to openGL and
Glut toolkit
Construction of Polyhedra
Rotating, scaling and
translation
Creating composite models.
Lighting nodes in tree
manipulation
Collision detection and bounce
back. Friction on an inclined
plane.
Simple levers and pivots
Goal setting
Using and viewing VEs
through HMDs. Use of space
mice and digitisers
Use of head tracking to
interact with VE
Mapping images to HMD
display
Assignment work
Assignment work
K103
2.
3.
Graphics Concepts
Concepts of Image Manipulation
LAN
LAN
K103
K103
4.
Concept of Scene Graph and Simulation LAN
Loop
K103
5.
Underlying Physics
RH
K103
6.
7.
8.
Kinematics and Biomechanics
AI agents in VEs
Trade-off realism v Real-Time
LAN
LAN
RH
K103
K103
K103
9.
Tracking and Feedback mechanisms
RH
K103
10.
HCI for virtual Environments
RH
K103
11.
Assignment Surgery
12.
Recap and Revision
Semester Two
13.
Behaviour in Virtual environments
14.
Concepts of Tracking Systems
RH & LAN K103
RH & LAN K103
K103
K103
K103
K103
G01A&B Hydraulic rams, step motors
and stewart platform
G01A&B
SW
G01A&B Further work with Hydraulics, G01A&B
step motors and stewart
platform
SW
SW ,RH &
LAN
SW, RH &
LAN
G01A&B Assignment work
G01A&B Assignment work
G01A&B
G01A&B
G01A&B Assignment work
G01A&B
16.
Primary Feedback mechanisms
SW
17.
Secondary Feedback mechanisms
SW
18.
SW
22.
23.
Study of example simulation system
employing a virtual environment
Mechanical system components used to
manage input and output from a
simulation system
Overview of control systems used to
interface between VEs and mechanical
devices
Critical constraints in mechanical
systems
Methods used to dampen or amplify
mechanical input to or feedback from
mechanical devices
Assignment Surgery
Assignment Surgery
24.
Recap and Revision
SDC Module Handbook
K103
K103
K103
SW
SW
21.
K103
G01A&B
G01A&B
Mapping behaviour to tracking
20.
K103
G01A&B Intro to World Up
G01A&B Creating virtual worlds using
world up
G01A&B Using tracking device as input
mechanism
G01A&B Programming user interaction
to generate simple (visual)
feedback
G01A&B Inter-object interaction within
a VE
G01A&B Programming secondary
behaviour
G01A&B Joints and linkages
SW
SW
15.
19.
K103
K103
SW
Page 3
G01A&B
G01A&B
G01A&B
G01A&B
G01A&B
25 Jan. 02
Recommended Texts
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Modern Control Technology
Christopher T. Kilian
West Publishing 1996 ; ISBN 0-314-06631-4
Al Agents in Virtual Reality Worlds : Programming Intelligent VR in C++ by Mark Watson
John Wiley & Sons; ISBN: 0471127086
Force and Touch Feedback for Virtual Reality
Grigore C. Burdea
John Wiley & Sons; ISBN: 0471021415
Simulation Modelling and Analysis
Averill M.Law, W.David Kelton
McGraw-Hill College Division; ISBN 0070366985
Assessment
This module is assessed by 50% coursework consisting of two individual assignments assignment 1
which must be demonstrated to your tutor as part of the assessment. The second assignment is to be
‘formally’ submitted in a blue folder, as per the School of Computing’s assignment submission process,
following the guidelines and requirements stated in the assignment specifications.
The remaining 50% is to be assessed by a long and short answer exam which will be sat under exam
conditions under the university invigilation policy.
Assignment 1
Assessment Weighting: 25%
Format:
Hand-out Date:
Hand-in Date:
Practical assignment
Hardcopy distributed during the lecture of week 4
End of week 12. Demonstration to be given during week 12.
Failure to demo will result in zero marks for whole assignment
Assignment 2
Assessment Weighting: 25%
Format:
Hand-out Date:
Hand-in Date:
Written report
Hardcopy issued at start of semester two (date to be decided)
End of week 24.
Exam
Assessment Weighting:
50%
Long and short answer exam duration 2 hours. Date and time to be confirmed.
SDC Module Handbook
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Research and reading guidance for study time
What is Simulation?
Definition
Simulation is the process of designing a model of a real system and conducting experiments with this
model for the purpose of either understanding the behaviour of the system or of evaluating various
strategies for the operation of the system.
ADVANTAGES
Simulation games simplify complex experiences making them easier to understand. Because the game is
not "real" players can practice behaviors which they might be reluctant to try under normal circumstances.
Time is compressed; therefore players get feedback on their decisions quickly and can see the relationship
of events more clearly than in real life. The games are fun. They are a great way to break up lectures.
They involve more participation than most learning techniques. They stimulate discussion. They can be
used for problem solving, evaluation, information, analysis, verbal and interpersonal skill development
and conflict resolution. They allow players to see themselves and others under different conditions.
DISADVANTAGES
Because simulation games are associated with "play" they are often not taken seriously. Players may
reject game experiences as "just a game." Sometimes the game may excessively simplify a complex
experience and therefore "distort" reality. If the game is not well designed it may confuse players and
cause frustration. To use simulation games for educational purposes requires different skills on the part of
the educator.
Examples of simulation use
Simulations are the products that result when one creates the appearance or effect of something else.
Games are contests in which both players and opponents operate under rules to gain a specified objective.
(Cruickshank, 1980, p. 75 ).
Life
The program called ‘LIFE’ developed by mathematician John Conway in the 1960’s. Shows how simple
rules can create order out of chaos.
Life rules:
1. If a cell has 1 or no neighbours, it dies. (loneliness)
2. If a cell has 4 or more neighbours it dies. (overcrowding)
3. A cell is born in an empty square that has exactly 3 neighbours.
SHOW EXAMPLE OF LIFE ON COMPUTER
http://cgi.student.nada.kth.se/cgi-bin/d95-aeh/get/lifeeng
Robotwar
Another simulation ‘Robotwar’ developed by Silas Warner at Muse Software in Baltimore. This is a
programming game for Unix where robots are programmed with different behavious by people and set
agains each other in an arena over the network.
http://www.lysator.liu.se/realtimebattle/Main.html
Windows version
http://www.robotbattle.com/home.html
Why use simulation?
Practise runs (surgery, controlling submarine)
Test theories without damage.
Observe more data (strains, stress on points), colour code items (surgery)
GAMES
Computer packages available for simulation
Working model 2D & 3D
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Write own simulation (BASIC, MATLAB, C, JAVA ….)
How a simulation is built
Simulation uses a simplified representation, or model.
Model
A model is the essential components of the features we are simulating. It is likened to a caricature of the
environment where the main features are detailed at the expense of the others using a selective process to
reduce computing overheads.
Superfluous details must be stripped to speed up simulations e.g. no good having a weather predicting
program using models of pollutants, moisture and air mass if it takes 28 hours to run.
William of Occam, a 14th English philosopher decreed that ‘Things should not be multiplied without good
reason’, i.e. eliminate unnecessary detail. This is known as Occams razor.
A model may be physical, mental, mathematical, computer, or a combination.
Children playing house, wind tunnels, wave tanks.
Mathematicians spent years in the 16th C iterating calculations to create navigation tables.
Models may be of physical science, social science, economics.
WORLD3 models the relation between population, pollution, resources and growth.
SIMCITY
Typical Steps in Building an Exploratory Simulation of a Complex System
 Simplify the problem as much as possible while keeping what is essential.
 Write program which simulates many components following simple rules with specified
interactions and randomising elements.
 Run program many times with different random number seeds, collecting data and statistics from
the different runs.
 Attempt to understand how the simple rules gave rise to the observed behaviour.
 Perform parameter changes and "lesions" on the program to locate the sources of behaviour and
the effects of different parameters.
 Simplify the simulation even further if possible, or add additional elements that were found to be
necessary.
Design, test, implement, validate
(techniques)
What is Virtual Reality?
emulating the real world
making an electronic world seem real
Being able to interact with the electronic representation
moving within the world
manipulating objects in the world
How do we create virtual reality?
3D graphics
Stereo projection
Use of variety of senses
Feedback
Introduction to computer graphics
Static image display, pixels, lines to points.
Perspective.
Overlap, foreground to background.
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Web links
http://www.swcollege.com/marketing/gitm/gitm16-6.html - notes on games for business tutoring
http://www.cofc.edu/~seay/cb/simgames.html – includes notes on applications to education
http://nasaga.org/resources/horngames.htm – simulations of various models mainly from history
http://www.ncsa.uiuc.edu/Cyberia/Expo/ve_nav.html - virtual reality resource centre
DOF (degrees of freedom)
The 2D graph
Progression from number line.
Use in 2D plotters.
Show how a point can be moved to a location.
Centre reference of object, how to move 2D object to a point on the graph.
2D matrices
Introduce matrices for 2D positioning.
Translation using matrices
How matrices can be coupled to describe an object position, perspective and translation.
The 3D graph
Show using 3D xyz co-ordinate system physical model
Program to move object to coords.
3D matrices
Introduce matrices for 3D positioning
Surge, sway, heave
Introduce matrices for x,y,z motion.
Headsets
Types of headsets and how the 3D image is produced.
Quality of image.
Tracking Systems
Fast track
How head tracking works (Hall effect sensors, accelerometers), relate to 6DOF
Optical and electromagnetic tracking systems.
How are tracking systems callibrated and mapped to the virtual environment?
Gauntlets and space mice
How gauntlet detects position of fingers (fiber-optics)
Gauntlet positioning (same as headsets)
Use of space mouse in Working Model or Fast Track
Haptic devices
Force Feedback
Tactile sensation
Joints and linkages
The joints on the 2D version of working model pierce all overlapping components. These joints permit
various degrees of freedom. Movements allowed are rotation or sliding.
Types of joints
Rigid
Pin
Slot joint
Keyed slot joint
Curved slot joint
Closed curved slot joint
Ball (restrictions)
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Universal
Clevis
Forward kinematics
How graphical models are displayed (FK)
Robot arm.
Modelling using FK, geometric solution.
2D rotation using matrices
How to rotate an object using matrices.
Building a model using successive matrices (FK)
Robot arm in 2D
3D rotation using matrices
Roll, pitch, yaw
Robot arm with waist.
3D cube and how 8 points reference it.
Centre of gravity
Centre of gravity? How matrices can be used to calculate the centre of gravity.
How do we translate the kinematics into digital inputs/outputs for Virtual Environments?
How do we smooth, amplify or control the interfacing between internal representation and external
components of a virtual reality system?
Intelligent Behaviour
AI agents
Knowledge Acquisition
How do we design systems to learn behaviour and allow elements of the system to behave intelligently
with respect to other objects in the system?
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25 Jan. 02