Felipe Gomes de Carvalho

A tablet-based 3D interaction tool for virtual engineering environments

Three-dimensional computer-aided design (3D CAD) modeling and reviewing is one of the most common engineering project tools. Interaction in these environments is characterized by the need for a high precision level to execute specific tasks. Generally this kind of task uses specific interaction devices with 4 or more degrees of freedom, such as 3D mice. Currently applications involving 3D interaction use interaction devices for object modeling or for the implementation of navigation, selection and manipulation techniques in a virtual environment. A related problem is the need to control naturally non-immersive tasks, such as symbolic input (e.g., text, photos). In addition, the steep learning curve to handle such non-conventional devices is a recurring problem. The addition of sensors and the popularization of smart-phones and tablets, allowed the use of such devices in virtual engineering environments. These devices, differs to other devices by the possibility of including additional information and performing naturally non-immersive tasks. This work presents a 3D interaction tablet-based tool, which allows the aggregation of all major 3D interaction topics, such as navigation, selection, manipulation, system control and symbolic input. To validate the proposed tool, the SimUEP-Ambsim application was chosen, an oil and gas simulator that has the complexity needed and which allows the use of all techniques implemented. Then, the tool was tested in another application, a photo-voltaic solar plant simulator, in order to evaluate the generality of this work concept.

Toward the design of transitional interfaces: an exploratory study on a semi-immersive hybrid user interface

A task that can be decomposed into subtasks with different technological demands may be a challenge, since it requires multiple interactive environments as well as transitions between them. Some of these transitions may involve changes in hardware devices and interface paradigms at the same time. Some previous works have proposed various setups for hybrid user interfaces, but none of them focused on the design of transition interactions. Our work emphasizes the importance of interaction continuity as a guideline in the design and evaluation of transitional interfaces within a hybrid user interface (HUI). Finally, an exploratory study demonstrates how this design aspect is perceived by users during transitions in an HUI composed by three interactive environments.

A VR Framework for Desktop Applications

The emergence of cheaper technologies for immersive environments has increased considerably the interest on applications of Virtual Reality (VR). However, currently available VR frameworks force user applications to be developed specifically for them. This increases the cost of converting an existing graphical application to virtual reality environments. This paper proposes a new framework, the LVRL (Lightweight Virtual Reality Libraries), which allows both creation and conversion of existing applications to VR without changing the structure of the application. The LVRL main objective is to provide a minimalist programming interface and non intrusive allowing the development of VR applications by non VR developers. This article describes the architecture of LVRL, its features, usage and the benefits obtained by the applications that use it.

Virtual reality techniques for planning the offshore robotizing

Remote locations such as ultra-deep water reservoirs (400 m or deeper) have been increasing the production complexity and logistic costs for Oil & Gas industry. In such conditions, oil exploration feasibility depends on new technologies to optimize production efficiency. One possible solution to this challenge is to increase the degree of automation in production units. New design concepts consider the use of robotic devices in such scenarios. In this paper we present the use of virtual reality techniques in a robotics framework, SimUEP- Robotics (Robotics Simulator for Stationary Production Units), aimed to enable planning the offshore platform robotizing. SimUEP-Robotics has an integrated Virtual Reality Engine specially tailored to provide realistic visualization of large offshore scene models in an immersive environment. Through the use of those visualization tools it is possible, for example, to better understand the quality of the planned robot trajectory and propose new algorithms that can be further evaluated in the virtual environment. We argue that the validation process in an immersive virtual environment reduces risks and costs of real operation tests scenarios.

Dynamic Adjustment of Stereo Parameters for Virtual Reality Tools

Due to emerging new technologies in thedevelopment of interactive 3D applications (eg games andvirtual reality), stereoscopic visualization is becoming acommon feature. However, this fact does not solve someproblems (nausea and headaches - cybersickness) related withthe generation of this type of visualization. Some parametershave to be carefully chosen to create a comfortable stereo view,for example, eye distance, zero parallax plane distance, and thetreatment of partially clipped objects in negative parallax. Thispaper presents a technique based on a CubeMap structure todynamically adjust stereo parameters during the usage of twovirtual reality tools in multi-scale 3D scenarios.

An Interaction Tool for Immersive Environments Using Mobile Devices

Interaction in engineering virtual environments differs by the necessity of the high precision level needed for the execution of specifics tasks for this kind of environment. Generally this kind of task uses specific interaction devices with 4 or more DOF. Current applications involving 3D interaction use interaction devices for object modelling or for the implementation of navigation, selection and manipulation tecniques in a virtual environment. A related problem is the necessity of controlling tasks that are naturally non-immersive, such as symbolic input (e.g., text, photos). Another problem is the large learning curve to handle such non-conventional devices. The addition of sensors and the popularization of smartphones and tablets, allowed the use of such devices in virtual engineering environments. Thes devices, besides their popularity and sensors, differs by the possibility of including additional information and performing naturally non-immersive tasks. This work presents a 3D interaction tablet-based tool, which allows the aggregation of all major 3D interaction topics, such as navigation, selection, manipulation, system control and symbolic input.

Designing a hybrid user interface: a case study on an oil and gas application

The post-WIMP (Windows, Icons, Menu and Pointer) user interfaces are creating new interaction modalities and the use of new input and output devices. Many of these new interfaces are not yet mature, and issues related with the clear definition of an applications context and technological requirements are still under investigation. The study of the relationship between the properties of interaction devices and their influence on the performance of 3D tasks (navigation, manipulation, and selection) is an important factor in the identification of adequate setups for carrying out these tasks. Evidences of this relationship are being described by new studies on interaction tasks. However, in a broader context, each task can be decomposed into subtasks whose technological demands can be a challenge, since they require multiple interaction environments as well as transitions between them. Therefore, this work proposes a hybrid technological setup to integrate the advantages of different functional environments. In order to achieve such goal, a semi-immersive environment composed of 3 functional environments was developed and transitions between these environments were exploited during a 3D annotation task in an oil and gas application.

A Robotics Framework for Planning the Offshore Robotizing Using Virtual Reality Techniques

The Oil & Gas industry has seen increasing costs of finding and extracting hydrocarbons, especially in remote locations, ultra-deep water reservoirs (400 m or deeper) or in hostile environments. Those new exploration frontiers have been increasing the production complexity and logistic costs. In such conditions, oil exploration feasibility depends on new technologies to optimize production efficiency. One possible solution to this challenge is to increase the degree of automation in production units. New design concepts also consider the use of robotic devices in such scenarios. In this paper we present a robotics framework, SimUEP-Robotics (Robotics Simulator for Stationary Production Units Unidades Estacionárias de Produção or UEPs, in Portuguese), aimed to enable planning the offshore platform robotizing using virtual reality techniques. The SimUEP-Robotics is based on ROS (Robot Operating System), a middleware for exchanging messages between different devices and processes that cooperate to accomplish a robotics task. SimUEP-Robotics is designed concerning the offshore requirements and is a flexible framework that allows the inclusion of new robots and devices in a virtual operation scenario. This capability enables the robotization and automation of offshore facilities that gradually evolve, starting from a complete virtual scenario towards a complete robotic system operating on a real platform, progressively including real devices. SimUEP-Robotics has an integrated Virtual Reality Engine (VR-Engine) specially tailored to provide realistic visualization of large offshore scene models in an immersive environment. The monitoring and management of remote operations of Stationary Production Units (SPU) is an activity that can also benefit by the usage of virtual reality scenarios due to the potential to reduce the complexity and difficulty in visualizing and validating simulations of operations performed by robots on a real SPU. The framework supports simultaneous simulation of multiple robots equipped with sensors and actuators like cameras, laser range finders and robotic manipulators. SimUEP-Robotics has also some specialized visualization tools like trajectory visualizer, ghostview robot animation, point-to-point measurement and a scenario editor that allows the user customize the target scenario accordingly. Through the use of those visualization tools it is possible, for example, to better understand the quality of the planned robot trajectory and propose new algorithms that can be further evaluated in the virtual environment. In conclusion, we argue that the validation process in an immersive virtual environment reduces risks and costs of real operation tests scenarios. SimUEP-Robotics has also an integrated Robotics-Simulator which is responsible for taking care of task planning and execution based on the information of the virtual scenario provided by the VR-Engine. To illustrate the effectiveness of the framework, different robotics applications were developed. One is an underwater application that calculates the whole dynamics of an operated ROV to simulate and test complex ROV operations in deep waters, like the connection of a flowline to a Christmas tree. The other one represents a topside offshore platform scenario where different virtual robots, derived from real mechanisms like Motoman DIA10, Puma 560, Seekur and others, operates. Results obtained on a pick and place task demonstrate the benefits of the proposed robotics framework for offshore applications.

SimVR-Robotics: A Virtual Reality Tool for Evaluating and Planning the Use of Robots in Offshore Scenarios

The Oil & Gas industry have been focusing on robots to accomplish several offshore activities as a way to diminish production costs, replace workers during hazardous operational procedures, enabling exploration in remote places and, in particular, deep-water regions. The project and validation of a robotic task on a virtual environment aids studies on how to introduce robots in these environments in an efficient way and, when compared to actual tests, significantly reduce costs and help to mitigate operational risks. In this context, we present SimVR-Robotics, a virtual reality tool to plan, simulate and evaluate the use of robots on offshore scenarios. SimVR-Robotics is capable to recreate realistic environments and to reproduce accurately physics with multiple robots. The user can create complex scenes from a model library and simulate them in real time or, if desired, use the graphic editor to create and configure its own robot. Several components are provided to view the simulation data, control the robots and objects in the scene, and assess the feasibility of the projected scenarios. In addition, the software offers, to advanced users, access to its internal API to control the various components of the scene. As the tool is based on the ROS (Robot Operating System), it is extremely easy to integrate with other external simulators. In this article, we discuss the SimVR-Robotics architecture, as well as its most important resources. To illustrate its benefits, present two real applications: a trajectory study of a robotic arm and planning an underwater operation using an ROV (Remote Operated Vehicle).

Multi-projector VR Systems

Immersive multi-projection environments are becoming affordable for many research centers, but these solutions needs several integration steps to be fully operational, and some of these steps are difficult and not in a common domain. This paper presents the most recent techniques involved in multi-projection solutions, from projection to computer cluster software. The hardware in these VR (Virtual Reality) installations is a connection of projectors, screen, speaker, computers and tracking devices. This survey paper will introduce hardware options, explaining their advantages and disadvantages. We will cover software design and open source tools available, and how to administrate the whole solution.