3D Digital Environment Research Articles

Robotic Assistance and Haptic Feedback in Arthroscopic Procedures: Design and Preliminary Evaluation of a Two-Arm System

Robot-assisted arthroscopic surgery has been receiving growing attention in the field of orthopedic surgery. Most of the existing robot-assisted surgical systems in orthopedics place more focus on open surgery than minimally invasive surgery (MIS). In traditional arthroscopic surgery, the surgeon needs to hold an arthroscope with one hand while performing the surgical operations with the other hand, which can restrict the dexterity of the surgical performance and increase the cognitive load. On the other hand, the surgeon heavily relies on the arthroscope view when conducting the surgery, whereas the arthroscope view is a largely localized view and lacks depth information. To assist the surgeon in both scenarios, in this work, we develop a two-arm robotic system. The left-arm robot is used as a robot-assisted arthroscope holder, and it can hold the arthroscope still at a designated pose and reject all other potential disturbances, while also allowing the operator to move it via a pedal switch whenever needed. The left-arm robot is implemented with an impedance controller and a gravity iterative learning (Git) scheme, where the former can provide compliant robot behavior, thus ensuring a safe human–robot interaction, while the latter can accurately learn for gravity compensation. The right-arm robot is used as a robot-assisted surgical tool, providing virtual fixture (VF) assistance and haptic feedback during the surgery. The right-arm robot is implemented with a point-based VF algorithm, which can generate VF directly from point clouds in any shape, render force feedback, and deliver it to the operator. Furthermore, the VF, the bone, and the surgical tool position are visualized in a 3D digital environment as additional visual feedback for the operator. A series of experiments are conducted to evaluate the effectiveness of the prototype. The results demonstrate that both arms can provide satisfactory assistance as designed.

Spatial Contraction Based on Velocity Variation for Natural Walking in Virtual Reality.

Virtual Reality (VR) offers an immersive 3D digital environment, but enabling natural walking sensations without the constraints of physical space remains a technological challenge. Previous VR locomotion methods, including game controller, teleportation, treadmills, walking-in-place, and redirected walking (RDW), have made strides towards overcoming this challenge. However, these methods also face limitations such as possible unnaturalness, additional hardware requirements, or motion sickness risks. This paper introduces "Spatial Contraction (SC)", an innovative VR locomotion method inspired by the phenomenon of Lorentz contraction in Special Relativity. Similar to the Lorentz contraction, our SC contracts the virtual space along the user's velocity direction in response to velocity variation. The virtual space contracts more when the user's speed is high, whereas minimal or no contraction happens at low speeds. We provide a virtual space transformation method for spatial contraction and optimize the user experience in smoothness and stability. Through SC, VR users can effectively traverse a longer virtual distance with a shorter physical walking. Different from locomotion gains, the spatial contraction effect is observable by the user and aligns with their intentions, so there is no inconsistency between the user's proprioception and visual perception. SC is a general locomotion method that has no special requirements for VR scenes. The experimental results of our live user studies in various virtual scenarios demonstrate that SC has a significant effect in reducing both the number of resets and the physical walking distance users need to cover. Furthermore, experiments have also demonstrated that SC has the potential for integration with existing locomotion techniques such as RDW.

Enriching User-Visitor Experiences in Digital Museology: Combining Social and Virtual Interaction within a Metaverse Environment

This study investigates the potential of integrating multilayer animations and sophisticated shader technologies to enhance visitor social interactions within metaverse exhibition spaces. It is part of a broader initiative aimed at developing innovative digital museology strategies that foster social engagement through virtual reality (VR) experiences. The methodology adopted seeks to provide a more immersive and human-centric exploration of 3D digital environments by blending elements of physical spaces with the interactive dynamics common in video games. A virtual exhibition space themed around Mars was created as a testbed to facilitate social interactions among users, who navigate the environment via avatars. This digital space was developed using a specialized Unity template designed by the metaverse platform Spatial.io. Overcoming the programming constraints imposed by Spatial.io, which limits the use of external scripts for security and stability, posed a significant challenge. Nonetheless, by leveraging the ability to modify shader codes used for material creation and employing advanced animation techniques with layered effects, the authors of this work achieved dynamic material responses to lighting changes and initiated complex asset interactions beyond simple linear animations.

Key factors to enhance efficacy of 3D digital environments for transformative landscape and urban planning

The unprecedented expansion of digital technologies has led to a rapid increase in the development and application of 3D digital environments for landscape and urban planning in the past two decades. Considering the significant challenges in guiding human societies towards sustainability, these technologies must not only assist decision-makers in adapting to changes but promote fast, transformative shifts in the relationship between human societies and nature. Based on a set of global exemplars, this Perspective Essay outlines six key factors that can enhance efficacy of 3D digital environments to guide knowledge-informed landscape and urban planning. We call for (1) explicitly representing dynamic interplay between the social, ecological, and technical systems, (2) exploring the integration of design with simulation models to address cross-scale dynamics, (3) developing features to foster imagination, (4) employing multisensory stimuli to encourage profound changes in environmentally and socially sustainable behavior, (5) tailoring the incorporation of active sensing by and with non-experts into 3D digital environments to better acknowledge indigenous and local knowledge systems, and finally, (6) carrying out a usability evaluation to facilitate participation and collaboration in an efficient co-creation process. We conclude by recommending the establishment of a collaborative knowledge platform that unites researchers, developers, and stakeholders for stimulating social-ecological-technological system thinking in the development of 3D digital environments and harnessing the technological advancements to accelerate and drive the needed transformative change within urban and landscape planning.

Modelling underground cadastral survey data in CityGML

AbstractIn underground environments, survey elements such as survey points and observations provide the information required to define legal boundaries. These elements are also used to connect underground legal spaces to a geodetic survey network. Due to the issues of current 2D approaches for managing underground cadastral data, prominent 3D data models have been extended to support underground land administration. However, previous studies mostly focused on defining underground legal spaces and boundaries, with less emphasis on survey elements. This research aims to extend CityGML to support underground cadastral survey data. The proposed extension is based on the survey elements elicited from underground cadastral plans, which is then implemented for an underground case study area in Melbourne, Australia. This extension integrates underground survey data with legal and physical data in a 3D digital environment and provides an improved representation of survey elements, facilitating the management and communication of underground cadastral survey data.

Investigating the Operational Complexity of Digital Workflows Based on Human Cognitive Aspects

In recent decades, the everyday working environment has increasingly shifted into the digital realm. Accordingly, the assessment of human working performance has become strongly influenced by the level, frequency, and mode of interaction with the digital environment. This paper presents a system-level comparative analysis of human–computer interactions in 2D versus 3D digital environments, focusing on human behavior in different environments and interfaces. For the purposes of this analysis, a new methodology is proposed—inspired by a set of new concepts and metrics—that can be used to evaluate digital interfaces based on the number and complexity of user operations. Beyond the use of objective indicators, the study was supplemented by a user survey of 52 people to map the congruence of digital systems and user requirements. According to the research results, in 3D virtual work environments, users perform at least 30 percent fewer elementary operations. The Information Access Cost is 54 percent less in immersive VR than in classical 2D user interfaces. Based on these figures, we conclude that the development trends behind 3D VR-based working environments coincide with the intention to extend human cognitive capabilities.

Virtual Data Modeling and Geospatial Mapping Tools, Data-driven Internet of Things and Sustainable Urban Computing Systems, and Digital Twin Simulation and Extended Reality Technologies in Augmented Reality-powered Immersive Spaces and 3D Digital Environments

Virtual Data Modeling and Geospatial Mapping Tools, Data-driven Internet of Things and Sustainable Urban Computing Systems, and Digital Twin Simulation and Extended Reality Technologies in Augmented Reality-powered Immersive Spaces and 3D Digital Environments

Metaverses: how their development will affect workers and employers

The purpose of this article is to study the possible impact of metaverses on the parties of labour relations in the future. Metaverses are permanent virtual spaces where users can relax, work and receive services. The development of digital technologies, primarily VR/AR technologies, contributes to the creation of metaverses. The activities of global IT giants such as Facebook and Microsoft make us think about how the increase in human presence in virtual reality will affect the world of work. Legal regulation will need to be adapted accordingly if the relationship between employers and workers changes. To understand the problem, it is necessary to find out how the metaverse will differ from modern digital platforms, how large will be the proportion of workers who will take virtual jobs in the metaverses in relation to the total number of workers. The results of the study allow us to conclude that with the further digitalization of the world economy, it is very likely that metaverses will become a familiar working environment for most workers in the near future. In this regard, the presence of artificial intelligence in the world of work will increase, since the 3D digital environment is a space in which there are even more opportunities for artificial intelligence systems than in physical reality. Employers will use artificial intelligence to algorithmize management processes, which will increase the economic efficiency of activities. Working in the metaverse will become part of the digital society, and having the skills to quickly adapt to such work is one of the conditions important for survival in the world of the future.

Block pattern design system using 3D zoning method on digital environment for fitted garment

The 2D pattern-making methods which are entirely based on body measurements are widely used and practiced to design garments in today’s digital environment. Such a method is highly criticized due to a lack of consideration for the body's different morphological and anthropometric data. However, such a method would be effective with many precise and repetitive adjustments and with the help of manual expert know-how. For the last few decades, designers have also used a garment designing technique that is carried out directly on a physical mannequin or fashion model, called the draping technique. The current study is devising and implementing a digital garment design technique in the 3D pattern-making process to create and fit the human body morphology in a 3D digital environment. This technique is based on the analysis of 2D pattern-making methods used by model makers. It also highlights the morphological contour and anthropometric links that have been used to develop a similar method in a 3D environment. However, the proposed methods are performed directly on the 3D wearer's morphology as in the manual 3D draping techniques, which avoids morphological interpretation errors. Such a process helps to control the fit of the 3D garment by determining the ease allowance. Besides, the methods integrated a 3D zoning technique to improve the 3D modelling and to ensure the best possible drape and analysis between the garment and the wearer's body. Further work is required to validate the block pattern for general application based on various parameters including fabric, garment style, body position, etc.

Eye-Tracking Beyond Peripersonal Space in Virtual Reality: Validation and Best Practices

Recent developments in commercial virtual reality (VR) hardware with embedded eye-tracking create tremendous opportunities for human subjects researchers. Accessible eye-tracking in VR opens new opportunities for highly controlled experimental setups in which participants can engage novel 3D digital environments. However, because VR embedded eye-tracking differs from the majority of historical eye-tracking research, in both providing for relatively unconstrained movement and stimulus presentation distances, there is a need for greater discussion around methods for implementation and validation of VR based eye-tracking tools. The aim of this paper is to provide a practical introduction to the challenges of, and methods for, 3D gaze-tracking in VR with a focus on best practices for results validation and reporting. Specifically, first, we identify and define challenges and methods for collecting and analyzing 3D eye-tracking data in VR. Then, we introduce a validation pilot study with a focus on factors related to 3D gaze tracking. The pilot study provides both a reference data point for a common commercial hardware/software platform (HTC Vive Pro Eye) and illustrates the proposed methods. One outcome of this study was the observation that accuracy and precision of collected data may depend on stimulus distance, which has consequences for studies where stimuli is presented on varying distances. We also conclude that vergence is a potentially problematic basis for estimating gaze depth in VR and should be used with caution as the field move towards a more established method for 3D eye-tracking.

Detailed structural analysis of digital outcrops: A learning example from the Kermanshah-Qulqula radiolarite basin, Zagros Belt, Iran

A digital outcrop example and associated structural analysis of highly deformed sedimentary strata from the Zagros Belt of Iran is presented. By providing this site in open-access, downloadable format, we aim to make this excellent outcrop exposure accessible to a wide range of geoscientists. Digital data extraction techniques are used to constrain structural interpretations and cross section orientation, as well as kinematic restorations of interpreted structures. Structural analysis protocols provided here are well-suited to learning outcomes associated with digital cross section construction, interpretation and restoration. Complex deformation at the study locality and associated uncertainties in horizon and fault mapping yield interpretation and structural restoration results that are likely non-unique. Interpretation uncertainties are discussed in the context of geoscience education, with specific reference to the need for considering and assessing data quality and underlying geological assumptions. Our workflow and results can be used to bridge the gap between field-based training at undergraduate level and the proficiency in 3D digital environments required of professional geoscientists. By using digital outcrops to achieve learning outcomes, knowledge of underlying geological processes and practical skills in digital data handling and treatment can be effectively communicated to future geoscientists within the virtual environment.

THEORETICAL CONSIDERATIONS REGARDING VIRTUAL METHODS TO OBTAIN THE GARMENT PROTOTYPE (2D/3D AND 3D/2D)

With the progress and development of science and technology, virtual reality technology is becoming more and more present, its application in digital creations is becoming more and more widespread. Everything the user does is calculated by the computer and has real-time feedback, making this virtual environment more realistic and giving the user an immersive experience. This technology integrates the latest developments in computer science, computer simulation, artificial intelligence, recognition, display and online parallel processing. Virtual prototyping offers a new way to explore the design and subsequent changes that need to be made to the product before it is manufactured in larger quantities or put into production. The development of new product models using virtual tools requires a certain level of training of the designer; he/she must have skills in understanding and using the specific tools for CAD systems (2D and 3D) and technical knowledge regarding the ways of conceptual product development. This paper presents the methodology of the virtual development process for an apparel product model, using the tools of the 2D and 3D digital environments. The first solution is to design the 2D patterns of the components of an apparel product, followed by a 3D simulation that verifies the aforementioned solution. The second solution is to design the 3D components using the tools of the 3D digital environment (the software used is Clo3D) and then extract the 2D parts required for the classical manufacturing process.

Digital Twin for FANUC Robots: Industrial Robot Programming and Simulation Using Virtual Reality

A Digital Twin is the concept of creating a digital replica of physical models (such as a robot). This is similar to establishing a simulation using a robot operating system (ROS) or other industrial-owned platforms to simulate robot operations and sending the details to the robot controller. In this paper, we propose a Digital Twin model that assists in the online/remote programming of a robotic cell by creating a 3D digital environment of a real-world configuration. Our Digital Twin model consists of two components, (1) a physical model: FANUC robot (M-10iA/12), and (2) a digital model: Unity (a gaming platform) that comes with specialized plugins for virtual and augmented reality devices. One of the main challenges in the existing approach of robot programming is writing and modifying code for a robot trajectory that is eased in our framework using a Digital Twin. Using a Digital Twin setup along with Virtual Reality, we observe the trajectory replication between digital and physical robots. The simulation analysis provided a latency of approximately 40 ms with an error range of −0.28 to 0.28∘ across the robot joint movements in a simulation environment and −0.3 to 0.3∘ across the actual robot joint movements. Therefore, we can conclude that our developed model is suitable for industrial applications.

The iDesign platform: immersive intelligent aesthetics for scenographic modelling

ABSTRACT This article introduces iDesign, a novel full-body immersive 3D digital set modelling system currently in joint development by the Sydney Theatre Company, the University of New South Wales’ iCinema Centre, the University of Technology Sydney, and the National Institute for Dramatic Art (Australia; 2018–21). Deploying a visualisation pipeline that utilises a 3D digital environment that remotely located creatives can share, iDesign enables collaborative ideation, testing and iteration of production design concepts in real time, to be supported by an artificially intelligent (AI) system. The article contextualises iDesign’s underpinning aesthetic rationale by reviewing the functionalities and ontological differences of physical and virtual models as epistemological conduits and representative objects. It outlines the system’s key features and capabilities and discusses them in relation to other visualisation approaches currently trialled across the entertainment industry, such as Virtual Reality (VR), 3D modelling suites and pre-visualisation software. Considering the system’s archival capabilities, the text further sketches iDesign’s value as an educational platform and closes with a reflection on the impacts of digital technologies on scenographic practice.

A sensor data fusion-based locating method for large-scale metrology

<p class="Abstract">The measurement of geometric and dimensional variations in the context of large-sized products is a complex operation. One of the most efficient ways to identify deviations is by comparing the nominal object with a digitalisation of the real object through a reverse engineering process. The accurate digitalisation of large geometric models usually requires multiple acquisitions from different acquiring locations; the acquired point clouds must then be correctly aligned in the 3D digital environment. The identification of the exact scanning location is crucial to correctly realign point clouds and generate an accurate 3D CAD model.</p>To achieve this, an acquisition method based on the use of a handling device is proposed that enhances reverse engineering scanning systems and is able to self-locate. The present paper tackles the device’s locating problem by using sensor data fusion based on a Kalman filter. The method was first simulated in a MatLAB environment; a prototype was then designed and developed using low-cost hardware. Tests on the sensor data fusion have shown a locating accuracy better than that of each individual sensor. Despite the low-cost hardware, the results are encouraging and open to future improvements

Analysis of the correlation between spatial cognitive abilities and wayfinding decisions in 3D digital environments

ABSTRACT Although the effects of spatial abilities on behaviour have recently been a hot topic, wayfinding has received little attentions. Here, the reasons for route selection differences during wayfinding were studied from the perspective of individual competence. The mental rotation (A-MR), abstract reasoning (A-AR), visual short-term memory (A-VSTM), spatial perception (A-SP) and spatial orientation (A-SO) abilities of 52 college students were assessed, and their route selection behaviours were tested in homogeneous and heterogeneous three-dimensional virtual scenes. Finally, the relationships between five abilities and the lengths (R-L) and angles (R-A) of the selected routes were analysed and the R meants route here. The path complexity (weighted combination of R-L and R-A) was also fitted using a partial least-squares model with the five abilities. The A-MR and A-AR had obvious relationships with R-L and R-A, whereas A-SP showed little correlation. Moreover, the A-VSTM and A-SO had a significantly higher impact on route selection in the homogeneous spatial environment than in the heterogeneous one. Although the models passed the significance test, the fitting effect was not satisfactory. The routes were affected by many factors, and these five abilities could not fully explain the route selection behaviour of the individuals.

Developing a new framework based on solid models for 3D cadastres

3D cadastres aim to record, manage, and visualise spatial dimensions of volumetric legal objects in a 3D digital information environment. Definition of the geometry and topology of volumetric representations of legal objects is predicated on solid modelling approaches which are widely used in 3D modelling applications. Some solid modelling approaches are more user friendly for constructing legal objects while others enable the creation of 3D legal objects with a higher level of spatial complexity. This study aims to assess the capabilities of solid models in managing the geometry and topology of 3D legal objects with various spatial complexities. The assessment was conducted based on identification of the fundamental principles for defining geometry and topology in 3D cadastres. Various 3D legal objects with different geometric shapes were examined according to the topological principles for ensuring both internal and external validity of 3D legal objects. The identified geometric and topological principles were used to propose a new framework based on solid modelling for 3D cadastres. Our suggested framework would provide the basis for modifying land subdivision policies to adopt solid models in upgrading current cadastral systems into 3D digital environments.

Promotion of Cultural Heritages Through A Virtual Museum Platform: Case Study Hagia Sophia

The Digital World has become the most significant platform for spreading the written and visual documents about cultural and historical heritages in accordance with the recent developments on web based technologies. All kind of digital platforms such as notebooks, personal computers, tablets and mobile phones are the primary tools to transfer local values to global scale. Nevertheless, it is not possible to say that these technological opportunities are not used efficiently to promote museums keeping the inheritance and memory of societies. Fortunately, 3D game technologies and virtual reality applications have been started to use in this area. The traditional promotion methods are being replaced by these new and innovative solutions including ‘virtual museum’ term. People are capable to use this platform to see and interactively walk through the virtually reconstructed museums in a 3D digital environment. Creating accessible web based virtual museum platforms will attract tourists, students and researchers from all ages. The aim of this study is to create a virtual museum platform including all kind of written and visual materials. Hagia Sophia has been selected as the case study area of this study and digitally reconstructed to use in the project.

Open-Source Tools for Dense Facial Tissue Depth Mapping of Computed Tomography Models

Computed tomography (CT) scans provide anthropologists with a resource to generate three-dimensional (3D) digital skeletal material to expand quantification methods and build more standardized reference collections. The ability to visualize and manipulate the bone and skin of the face simultaneously in a 3D digital environment introduces a new way for forensic facial approximation practitioners to access and study the face. Craniofacial relationships can be quantified with landmarks or with surface-processing software that can quantify the geometric properties of the entire 3D facial surface. This article describes tools for the generation of dense facial tissue depth maps (FTDMs) using deidentified head CT scans of modern Americans from the Cancer Imaging Archive public repository and the open-source program Meshlab. CT scans of 43 females and 63 males from the archive were segmented and converted to 3D skull and face models using Mimics and exported as stereolithography files. All subsequent processing steps were performed in Meshlab. Heads were transformed to a common orientation and coordinate system using the coordinates of nasion, left orbitale, and left and right porion. Dense FTDMs were generated on hollowed, cropped face shells using the Hausdorff sampling filter. Two new point clouds consisting of the 3D coordinates for both skull and face were colorized on an RGB (red-green-blue) scale from 0.0 (red) to 40.0-mm (blue) depth values and exported as polygon (PLY) file format models with tissue depth values saved in the "vertex quality" field. FTDMs were also split into 1.0-mm increments to facilitate viewing of common depths across all faces. In total, 112 FTDMs were generated for 106 individuals. Minimum depth values ranged from 1.2 mm to 3.4 mm, indicating a common range of starting depths for most faces regardless of weight, as well as common locations for these values over the nasal bones, lateral orbital margins, and forehead superior to the supraorbital border. Maximum depths were found in the buccal region and neck, excluding the nose. Individuals with multiple scans at visibly different weights presented the greatest differences within larger depth areas such as the cheeks and neck, with little to no difference in the thinnest areas. A few individuals with minimum tissue depths at the lateral orbital margins and thicker tissues over the nasal bones (>3.0 mm) suggested the potential influence of nasal bone morphology on tissue depths. This study produced visual quantitative representations of the face and skull for forensic facial approximation research and practice that can be further analyzed or interacted with using free software. The presented tools can be applied to preexisting CT scans, traditional or cone beam, adult or subadult individuals, with or without landmarks, and regardless of head orientation, for forensic applications as well as for studies of facial variation and facial growth. In contrast with other facial mapping studies, this method produced both skull and face points based on replicable geometric relationships, producing multiple data outputs that are easily readable with software that is openly accessible.

3D LASER SCANNING OF THE HISTORIC GREEK CATHOLIC CHURCH – CASE STUDY

Laser scanning is the most modern technology for high quality focusing on real objects. 3D laser scanning technology allows the space digitizing of objects which means transferring different objects from the real world into a 3D digital environment where they can continue to work. 3D object scanning allows enhancing the design process, speeds up and reduces data collection errors, saves time and money and thus makes it an attractive alternative to traditional data collection techniques. This technology has wide application and it can be used for surveying of various objects such as buildings, factory buildings, machinery, equipment, engineering networks and also cultural monuments or statues. The result of a scan is a 3d model point cloud which represents threedimensional image of scanned objects and complex shapes. The aim of the paper is description of methodology of the work with 3D laser scanner Faro Focus X130 from Faro Company on the real building object - historic greek catholic church. This paper describes the methodology of laser scanning, describes the specific step during scanning and describes the possibility of create 2D documentation from 3D model point clouds.