Cave Automatic Virtual Environment Research Articles

Using Immersive Simulation for Training First Responders for Mass Casualty Incidents

A descriptive study was performed to better understand the possible utility of immersive virtual reality simulation for training first responders in a mass casualty event. Utilizing a virtual reality cave automatic virtual environment (CAVE) and high-fidelity human patient simulator (HPS), a group of experts modeled a football stadium that experienced a terrorist explosion during a football game. Avatars (virtual patients) were developed by expert consensus that demonstrated a spectrum of injuries ranging from death to minor lacerations. A group of paramedics was assessed by observation for decisions made and action taken. A critical action checklist was created and used for direct observation and viewing videotaped recordings. Of the 12 participants, only 35.7% identified the type of incident they encountered. None identified a secondary device that was easily visible. All participants were enthusiastic about the simulation and provided valuable comments and insights. Learner feedback and expert performance review suggests that immersive training in a virtual environment has the potential to be a powerful tool to train first responders for high-acuity, low-frequency events, such as a terrorist attack.

Crowd simulation for emergency response using BDI agents based on immersive virtual reality

This paper presents a novel methodology involving a Virtual Reality (VR)-based Belief, Desire, and Intention (BDI) software agent to construct crowd simulation and demonstrates the use of the same for crowd evacuation management under terrorist bomb attacks in public areas. The proposed BDI agent framework allows modeling of human behavior with a high degree of fidelity. The realistic attributes that govern the BDI characteristics of the agent are reverse-engineered by conducting human-in-the-loop experiments in the VR-based Cave Automatic Virtual Environment (CAVE). To enhance generality and interoperability of the proposed crowd simulation modeling scheme, input data models have been developed to define environment attributes (e.g., maps, demographics, evacuation management parameters). The validity of the proposed data models are tested with two different evacuation scenarios. Finally, experiments are conducted to demonstrate the effect of various crowd evacuation management parameters on the key performance indicators in the evacuation scenario such as crowd evacuation rate and densities. The results reveal that constructed simulation can be used as an effective emergency management tool.

Modeling and Recognition of Driving Behavior Based on Stochastic Switched ARX Model

This paper presents the development of the modeling and recognition of human driving behavior based on a stochastic switched autoregressive exogenous (SS-ARX) model. First, a parameter estimation algorithm for the SS-ARX model with multiple measured input-output sequences is developed based on the expectation-maximization algorithm. This can be achieved by extending the parameter estimation technique for the conventional hidden Markov model. Second, the developed parameter estimation algorithm is applied to driving data with the focus being on driver's collision avoidance behavior. The driving data were collected using a driving simulator based on the cave automatic virtual environment, which is a stereoscopic immersive virtual reality system. Then, the parameter set for each driver is obtained, and certain driving characteristics are identified from the viewpoint of switched control mechanism. Finally, the performance of the SS-ARX model as a behavior recognizer is examined. The results show that the SS-ARX model holds remarkable potential to function as a behavior recognizer.

Modeling of Driver's Collision Avoidance Maneuver Based on Controller Switching Model

This paper presents a modeling strategy of human driving behavior based on the controller switching model focusing on the driver's collision avoidance maneuver. The driving data are collected by using the three-dimensional (3-D) driving simulator based on the CAVE Automatic Virtual Environment (CAVE), which provides stereoscopic immersive virtual environment. In our modeling, the control scenario of the human driver, that is, the mapping from the driver's sensory information to the operation of the driver such as acceleration, braking, and steering, is expressed by Piecewise Polynomial (PWP) model. Since the PWP model includes both continuous behaviors given by polynomials and discrete logical conditions, it can be regarded as a class of Hybrid Dynamical System (HDS). The identification problem for the PWP model is formulated as the Mixed Integer Linear Programming (MILP) by transforming the switching conditions into binary variables. From the obtained results, it is found that the driver appropriately switches the "control law" according to the sensory information. In addition, the driving characteristics of the beginner driver and the expert driver are compared and discussed. These results enable us to capture not only the physical meaning of the driving skill but the decision-making aspect (switching conditions) in the driver's collision avoidance maneuver as well.

A Virtual Environment for Ship-Mounted Cranes

The authors present a virtual simulation of ships and ship-mounted cranes. The simulation is carried out in a Cave Automated Virtual Environment (CAVE). This simulation serves as a training platform for ship-mounted crane operators and as a platform to study the dynamics of ships and ship-mounted cranes under dynamic sea environments. A model of the (Auxiliary Crane Ship) T-ACS 4-6 was built, converted into an OpenGL C++ API, and then ported into the CAVE using DiverseGL (DGL). A six-degrees-of-freedom motion base was used to simulate the actual motion of the ship. The equations of motion of the ship are solved using the Large Amplitude Motion Program (LAMP), and the equations of motion of the crane pay load are numerically integrated; the interaction between the payload and the ship is taken into consideration. A nonlinear delayed-position feedback-control system is applied to the crane, and the resulting simulation is used to compare the controlled and uncontrolled pendulations of the cargo. Our simulator shows a great deal of realism and was used to simulate different ship-motion and cargo transfer scenarios.

Effects of haptic feedback and turbulence on landing performance using an immersive cave automatic virtual environment (CAVE).

An investigation was conducted in which subjects had to land a simulated F-16 aircraft using a CAVE (Cave Automatic Virtual Environment) facility. This was a three-dimensional virtual setting consisting of multiple mirrors, 3-D video-projected displays in a highly stressful environment employing a haptic joystick. 6 subjects learned a task which required landing in wind turbulence with a reduced visual scene. Analyses indicated that during landing, performance error variables which occurred in the same direction as the haptic forces were significantly reduced. This was true, especially when the visual scene was occluded and more reliance on the proprioceptive condition was beneficial.

The information for catching fly balls: judging and intercepting virtual balls in a CAVE.

Visually guided action implies the existence of information as well as a control law relating that information to movement. For ball catching, the Chapman Strategy--keeping constant the rate of change of the tangent of the elevation angle (d(tan(alpha))/dt)--leads a catcher to the right location at the right time to intercept a fly ball. Previous studies showed the ability to detect the information and the consistency of running patterns with the use of the strategy. However, only direct manipulation of information can show its use. Participants were asked to intercept virtual balls in a Cave Automated Virtual Environment (CAVE) or to judge whether balls would pass behind or in front of them. Catchers in the CAVE successfully intercepted virtual balls with their forehead. Furthermore, the timing of judgments was related to the patterns of changing d(tan(alpha))/dt. The advantages and disadvantages of a CAVE as a tool for studying interceptive action are discussed.

Discovering Petra: archaeological analysis in VR

New tools give archaeologists access to formerly inaccessible parts of the archaeological record. The result is a demonstrably improved model for inquiry to pose, and answer, important research questions. We chronicle a collaborative effort (from 1997 to the present) with Petra Great Temple archaeologists to augment traditional analysis approaches. We introduce new archaeological analysis tools that combine novel visualization and interaction techniques within a Cave Automatic Virtual Environment (CAVE).

Analyzing the Relationship of Presence and Immersive Tendencies on the Conceptual Design Review Process

The conceptual design review process is a critical cost determining step for complex products such as ground vehicles. The use of virtual environments (VEs) in this process has become increasingly popular with the advancement of 3D visualization technologies. Important to feelings experienced by participants in a VE are two parameters: presence and immersion. Presence is defined as the subjective experience of being in one place while physically being situated in another. Immersion is a state characterized by perceiving oneself to be enveloped by, included in, and interacting in an environment that provides a continuous stream of stimuli. While different virtual reality (VR) devices provide different degrees of presence and immersion, the amount of each is also dependent on the individual. In this paper, a relationship among presence, immersive tendencies of individuals, and design comprehension are explored. Further, a methodology to find the best design review process subject to certain criteria is presented. The results of two experiments involving the CAVE Automatic Virtual Environment CAVE™2 are discussed and evaluated. In one case, the U.S. Army investigates the use of the CAVE as a conceptual design review environment for advanced military vehicles in a comparison test with its present method of concept presentation and review. In a second experiment, CAVE users responded to a survey to determine the potential of VEs to improve design comprehension and immersive tendencies. In both cases, positive presence and immersion results support the idea that VEs offer advantages for conceptual design reviews over more traditional methods.

Using a 3D virtual collaborative design environment for an advanced vehicle concept review: some test results

This paper briefly describes several first- and second-generation virtual environment (VE) systems, and the results of US Army empirical testing of one second-generation system - the CAVE Automatic Virtual Environment (CAVE). Compared in the test with the CAVE was the Army's traditional and proven method of reviewing advanced vehicle concepts - a PowerPoint™ briefing. Test results indicated several advantages for the VE that should be of interest to any organisation facing the need to shrink development life cycles, reduce costs, and improve product and system utility. A conclusion reached is that additional research and testing are needed to provide additional insights into the use of VE technologies to improve and support collaborative product and system development, design, and acquisition.

Necessary Tools

This article reviews that the rate of discovery obtained from an experiment or a computational model is enhanced and accelerated by using parallel computing techniques, visualization algorithms, and advanced visualization hardware. The National Institute of Standards and Technology (NIST) in Gaithersburg, MD, team believe that high-performance computing speeds discovery within the sciences. It defines advanced computing methods as those technologies that possess capabilities beyond current state-of-the-art desktop computing. Visualization tools, for example, now extend beyond the three-dimensional computer-aided design model viewable on a desktop computer to include virtual reality software and hardware. A cave automatic virtual environment, called a CAVE, features four walls onto which an image is projected in 3D so that engineers feel they are standing in front of an object. Researchers at Iowa State and NIST’s engineers both say the future of technology won't happen without advanced computing methods, including visualization, virtual reality, and parallel computing.

Traces

Traces is an artwork for the Cave Automatic Virtual Environment (CAVE) that uses a novel machine vision system to enable unencumbered full body interaction with a range of semi-autonomous agents without the imposition of any sort of textual, iconic or encoded gestural interfaces and without physically restrictive wiring, pointing devices, or headgear. Furthermore, Traces does not consist of a 'world' which is 'navigated'; instead, the movement of the user through the space leaves volumetric and spatial-acoustic residues of user movement that slowly decay. This project was motivated by a desire to explore and critique four central issues in contemporary human-computer interface (HCI): (a) embodied interaction with computational systems; (b) rapid and transparent learning of interfaces by untrained users (the autopedagogic interface); (c) immersive bodily interaction with software agents, (d) extension and elaboration of the general conception of 'interactivity' itself. To explore these issues, we built an infrared (IR) multi-camera machine vision system that constructs a volumetric model of the whole of the user's body in real time. We have also developed custom thee-dimensional vision tools, graphical techniques and a range of techniques for generating and managing semi-autonomous agents in immersive environments.

３次元映像情報メディア技術 没入形仮想空間における視覚的ぼけ情報の導入とその効果

Many immersive projection displays like the CAVE (CAVE Automatic Virtual Environment) system have been developed. These systems can realize highly immersive virtual environments, and the utililation of these virtual environments is expected in various fields. However, there are many problems regarding the practical use of immersive virtual environments. Depth perception errors are especially serious for interactive applications in immersive virtual environments. In this paper, we provide a view-dependent focal blur effect in immersive virtual environments and examine its effects on depth perception and sense of reality of virtual environments. The effect is synchronized with viewing direction, and it can generate natural blur effect in one's field of view. We show experimentally that the focal blur effect enables us to perceive depth informations accurately, and enhances the sense of reality of virtual environments.

ヒューマンインタフェース Ｗａｒａｊｉ 仮想環境のための足を用いた入力インタフェース

Various types of interface devices operated with the hands have been developed and are widely used. However, we use our legs for walking in the real world, so it is natural to use an interface devices operated with the legs for moving around a virtual environment. In this paper, we have developed a new interface device “Waraji (WAlking, Running, And Jumping Interface)”. Using Waraji, users can work at ease in a virtual environment because their hands are free from movement operations. In addition, because Waraji is smaller than other interfaces for movement, it can he easily worn. Experiments have shown that Waraji provides operationality similar to that of a joystick. It will be useful for surround-display virtual-environment systems such as CAVE (CAVE Automatic Virtual Environment).

Affordable environments for 3D collaborative data visualization

The CAVE automatic virtual environment is an immersive stereoscopic projection based virtual reality environment that has become, in many ways, the environment of choice at George Mason University's center for Computational Statistics. We have developed the PlatoCAVE and the MiniCAVE, which are CAVE-like systems oriented toward group interactions. As such, they are particularly suited to collaborative efforts in data analysis and visual data mining. The author discusses design considerations for the construction of these collaborative environments, including one-wall versus four-wall implementations, stereoscopic placement, head tracking, the use of LCD devices, polarized light stereo, and voice control. The description of the assemblage of commercial products into systems is intended not to endorse such products but to give instances of products that could be used.

Modeling and performance analysis using extended fuzzy-timing Petri nets for networked virtual environments

Despite their attractive properties, networked virtual environments (net-VEs) are notoriously difficult to design, implement, and test due to the concurrency, real-time and networking features in these systems. Net-VEs demand high quality-of-service (QoS) requirements on the network to maintain natural and real-time interactions among users. The current practice for net-VE design is basically trial and error, empirical, and totally lacks formal methods. This paper proposes to apply a Petri net formal modeling technique to a net-VE-NICE (narrative immersive constructionist/collaborative environment), predict the net-VE performance based on simulation, and improve the net-VE performance. NICE is essentially a network of collaborative virtual reality systems called the CAVE-(CAVE automatic virtual environment). First, we introduce extended fuzzy-timing Petri net (EFTN) modeling and analysis techniques. Then, we present EFTN models of the CAVE, NICE, and transport layer protocol used in NICE: transmission control protocol (TCP). We show the possibility analysis based on the EFTN model for the CAVE. Then, by using these models and design/CPN as the simulation tool, we conducted various simulations to study real-time behavior, network effects and performance (latencies and jitters) of NICE. Our simulation results are consistent with experimental data.

The interactive surrogate travel system.

The Interactive Surrogate Travel (IST) system is based on the super-miniaturized system of virtual technology, Cave Automatic Virtual Environment (CAVE). Using bilateral virtual reality (VR-to-VR) communications, IST enables the testing of subjects via interactive communications. It appears that IST will find practical applications in the near future. We examined the utility of IST in medical treatment and psychiatric tests. Psychiatric symptoms reflect human pathos, which in turn are greatly influenced by culture. If these culture-bound symptoms can be adequately communicated between providers and clients of different cultures, we can develop effective telepsychiatric services across different societies and cultures. IST requires high-speed transmission and gigabyte circuits. A pilot project tested the utility of IST (through the use of optical fiber communications on earth) as a basis for experiments via the Gigabit satellite, to be launched in the year 2002.

Visualization in teleimmersive environments

In collaborative virtual reality (VR), the goal is to reproduce a face-to-face meeting in minute detail. Teleimmersion moves beyond this idea, integrating collaborative VR with audio- and video-conferencing that may involve data mining and heavy computation. In teleimmersion, collaborators at remote sites share the details of a virtual world that can autonomously control computation, query databases and gather results. They don't meet in a room to discuss a car engine; they meet in the engine itself. The University of Illinois at Chicago's Electronic Visualization Laboratory (EVL) has hosted several applications that demonstrate rudimentary teleimmersion. All users are members of Cavern (CAVE Research Network) [ ] $a collection of participating industrial and research institutions equipped with CAVE (Cave Automated Virtual Environment), ImmersaDesk VR systems and high-performance computing resources, including high-speed networks. There are more than 100 CAVE and ImmersaDesk installations worldwide. The pressing challenge now is how to support collaborative work among Cavern users without having them worry about the details of sustaining a collaboration. Another problem is providing both synchronous and asynchronous collaboration. The authors detail how they've built new display devices to serve as more convenient teleimmersion end-points and to support their international networking infrastructure with sufficient bandwidth to support the needs of teleimmersive applications.

A comparative study of assembly planning in traditional and virtual environments

Presents an experiment that investigated the potential benefits of virtual reality (VR) environments in supporting assembly planning. In the experiment, 15 subjects performed an assembly planning task in three different conditions: a traditional engineering (TE) environment, a nonimmersive desktop VR (DVR) environment, and an immersive CAVE (Cave Automatic Virtual Environment) VR (CVR) environment. The effects of the three conditions on the subjects' performance were analyzed. The subjects' performance time in the TE condition was significantly longer than that in the DVR condition and that in the CVR condition, whereas the difference in performance time between the DVR condition and the CVR condition was not significant. The total number of problematic assembly steps in the TE condition was significantly greater than that in the CVR condition. Specifically, the subjects' assembly sequences in the TE condition involved more reorientations than in the DVR condition. The number of difficult assembly steps in the TE condition was significantly greater than that in the DVR condition, which was significantly greater than that in the CVR condition. The number of dissimilar assembly steps in the TE condition was significantly greater than that in the CVR condition, which was significantly greater than that in the DVR condition. Hence, the results revealed advantages of the two VR environments over the TE environment in improving the subjects' overall assembly planning performance and in minimizing the handling difficulty, excessive reorientation and dissimilarity of assembly operations.

Interactive Molecular Modeling with Virtual Reality and Empirical Energy Simulations

Virtual reality tightly coupled to high performance computing and communications ushers in a new era for the study of molecular recognition and the rational design of pharmaceutical compounds. We have created a combined virtual reality and molecular dynamics method, which consists of (1) massively parallel computing to simulate the physical and chemical properties of a molecular system, (2) the Cave Automatic Virtual Environment (CAVE) for immersive display and interaction with the molecular system, and (3) a high-speed network interface to exchange data between the simulation and the CAVE. This system enables molecular scientists to have a visual, auditory, and haptic experience with a chemical system. while simultaneously manipulating its physical properties by steering, in real-time, a simulation executed on a supercomputer.