Collision Detection and Teamcenter Haptics: CATCH

Transcription

1 Collision Detection and Teamcenter Haptics: CATCH Team: May Advisor: Dr. Weiss Members: Tony Alleven, Logan Scott, Matt Mayer, James Erickson, and Paul Uhing Client: Siemens, Dr. Vance 1

2 Problem Statement: Build a prototype to demo Teamcenter (TC) visualization integration with a haptic device Industries using TC CAD visualization Haptic Research And Many more Teamcenter VisController CATCH Haption: Virtuose IPSI Dr. Vance ISU VRAC 2

3 Concept Sketch Projected Teamcenter Visualization Virtuose haptic arm 3

4 Requirements Functional: Be able to control cursor in Siemens Teamcenter with Virtuose haptic device and select parts of an assembly User feels appropriate haptic feedback when parts collide with selected part Support loading part geometry via Jupiter Tessellation(JT) files Non-Functional The lag time between input and output shall be less than 200ms After accounting for lag time, all object models shall be synchronized between the physics engine and Teamcenter Next slide: Module Organization 4

5 5 Module Organization

6 Detailed Design- Module Description Module Description Responsibility CatContext CatJtk CatIPSI CatVis Façade module to interact with outside programs Parses JT files to extract triangle geometry for Physics Engine. Uses JT Toolkit library Interacts with existing physics engine (IPSI). Interacts with Teamcenter Visualizer through VisController library Paul Uhing Logan Scott James Erickson Anthony Alleven CatCursor Main control loop Matt Mayer Next slide: Functional decomposition 6

7 7 Functional Decomposition

8 Potential Risks and Mitigation Risks CPU Requirements Data Bandwidth IPSI Model Representations vs. Teamcenter Model Representations Mitigation Support remote connection to IPSI physics engine, allowing IPSI processing to be done on separate computer Throttle-able refresh rate Decoupled modules with abstract data model when transferring geometry 8

9 Resources VRAC API/library licenses MeTAL Virtuose The Cave Space Mouse Jérôme Perret Contact at Haption Provided IPSI Tsung Pin Yeh Contact at Siemens Provided Teamcenter and VisContoller 9

10 Detailed Design-User Interfaces Façade Functions Description CatContext(std::string IPSI_IP, std::string TCV_IP) Constructs instances of CatContext and other modules int loadjtfile(std::string filepath) int init() Loads a specific JT file Initializes CatContext and other modules int run() Runs the main control loop 10

11 Project Milestones and Schedule 11

12 Project Milestones and Schedule Milestone 1: Defined module interfaces (Oct 17 th ) Milestone 2: Finished building development environment, including all dependencies ( Nov 10 th ) Milestone 3: Finished implementing first iteration of working modules with limited features and test code (Dec 4 th ) Planned Milestone 4: Finish implementing modules with full features (March 13 th ) 12

13 Test Plan Black box testing of each individual module Simulators Demo Code Iterative testing throughout development cycle Separated integration testing between modules 13

14 Current Project Status Implemented basic cursor movement from Virtuose to Teamcenter Visualization Capable of processing JT files in triangle meshes See demo videos 14

15 Plan for next semester Receive two-way communication from VisController Geometry loaded into IPSI Full-scale integration Completed by March 15 th, 2014 Other considerations: This may be delayed if VisController is not ready for two-way communication in time VisController is provided by our client 15

16 Questions? 16