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Digital twins in manufacturing, logistics, retail, and healthcare can help companies makebusiness decisions by simulating changes prior to implementing such changes in real life.In robotic teleoperation, virtual reality technology such as head mounted displays canincrease operator performance. In the mining equipment industry, teleoperation is quitean established concept, using a video feed for visualization, and often similiar or the samecontrol panels as on the real machine. However, cameras don’t provide depth perceptionfor the operator, and the lighting conditions in a mine may make photogrammetry a lessthan ideal solution. Epiroc is currently working on a digital twin simulation softwarein Unity, which could be extended for teleoperation purposes. As a complement to thissoftware, a fast, high-definition Ouster OS0-128 LiDAR was used to render a point cloudof a physical environment. A Unity GameObject script was written in C# that receivesand renders coordinates as a point cloud. Two Python scripts were written to convert theLiDAR data using the Ouster SDK to coordinates, and then sending these coordinates overa TCP connection, either on the same machine, or over Wi-Fi. The Python scripts used twodifferent data formats, and the performance difference between these two data formatswas compared. The results indicated that Wi-Fi transfer of LiDAR data could be a viablesolution to continously scanning the surrounding area of equipment being teleoperatedwith quite a low delay and latency

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Made available in DSpace on 2016-03-15T19:38:03Z (GMT). No. of bitstreams: 1 TIAGO UNGARO BARDELLA.pdf: 2553991 bytes, checksum: f8e6ba33f7c930ee81f6b64116f495ff (MD5) Previous issue date: 2015-10-19 / The history of digital games shows, since the beginning, games which uses many types of enemy models to confront and many types of characters to control, like Real-Time Strategy games, for example. These huge amount of models into an important scene are called crowds. The crowds needs a high computer performance and specific algorithms in their interaction control to avoid immersion loss into a game by problems which may happen if the crowds are not treated accordingly. With the popularization of graphic board languages like NVIDIA CUDA, new algorithms were created to easily increase the performance of crowds in digital games and their overwhelming superiority compared to the methods used in linear programming were proved in many researches. The goal of this work is to use these GPU techniques as base to implement a new API using CUDA language that will present better performance and simplicity compared to the others algorithms on the area of crowds in digital games. After the project conclusion, the created API turned easier the crowd treatment to digital game developers using Unity3D integrated with API TBX, that now only need to include a DLL in the project instead creating na algorithm for crowd treatment from the beginning, which takes a huge amount of time from development. / O histórico dos jogos digitais apresenta, desde seu princípio, jogos que utilizam diversos modelos de inimigos para enfrentar ou diversos modelos de personagens para controlar, como os jogos Real-Time Strategy por exemplo. Essas grandes quantidades de modelos que compõem uma cena importante são chamadas de multidões. As multidões necessitam de um alto poder computacional e algoritmos específicos para seu tratamento para evitar a perda de imersão dentro de um jogo pelos problemas que podem acontecer caso as multidões não sejam tratadas adequadamente. Com o surgimento de linguagens de placas gráficas como a NVIDIA CUDA, novos algoritmos foram criados para melhor trabalhar com o desempenho de multidões em jogos digitais e sua superioridade em comparação com os métodos utilizados em programação sequencial foi comprovada em diversos estudos. O objetivo deste trabalho é se basear nestas técnicas de GPU para implementar uma nova API usando tecnologia CUDA que visa melhorar os algoritmos existentes para tratamento de multidões em jogos digitais em termos de desempenho e simplicidade de implementação. Com a conclusão do projeto, a API criada facilitou o tratamento de multidões para desenvolvedores de jogos digitais com a game engine Unity3D integrada com a API TBX de simulação de multidões, que agora apenas precisam incluir uma DLL em seu projeto ao invés de criar um algoritmo próprio de tratamento de multidões do início, o que demanda tempo de desenvolvimento.

Denna studie undersöker hur spelupplevelsen i ett "management"-spel förändras om virtuella karaktärer agerar verklighetstroget i sina handlingar och val samt hur en spelutvecklare kan hålla nere påverkan på spelets prestanda och samtidigt bibehålla trovärdigheten hos spelets virtuella karaktärer. Resultat från tidigare forskning om AI-LOD har använts som grund i utvecklingen av en prototyp av ett "management"-spel som sedan testats av åtta deltagare följt av individuella intervjuer gällande deras upplevelser av och reflektioner kring spelet. Studien presenterar förslag på tillvägagångssätt för att använda AI-LOD effektivt samt hur användarnas upplevelser har påverkats positivt och negativt av de designval som gjorts. / This study investigates how the player experience is affected in "management" games when the virtual characters' behaviors are pivoted towards realism. The study also investigates the usage of AI-LOD as a method to reduce the impact on performance by these virtual characters without sacrificing authenticity of their behavior. Results and findings from previous research in this particular field are used as a foundation in the development of a prototype of a "management" game. This prototype has been tested by eight participants followed by individual interviews on their experiences and thoughts on the game. The study presents suggestions on how to use AI-LOD effectively and how player experience has been affected both positively and negatively by design choices made during the development of this prototype.

Technical advancements in 3D projection has recently made presentation of holographic images possible by using self-contained devices. Instead of using a screen to present objects, glasses like Microsoft HoloLens can render objects that appear as holograms around the user. SAAB Defence and Security are evaluating if this new technology can complement their command and control system 9LV Combat Management System. This degree project is a study of the technical possibilities and limitations of introducing holographic display of sonar tracks used for detecting submarines or sea mines. The project was started with a background study into what methods are available to render 3D underwater terrain. A basic hologram representing a map of littoral terrain was constructed and simulated sonar tracks from the command and control system was mapped into the terrain. Implementation of the application was done using the Unity 3D game engine that has built in support for the HoloLens. Performance evaluation was done using Unity3D profiler that is an extensive application evaluation tool that maintain overhead to a minimum. An evaluation of HoloLens usage onboard two different boats was done to conclude if the equipment can be used in the normal 9LV CMS operating environment. Results show that it is possible to successfully use holographic display for sonar tracks, but due to limited processing power of the HoloLens terrain detail will be reduced. Holograms are orientated by combining camera spatial mapping and an inertial measurement unit. Usage tests onboard a vessel indicates that holograms will unexpectedly move and the HoloLens will loose spatial mapping due to acceleration forces caused by seastate. / Tekniska framsteg inom presentation av 3D-objekt har nyligen möjliggjort användning av hologram presenterade med portabel utrustning. Istället för att använda en vanlig skärm kan glasögon, som Microsoft HoloLens, rendera objekt som användaren upplever i sin omgivning som hologram. SAAB Defence and Security utvärderar om den nya teknologin kan användas som ett komplement till deras ledningssystem 9LV Combat Management System. Det här examensarbetet är en studie av de tekniska möjligheter och begränsningar som finns för att bygga en applikation som visar sonar-information som ett hologram, främst att användas för ubåtsjakt och upptäckt av sjöminor. Projektet inleddes med en bakgrundsstudie om vilka metoder som finns tillgängliga för att rendera en 3D-karta av en havsbotten. En enkel applikation med en karta som föreställer en del av skärgården tas fram med simulerad sonar-information från ledningssystemet inlagt i kartan. Implementationen av applikationen gjordes med spelmotorn Unity3D som har inbyggt stöd för Microsoft HoloLens. Prestandautvärdering genomfördes genom att använda ett inbyggt profileringsverktyg i Unity3D som har liten påverkan på prestandan. Utvärdering av möjlig användningsmiljö gjordes genom att testa utrustningen ombord på två olika båtar för att avgöra om HoloLens kan användas i 9LV CMS normala operativa förhållanden. Resultaten visar att det är möjligt att använda holografisk visning för sonar-data men upplösningen av terrängen för kartan är något låg på grund av den begränsade beräkningskraften i Microsoft HoloLens. Hologram i Microsoft HoloLens orienteras genom att kombinera en djupseende kamera med en intern referensenhet. Användningstester ombord på båt visar på att vid accelerationer som uppkommer av sjöhävning tappar HoloLensen rumsuppfattningen tillfälligt och stoppar renderingen av hologrammet.

This thesis proposes an approach for automatic code generation from a Colored Petri net specification. Two tools were developed for the aforementioned purpose, a Colored Petri net editor to create and modify Colored Petri nets, and an automatic code generator to generate code from a Colored Petri net specification. Through the use of the editor four models were created, these models were used as input to the automatic code generator. The automatic code generator successfully generated code from the Colored Petri net specification, code in the form of component scripts for the Unity3D game engine. However, the approach used by the code generator had flaws such as introducing overhead in the generated code, failing to deal with concurrency, and restricting the types of Colored Petri nets which could be used as input. The aforementioned tools could be used in the future to research the benefits and disadvantages of modeling game systems with Colored Petri nets, and automatically generating code from Colored Petri nets.

This document is primarily concerned with describing the development of an interactive virtual reality application. At the beginning is a description of the history of the VR, dating back to the 19th century. Following it is a description of the devices that are currently being used for the VR and for which this application is created. The Unity 3D development environment is presented, which is, together with the basic description of neural networks, a major part of the whole project. The other half describes the design and implementation of simulation of a magical world, including a new magic spell system that has not yet been used in any VR game, which is the recognition of hand gestures for spell creation by using neural network. The work also contains a description of the whole application, rooms and objects. The conclusion discusses the problems and dead ends that have been tried but failed.

Indiana University-Purdue University Indianapolis (IUPUI) / In immersive eLearning environments, it has been demonstrated that incorporating haptic feedback improves the software's pedagogical effectiveness. Due to this and recent advancements in virtual reality (VR) and mixed reality (MR) environments, more immersive, authentic, and viable pedagogical tools have been created. However, the advanced manufacturing industry has not fully embraced mixed reality training tools. There is currently a need for effective haptic feedback techniques in advanced manufacturing environments. The MR-AVML, a proposed CNC milling machine training tool, is designed to include two forms of haptic feedback, thereby providing users with a natural and intuitive experience. This experience is achieved by tasking users with running a virtual machine seen through the Microsoft HoloLens and interacting with a physical representation of the machine controller. After conducting a pedagogical study on the environment, it was found that the MR-AVML was 6.06% more effective than a version of the environment with no haptic feedback, and only 1.35% less effective than hands-on training led by an instructor. This shows that the inclusion of haptic feedback in an advanced manufacturing training environment can improve pedagogical effectiveness.

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