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INDEX
1. Organizational Overview........................................................................................................ 2 2. Profile of the Problem ............................................................................................................. 5 3. Existing system ........................................................................................................................ 7 4. Problem Analysis..................................................................................................................... 8 4.1 Product Definition .............................................................................................................. 8 4.3 Product Plan ...................................................................................................................... 10 5. Software Requirment Specification(SRS) ........................................................................... 11 6. Software Design Document(SDD) ........................................................................................ 26 7. Project Legacy ....................................................................................................................... 35 9.1 Current Status of the project ............................................................................................. 35 9.2 Remaining Areas of Concern ............................................................................................ 35 8. User Manual .......................................................................................................................... 36 9. Abbreviations and Glossary ................................................................................................. 39 10. References .............................................................................................................................. 40
Organization Overview
Introduction
For most of Indias population, viable employment remains out of reach: 90 percent of the work force is employed in informal, low-productivity jobs like daily wage labor, adhoc plumbing, and brick laying. This is not for lack of demand for skilled laboras Indias economy booms, along with it the need for skilled workers is high and rising. But vocational education and training institutes have become a bottleneck: facing budget constraints and inadequate numbers of trainers and materials, these traditional academic structures have been unable to keep up.
With its revolutionary application of haptic technology and multimedia, S.A.V.E is opening the floodgates, demonstrating the means to provide vocational education on a broader scale than ever seemed possible using traditional methods. And by targeting individuals who have thus far been sidelined in Indias economic progress, S.A.V.Es work offers concrete proof that with proper application of modern technology, prosperity and growth are increasingly achievable for all sectors of society.
Objective
Sakshat Amrita Vocational Education (s.a.v.e) aims to provide economically marginalized populations with the opportunity to positively alter their employment circumstances. Through its revolutionary approach to vocational education using cuttingedge haptic technology and multimedia-enriched computerized training programs, S.A.V.E is breaking down traditional logistical barriers to educating remote and
impoverished communities, and charting a course toward offering vocational education on a scale never before possible.
Enhance the employability of the illiterate and semi-literate sections of society throughout India.
Accelerate the learning process via advanced technologies including haptics and interactive multimedia tools.
Raise the standard of education, thus infusing the labor market with skilled and productive workers/artisans who can earn a living wage and raise the standard of living in their communities.
Scope
S.A.V.E harnesses the power of cutting-edge technology to extend vocational training courses specifically to individuals and communities whodue to traditionally insurmountable logistical and cultural barriershave been long been left on the sidelines of Indias economic progress. The revolutionary application of haptic technology and multimedia renders limitless the potential reach of S.A.V.E. With multilingual support, web-based user interface and low-cost, light-weight haptic technology replacing heavyduty tools and machinery, S.A.V.E is poised to shatter conventional limitations in providing vocational training on a broad scale to some of Indias least-served populations.
Universalizing Education
S.A.V.E caters to a population that until now has been disproportionately handicapped in their ability to enter into effective income-generating activities: illiterate, semi-literate and individuals with limited education. S.A.V.E courses will be available in every major Indian language and in English, guaranteeing that S.A.V.E can be effective nationwide.
Connectivity
With S.A.V.E courses accessible from anywhere where there is Internet or satellite connectivitydesktop and laptop computers, standard mobile phones and smartphoneslocation will no longer be a barrier to vocational education. S.A.V.E courses can be transmitted to remote locales, equipping these vulnerable communities with the skills and means they need to survive and prosper in a changing world.
The unique application of haptic technology to vocational education will minimize the need for materials and tools. Individuals will gain the experience of working on expensive equipment without risking damage, wear and tear. Additionally, the accessibility of S.A.V.E further minimizes required infrastructure.
Provide hobbyists with the means to learn the art of woodcarving without significant investment in wood, sculpting tools and tutors.
In parallel there is another team in SAVE that is working to make hardware that will give the feel and feedback of real world wood sculpting tools. Presently I will be using a 3 degrees of freedom (movement and feedback) device, the Novint falcon to develop the software. Although this device will not be suitable in the long run, it will be useful in developing the haptics and graphics algorithms that will simulate the look and feel of real wood.
No similar systems exist in this field at all. The most similar systems to haptic woodcarving are the various bone drilling applications developed in Stanford University.
Problem Analysis
The ancient Indian art of woodcarving is slowly dying because of the lack of students even though the opportunities are still attractive since handmade wood sculptures fetch tens of thousands of rupees in the market. But due to the fact that schools that teach this ancient art are few and masters of wood carving are hard to find these days, these traditions are slowly being lost. In parallel there is another team in SAVE that is working to make hardware that will give the feel and feedback of real world wood sculpting tools. Presently I will be using a 3 degrees of freedom (movement and feedback) device, the Novint falcon to develop the software. Although this device will not be suitable in the long run, it will be useful in developing the haptics and graphics algorithms that will simulate the look and feel of real wood.
The virtual wood carving application is a part of the SAVE initiative (Sakshat Amrita Vocational Education), an ongoing project of the Amrita E-learning Research Labs. SAVE intends to virtually train millions of people in vocations that require trained skill sets. Wood carving which requires hours of practice is an ideal application of haptics and virtual reality
Importance and benefits: The haptic wood carving application will be helpful in preserving our ancient heritage by creating a skeleton application into which we can record the wisdom and skills of the masters. There is also an employment aspect to it as woodcarving can be mastered faster using a haptics application and highly skilled artisans can earn a lot of money.
Algorithm 1
Implementation 1
This is where the algorithm for isosurface extraction is determined Implementing Marching Cubes to model virtual wood Total days:
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20
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Carving
Sl. No Name of module Description of module Estimated work (days)
Database design
2 3 4
Localized Marching Cubes to for carving virtual wood Mesh deformation for carving Interactive viewing Pencil drawing Total days:
20
10 10 5 45
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Preserving a very important part of our culture by enabling the transmission of techniques down the generations with the help of a Virtuo-Haptic immersive environment.
Provide opportunities for the thousands of talented yet unemployed youth in India. Provide hobbyists with the means to learn the art of woodcarving without significant investment in wood, sculpting tools and tutors.
In parallel there is another team in SAVE that is working to make hardware that will give the feel and feedback of real world wood sculpting tools. Presently I will be using a 3 degrees of freedom (movement and feedback) device, the Novint falcon to develop the software. Although this device will not be suitable in the long run, it will be useful in developing the haptics and graphics algorithms that will simulate the look and feel of real wood.
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Overall Description
1.3 Product Perspective
The virtual wood carving application is a part of the SAVE initiative (Sakshat Amrita Vocational Education), an ongoing project of the Amrita E-learning Research Labs. SAVE intends to virtually train millions of people in vocations that require trained skill sets. Wood carving which requires hours of practice is an ideal application of haptics and virtual reality
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Models properties of actual wood as realistic as possible both visually and haptically. Allows the student to feel the texture and shape of wood sculptures and wood pieces. Provides basic wood carving lessons. The software detects errors in the basic carving lessons and alerts the student.
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o Students new to the field of sculpting will use this software to learn the basics of the trade. o Since the tool is designed for the use of students of sculpting primarily, it is important that I gauge their comfort with using computers. Expert Instructors
o Experts in the field of wood carving will evaluate the software and give feedback which will go onto making the software more effective. o Of particular interest will be in comparing real world teaching techniques with virtual ones.
o Other developers on the SAVE team will also evaluate the software. They will be interested in seeing how the software fits into the overall scheme of things at SAVE.
A medium or high end GPU for graphical processing. A sound card. A Three Degrees of freedom (3-DOF) haptics device like the Novint Falcon. 6 DOF devices like the Sensable Phantom are preferred. Software Environment
Windows Vista or Windows 7 as the OS. CHAI3D Graphics/Haptics scenegraph library. Novint Falcon drivers. OpenAL and/or BASS audio libraries. Visual Studio 2005 or 2008. Virtual haptic device
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Accurate representation of an anisotropic material like wood will be possible through voxels and the forces calculated using them.
The lack of a 6 DOF haptic device would not affect the usability of the software significantly. 6 DOF devices are under development at SAVE and commercial ones will also be procured. But since their timeline exceeds that of my available project time,
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2. System Features
2.1 Generation of Wood voxels
3.1.1 Description and Priority
The virtual wood will be represented as voxels (volumetric data) with each voxel representing a point in space with associated texture, stiffness and other haptic properties. Unlike volumetric data available from MRI scans for haptic surgery applications, there are currently no publicly available MRI or other volumetric data sets to use in the application. Therefore my software will either dynamically generate its own voxel data or allow the user to manually input in voxel data. Priority for this module is not very high at the early stages of application development. Initially all voxels will have uniform properties with which the haptic & graphic algorithms will be tested. This module can be developed at a later stage. 3.1.2 Stimulus/Response Sequences
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The wood volumetric data needs to be rendered by extracting surface voxel data into isosurfaces that can be rendered as primitive triangles in OpenGL. I propose to use Yarden Livnat and Charles Hansens method for isosurface extraction which is halfway between CPU intensive ray tracing and GPU intensive Marching Cubes algorithm. For graphics refresh rate to be maintained near 60 Hz it is important that the voxel access time is constant or close to O(n) or lesser. The texture stored in each voxel will be queried to display as corresponding colored triangles in OpenGL. The priority of this module is very high since visual realism is important in a teaching environment that places importance on visual inspection to judge the quality of the work. 3.2.2 Stimulus/Response Sequences
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Haptic rendering is as important a critical activity as graphical rendering. It is important to haptically capture the feel of carving into wood. Each voxel will have a haptic property associated with it. Therefore the feedback force will be calculated from all the voxels currently in contact with the sculpting tool. This done by calculating a negative force depending on the vector of the chiseling tool, its incident force and the cumulative value of the haptic texture property of all the voxels that the tool is touching (by taking an average of all the friction parameters).
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3.2.2
Stimulus/Response Sequences
This module does not have very high priority value but nevertheless is intended to show the utility of the whole application which will eventually be used as a tutor and one stop place to learn everything about the Indian art of wood carving. This introductory part will teach the student basic wood carving lessons like how to place the tool on the wood and then perform some simple tasks like engraving a line, making pyramid shaped engravings
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and some others with increasing complexity. This module will be completed only if the time allows it. 3.2.2 Stimulus/Response Sequences
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Novint Falcon Driver : This is the software component that talks with the Novint falcon haptic game controller. All interaction with the device is through this driver. CHAI3D provides a layer of abstraction over this for the convenience of programmers.
Nvidia CUDA : An optional component at this stage, this might be used for storing voxels and for speeding up graphical rendering since CUDA allows programmers to directly use the parallel computing resources of the GPU.
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5.1.2 Processing Power The application requires a mid-range graphics card and a fast processor since the graphics for the application needs to be as realistic as possible. The points described earlier under computational requirements also make the case for larger processing power, stronger.
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Appendix A: Glossary
Haptics : Haptic technology, or haptics, is a tactile feedback technology that takes advantage of a user's sense of touch by applying forces, vibrations, and/or motions to the user.
Voxel : A voxel (volumetric pixel) is a volume element, representing a value on a regular grid in three dimensional space.
OpenAL : It is a cross-platform 3D audio API appropriate for use with gaming applications and many other types of audio applications.
Degrees of Freedom :
specify completely the displaced or deformed position and orientation of the body or system.
GPU : It is a specialized processor that offloads 3D graphics rendering from the microprocessor.
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1.2 Scope
The ancient Indian art of woodcarving is slowly dying because of the lack of students and The opportunities are still attractive since handmade wood sculptures fetch tens of thousands of rupees in the market. But due to the fact that schools that teach this ancient art are few and masters of wood carving are hard to find these days, these traditions are slowly being lost. Bringing haptics into this area serves two purposes:
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Preserving a very important part of our culture by enabling the transmission of techniques down the generations with the help of a Visuo-Haptic immersive environment.
Provide opportunities for the thousands of talented yet unemployed youth in India. Provide hobbyists with the means to learn the art of woodcarving without significant investment in wood, sculpting tools and tutors.
In parallel there is another team in SAVE that is working to make hardware that will give the feel and feedback of real world wood sculpting tools. Presently I will be using a 3 degrees of freedom (movement and feedback) device, the Novint falcon to develop the software. Although this device will not be suitable in the long run, it will be useful in developing the haptics and graphics algorithms that will simulate the look and feel of real wood.
2. SYSTEM OVERVIEW
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The virtual wood carving application is a part of the SAVE initiative (Sakshat Amrita Vocational Education), an ongoing project of the Amrita E-learning Research Labs. SAVE intends to virtually train millions of people in vocations that require trained skill sets. Wood carving which requires hours of practice is an ideal application of haptics and virtual reality.
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3. SYSTEM ARCHITECTURE
3.1 Architectural Design
This diagram shows the overall design of the software and how each of the modules are connected.
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4. COMPONENT DESIGN
4.1 UML sequence diagram of the CHAI3D virtual sculpting program
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4.2 UML Activity diagram describing the Marching Cubes isosurface generating algorithm
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These are the 14 different cases used for generating isosurfaces in the Marching Cubes method
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4.2 UML Activity diagram describing Haptic rendering for the sculpting tool
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Project Legacy
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User Manual
Screenshots
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Interactive Viewing
User options
Key x Close application Key r Rotate virtual wood Key w Wireframe show mode Key f Fullscreen mode Key m Use localized marching cubes Key p Change tools (pencil to chisel and back)
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Voxel : A voxel (volumetric pixel) is a volume element, representing a value on a regular grid in three dimensional space.
OpenAL : It is a cross-platform 3D audio API appropriate for use with gaming applications and many other types of audio applications.
Degrees of Freedom : are the set of independent displacements and/or rotations that specify completely the displaced or deformed position and orientation of the body or system.
GPU : It is a specialized processor that offloads 3D graphics rendering from the microprocessor.
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References
The US Dept of Agricultures Wood Handbook Visuohaptic Simulation of Bone Surgery for Training and Evaluation by Christopher Sewell et al. Voxel-Based Interactive Haptic Simulation Of Dental Drilling by Jun Wua et al.
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