the human factors network for the process industries Report (D7.4): State of the art of VR modelling Author: Stefan Stüring, Alberto Trasi (IFF) (Intentionally left blank) State of the art of VR modelling Preface ............................................................................................................ 1 1 Introduction ............................................................................................. 3 2 Human Performance in Virtual Words .................................................... 5 3 Virtual Reality Hardware ........................................................................ 7 3.1 Visual Display................................................................................... 7 3.1.1 “Immersive” display................................................................... 8 3.1.2 Spatially Immersive Display ...................................................... 9 3.1.3 Virtual Model Display.............................................................. 10 3.2 Acoustic sources ............................................................................. 10 3.3 Input devices (manipulation) .......................................................... 11 3.4 Tracking of user location ................................................................ 12 4 Virtual Reality Software ........................................................................ 13 5 Cost of Virtual Reality........................................................................... 15 6 Virtual Reality applications ................................................................... 17 7 Conclusion ............................................................................................. 19 Bibliography................................................................................................. 21 Preface In the document that describe the aim of the PRISM project we can read: ... The overall objective for the PRISM Human Factors Thematic Network is: “the improvement of safety in the European process industries through raising awareness of, and sharing experience in, the application of human factors approaches and stimulate their development and improvement to address industry-relevant problems in batch and continuous process industries.” The aim of the Thematic Network will be to create an extensive forum within which industry, universities, research centres and practitioners can collaborate to improve the flow of fundamental knowledge and practical experience in human factors and identify areas for improvement by collaborative effort. Deep in detail the main objective of this work-package is to select a methodology, for identification and control of potential failures associated with Human Factors, suitable for process industry, and to improve it using both an interdisciplinary approach and VIRTUAL REALITY techniques. ... Again in the “Description of Work” of this project we can find the following definition of Human Factors: “environmental, organisational and job factors, and human and individual characteristics which influence behaviour at work in a way which can affect health and safety” No definition of Virtual Reality is reported in that document and it can cause misunderstanding in the next steps of the project. Because of this leak of definition we would like to provide the partners of this Network with an explanation of what Virtual Reality is (or can be considered) and then to report about the state of the art in VR modelling. 1 This report is the natural conclusion of the presentation that took place at the Politecnico di Milano the 10th of September 2001. In this report we try to give only the essential information about VR. There are several excellent book that address all the different aspect of VR from the beginner step to the expert level and we report some of them in the bibliography. Several information (articles and demos) about VR are available in a lot of internet sites. Especially the contents of the first three chapters of this report are summary of materials available in internet. 2 1 Introduction Virtual Reality (VR) hit the headlines in the niid-1980s, and spawned a series of conferences, exhibitions, television programs, and philosophical debates about the meaning of reality. During the 1990s also the terms Virtual Environments (VE) and synthetic environments emerged. Today, we have virtual universities, virtual offices, virtual laboratory, virtual exhibitions, virtual wind tunnels, virtual actors, virtual studios, virtual museums, virtual doctors, virtual X, virtual Y, virtual ... The term Virtual Reality (VR) is used by many different people and currently has many meanings. Early VR systems described a computer technology that enabled a user to look through a special display called a Head-Mounted Display (HMD)-and instead of seeing the normal world, they saw a computer-generated world. There are some people to whom VR is a specific collection of technologies, that is a HMD, Glove Input Device and Audio. However, the general concept of the systems goes way beyond that, VR is much more than immersive systems working with a HMD, a definition can be: ... “Virtual Reality is a way for humans to visualise, manipulate and interact with computers and extremely complex data”. ["Silicon Mirage: The Art and Science of Virtual Reality", S. Aukstakalnis & D. Blatner, Peach Pit Press 1992] According to this definition we must admit that for some people and for some purposes also “Microsoft Office” is a form of Virtual Reality! Another definition that is generally accepted is: ... “Virtual Reality is about creating acceptable substitutes for real objects or environments, and is not really about constructing imaginary worlds that are indistinguishable from the real world”. [Essential Virtual Reality fast”, J. Vince, Springer Verlag 1998] The problem with that definition is in the word “acceptable” because of the subjectivity that this word implies, but the second part clarifies what is not Virtual Reality. Basically, and this is the definition that we prefer: “VR is about using computers to create images of 3D scenes with which one can navigate and interact”. 3 To navigate implies the ability to move around and explore features of a 3D scene such as a building, an hangar, a plant and so on. To interact implies the ability to select and move objects in a scene, such as a chair, a wrench, a pipe and so on. It is better to point out since now that in order to navigate and interact we require real-time graphics, which implies fast computers. We recognise from the definition of VR adopted that navigation and interaction are important features of a VR system. According to the fact that Personal Computer system are capable of displaying real-time images of 3D environments that could be navigated and support interaction, someone prefers to make a distinction between Immersive VR and non-Immersive VR. To dictate what VR is or is not, is a difficult task and it is strictly related to the definition that we decide to follow. VR technology will undergo big developments during the next few years, and what we currently accept as VR could disappear and be replaced by something equally revolutionary. 4 2 Human Performance in Virtual Words Computer speed and functionality, image processing, synthetic sound, and tracking mechanisms have been joined together to provide realistic “acceptable” virtual worlds. A fundamental advance still required for VEs to be effective is to determine how to maximise the efficiency of human task performance in virtual worlds. In many cases, the task will be to obtain and understand information portrayed in the virtual environment. Maximising the efficiency of the information conveyed in VEs will require developing a set of guiding design principles that enable intuitive and efficient interaction so that users can readily access and comprehend data. It is difficult to gauge the importance of the various human-factors issues requiring attention. It is clear that if humans cannot perform efficiently in virtual environments (thereby compromising the effectiveness of the human virtual environment interaction or the transfer of training), then further pursuit of this technology may be fruitless. In order to determine the effectiveness of a VE, a means of assessing human performance efficiency in virtual worlds is first required. This is easier said than done. Factors contributing to human performance in VEs predictably include the navigational complexity of the VE and the degree of presence provided by the virtual world. High Increasing Human Performance in VE Navigational Easiness Immersion increase sense of presence Low Low Degree of sense of Presence 5 High If individuals cannot effectively navigate in VEs, then their ability to perform required tasks will be severely limited. The degree of presence experienced by an individual may influence human performance. Presence is a factor of both the vividness of an experience and the level of interaction. It is commonly considered that operation of a VE system that provides a high degree of presence is likely to be better accomplished than one where such perceptions are not present. Little or no systematic research is available, however, to substantiate this assumption. This may be due to the lack of systematic methods for evaluating and defining the presence requirements for different applications. Apart from supplying the user with stereoscopic images, the HMD immersed the user in the virtual world by preventing them from seeing the real world. Immersion increased the sensation of presence within the virtual world, and for some people, immersion distinguished VR systems from other types of real-time computer graphics systems. For this community, a VR system had to provide a user with a 'first-person' view of the virtual world. Looking at a workstation screen was not virtual reality-it was just fast computer graphics! In order for designers to be able to maximise human efficiency in VEs, it is essential to obtain an under-standing of design constraints imposed by human sensory and motor physiology. Without a foundation of knowledge in these areas, there is a chance that VE systems will not be compatible with their users. VE design requirements and constraints should thus be developed by taking into consideration the abilities and limitations of human sensory and motor physiology. The physiological and perceptual issues that directly impact the design of VEs include visual perception, auditory perception, and haptic and kinaesthetic perception. One important aspect that will directly influence how effectively humans can function in virtual worlds is the nature of the tasks being performed [Stanney, 1995]. In determining the nature of user tasks it can be said that some tasks may be uniquely suited to virtual representation while others may simply be impractical. Understanding the relationship between realworld task characteristics and their corresponding virtual task characteristics is key in determining how well a task is suited for VEs. A key question is, then, which task characteristics determine whether a particular task is appropriate for a VE? Some of the most frequently cited objective measures of task performance are task completion time, task error rate, and task learning time [Hix and Hartson, 1993]. Thus it seems reasonable to address characteristics which have significant effects on these measures. One approach is to look at task characteristics which describe who is performing the task and where the task is being performed, as well as characteristics inherent in the basic components of tasks. 6 3 Virtual Reality Hardware Virtual Reality relies on specialized hardware to present information to users. Because of the complexity of human perception the hardware associated with VE presentation has been specialized to render a single facet of human senses (especially visual perception, auditory perception, and haptic and kinaesthetic perception). Although the interface components enable the rendering of different, separate sensory information, they share common characteristics such as the following: 3.1 dimension rendering spatial resolution refresh and update rates intensity range bandwidth number of users supported “naturalness" of design and interaction (body-centered interaction) size, weight, comfort, and mobility portability cost Visual Display Visual displays come in several different forms, including head-mounted displays, CAVEs™, counterbalanced displays, and virtual workbenches. Most display types are perfectly suited for some tasks, sufficient for some other tasks, and ill-suited, impossible, or intractable for others. It is possible to distinguish three kind of VE display: Head Mounted Display (HMD) and Cathode Ray Tube (CRT) based display Spatial Immersive Display (SID) Virtual Model Display (VMD) One way to determine which is the best kind of display for a specific task is through the type of presence the tasks and system intend to convey. Full immersion requires an enveloping display, so that all external (outside the VE) sights and sounds are omitted. Users become immersed in VEgenerated information only. This is typically achieved through use of an HMD. 7 Self-presence is the perception that, from the user's perspective, “I am here”. Immersion is not required to achieve self-presence. Peripheral motion cues, location cues, and field of view contribute to self presence as typically experienced through spatially immersive displays (SIDs) such as CAVEs™ and domes. Object presence can be thought as the degree to which users believe an object is present. Object presence is the perception that, from the user's perspective, “It is there”. A good 3D perspective and head tracking are necessary for rich object presence, typically provided through the use of Virtual Model Display. 3.1.1 “Immersive” display A HMD is an advanced stereoscopic system in which separate small displays are placed in front of each eye, with special optics to focus and stretch the perceived field of view. A HMD requires a position tracker in addition to the helmet. HMDs are best-suited for single, autonomous user activity. Each user wears a separate display, which must provide a unique perspective depending upon user location, orientation, activity, and so on. In a multi-user setting, each HMD may need to also present all other users, with accurate location, orientation, and so on. Coordination of displays among a large number of users may be too computationally intensive, resulting in severe latency problems, and in effect, rendering the system useless. Tasks that require that multiple users occupy the same physical space are ill-suited for HMDs, as users contend for physical floor and room space without the ability to see each other. On the other hand, scenarios involving several remote users may be better off using HMDs. In this fashion, users are able to occupy the same virtual space without having to rely on sharing the same physical space. Coordination of displays among users over a networking real time is not trivial. 8 In general HMDs are well-suited for application where complete visual immersion or absence of distraction is required. HMDs are usually tethered by video (and audio) cabling, limiting user mobility to cable length and support mechanism. To reduce user fatigue associated with HMD size and weight it is possible to install the display on an armature for support and tracking (binocular omni-oriented monitor - BOOM™). 3.1.2 Spatially Immersive Display Spatially Immerse Displays (SIDs) provide a balance between immersion and spatial object rendering by generating stereoscopic images on physical surfaces viewed by users through liquid crystal display shutter glasses. Typically the surfaces envelop the user to some degree, creating a sense of immersion. However, shutter glasses are necessarily transparent so that users see anyone or anything which may also be present inside and outside the computer-generated environment. The spatial quality of 3D images experienced by users of SIDs is far superior to that available through HMDs. Thus, SIDs are well-suited for spatially rich applications such as environmental walk-throughs and flight simulations. SIDs are typically considered well-suited for multi-user task and collaboration but they are not well-suited for multi-user Ves that require separate images per user. The most common example of SIDs is CAVEs™. Images generated in a CAVE™ are presented on some combination of adjacent walls, floor, and ceiling of what can be thought of as a simple. By sheer magnitude of the display surfaces, it provides sufficient but not complete immersion. For example, in some CAVEs™, images are projected only onto three walls and the floor. Stereo vision is accomplished by creating two different images of the world, one for each eye. The images are computed with the viewpoints offset by the equivalent distance between the eyes. There are a large number of technologies for presenting these two images. The images can be placed side-byside and the viewer asked (or assisted) to cross their eyes. The images can be projected through differently polarised filters, with corresponding filters placed in front of the eyes. The two images can be displayed sequentially and shutter glasses are then used to shut off alternate eyes in synchronisation with the display. When the brain receives the images in 9 rapid enough succession, it fuses the images into a single scene and perceives depth. 3.1.3 Virtual Model Display Virtual Model Displays (VMDs) are a third class of display types providing three-dimensional visualization without complete immersion. In essence, VMDs are capable of generating virtual worlds where the effect is limited to the volume of space roughly equivalent to just inside and outside the display surface. The resulting lack of complete immersion is one of the major distinction between VMDs and SIDs. A limited form of immersion can be created by VMDs which have very large, upright display surfaces. Another distinction is the fact that, as the name states, virtual model displays are particularly well suited for providing exocentric views of virtual models such as a virtual. VMDs provide excellent object presence, supporting the notion that “it is there". These distinctions in turn suggest the types of applications and interactions best suited for VMDs. The major distinctions among specific instances of VMDs are size, dimension and pitch or tilt of the display. VMDs are well-suited for local collaboration, since multiple users can participate using the single display, and for model prototyping or other task requiring manipulation of some external model. Stereo vision is accomplished in the same way of SID systems. 3.2 Acoustic sources Studies have shown that aural feedback effectively improves user performance of tasks such as three-dimensional target acquisition and shape perception in single-user desktop VEs [Mereu and Kazman, 1996]. Thus, as the push for more useful VEs ensues, researchers aim to develop more sophisticated virtual acoustic presentation. An advantage of acoustic presentation is the increasing of user spatial awareness. Studies showed that distance estimation via aural cues alone is very difficult but when aural cues are used in conjunction with visual tasks, target errors were reduced and task completion times were significantly lower than times for sound-only environment. While the use of acoustic presentation in VEs appears helpful, it may not be necessary in all situations. As with other modes of communication, it is important to understand the difference between audio as necessarily inherent in functionality (voicemail, music browser, etc.) and audio as a complement 10 to other sensory functionality. Given the temporal, non-persistent nature of audio, aural information must be presented in a meaningful, timely, and useful manner. The following list reports some circumstances in which acoustic presentation is desired [Cohen and Wenzel, 1995]: 3.3 when the origin of the message is itself a sound (voice, music) when other channels are overburdened (simultaneous presentation) when the message is simple and short (status report) when the message addresses temporal events (Your process is finished) when warnings are sent, or when message prompts for immediate action when continuously changing (dynamic) information is presented (location, metric, or count-down) when speech channels are fully employed (virtual teleconferencing and collaboration) when a verbal response is required (compatibility of media) when illumination or disability limits use of vision (alarm clock) when the receiver moves from one place to another (employing sound as a ubiquitous I/O channel). Input devices (manipulation) The simplest control hardware is a conventional mouse, trackball or joystick. While these are two dimensional devices, creative programming can use them for 6D controls. Today there are a number of 3 and 6 dimensional mice/trackball/joystick devices being introduced to the market. Someone who has been asked to describe a VE will typically include two major devices in their response: an HMD and a data glove. No other input device is so closely connected with the perception of VEs. A natural extension of human behavior, gloves not only allow VE users to reach, grab, and touch virtual objects of interest, but to engage in gesture interaction (e.g., pointing to an object as a means of selection). Here a glove is outfitted with sensors on the fingers as well as an overall position/orientation tracker. To measure finger position relative to the hand, most gloves are equipped to capture finger-joint position through flex sensors. There are generally two schools of thought on capturing these positions: (1) through optical or electronic channels mounted within the glove, and (2) through mechanical linkage mounted out-side the glove (a.k.a. exoskeleton). In either case, to capture the most basic hand and finger positions, gloves typically use two flex sensors per _finger (used on the lower two knuckles). More sophisticated designs capture flexion in the distal joint (finger's outer most knuckle) for more detailed gesturing. Mechanical armatures can be used to 11 provide fast and very accurate tracking and force feedback. Such armatures may look like a desk lamp (for basic position/orientation) or they may be highly complex exoskeletons (for more detailed positions). The drawbacks of mechanical sensors are the encumbrance of the device and its restrictions on motion. Fakespace's Pinch Glove™ is capable of reliably recognizing basic gestures without the additional cost incurred by sophisticated flex sensors. Each glove contains five electronic sensors (one in each fingertip), designed to be used in pinching combinations. Contact between any two or more digits completes a unique electrical path that is then mapped to an application-specific meaning. Multigen™ has successfully developed an entire language of gestural “pinching” for use in its SmartScene packages. Very natural gestural interaction may be achieved through intuitive pinch mappings. For example, pinching with forefinger and thumb may used to grab a virtual object and snapping between middle finger and thumb may used to initiate an action. 3.4 Tracking of user location One of most fundamental pieces of information a VE system must know is the position of users in three-dimensional space. This position is most often given in terms of location (x,y,z) and orientation (heading, pitch, roll). One of the biggest problem for position tracking is latency, or the time required to make the measurements and pre-process them before input to the simulation engine. In many applications, more specific user information is used, such as the location and orientation of users' hands, heads, feet, etc., to create more sophisticated interaction. For example, it is possible track articulated detailed upper-body movements using magnetic trackers placed on users' wrists, elbows, and shoulders. Three-Dimensional Position Trackers Placed on gloves, helmets, body joints, and in hand-held interaction devices, threedimensional, six DOF trackers are widely used for most every positioning need, and thus may possibly be considered the backbone of VE interaction. Many types of three-dimensional tracking techniques exist, including magnetic, mechanical , ultrasonic, and optical, as well as sophisticated video-imaging techniques. 12 4 Virtual Reality Software All companies providing VR systems (especially the software) can’t be seen as already established on the market, except perhaps Division Ltd. Therefore, there is a high risk to rely on the specific formats used by these systems. We describe here below the characteristic of the VR application we have been developing at the Frauhofer Institute in the department of Interactive Visualisation and Simulation (IVS). An essential characteristic of our VR application is a considerable degree of interactivity. In contrast to many other developments, which mainly contain fly-through and only a few user interactions, our work is focused on user interaction with the virtual environment. The technical system must be modelled close to reality in order to attain realistic conditions. This means, the model should react as the real equipment does and should also respond to user actions in the same way. Of course, it is necessary to enable the user to perform all relevant actions in the synthetic environment, that he would have to perform in the real world. In addition to the geometry of objects, a lot more information needs to be modelled. This refers, for example, to the hierarchy of objects and possible parenting relations, movement constraints, causalities, properties and actions as well as dynamic behaviour of objects. In general, the information needed to model the training environment can be divided into three levels: Geometry level. This level includes all nodes of different types (geometry, animation, trigger, level-of-detail switches, ...) as they are common to the scenario structure of most available VR-systems. These entities provide the formal base for the implementation of a scenario in a runtime system. Information of this level will be imported from other systems, such as CAD applications, by appropriate converters. This level is normally unknown to engineers, instructors and pedagogues. Object level. Based on the information from the geometry level, this level specifies the basic objects that can be utilised in the next level for the definition of training scenarios. Each objects comprises a defined set of properties. A 13 realistic behaviour of the system is achieved by modelling causalities between the properties of different objects in case of manipulation. The object level contains all product specific information that is already defined within the design process. Additionally, it includes characteristics that are determined by natural constraints, e.g. gravity, collision detection to avoid interpenetrating of objects, etc.. This level is the level of the design engineer. It contains the system specific and technological know-how. Instructional level. Objects defined in the object level, can be utilised here for different purposes, from designing to training tasks. Design evaluations can be performed in VR before the real implementation of the product, training tasks can be used to construct lessons. One or more lessons may be necessary to attain a certain training objective Level 1: Increasing level of abstraction Level 2: GEOMETRY OBJECT Events, Trigger, Links, Animations Transformation hierarchy of geometries. Processes (manipulations, actions), Status of objects, Properties, Causalities. Level 3: INSTRUCTIONAL Aim of Scenario, Lesson, Evaluation, Task, Questions All the three levels mentioned above depend on each other. Each level requires specialists of different areas. From our point of view, it is important to emphasise the distinction between the levels of content (object level and pedagogue level) and level of the runtime system (geometry level). This distinction has been made in order to retain flexibility in terms of the runtime system and the hardware platform. Moreover, this separation allows the structures for representing the content to be focused on the requirements of the specific field of application. Otherwise, one would be forced to adapt to the structures of the runtime system which have been developed on totally different premises and objectives. Since the information that describes the scenario is processed before the application is running, this division does not affect the performance of the actual simulation. 14 5 Cost of Virtual Reality To speak about the costs of VR is not easy and first of all it is important to define what are the results or the reason we want it. As we already defined in the chapter dedicated to VR hardware, in order to navigate and interact in a immersive or non-immersive VR section we need first of all a good-fast PC. We all know the cost of a good processor and a good graphic board and we all know that technology in that direction cause this kind of hardware to become old in 6 months. The only think that we want remark is that the faster is the PC the better is for VR purposes. According to the system we want to build or the aim of the system, we can decide which kind of input-output devices integrate. It can be possible that, because of our aim, a PC is all that we need! There are then a number of specialised types of hardware that have been developed or used for Virtual Reality applications. Just to have an idea of the prices of some devices look at the list below Personal Computer Track System Pinch Glove Shutter Glasses Head Mounted Display Panoramic Screen (Barco) ... Development (2-3 month) 3000 – 5000 5000 – 10000 2000 – 3000 500 – 1000 10000 – 12000 50000 – 60000 ... 25000 – 40000 € € € € € € € We realise that, in order to obtain a certain degree of immersion and interaction building a system based on a tracking system, 2 pinch gloves and an HMD, we need to invest (PC excluded) more than 20000 €. To have a complete idea of the costs of VR we can not forget the cost of the development of a virtual “scenario” in term of cost of the software and cost of the man-power. We report this voice in the last line of the table. Is then VR expensive? Compared to the standard hardware and software that we usually use at work or at home we must recognise that VR is a serious investment. When are VR application convenient? In the design phase of a project VR can help engineers in visualising the behaviour of what they are creating or updating, this saves time and money 15 during the test phase. It is in fact not necessary to develop a real prototype or to begin the real construction and adjust it in a later step. Besides the time and cost saving during the design and test phase there are other advantages: reduced immobilisation and loss by damage of the real hardware for/by training purposes, reduced need for assistance from manufacturers staff in user’s facility by using network solution, simplification of the development of training means and tools to match them with the progress made on the real system, lower risks for the personnel (prevention of accidents). Compared to the cost of making errors in the design phase or to the cost of damages during the training phase (especially for expensive hardware), VR can be considered cheap and desirable. 16 6 Virtual Reality applications The benefits of VEs over physical environments several. No space is required, they can be very accurate and realistic, animated, illuminated, copied, shared, navigated, and one can interact with them. VR has application in visualising structures developed using CAD. The benefits of seeing a product as a true 3D object, the ability to explore issues of operator visibility, maintenance, manufacture, and physical simulation before anything is built are immense. VR has significant benefits in training, especially where it is expensive or dangerous to undertake the training using real system such as planes, ships, power stations, oil rings, etc. VR can be used in surgical training, where a surgeon can practice surgical procedures on virtual organs, without endangering the lives of real patients. VR can be used for engineering, education, design, training, entertainment, and for many other application. In the field of plant layout, today the transition to 3D CAD/CAE environments has been completed to the greatest extent. Upon completion of the plant, the client has not only the plant as such (the product) at his disposal but also, on request, the detailed, accurate image of the plant, developed in the design and implementation process, in the form of a data model. By simulating a control console and by using the simulation model to display all functional features, the control room personnel can be trained under very realistic conditions. In contrast to training on the real object, simulation allows training personnel in dangerous situations without risk. Today a design engineer makes use of virtual environments when factories are newly built, restructured or expanded. The engineer's planning activities centre on the 3D factory model which, on the basis of results inflowing from integrated factory planning tools, exhibits a dynamic behaviour and, as a result, all in all reflects the changes arising in the planning process. Thus, for example, a plant can be tested under certain load 17 situations by using a material flow simulation. Manufacturing bottlenecks can be identified and plants can be dimensioned in accordance with the desired performance parameters. The assembly of complex products requires highly qualified personnel and a corresponding outlay for training, so that the job can be performed efficiently and with high quality. To a considerable extent, the time necessary from the conclusion of the design phase up to reaching efficient production of a new product depends on how quickly the personnel can become qualified for the tasks on the new product. Training systems using virtual reality make it possible to train personnel before the real new product or even only prototypes of the same exist. As relates to time and cost savings as well as the improvement of quality, this holds great potential, for instance, for companies in the automobile industry. The changeover from one model to its successor could be considerably better organised, i.e. more smoothly and economically, if the assembly workers could be trained in time and appropriately and could familiarise themselves with the new product. The employees would already have acquired extensive knowledge and practical skills before the production for the new product begins, because they were already able to train under realistic conditions in a virtual environment. 18 7 Conclusion In relation with the increased performance of computers, especially concerning 3D graphics, progress is achieved very rapidly in the field of Virtual Reality. As there are now already PC’s with high performance graphic boards available at reasonable prices, interactive 3D applications become increasingly attractive to different application areas. However, progress made concerning the development of highly interactive synthetic environments is not very large. Commercially available VR provide comprehensive sets of functionality but they are multi-purpose applications. In general, one can determine that existing VR applications provide only very limited interactivity that don’t let the user be a real active user. Most system’s architectures and data structures provide only poor support for training applications. Additionally, all companies providing VR systems can’t be seen as already established on the market, except perhaps Division Ltd. Therefore, there is a high risk to rely on the specific formats used by these systems. 19 For any question on VR please contact us or visit our web-sites. http://www1.iff.fhg.de/iff/pvt/pvtseiten/ivs/english/indexe.html 20 Bibliography Aukstakalnis S., Blatner D.. (1992). “Silicon Mirage: The Art and Science of Virtual Reality”. Peach Pit Press. Cohen M., Wenzel E. (1995). “The design of multidimensional sound interfaces”. In Virtual Environment and Advanced Interface Design, chapter 8, Oxford University Press. Gabbard J., Hix D. (1997). “A Taxonomy of usability Characteristics in Virtual Environments”. Deliverable to Office of Naval Research. (http://csgrad.cs.vt.edu/~jgabbard/ve/taxonomy/) Hix D., Hartson H. (1993) “Developing User Interfaces”. John Wiley & Sons, Inc. Isdale J. (1993). “What Is Virtual Reality? A Homebrew Introduction”. (Document available online at: http://sunsite.unc.edu / pub / academic / computer-science / virtual-reality / papers / whatisvr.txt) Mereu S., Kazman R. (1996). “Audio enhanced 3D interfaces for visually impaired users”. In Human Factors in Computing Systems, CHI’96 Conference Proceedings. Stanney K. M. et al., “Human Factors Issues in Virtual Environments: A Review of the Literature” Presence, Vol.7, No. 4, August 1998, 327-351 Vince J. (1998). “Essential Virtual Reality fast”. Springer Verlag. (http://www.essential-series.com/essential_virtualreality_chapter.htm) The following bibliography is a short list of books or articles related to VR and it is not strictly related to this report. Badler, N. I., Phillips, C. B., and Webber, B. L. (1993). Virtual Humans and Simulated Agents. New York, NY: Oxford University Press. Barfield, W. and Furness, T. (Eds.). (1995). Virtual Environments and Advanced Interface Design. Oxford, UK: Oxford University Press. 21 Best, K. (1994). The Idiot's Guide to Virtual World Design. Seattle, WA: Little Star. Biocca, F. and Levy, M. R. (Eds.). (1995). Communication in the Age of Virtual Reality. Hillsdale, NJ: Lawrence Erlbaum Associates. Boff, K. R., Kaufman, L. and Thomas, J. P. (Eds.). (1986). Handbook of Human Perception and Human Performance. New York, NY, USA: Wiley. Burdea, G. (1996). Force & Touch Feedback for Virtual Reality. New York: John Wiley & Sons. Cotton, B. and Oliver, R. (1993). 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