虚拟城市环境下导航信息的触觉表达技术研究

发布时间：2018-05-26 02:31

本文选题：虚拟城市 + 导航信息　；参考：《东南大学》2016年博士论文

【摘要】：当今社会生活中人们的迁移活动越来越频繁,经常遇到的一个难题是如何在陌生的城市环境中导航。常用的导航装置大多经由视觉或听觉通道传递信息,但它们容易受到环境因素限制,或者被其他重要的任务所占据。由于触觉表达适用于普遍存在的环境,理解它提供的信息几乎不需要认知资源,能够为其他任务释放必需的认知资源,因此在视野受限的虚拟城市环境下,通过触觉通道提供导航信息有助于增强使用者的沉浸感,帮助使用者导航。本文以教育部高等学校博士学科点专项科研基金项目为依托,从技术手段、编码方法和性能评估等方面,对虚拟城市环境下导航信息的触觉表达技术中的一些关键问题进行研究。真实环境中大量的空间信息和长时间尺度的导航都会对使用者的认知分析施加很大影响,但虚拟环境能够把触觉表达技术与那些降低使用者导航表现的额外信息隔离开来。基于VC/OpenGL程序框架设计了一款三维虚拟城市仿真系统,为漫游者提供实时的空间导航信息。城市模型由Google SketchUp软件构建,并在3ds Ma x软件中重新贴图,再载入到OpenGL程序框架中显示。使用者在虚拟场景中使用第一或第三视角漫游,导航时跟随预先设定的路径点从起点遍历到路线的终点。系统提供的几种导航消息包括行进方向、相对距离、路口类型和路线属性。依靠这些导航信息,参与者可在多种触觉形式的刺激下实现在陌生城市环境中导航。仿真系统一并提供的还有定点鸟瞰图、漫游计时和运动路线显示与保存等功能。根据人体皮肤的触觉感知机理,选择振动和温度两种触觉方式来映射多维导航信息。详细分析了它们的参数种类,筛选出适合信息编码的参数。根据导航消息的种类,在每个参数中划分出在感觉上显著不同的两个或多个水平。振动触觉反馈由圆柱式振动电机提供,从理论上探索了它在皮肤上激活时的振动波传播；热触觉显示由典型的珀尔帖单元呈现,并基于半无限大体积模型推导出受刺激时皮肤内的热响应曲线。针对触觉导航训练系统,选择了最普遍接受的Wickens的多资源理论、Prenav和Chorems里论,更好地解释了为什么使用触觉通道为穿戴者表达导航信息是成功的。提出一种基于虚拟环境的多触觉导航训练系统总体方案,借助背包、腰带和臂带等配件进行可穿戴设计。介绍了多触觉导航训练系统的硬件设计,分析J’导航信息获取模块、核心处理模块、振动触觉反馈模块和热触觉显示模块的元器件选型、组成原理以及各模块的电气连接关系。对多触觉表达装置的可穿戴效果进行具体实现,成功地穿戴于人体的腰部、上臂等部位,达到系统便携性和移动性的要求。开展了多触觉导航训练系统的软件设计,包括多触觉表达装置的驱动程序和触觉训练软件。驱动程序分别从RT-thread移植、导航信息采集程序、导航信息解码程序和线程同步等方面展开设计,实现了对多维导航信息的实时获取、解码,以及多触觉表达功能。触觉训练软件提供训练和评估两大功能,为心理学实验搭建一个测试平台。介绍了复合式触觉图标的设计原理,根据城市导航信息的种类依次开展对三参数复合式振动触觉、四参数复合式温度+振动触觉图标的设计和识别研究。第一个实验表明三参数触觉图标的平均识别率高达95.47%,在所有的24种图标中人们能够正确地识别19.70种：第二个实验发现四参数触觉图标的平均识别率略有降低,但在32种图标中也能够可靠地识别出24.42种：第三个实验是在构建的简单城市环境中评估这两种触觉表达模式的导航效能。从实验结果看,在三参数振动触觉图标中识别三维导航信息是非常容易的,为参与者顺序地呈现四种不同的触觉刺激方式似乎没有造成混乱。尽管四参数复合式图标的平均识别率稍低,但在虚拟场景中导航时,参与者的表现要显著优于三参数触觉图标。第四个实验是把行进方向的水平扩展到8个,触觉图标种类也相应增加到64种,但这些图标的平均识别率并没有显著降低,仍然有91.86%,人们能够可靠识别的图标种类增加到45.52种。说明了设计的复合式触觉图标传递多维导航信息是可行的,具有与听觉图标和转换式图标可比拟的效果。分析了转换式触觉图标的设计原理,依次开展对四参数的四振动、一温度三振动和二温度二振动转换式触觉图标的设计和识别研究,并使用它们在虚拟城市环境中帮助参与者导航。第五个实验表明四振动转换式触觉图标的平均识别率为74.77%,在所有的64种图标中大约能够正确识别31种；第六个实验中一温度三振动图标的平均识别率为85.01%,有34～35种图标能够可靠地识别；第七个实验中二温度二振动图标的平均识别率为78.20%,能够可靠识别的图标仅为28～29种。实验结果表明,转换式触觉图标的平均识别率和信息传输能力基本满足要求。因为从这些四参数的转换式触觉图标中识别四维导航信息相对容易,为参与者同时提供四种不同的触觉刺激参数也没有造成过多的混乱。在复杂的虚拟城市环境中,利用四种不同的触觉表达模式开展导航实验,发现从导航表现和认知负担两个方面评判,参与者在使用一温度三振动转换式触觉图标时的整体表现最好。
[Abstract]:People are moving more and more frequently in today's social life. One of the problems often encountered is how to navigate in an unfamiliar city environment. Most commonly used navigation devices pass information through visual or auditory channels, but they are easily restricted by environmental factors or are occupied by their important tasks. The sense of touch is applicable. In a universal environment, understanding the information it provides almost does not require cognitive resources and can release the necessary cognitive resources for other tasks, so providing navigation information through tactile channels in a virtual city with limited vision helps to enhance users' immersion and help users navigate. Based on the project of special scientific research fund for doctoral science, some key problems in the tactile expression of navigation information in virtual city environment are studied from the aspects of technical means, coding methods and performance evaluation. A large number of spatial information and long time scale navigation in the real environment will be applied to the user's cognitive analysis. The virtual environment can isolate the tactile expression technology from the additional information that reduces the user's navigation performance. A 3D virtual city simulation system is designed based on the VC/OpenGL program framework to provide real-time spatial navigation information for the rover. The city model is built by the Google SketchUp software and is soft in the 3DS Ma X. The reloading is reloaded into the OpenGL program framework. Users roam in the first or third perspectives in the virtual scene, and follow the pre set path points from the starting point to the end of the route. Several navigation messages provided by the system include the direction of the travel, the phase to the distance, the type of intersection and the route attributes. To navigate information, participants can navigate in a strange city environment with a variety of tactile stimuli. The simulation system also provides a fixed bird's eye view, roaming timing and movement route display and preservation. According to the tactile perception mechanism of human skin, two kinds of tactile modes of tactile vibration and temperature are selected to map multidimensional navigation letters. The types of their parameters are analyzed in detail, and the parameters suitable for information coding are screened. According to the types of navigation messages, two or more levels are distinguished in each parameter. The vibration tactile feedback is provided by a cylindrical vibrating motor, and the vibration wave propagation on the skin is theoretically explored. The thermo tactile display is presented by a typical Perle post unit, and the thermal response curve in the skin is derived based on the semi infinite mass model. For the tactile navigation training system, the most widely accepted multi resource theory of Wickens, Prenav and Chorems theory, is used to explain why the tactile channel is used as the wearer's table. The navigation information is successful. A multi tactile navigation training system based on virtual environment is proposed, and the wearable design is made with the help of backpack, belt and arm band. The hardware design of the multi tactile navigation training system is introduced, the J 'navigation information acquisition module, the core processing module, the vibration tactile feedback module and the hot touch are analyzed. The device selection, the composition principle and the electrical connection of each module. The wearable effect of the multi tactile expression device is realized, and it is successfully worn in the waist, upper arm and other parts of the human body to meet the requirements of the system portability and mobility. The software design of the multi tactile navigation training system is carried out, including the multi tactile navigation system. The driver of the tactile expression device and the tactile training software. The driver is designed from the RT-thread transplant, the navigation information acquisition program, the navigation information decoding program and the thread synchronization, and realizes the real-time acquisition, decoding, and multi touch expression function of the multidimensional navigation information. The tactile training software provides training and evaluation. The two function is to set up a test platform for psychological experiment. The design principle of complex tactile icons is introduced. According to the types of urban navigation information, the design and recognition of three parameters compound vibratory tactile, four parameter compound temperature and vibratory tactile icons are studied. The first experiment shows the leveling of the three parameter tactile icons. The average recognition rate is up to 95.47%. In all 24 icons, people can identify 19.70 types correctly. Second experiments show that the average recognition rate of the four parameter tactile icons is slightly lower, but 24.42 of the 32 icons can be identified reliably. The third experiments are the evaluation of the two tactile expressions in the simple urban environment constructed. Model navigation effectiveness. From experimental results, it is very easy to identify three-dimensional navigation information in three parameter vibrational tactile icons. It does not seem to cause confusion for the participants' sequential presentation of four different tactile stimuli. Although the average recognition rate of the four parameter composite icons is slightly lower, the participants navigate in the virtual scene. The performance is significantly better than the three parameter tactile icon. Fourth experiments extend the moving direction to 8, the type of tactile icons are also increased to 64, but the average recognition rate of these icons is not significantly reduced, still 91.86%, the type of image identification can be identified to 45.52. It is feasible to transfer multidimensional navigation information by tactile icons. It has an analogy with the auditory icons and converted icons. The design principles of the transformational tactile icons are analyzed, and the four vibration of four parameters, the design and identification of a temperature three vibration and two temperature two vibrational tactile tactile maps are carried out in turn. Fifth experiments show that the average recognition rate of the four vibration conversion tactile icons is 74.77%, and about 31 of all 64 icons can be correctly identified; the average recognition rate of one temperature and three vibration icons in the sixth experiments is 85.01%, and 34~35 icons can be identified reliably; seventh is true. The average recognition rate of the two temperature and two vibration icons is 78.20%, and the icons that can be identified are only 28~29. The experimental results show that the average recognition rate and the information transmission ability of the transformational tactile icons are basically satisfied. It is relatively easy to identify the four-dimensional navigation information from these four parameters conversion tactile icons, for the participation of the four parameter tactile icons. At the same time, four different tactile stimulation parameters have not been caused by too much confusion. In the complex virtual city environment, the navigation experiments are carried out with four different tactile expressions, and the participants are judged from two aspects of the navigation performance and cognitive burden, and the participants are using a temperature and three vibration conversion tactile icon. It's best now.
【学位授予单位】：东南大学
【学位级别】：博士
【学位授予年份】：2016
【分类号】：TP391.41

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