
vertual ficture

nerittullathum vidooravumaaya krithrima jolikalil manushya prakadanam mechappeduthunnathinaayi oru yadhaartha paristhithiyekkurichulla oru upayokthaavinte daaranayekkurichulla augmented censory vivarangalude oru ovarleyaanu vertual ficture. 1990 kalude thudakkathil yuu. esile luis rosenberg aanu ithu vikasippichath.ezz. airfozhs research laborattari (eiii. eph. aarr. ell), vertual fixtureukal vertual realityilum augmented reality saankethikavidyakalilum oru munnira plaattfomaayirunnu.
charithram.
1992ll luis rosenberg usaf amstrong laabukalil vechaanu vertual fixtureukal aadyamaayi vikasippichath, athinte falamaayi ithuvare nirmmicha aadyathe immezhseevu augmented reality sisttam. 1990 kalude thudakkathil 3 dii graphics oru photorialistic, speshyal-rajisterdu augmented reality avatharippikkan valare mandagathiyilaayirunnathil, vertual fixtureukal rund yadhaartha physical robottukal upayogichu, ithu upayokthaav dharikkunna oru poornna upper body exoskelittan niyanthrikkunnu. upayokthaavin aazhathilulla anubhavam srishtikkunnathinu, oru jodi binocular magnifierukal vinyasicha oru savishesha optiks konfigareshan upayogichu, athuvazhi upayokthaavinte yadhaartha bhauthika aayudhangalude krithyamaaya sthaanathu rajisttar cheythathayi kaanunnathin robot aayudhangalekkurichulla upayokthaavinte kazhcha munnott konduvannu. thante kaikal undaayirikkenda sthalathu robot kaikal kaanumbol upayokthaav kaii neekkunna oru praadeshikamaayi rajisttar cheytha immezhseevu anubhavamaayirunnu phalam. yadhaartha shaareerika jolikal cheyyumbol upayokthaavine sahayikkaan roopakalppana cheythirikkunna simulated physical barrierukal, feeldukal, gaidukal ennivayude roopathil computer janarettucheytha vertual ovarlekalum sisttam upayogichu.
manushya pareekshana vishayangalude baattarikalil phitts niyama prakadana parisodhana nadatthi, upayokthaakkalkk immezhseevu augmented reality ovarle nalkunnathiloode yadhaartha loka vaidagdhyamulla jolikalude manushya prakadanatthil ganyamaaya vardhanavu kaivarikkaan kazhiyumennu aadyamaayi theliyichu.
ashayam.
nerittullathum vidooravumaaya krithrima jolikalil manushya prakadanam mechappeduthunnathinaayi oru workspaceile vertual censory vivarangalude oru ovarleyaayi vertual fixtureukal enna ashayam aadyamaayi avatharippichu. vertual censory ovarlekale bhouthikamaayi yaadhaarthyabodhamulla gadanakalaayi avatharippikkan kazhiyum, avaa yadhaartha workspace parithasthithiyil poornnamaayum undennu upayokthaavin manassilakkunna tharatthil bahiraakaashath rajisttar cheythittundu. yadhaartha bhauthika gadanakalkku saadhyamallaatha gunangalulla amoorthathakalum vertual censory ovarlekalaakaam. censory ovarle enna ashayam drishyavalkkarikkaanum samsarikkaanum prayaasamaan, athinte anantharafalamaayi vertual ficture metafor avatharippichu. oru vertual ficture enthaanennu manasilakkaan oru rular polulla yadhaartha physical fictureumaayi oru saamyam palappozhum upayogikkunnu. swathanthramaayi oru kadalaasil oru nerrekha varaykkunnathu polulla oru lalithamaaya jolie mikka manushyarkkum nalla krithyathayodum uyarnna vegathayodum koodi cheyyaan kazhiyaatha oru joliyaanu. ennirunnaalum, oru bharanadhikaariyeppolulla oru lalithamaaya upakaranathinte upayogam vegathil nalla krithyathayode jolie nirvahikkaan anuvadikkunnu. oru bharanaadhikaariyude upayogam upayokthaavinte virayalum maanasika bharavum kurachukondu bharanaadhikaariyude koode penaye nayikkunnathiloode upayokthaavine sahayikkunnu, angane phalangalude gunanilavaaram vardhippikkunnu.
vertual ficture ashayam yuu. kku nirddeshikkappettathu.ezz. 1991-ll vyomasena, augmented sarjari oru udaaharana upayoga kesaayirunnu, ithu oru yadhaartha pensiline nayikkunna oru vertual roolaril ninnu oru yadhaartha sarjan kaikaaryam cheytha oru yadhaartha physical scalpeline nayikkunna oru vertual medical ficturilekku ashayam vyapippichu. yadhaartha jolisthalathekkurichulla sarjante nerittulla daaranaye mathiyaya yaadhaarthyabodhathode vertual ulladakkam ovarle cheyyuka ennathaayirunnu lakshyam, ithu shasthrakriyayude anthareekshathile aadhikaarika kootticherkkalukalaayi kanakkaakkukayum athuvazhi shasthrakriyayude vaidagdhyam, vaidagdhyam, prakadanam enniva vardhippikkukayum cheyyum. yadhaartha hardwareumaayi thaarathamyappeduthumbol vertual medical fictureukalude nirddishta nettam avaa ambiyant realityilekkulla vertual kootticherkkalukalaayinathil, avaa yadhaartha rogikalkkullil bhaagikamaayi mungikkidakkukayum, maarganirddeshangalum koodaathe/allengil thurannukaattappedaatha tissukalkkullile thadassangalum nalkukayum cheyyum ennathaanu.
end efakttarinte maargganirddesham nalkunnathinekkaal valare vishaalamaan vertual fixtureukalude nirvachanam. udaaharanathinu, end-efakttarinte praadeshikavalkkaranathinaayi multy model soochanakal nalkikkond upayokthaavine sahayikkunna audiyo soochanakal nalkikkond upayokthru avabodham vardhippikkunnathinu shravana vertual fixtureukal upayogikkunnu. ennirunnaalum, manushya-yanthra sahakarana samvidaanangalude pashchaathalatthil, vertual fixtureukal enna padam palappozhum oru yadhaartha parithasthithiyil pothinjirikkunna oru task ashrita vertual aydine soochippikkaan upayogikkunnu, koodaathe upayokthaavinte chalanathe aavasyamulla dishakalilekku nayikkukayum athesamayam anaavashya dishakalilo pradeshangalilo chalanam thadayukayum cheiyunnu.
vertual fixtureukal onnukil "guiding vertual fixtureukal" allengil "nirodhitha pradeshangalude vertual fixtureukal" aakam. oru lakshyam niravettunnathinaayi oopparettar oru vidoora saittil oru vahanam oodikkenda oru teleoperated krameekaranatthil, udaaharanathinu, oru nirodhitha pradeshangalude vertual ficture upayogikkaam. nirodhitha pradeshangalil vahanam veezhunnathinu doshakaramaaya kuzhikal vidoora saittil undengil vividha kuzhikal nirvachikkaavunnathaan, angane oopparettar commandukal purappeduvikkunnathil ninnu thadayukayum athu vahanam atharamoru kuzhiyil veezhukayum cheyyum.
udaaharanathinu, telly ooppareshan looppile kaalathamasam, mosham telepressions allengil mattu niravadhi kaaranangalal atharam niyamaviruddha commandukal oru oopparettarkku eluppathil ayaykkaan kazhiyum.
oru maarganirddeshikkunna vertual ficturinte oru udaaharanam vahanam oru prathyeka paatha pinthudarendathundaakam.
munganana nalkaatha dishayilulla" chalanam parimithappedutthumbol "munganana nalkunna dishayilulla" purogathi niyantrikkaan oopparettarkku kazhiyum.
nirodhitha pradeshangalum vertual fixtureukale nayikkunnathum upayogichu ficturinte "kaadinyam" allengil athinte vipareethamaaya "paalikkal" krameekarikkaan kazhiyum. paalikkal uyarnnathaanengil (kuranja kaadinyam) ficture "mriduvaaya" aanu. maruvashathu, paalikkal poojyamaakumbol (paramavadhi kaadinyam) ficture "kadinamaanu".
vertual ficture kantrol niyamam.
vertual fixtureukal nadappilaakkunna oru niyanthrana niyamam engane uruthirinjuvennu eee vibhaagam vivarikkunnu. robottinte adisthaana frame formula prakadippicha end-ifakttar position formula _ 1, end-ifakttar ooriyanteshan formula _ 2 ennivayulla oru poornnamaayum kainamattik upakaranamaan robot ennu anumaanikkappedunnu. robottilekkulla inputt kantrol signal formula _ 4 aavasyamulla end-ifakttar velosity formula _ 5 aanennu anumaanikkappedunnu. telly-oopparettad sisttathil robot kantrolarinu nalkunnathinumumbu oopparettaril ninnulla inputt velosity, formula _ 6 skeyil cheiyunnathu palappozhum upayogapradamaanu. upayokthaavil ninnulla inputt oru fozhsu allengil position polulla mattoru roopathilaanengil athu aadyam oru inputt velocityilekku parivartthanam cheyyanam, udaaharanathinu scaling allengil deferentiating.
athinaal oopparettarude inputt velosity formula _ 6 ll ninnu kantrol signal formula _ 4 kanakkaakkum
 formula _ 9
formula _ 10 aanenkil oopparettarum slave robot thammil oru mapping undu.
sthiramaaya formula _ 11 oru diagonal matricks formula _ 12 upayogichu maattisthaapikkukayaanel, formula _ 13-nte vyathyastha alavukalkkayi swathanthramaayi paalikkal krameekarikkaan kazhiyum. udaaharanathinu, aadyathe moonnu gadakangale formula _ 12-nte diagonalil formula _ 11-lake matellaa gadakangaleyum poojyathilekkum sajjeekarikkunnath parivartthana chalanam maathram anuvadikkunna oru samvidaanathinu kaaranamakum, bhramanam allah. formula _ 16 muthal chalanathe niyanthrikkunna oru haard vertual ficturinte udaaharanamaayirikkum ithu. 
soothravaakyam _ 17. konile backie gadakangal poojyathinu pakaram oru cheria moolyathilekku sajjeekarichittundel, ficture mriduvaayirikkum, ithu bhramana dishakalil kurachu chalanam anuvadikkunnu.
kooduthal pothuvaaya parimithikal prakadippikkunnathin samaya soothravaakyathil munganana nalkunna oru samaya-vyathyasa matricks formula _ 18 anumaanikkuka. athinaal formula _ 20 aanenkil mungananayulla disha formula _ 21 leeii oru vakrathilaanu. athupole, formula _ 22 oru uparithalathil vyaapikkunna mungananayulla dishakal nalkum. formula _ 23 rund
projection oopparettarmaare nirvachikkaam, koolam spacinte span kernelum
 formula _ 24
formula _ 23 nuu poornna koolam rank illengil spaan kanakkakkaan kazhiyilla, thalphalamaayi suedo-invezhs upayogichu spaan kanakkakkunnathaanu nallath, athinaal praayogikamaayi spaan ingane kanakkaakkunnu
 soothravaakyam _ 26
ivide formula _ 27 formula _ 23-nte suedo-invezhsine soochippikkunnu.
inputt vegathaye rund gadakangalaayi vibhajikkukayaanenkil
 soothravaakyam _ 29
niyanthrana niyamam inipparayunna reethiyil mattiyezhuthaam
 soothravaakyam _ 30
aduthathaayi, eshtappedaathavare maathram badhikkunna oru puthiya paalikkal avatharippikkuka.
vegatha inputtinte ghadakam, anthima niyanthrana niyamam ingane ezhuthuka
 soothravaakyam _ 31