Type of Document	Dissertation
Author	Park, Borinara
URN	etd-11302002-220713
Title	Development of a Virtual Reality Excavator Simulator: a Mathematical Model of Excavator Digging and a Calculation Methodology
Degree	PhD
Department	Environmental Design and Planning
Advisory Committee	Advisor Name Title Ron Wakefield Committee Chair Dennis Jones Committee Member John Perumpral Committee Member Walid Thabet Committee Member Yvan Beliveau Committee Member
Keywords	Simulation Methodology Soil Resistance Model Virtual Reality Simulator Excavator Digging
Date of Defense	2002-10-31
Availability	unrestricted
Abstract Virtual Reality (VR) simulators have become popular because of two distinctive merits. One is the capability to transfer data and information to users in an intuitive way by means of 3-D high-quality graphics output and real input devices. The other is the capability to represent physical systems in mathematical models so that meaningful responses of the systems can be predicted. Previous efforts in VR excavating machine simulator development, however, showed a lack of balance between the fidelity of the model of the physics and the visual representation of the simulated equipment. In order to ensure that a VR construction excavator simulator provides convincing operating results to users, the focus of simulator development needs to be shifted to interaction of physically valid soil and the excavator machine. This research aims to contribute to the development of a VR construction excavator simulator system by proposing a mathematical model of excavator digging and a calculation methodology. The mathematical model of excavator digging provides physically meaningful soil-bucket interaction information to a simulator. The calculation methodology provides systematic and efficient computation methods to ensure the seamless integration of the excavator digging model with a VR simulator system as well as adequate system speed. As a result, the simulator is realized as an engineering process tool equipped with real-time interactivity.
Files	Filename       Size       Approximate Download Time (Hours:Minutes:Seconds)     28.8 Modem   56K Modem   ISDN (64 Kb)   ISDN (128 Kb)   Higher-speed Access    _101_TitlePage.pdf 4.17 Kb 00:00:01 < 00:00:01 < 00:00:01 < 00:00:01 < 00:00:01   _102_Abstract.pdf 5.91 Kb 00:00:01 < 00:00:01 < 00:00:01 < 00:00:01 < 00:00:01   _103_Acknowledgements.pdf 4.62 Kb 00:00:01 < 00:00:01 < 00:00:01 < 00:00:01 < 00:00:01   _104_TableOfContents.pdf 29.87 Kb 00:00:08 00:00:04 00:00:03 00:00:01 < 00:00:01   _105_ListOfFigures.pdf 27.72 Kb 00:00:07 00:00:03 00:00:03 00:00:01 < 00:00:01   _106_ListOfTables.pdf 3.69 Kb 00:00:01 < 00:00:01 < 00:00:01 < 00:00:01 < 00:00:01   _107_Ch1_ResearchProposal.pdf 24.46 Kb 00:00:06 00:00:03 00:00:03 00:00:01 < 00:00:01   _108_Ch2_Background.pdf 820.01 Kb 00:03:47 00:01:57 00:01:42 00:00:51 00:00:04   _109_Ch3_ResearchFrameWork.pdf 148.59 Kb 00:00:41 00:00:21 00:00:18 00:00:09 < 00:00:01   _110_Ch4_ComputationalModelforHydraulicExcavator.pdf 885.64 Kb 00:04:06 00:02:06 00:01:50 00:00:55 00:00:04   _111_Ch5_MathematicalModelOfExcavatorDigging.pdf 852.88 Kb 00:03:56 00:02:01 00:01:46 00:00:53 00:00:04   _112_Ch6_CalculationMethodology.pdf 2.31 Mb 00:10:41 00:05:30 00:04:48 00:02:24 00:00:12   _113_Ch7_SummaryConclusionsAndFutureResearch.pdf 68.62 Kb 00:00:19 00:00:09 00:00:08 00:00:04 < 00:00:01   _114_References.pdf 13.13 Kb 00:00:03 00:00:01 00:00:01 < 00:00:01 < 00:00:01   _115_AppendixA.pdf 14.23 Kb 00:00:03 00:00:02 00:00:01 < 00:00:01 < 00:00:01   _116_AppendixB.pdf 221.77 Kb 00:01:01 00:00:31 00:00:27 00:00:13 00:00:01   _117_AppendixC.pdf 96.81 Kb 00:00:26 00:00:13 00:00:12 00:00:06 < 00:00:01   _118_Vita.pdf 4.08 Kb 00:00:01 < 00:00:01 < 00:00:01 < 00:00:01 < 00:00:01

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