Method and apparatus for simulated hydrodynamics in mixed-reality fluid vessels

Patent metadata

Field	Value
Publication number	US-11462128-B2
Application number	US-201916657972-A
Country	US
Kind code	B2
Filing date	Oct 18, 2019
Priority date	Nov 20, 2018
Publication date	Oct 4, 2022
Grant date	Oct 4, 2022

Abstract

A haptic feedback system to stimulate physical sensation of handling a fluid in virtual spaces. The system includes a physical vessel containing a solid object and mechanical means to move the solid object therein, a virtual reality module to track a position of the physical vessel and a corresponding virtual vessel, logic to simulate a fluid contained in the virtual vessel based on the tracked position of the virtual vessel, logic to calculate coordinates of a center of gravity for the simulated fluid based on the tracked position of the virtual vessel, logic to translate the calculated coordinates of the center of gravity for the simulated fluid into cylindrical coordinates to which to move the solid object in the physical vessel, and logic to send instructions to the mechanical means to move the solid object in the physical vessel based on the cylindrical coordinates to shift the weight of the physical vessel in accordance with the center of gravity of the simulated fluid in the virtual vessel.

First claim

What is claimed is:

1. An apparatus, comprising:
a physical vessel containing a solid object and mechanical means to move the solid object therein;
a virtual reality module to track a position of the physical vessel and a corresponding virtual vessel;
logic to simulate a fluid contained in the virtual vessel based on the tracked position of the virtual vessel;
logic to calculate coordinates of a center of gravity for the simulated fluid based on the tracked position of the virtual vessel;
logic to translate the calculated coordinates of the center of gravity for the simulated fluid into cylindrical coordinates to which to move the solid object in the physical vessel; and
logic to send instructions to the mechanical means to move the solid object in the physical vessel based on the cylindrical coordinates to shift the weight of the physical vessel in accordance with the center of gravity of the simulated fluid in the virtual vessel.

2. The apparatus of claim 1 , further comprising logic to generate the instructions to send to the mechanical means to move the solid object in the physical vessel based on the cylindrical coordinates.

3. The apparatus of claim 1 , further comprising logic to modify the instructions based on limitations of the mechanical means.

4. The apparatus of claim 3 , wherein the logic to modify the instructions based on limitations of the mechanical means comprises logic to modify the instructions based on one or more of a maximum speed, direction, and distance, of the mechanical means to move the solid object.

5. The apparatus of claim 3 , wherein the logic to modify the instructions based on limitations of the mechanical means comprises logic to modify the instructions based on a periodicity of the instructions.

6. The apparatus of claim 1 ,
wherein the mechanical means comprises three motors coupled to an adjustable mechanical structure,
wherein the solid object is fixed to the adjustable mechanical structure, and
wherein the logic to send instructions to the mechanical means to move the solid object in the physical vessel based on the cylindrical coordinates comprises logic to send instructions to the motors to adjust the mechanical structure and thereby move the solid object fixed thereto based on the cylindrical coordinates.

7. The apparatus of claim 6 , wherein the logic to send instructions to the motors to adjust the mechanical structure and thereby move the solid object fixed thereto based on the cylindrical coordinates comprises proportional-integral-derivative logic to send instructions to control the motors to adjust the mechanical structure and thereby move the solid object fixed thereto based on the cylindrical coordinates.

8. A method, comprising:
providing a physical vessel containing a solid object and mechanical means to move the solid object therein;
tracking, with a virtual reality module, a position of the physical vessel and a corresponding virtual vessel;
simulating a fluid contained in the virtual vessel based on the tracked position of the virtual vessel;
calculating coordinates of a center of gravity for the simulated fluid based on the tracked position of the virtual vessel;
translating the calculated coordinates of the center of gravity for the simulated fluid into cylindrical coordinates to which to move the solid object in the physical vessel; and
transmitting instructions to the mechanical means to move the solid object in the physical vessel based on the cylindrical coordinates to shift the weight of the physical vessel in accordance with the center of gravity of the simulated fluid in the virtual vessel.

9. The method of claim 8 , further comprising generating the instructions to send to the mechanical means to move the solid object in the physical vessel based on the cylindrical coordinates.

10. The method of claim 8 , further comprising modifying the instructions based on limitations of the mechanical means.

11. The method of claim 10 , wherein modifying the instructions based on limitations of the mechanical means comprises modifying the instructions based on one or more of a maximum speed, direction, and distance, of the mechanical means to move the solid object.

12. The method of claim 10 , wherein modifying the instructions based on limitations of the mechanical means comprises modifying the instructions based on a periodicity of the instructions.

13. The method of claim 8 ,
wherein the mechanical means comprises three motors coupled to an adjustable mechanical structure,
wherein the solid object is fixed to the adjustable mechanical structure, and
wherein transmitting instructions to the mechanical means to move the solid object in the physical vessel based on the cylindrical coordinates comprises transmitting instructions to the motors to adjust the mechanical structure and thereby move the solid object fixed thereto based on the cylindrical coordinates.

14. Non-transitory computer readable storage media having instructions stored thereon that, when executed by a processor of a system, cause the system to perform operations comprising:
providing a physical vessel containing a solid object and mechanical means to move the solid object therein;
tracking, with a virtual reality module, a position of the physical vessel and a corresponding virtual vessel;
simulating a fluid contained in the virtual vessel based on the tracked position of the virtual vessel;
calculating coordinates of a center of gravity for the simulated fluid based on the tracked position of the virtual vessel;
translating the calculated coordinates of the center of gravity for the simulated fluid into cylindrical coordinates to which to move the solid object in the physical vessel; and
transmitting instructions to the mechanical means to move the solid object in the physical vessel based on the cylindrical coordinates to shift the weight of the physical vessel in accordance with the center of gravity of the simulated fluid in the virtual vessel.

15. The non-transitory computer readable storage media of claim 14 , further comprising generating the instructions to send to the mechanical means to move the solid object in the physical vessel based on the cylindrical coordinates.

16. The non-transitory computer readable storage media of claim 14 , further comprising modifying the instructions based on limitations of the mechanical means.

17. The non-transitory computer readable storage media of claim 16 , wherein modifying the instructions based on limitations of the mechanical means comprises modifying the instructions based on one or more of a maximum speed, direction, and distance, of the mechanical means to move the solid object.

18. The non-transitory computer readable storage media of claim 16 , wherein modifying the instructions based on limitations of the mechanical means comprises modifying the instructions based on a periodicity of the instructions.

19. The non-transitory computer readable storage media of claim 14 ,
wherein the mechanical means comprises three motors coupled to an adjustable mechanical structure,
wherein the solid object is fixed to the adjustable mechanical structure, and
wherein transmitting instructions to the mechanical means to move the solid object in the physical vessel based on the cylindrical coordinates comprises transmitting instructions to the motors to adjust the mechanical structure and thereby move the solid object fixed thereto based on the cylindrical coordinates.

Assignees

• Univ Arizona State

Inventors

• Likamwa Robert
• Sagheb Shahabedin
• Bahremand Alireza
• Lahey Byron
• Liu Frank Wencheng
• Kidane Assegid

Classifications

• G09B9/00

  Simulators for teaching or training purposes (for the use of weapons F41; computing aspects G06; {protocols for games, networked simulations or virtual reality H04L67/131}) · CPC title

• G06T2210/24

  Fluid dynamics · CPC title

• G01M1/122

  Determining position of centre of gravity · CPC title

• G06F3/011

  Arrangements for interaction with the human body, e.g. for user immersion in virtual reality (blind teaching G09B21/00) · CPC title

• G06F3/016

  Input arrangements with force or tactile feedback as computer generated output to the user · CPC title