Rocinante, a virtual collaborative visualizer
- Sandia National Labs., Albuquerque, NM (United States). Intelligent Systems and Robotics Center
- Univ. of New Mexico, Albuquerque, NM (United States)
With the goal of improving the ability of people around the world to share the development and use of intelligent systems, Sandia National Laboratories` Intelligent Systems and Robotics Center is developing new Virtual Collaborative Engineering (VCE) and Virtual Collaborative Control (VCC) technologies. A key area of VCE and VCC research is in shared visualization of virtual environments. This paper describes a Virtual Collaborative Visualizer (VCV), named Rocinante, that Sandia developed for VCE and VCC applications. Rocinante allows multiple participants to simultaneously view dynamic geometrically-defined environments. Each viewer can exclude extraneous detail or include additional information in the scene as desired. Shared information can be saved and later replayed in a stand-alone mode. Rocinante automatically scales visualization requirements with computer system capabilities. Models with 30,000 polygons and 4 Megabytes of texture display at 12 to 15 frames per second (fps) on an SGI Onyx and at 3 to 8 fps (without texture) on Indigo 2 Extreme computers. In its networked mode, Rocinante synchronizes its local geometric model with remote simulators and sensory systems by monitoring data transmitted through UDP packets. Rocinante`s scalability and performance make it an ideal VCC tool. Users throughout the country can monitor robot motions and the thinking behind their motion planners and simulators.
- Research Organization:
- Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)
- Sponsoring Organization:
- USDOE Office of Environmental Restoration and Waste Management, Washington, DC (United States)
- DOE Contract Number:
- AC04-94AL85000
- OSTI ID:
- 459408
- Report Number(s):
- SAND-96-2881C; CONF-970464-4; ON: DE97001212; TRN: 97:007652
- Resource Relation:
- Conference: 7. American Nuclear Society topical meeting on robotics and remote systems, Augusta, GA (United States), 27 Apr - 1 May 1997; Other Information: PBD: [1996]
- Country of Publication:
- United States
- Language:
- English
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