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Urban Air Mobility System Testbed Using CAVE Virtual Reality Environment

Urban Air Mobility (UAM) refers to a system of air passenger and small cargo transportation within an urban area. The UAM framework also includes other urban Unmanned Aerial Systems (UAS) services that will be supported by a mix of onboard, ground, piloted, and autonomous operations. Over the past few years UAM research has gained wide interest from companies and federal agencies as an on-demand innovative transportation option that can help reduce traffic congestion and pollution as well as increase mobility in metropolitan areas. The concepts of UAM/UAS operation in the National Airspace System (NAS) remains an active area of research to ensure safe and efficient operations. With new developments in smart vehicle design and infrastructure for air traffic management, there is a need for methods to integrate and test various components of the UAM framework. In this work, we report on the development of a virtual reality (VR) testbed using the Cave Automatic Virtual Environment (CAVE) technology for human-automation teaming and airspace operation research of UAM. Using a four-wall projection system with motion capture, the CAVE provides an immersive virtual environment with real-time full body tracking capability. We created a virtual environment consisting of San Francisco city and a vertical take-off-and-landing passenger aircraft that can fly between a downtown location and the San Francisco International Airport. The aircraft can be operated autonomously or manually by a single pilot who maneuvers the aircraft using a flight control joystick. The interior of the aircraft includes a virtual cockpit display with vehicle heading, location, and speed information. The system can record simulation events and flight data for post-processing. The system parameters are customizable for different flight scenarios; hence, the CAVE VR testbed provides a flexible method for development and evaluation of UAM framework.

Marayong, Panadda↗

Ames Lab 101: VE-Suite

Ames Laboratory scientist Mark Bryden talks about virtual engineering and the advantages it gives engineers when they can "walk through" designs visually.

42 ENGINEERING↗

Venus Quadrangle Geological Mapping: Use of Geoscience Data Visualization Systems in Mapping and Training

We are currently investigating new technological developments in computer visualization and analysis in order to assess their importance and utility in planetary geological analysis and mapping [1,2]. Last year we reported on the range of technologies available and on our application of these to various problems in planetary mapping [3]. In this contribution we focus on the application of these techniques and tools to Venus geological mapping at the 1:5M quadrangle scale. In our current Venus mapping projects we have utilized and tested the various platforms to understand their capabilities and assess their usefulness in defining units, establishing stratigraphic relationships, mapping structures, reaching consensus on interpretations and producing map products. We are specifically assessing how computer visualization display qualities (e.g., level of immersion, stereoscopic vs. monoscopic viewing, field of view, large vs. small display size, etc.) influence performance on scientific analysis and geological mapping. We have been exploring four different environments: 1) conventional desktops (DT), 2) semi-immersive Fishtank VR (FT) (i.e., a conventional desktop with head-tracked stereo and 6DOF input), 3) tiled wall displays (TW), and 4) fully immersive virtual reality (IVR) (e.g., "Cave Automatic Virtual Environment," or Cave system). Formal studies demonstrate that fully immersive Cave environments are superior to desktop systems for many tasks [e.g., 4].

Head, James W.↗

The CAVE (TM) automatic virtual environment: Characteristics and applications

Virtual reality may best be defined as the wide-field presentation of computer-generated, multi-sensory information that tracks a user in real time. In addition to the more well-known modes of virtual reality -- head-mounted displays and boom-mounted displays -- the Electronic Visualization Laboratory at the University of Illinois at Chicago recently introduced a third mode: a room constructed from large screens on which the graphics are projected on to three walls and the floor. The CAVE is a multi-person, room sized, high resolution, 3D video and audio environment. Graphics are rear projected in stereo onto three walls and the floor, and viewed with stereo glasses. As a viewer wearing a location sensor moves within its display boundaries, the correct perspective and stereo projections of the environment are updated, and the image moves with and surrounds the viewer. The other viewers in the CAVE are like passengers in a bus, along for the ride. 'CAVE,' the name selected for the virtual reality theater, is both a recursive acronym (Cave Automatic Virtual Environment) and a reference to 'The Simile of the Cave' found in Plato's 'Republic,' in which the philosopher explores the ideas of perception, reality, and illusion. Plato used the analogy of a person facing the back of a cave alive with shadows that are his/her only basis for ideas of what real objects are. Rather than having evolved from video games or flight simulation, the CAVE has its motivation rooted in scientific visualization and the SIGGRAPH 92 Showcase effort. The CAVE was designed to be a useful tool for scientific visualization. The Showcase event was an experiment; the Showcase chair and committee advocated an environment for computational scientists to interactively present their research at a major professional conference in a one-to-many format on high-end workstations attached to large projection screens. The CAVE was developed as a 'virtual reality theater' with scientific content and projection that met the criteria of Showcase.

Kenyon, Robert V.↗

Stage Cylindrical Immersive Display

Panoramic images with a wide field of view intend to provide a better understanding of an environment by placing objects of the environment on one seamless image. However, understanding the sizes and relative positions of the objects in a panorama is not intuitive and prone to errors because the field of view is unnatural to human perception. Scientists are often faced with the difficult task of interpreting the sizes and relative positions of objects in an environment when viewing an image of the environment on computer monitors or prints. A panorama can display an object that appears to be to the right of the viewer when it is, in fact, behind the viewer. This misinterpretation can be very costly, especially when the environment is remote and/or only accessible by unmanned vehicles. A 270 cylindrical display has been developed that surrounds the viewer with carefully calibrated panoramic imagery that correctly engages their natural kinesthetic senses and provides a more accurate awareness of the environment. The cylindrical immersive display offers a more natural window to the environment than a standard cubic CAVE (Cave Automatic Virtual Environment), and the geometry allows multiple collocated users to simultaneously view data and share important decision-making tasks. A CAVE is an immersive virtual reality environment that allows one or more users to absorb themselves in a virtual environment. A common CAVE setup is a room-sized cube where the cube sides act as projection planes. By nature, all cubic CAVEs face a problem with edge matching at edges and corners of the display. Modern immersive displays have found ways to minimize seams by creating very tight edges, and rely on the user to ignore the seam. One significant deficiency of flat-walled CAVEs is that the sense of orientation and perspective within the scene is broken across adjacent walls. On any single wall, parallel lines properly converge at their vanishing point as they should, and the sense of perspective within the scene contained on only one wall has integrity. Unfortunately, parallel lines that lie on adjacent walls do not necessarily remain parallel. This results in inaccuracies in the scene that can distract the viewer and subtract from the immersive experience of the CAVE.

Abramyan, Lucy↗

Large-Scale Visualization of 3D Unstructured Groundwater Model Using Cave Automated Virtual Environment

The immersive three-dimensional (3D) virtual reality (VR) visualization of groundwater models allows us to deepen our understanding of aquifer systems and provide better solutions to present groundwater-related problems, such as groundwater recharge, water quality, and sustainability. Visualization assists in accurately developing groundwater models and revealing important subsurface features, including faulting, folding, and unconformity. However, assessing model accuracy poses challenges due to the complexity of geology and groundwater systems. This research demonstrates a workflow to visualize and analyze raw 3D unstructured groundwater model data using an immersive Cave Automated Virtual Environment (CAVE). To visualize the unstructured groundwater model data, the raw dataset is converted into interactive CAVE-compatible formats utilizing a set of tools: ParaView, Blender, and Unity. This enables researchers to immerse themselves in the data, identifying influential patterns and relationships. e resulting insights can inform the development of sophisticated machine-learning models for groundwater level prediction. The CAVE’s immersive capabilities allow intuitive exploration from various perspectives, providing a more holistic understanding of the factors affecting groundwater levels. These insights are crucial to improve predictive models. The CAVE results also facilitate collaborative analysis and have potential applications in training and education. is research demonstrates the value of immersive VR tools such as the CAVE for unraveling intricacies within high-dimensional scientific data to drive real-world forecasting and modeling applications.

54 ENVIRONMENTAL SCIENCES↗

Low-Cost, Portable, Multi-Wall Virtual Reality

Virtual reality systems make compelling outreach displays, but some such systems, like the CAVE, have design features that make their use for that purpose inconvenient. In the case of the CAVE, the equipment is difficult to disassemble, transport, and reassemble, and typically CAVEs can only be afforded by large-budget research facilities. We implemented a system like the CAVE that costs less than $30,000, weighs about 500 pounds, and fits into a fifteen-passenger van. A team of six people have unpacked, assembled, and calibrated the system in less than two hours. This cost reduction versus similar virtual-reality systems stems from the unique approach we took to stereoscopic projection. We used an assembly of optical chopper wheels and commodity LCD projectors to create true active stereo at less than a fifth of the cost of comparable active-stereo technologies. The screen and frame design also optimized portability; the frame assembles in minutes with only two fasteners, and both it and the screen pack into small bundles for easy and secure shipment.

Miller, Samuel A.↗

Deployment of a Full-Scope Commercial Nuclear Power Plant Control Room Simulator at the Idaho National Laboratory

The INL operates the HSSL to conduct research in the design and evaluation of advanced reactor control rooms, integration of intelligent support systems to assist operators, development and assessment of advanced human performance models, and visualizations to assess advanced operational concepts across various infrastructures. This advanced facility consists of a reconfigurable simulator and a virtual reality capability (known as the Computer-Aided Virtual Environment (CAVE)) (Figure 2). It supports human factors research, including human-in-the-loop performance, HSI, and analog and digital hybrid control displays. It can be applied to the development and evaluation of control systems and displays for complex systems such as existing and advanced NPP control rooms, command and control systems, and advance emergency operations centers. The HSSL incorporates a reconfigurable control room simulator, which is currently housed in the Center for Advanced Energy Studies (CAES), a joint venture of the DOE and the Idaho University System. The simulator is a platform- and plant-neutral environment intended for full-scope and part-task testing of operator performance in various control room configurations. The simulator is not limited to a particular plant or even simulator architecture. It can support engineering simulator platforms from multiple vendors using digital interfaces. Due to its ability to be reconfigured, it is possible to switch the HSI - not just to digital panels but also to different control modalities such as those using greater plant automation or intelligent alarm filtering. The simulator currently includes three operator workstations, each capable of driving up to eight 30-inch monitors. The size and number of monitors varies depending on the particular front-end simulator deployed for a simulator study. These operator workstations would typically be used for the shift supervisor or senior reactor operator, reactor operator, and assistant reactor operator in current US NPPs. In addition to the three workstations, information can be shared between the workstations and further displayed on a large-screen overview display or a panel mimic. An 82-inch high-definition display is commonly used for the overview display.

21 SPECIFIC NUCLEAR REACTORS AND ASSOCIATED PLANTS↗

High End Computer Network Testbedding at NASA Goddard Space Flight Center

The Earth & Space Data Computing (ESDC) Division, at the Goddard Space Flight Center, is involved in development and demonstrating various high end computer networking capabilities. The ESDC has several high end super computers. These are used to run: (1) computer simulation of the climate systems; (2) to support the Earth and Space Sciences (ESS) project; (3) to support the Grand Challenge (GC) Science, which is aimed at understanding the turbulent convection and dynamos in stars. GC research occurs in many sites throughout the country, and this research is enabled by, in part, the multiple high performance network interconnections. The application drivers for High End Computer Networking use distributed supercomputing to support virtual reality applications, such as TerraVision, (i.e., three dimensional browser of remotely accessed data), and Cave Automatic Virtual Environments (CAVE). Workstations can access and display data from multiple CAVE's with video servers, which allows for group/project collaborations using a combination of video, data, voice and shared white boarding. The ESDC is also developing and demonstrating the high degree of interoperability between satellite and terrestrial-based networks. To this end, the ESDC is conducting research and evaluations of new computer networking protocols and related technologies which improve the interoperability of satellite and terrestrial networks. The ESDC is also involved in the Security Proof of Concept Keystone (SPOCK) program sponsored by National Security Agency (NSA). The SPOCK activity provides a forum for government users and security technology providers to share information on security requirements, emerging technologies and new product developments. Also, the ESDC is involved in the Trans-Pacific Digital Library Experiment, which aims to demonstrate and evaluate the use of high performance satellite communications and advanced data communications protocols to enable interactive digital library data access between the U. S. Library of Congress, the National Library of Japan and other digital library sites at 155 MegaBytes Per Second. The ESDC participation in this program is the Trans-Pacific access to GLOBE visualizations in real time. ESDC is participating in the Department of Defense's ATDNet with Multiwavelength Optical Network (MONET) a fully switched Wavelength Division Networking testbed. This presentation is in viewgraph format.

Gary, James Patrick↗

Electronic Visualization Laboratory's 50th Anniversary Retrospective: Look to the Future, Build on the Past

September 2023 marks the 50th anniversary of the Electronic Visualization Laboratory (EVL) at University of Illinois Chicago (UIC). EVL's introduction of the CAVE Automatic Virtual Environment in 1992, the first widely replicated, projection-based, walk-in, virtual-reality (VR) system in the world, put EVL at the forefront of collaborative, immersive data exploration and analytics. However, the journey did not begin then. Since its founding in 1973, EVL has been developing tools and techniques for real-time, interactive visualizations—pillars of VR. But EVL's culture is also relevant to its successes, as it has always been an interdisciplinary lab that fosters teamwork, where each person's expertise contributes to the development of the necessary tools, hardware, system software, applications, and human interface models to solve problems. Over the years, as multidisciplinary collaborations evolved and advanced scientific instruments and data resources were distributed globally, the need to access and share data and visualizations while working with colleagues, local and remote, synchronous and asynchronous, also became important fields of study. This paper is a retrospective of EVL's past 50 years that surveys the many networked, immersive, collaborative visualization and VR systems and applications it developed and deployed, as well as lessons learned and future plans.

Johnson, Andrew E.↗

ISS Radiation Shielding and Acoustic Simulation Using an Immersive Environment

The International Space Station Environment Simulator (ISSES) is a virtual reality application that uses high-performance computing, graphics, and audio rendering to simulate the radiation and acoustic environments of the International Space Station (ISS). This CAVE application allows the user to maneuver to different locations inside or outside of the ISS and interactively compute and display the radiation dose at a point. The directional dose data is displayed as a color-mapped sphere that indicates the relative levels of radiation from all directions about the center of the sphere. The noise environment is rendered in real time over headphones or speakers and includes non-spatial background noise, such as air-handling equipment, and spatial sounds associated with specific equipment racks, such as compressors or fans. Changes can be made to equipment rack locations that produce changes in both the radiation shielding and system noise. The ISSES application allows for interactive investigation and collaborative trade studies between radiation shielding and noise for crew safety and comfort.

Verhage, Joshua E.↗

Phase II Nevada Water Resources Data, Modeling, and Visualization (DMV) Center (Final Report)

Water is unquestionably a critical resource throughout the United States. In the semi-arid west -- an area stressed by increase in human population and sprawl of the built environment -- water is the most important limiting resource. Crucially, science must understand factors that affect availability and distribution of water. To sustain growing consumptive demand, science needs to translate understanding into reliable and robust predictions of availability under weather conditions that could be average but might be extreme. These predictions are needed to support current and long-term planning. Similar to the role of weather forecast and climate prediction, water prediction over short and long temporal scales can contribute to resource strategy, governmental policy and municipal infrastructure decisions, which are arguably tied to the natural variability and unnatural change to climate. Change in seasonal and annual temperature, precipitation, snowmelt, and runoff affect the distribution of water over large temporal and spatial scales, which impact the risk of flooding and the groundwater recharge. Anthropogenic influences and impacts increase the complexity and urgency of the challenge. The goal of this project has been to develop a decision support framework of data acquisition, digital modeling, and 3D visualization. This integrated framework consists of tools for compiling, discovering and projecting our understanding of processes that control the availability and distribution of water. The framework is intended to support the analysis of the complex interactions between processes that affect water supply, from controlled availability to either scarcity or deluge. The developed framework enables DRI to promote excellence in water resource management, particularly within the Lake Tahoe basin. In principle, this framework could be replicated for other watersheds throughout the United States. Phase II of this project builds upon the research conducted during Phase I, in which the hydrologic framework was investigated and the development initiated. Phase II concentrates on practical implementation of the earlier work but emphasizes applications to the hydrology of the Lake Tahoe basin. Phase 1 efforts have been refined and extended by creating a toolset for geographic information systems (GIS) that is usable for disparate types of geospatial and geo-referenced data. The toolset is intended to serve multiple users for a variety of applications. The web portal for internet access to hydrologic and remotely sensed product data, prototyped in Phase I, has been significantly enhanced. The portal provides high performance access to LANDSAT-derived data using techniques developed during the course of the project. The portal is interactive, and supports the geo-referenced display of hydrologic information derived from remotely sensed data, such as various vegetative indices used to calculate water consumption. The platform can serve both internal and external constituencies using inter-operating infrastructure that spans both sides of the DRI firewall. The platform is intended grow its supported data assets and to serve as a template for replication to other geographic areas. An unanticipated development during the project was the use of ArcGIS software on a new computer system, called the IBM PureSytems, and the parallel use of the systems for faster, more efficient image processing. Additional data, independent of the portal, was collected within the Sagehen basin and provides detailed information regarding the processes that control hydrologic responses within mountain watersheds. The newly collected data include elevation, evapotranspiration, energy balance and remotely sensed snow-pack data. A Lake Tahoe basin hydrologic model has been developed, in part to help predict the hydrologic impacts of climate change. The model couples both the surface and subsurface hydrology, with the two components having been independently calibrated. Results from the coupled simulations involving both surface water and groundwater processes show that it is possible to fairly accurately simulate lake effects and water budget variables over a wide range of dry and wet cycles in the historical record. The Lake Tahoe basin is representative of the hydrology, topography and climate throughout the Sierra Nevada Range, and the entire model development is prototypical of the efforts required to replicate the decision support framework to other locales. The Lake Tahoe model in particular, could allow water managers to evaluate more accurately components of the water budget (ET, runoff, groundwater, etc) and to answer important questions regarding water resources in northern Nevada. This report discusses the geographic scale and the hydrologic complexity of the calibrated model developed as part of this project, as well as simulation results for historical and future climate projects To enable human-driven data exploration and discovery, de novo software for a globalized rendering module that extends the capability of our evolving custom visualization engine from Phase I (called SMEngine) has been developed. The new rendering component, called Horizon, supports terrain rendering capable of displaying and interrogating both remotely sensed and modeled data. The development of Horizon necessitated adaptation of the visualization engine to allow extensible integration of components such as the global rendering module and support for associated features. The resulting software is general in its GIS capability, but a specific Lake Tahoe visualization application suitable for immersive decision support in the DRIVE6 virtual reality facility has been developed. During the development, various features to enhance the value of the visualization experience were explored, including the use of hyperspectral image overlays. An over-arching goal of the visualization aspect of the project has been to develop and demonstrate the CAVE (CAVE Automatic Virtual Environment) as a practical tool for hydrologic research.

54 ENVIRONMENTAL SCIENCES↗

Evaluating the Impact of Head Rotation Amplification on Virtual Reality Training Effectiveness

Virtual reality (VR) systems have been proposed for use in numerous training scenarios, such as room clearing, which require the trainee to maintain spatial awareness. But many VR training systems lack a fully surrounding display, requiring trainees to use a combination of physical and virtual turns to view the environment, thus decreasing spatial awareness. One solution to this problem is to amplify head rotations, such that smaller physical turns are mapped to larger virtual turns, allowing trainees to view the surrounding environment with head movements alone. For example, in a multi-monitor system covering only a 90-degree field of regard, head rotations could be amplified four times to allow the user to see the entire 360-degree surrounding environment. This solution is attractive because it can be used with lower-cost VR systems and does not require virtual turning. However, the effects of amplified head rotations on spatial awareness and training transfer are not well understood. We hypothesized that small amounts of amplification might be tolerable, but that larger amplifications might cause trainees to become disoriented and to have decreased task performance and training transfer. In this paper, we will present our findings from an experiment designed to investigate these hypotheses. The experiment placed users in a virtual warehouse and asked them to move from room to room, counting objects placed around them in space. We varied the amount of amplification applied during these trials, and also varied the type of display used (head-mounted display or CAVE). We measured task performance and spatial awareness. We then assessed training transfer in an assessment environment with a fully surrounding display and no amplification. The results of this study will inform VR training system developers about the potential negative effects of using head rotation amplification and contribute to more effective VR training system design.

3D interaction↗

A convertor and user interface to import CAD files into worldtoolkit virtual reality systems

Virtual Reality (VR) is a rapidly developing human-to-computer interface technology. VR can be considered as a three-dimensional computer-generated Virtual World (VW) which can sense particular aspects of a user's behavior, allow the user to manipulate the objects interactively, and render the VW at real-time accordingly. The user is totally immersed in the virtual world and feel the sense of transforming into that VW. NASA/MSFC Computer Application Virtual Environments (CAVE) has been developing the space-related VR applications since 1990. The VR systems in CAVE lab are based on VPL RB2 system which consists of a VPL RB2 control tower, an LX eyephone, an Isotrak polhemus sensor, two Fastrak polhemus sensors, a folk of Bird sensor, and two VPL DG2 DataGloves. A dynamics animator called Body Electric from VPL is used as the control system to interface with all the input/output devices and to provide the network communications as well as VR programming environment. The RB2 Swivel 3D is used as the modelling program to construct the VW's. A severe limitation of the VPL VR system is the use of RB2 Swivel 3D, which restricts the files to a maximum of 1020 objects and doesn't have the advanced graphics texture mapping. The other limitation is that the VPL VR system is a turn-key system which does not provide the flexibility for user to add new sensors and C language interface. Recently, NASA/MSFC CAVE lab provides VR systems built on Sense8 WorldToolKit (WTK) which is a C library for creating VR development environments. WTK provides device drivers for most of the sensors and eyephones available on the VR market. WTK accepts several CAD file formats, such as Sense8 Neutral File Format, AutoCAD DXF and 3D Studio file format, Wave Front OBJ file format, VideoScape GEO file format, Intergraph EMS stereolithographics and CATIA Stereolithographics STL file formats. WTK functions are object-oriented in their naming convention, are grouped into classes, and provide easy C language interface. Using a CAD or modelling program to build a VW for WTK VR applications, we typically construct the stationary universe with all the geometric objects except the dynamic objects, and create each dynamic object in an individual file.

Wang, Peter Hor-Ching↗

A common path forward for the immersive visualization community

Immersive visualization makes use of the medium of virtual reality (VR) - it is a subset of virtual reality focused on the application of VR technologies to scientific and information visualization. As the name implies, there is a particular focus on the physically immersive aspect of VR that more fully engages the perceptual and kinesthetic capabilities of the scientist with the goal of producing greater insight. The immersive visualization community is uniquely positioned to address the analysis needs of the wide spectrum of domain scientists who are becoming increasingly overwhelmed by data. The outputs of computational science simulations and high-resolution sensors are creating a data deluge. Data is coming in faster than it can be analyzed, and there are countless opportunities for discovery that are missed as the data speeds by. By more fully utilizing the scientists visual and other sensory systems, and by offering a more natural user interface with which to interact with computer-generated representations, immersive visualization offers great promise in taming this data torrent. However, increasing the adoption of immersive visualization in scientific research communities can only happen by simultaneously lowering the engagement threshold while raising the measurable benefits of adoption. Scientists time spent immersed with their data will thus be rewarded with higher productivity, deeper insight, and improved creativity. Immersive visualization ties together technologies and methodologies from a variety of related but frequently disjoint areas, including hardware, software and human-computer interaction (HCI) disciplines. In many ways, hardware is a solved problem. There are well established technologies including large walk-in systems such as the CAVE{trademark} and head-based systems such as the Wide-5{trademark}. The advent of new consumer-level technologies now enable an entirely new generation of immersive displays, with smaller footprints and costs, widening the potential consumer base. While one would be hard-pressed to call software a solved problem, we now understand considerably more about best practices for designing and developing sustainable, scalable software systems, and we have useful software examples that illuminate the way to even better implementations. As with any research endeavour, HCI will always be exploring new topics in interface design, but we now have a sizable knowledge base of the strengths and weaknesses of the human perceptual systems and we know how to design effective interfaces for immersive systems. So, in a research landscape with a clear need for better visualization and analysis tools, a methodology in immersive visualization that has been shown to effectively address some of those needs, and vastly improved supporting technologies and knowledge of hardware, software, and HCI, why hasn't immersive visualization 'caught on' more with scientists? What can we do as a community of immersive visualization researchers and practitioners to facilitate greater adoption by scientific communities so as to make the transition from 'the promise of virtual reality' to 'the reality of virtual reality'.

97 MATHEMATICS AND COMPUTING↗