可变环境下基于物理的流体六自由度力觉交互方法研究

Haptic rendering with fluid in the variable environment is one of the most important way to improve the fidelity of the virtual reality system, such as space application tasks and medical simulation. While there are still no solutions about how to establish the contact force / torque model between the heterogeneous rigid body and fluid, and how to simulate a smoothing force feedback under variable environment, which are the new challenges in the field of haptic simulation with fluid. First, based on our previous research on the real-time fluid simulation and six degree of freedom haptic rendering with rigid body, we proposed an adaptive collision response methods based on quasi-static method for fluid particles and rigid sphere tree models to achieve a fast and stable deformation of the fluids and avoid the non-physical boundary penetration effect. Second, Lennard-Jones potential is presented to calculate a smoothing interactive force/torque when the heterogeneous particles contact. We proposed the definition of "heterogeneous interactive particle-pair" to describe the details about the contact interface between rigid body and fluid, which are also used to computer the contact force/torque. This method could maintain the force fidelity at the contact featured interface. Finally, we will validate the algorithm in our space application task simulator. Our haptic rendering method will not only benefit the research of human-computer interaction, but also provide the feasible and novel techniques for multiple applications.

可变环境下流体仿真中交互力/力矩渲染在提高空间应用任务模拟、医疗仿真等虚拟现实系统的真实感中起关键作用，但如何建立刚体-流体异质材料接触交互力/力矩模型，模拟渐变环境参数下连续平稳的流体力觉感受仍没有解决方案，是流体力觉交互仿真领域的新挑战。根据我们前期在流体实时仿真和刚体六自由度力觉交互方面的研究，我们拟基于准静态方法研究流体粒子-刚体球树模型的自适应碰撞响应，实现流体的快速稳定变形并防止非物理边界穿透；拟基于兰纳-琼斯势能提出异质粒子接触的光滑反馈力/力矩模型，定义“异质交互粒子对”描述刚体-流体接触界面的细节特征并进行交互力计算，避免前人使用“广义流体”内部粒子间作用力代替刚体-流体间交互力时力觉感受的损失；最后通过空间流体操作示例验证力觉合成效果。课题成果对人机交互和计算仿真等研究领域新问题和新方法的探索具有重要价值。

可变环境下流体仿真中交互力渲染在提高空间应用任务模拟、医疗仿真等虚拟现实系统的真实感中起关键作用，本课题对基于统一SPH粒子模型的流体力觉交互、基于体积分数的SPH混溶多流体建模以及刚体-变参数混溶多相多组分流体力觉交互方法等进行了研究，完成了微重力流体力觉交互算法软件包，实现了较为稳定、逼真的刚体-流体力觉交互，并集成于天宫二号微重力流体遥科学实验平台中，未来可应用于中国空间站载人航天空间科学应用中微重力流体物理实验等，将极大提升空间应用效益，并对人机交互和计算仿真等研究领域新问题和新方法的探索具有重要价值。