Imagine you are playing a videogame in which you impersonate a wizard who needs to create a potion in order to enchant your enemies. Through a desktop haptic probe, shaped as a baton, you are able to stir and feel the magical fluid inside a bowl. As you follow the potion recipe, you feel how the fluid changes its viscosity, density, velocity and other properties. Various hapto-visual user interfaces enable users to interact in three-dimensions with the digital world and receive realistic kinesthetic and tactile cues in a computer-generated environment. So far solid or deformable objects have been experimented for haptic-tactile feedback. In this paper we innovate by devising techniques that enable the haptical rendering of shape-less objects, such as fluids. Focusing on the real-time performance to enhance the user's experience, the system imitates the physical forces generated by the real-time fluid animation, stirring movements and fluid changes. We achieved real-time 3D fluid and overcame the challenges that arise during the integration of both haptics and graphics workspaces, the free-view visualization of 3D fluid volume, and the rendering of haptic forces. These fluid interaction techniques with haptic feedback have wide possible applications including game development and haptic communities. INTRODUCTIONHaptics, which refers to the technology which stimulates the users' sense of touch, has been increasing in popularity because of the powerful enhancements that it brings to the 3D humancomputer interaction experience. Haptics allow users to literally touch and feel characteristics about computer-generated objects such as texture, roughness, viscosity, elasticity, and many other properties, and research has mainly been oriented towards the modeling of solid structures. However, little research has targeted the haptic rendering of shape-less objects, such as fluids. Fluid animation is of great popularity in computer graphics and animation. However, it is difficult to achieve a real-time stable simulation due to the heavy computation required to solve the non-linear Navier-Stokes equation.Our goal is to combine both fields, fluid animation and its haptic rendering, to offer an interactive experience between 3D fluid and the user. Our motivation is to produce a system that brings human-computer interaction to real-time fluid animations, so that users can appreciate and feel the properties of a fluid simulation via a haptic interface.Several applications could rise from this integration. Videogames, for instance, could be brought to a higher degree of interaction by providing an interface that enables players to feel the stirring of fluids in order to achieve a game task. Nintendo's recent Wii games [23] are an example of the industry's interest for higher interactive applications. Haptics would allow players to feel the physical properties of in-game objects. In addition, medical applications could imitate the blood flow in a patient's cardiovascular system. In combination with audio and video displays, this te...
We challenge ourselves to allow a user to feel how to stir a pool of 3D fluid in a virtual environment. Fluids are objects where the shape can not be defined using conventional polygons, and the graphical rendering and haptic rendering are purely based on mathematical calculation from the Navier-Stokes equation. Through a haptic probe the user is able to introduce perturbations in a pool of simulated liquid, and real-time haptic force feedback enables visualization of the effects of this interaction. We innovate by developing efficient methods for realtime interaction with the simulation of viscous incompressible fluids, suitable for higly interactive applications such as computer games. We focus on the problem of producing haptic visualization of real-time simulation that resembles the tactile sensation the user perceives from real fluids.
The aim of this paper is to present a simple 3D computational model of a Polymer Electrolyte Membrane Fuel Cell (PEMFC) that simulates over time the heat distribution, energy and mass balance of the reactant gas flows in the fuel cell including pressure drop, humidity and liquid water. Although this theoretical model can be adapted to any type of PEMFC, for verification of the model and to present different analysis, it has been adapted to a single cell test fixture. The model parameters were adjusted through a series of experimental tests and the model was experimentally validated for a well defined range of operating conditions: H2/Air as reactants, flow rates of 0.5-1.5 SLPM, dew points and cell temperatures of 30-80ºC, currents 0-5 A and with/without water condensation. The model is especially suited for the analysis of liquid water condensation in the reactant channels. A key finding is that the critical current at which liquid water is formed is determined at different flows, temperatures and humidity. This study presents a dynamic model for PEMFC, which includes the computation of the thermal properties and temperature distribution of the fuel cell and the pressure drop in the reactant gases while taking into account the condensation of water, as well as the resulting effects on the flow and pressure fields. The experimental tests for parameter identification are described. The model is based on the numerical solution of heat transfer problems expressed as various equilibrium differential equations, using numerical iterative methods. In section 2 the model is described, sections 3 and 4 explain the application of the model to a specific single cell and the experimental methodology for the parameter identification and model validation; section 5 collects the principal simulation results and emphasizes the features of the model. The main conclusions are summarized in section 6.
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