Estimation of the physical properties of an object through interaction

Bachelor Thesis (2023)
Author(s)

N.C.A. Driessen (TU Delft - Electrical Engineering, Mathematics and Computer Science)

Contributor(s)

Herman Kroep – Mentor (TU Delft - Networked Systems)

Rangarao Venkatesha Prasad – Mentor (TU Delft - Networked Systems)

Michael Weinmann – Graduation committee member (TU Delft - Computer Graphics and Visualisation)

Faculty
Electrical Engineering, Mathematics and Computer Science
Copyright
© 2023 Nienke Driessen
More Info
expand_more
Publication Year
2023
Language
English
Copyright
© 2023 Nienke Driessen
Graduation Date
28-06-2023
Awarding Institution
Delft University of Technology
Project
['CSE3000 Research Project']
Programme
['Computer Science and Engineering']
Faculty
Electrical Engineering, Mathematics and Computer Science
Reuse Rights

Other than for strictly personal use, it is not permitted to download, forward or distribute the text or part of it, without the consent of the author(s) and/or copyright holder(s), unless the work is under an open content license such as Creative Commons.

Abstract

Creating a local model of a remote environment is a way to reduce latency in tactile internet. This local model contains properties that are estimated by a nonintrusive estimation method. To prevent the model from deviating increasingly from reality, the estimates should be updated once an interaction begins. This research paper investigates how the physical properties of a remote object can be estimated. This is done by exerting forces and observing the resulting motion. The physical properties that are updated include the mass and center of mass. These values are calculated to converge toward the actual value. The mass can be estimated by observing the linear motion, for which the game engine Unity is used. For the center of mass estimation, it is advised to take a different approach, since the values received by Unity were not enough to base an estimate on. This paper also investigates the influence of update frequency on estimation accuracy and the inaccuracies that the Unity physics engine presents.

Files

License info not available