Two kinds of basic contact mode, FV(face-vertex) and EE (edge-edge), are described. Based on these, it is put forward that geometric and dynamic models of virtual environment are constructed by using octrees structure. General algorithm of checking and measuring virtual force under circumstances of virtual simulation robot interacting with virtual environment is presented, which takes into account not only rigidity but also inertia and damping.

Moreover total virtual alternation force of the entities is the vector sum between all intersected cubes on two kinds of FV and EE basic contact modes.

The entities of any shape for model space can be denoted by cube sequence intersected by octrees. Moreover total virtual mutual force of the entities is the vector sum of all intersected cubes under FV and EE basic contact modes.

Two kinds of FV and EE basic contact modes are described. Based on that, the geometric and dynamic is presented models of virtual environment are constructed by using octrees structure. And generic algorithm of checking and measuring virtual force, under circumstances of virtual simulation robot alternating with virtual environment with rigidity, inertia and damp.

The K-Cu/ZrO2 catalyst was found to be the most active; it exhibited activity in a loose contact nearly similar to that obtained in a tight contact mode.

Scanning force microscopy images of the Si(111)7×7 surface reconstruction are presented which are taken in the contact mode in ultrahigh vacuum.

Images have been recorded on PMMA photo resists and analyzed using an atomic force microscope operating in contact mode.

Our AFM operates in the so-called contact mode and utilizes the optical-lever detection method which allows simultaneous measurement of the topography as well as the lateral force.

Calf skin type I collagen fibrils were regenerated from acidic solution and imaged with contact mode atomic force microscopy in air, water, and buffer solution.

Two kinds of basic contact mode, FV(face-vertex) and EE (edge-edge), are described. Based on these, it is put forward that geometric and dynamic models of virtual environment are constructed by using octrees structure. General algorithm of checking and measuring virtual force under circumstances of virtual simulation robot interacting with virtual environment is presented, which takes into account not only rigidity but also inertia and damping. The entities of any shape for model space can be denoted by cube...

Two kinds of basic contact mode, FV(face-vertex) and EE (edge-edge), are described. Based on these, it is put forward that geometric and dynamic models of virtual environment are constructed by using octrees structure. General algorithm of checking and measuring virtual force under circumstances of virtual simulation robot interacting with virtual environment is presented, which takes into account not only rigidity but also inertia and damping. The entities of any shape for model space can be denoted by cube sequence intersected by octrees. Moreover total virtual mutual force of the entities is the vector sum of all intersected cubes under FV and EE basic contact modes. Feasibility of the algorithm presented in this paper is proved by experiment. The algorithm possesses important value for the analysis and design of the control structure and control algorithm in telepresence telerobot system based on virtual reality technology, especially for the design of human-machine interface in the system.

Two kinds of FV and EE basic contact modes are described. Based on that, the geometric and dynamic is presented models of virtual environment are constructed by using octrees structure. And generic algorithm of checking and measuring virtual force, under circumstances of virtual simulation robot alternating with virtual environment with rigidity, inertia and damp. The entities of any shape for model space can all be denoted by intersected cube sequence by octrees. Moreover total virtual alternation force of...

Two kinds of FV and EE basic contact modes are described. Based on that, the geometric and dynamic is presented models of virtual environment are constructed by using octrees structure. And generic algorithm of checking and measuring virtual force, under circumstances of virtual simulation robot alternating with virtual environment with rigidity, inertia and damp. The entities of any shape for model space can all be denoted by intersected cube sequence by octrees. Moreover total virtual alternation force of the entities is the vector sum between all intersected cubes on two kinds of FV and EE basic contact modes. Feasibility of the algorithm is indicated by experiment. The algorithm possesses important value for the analysis and design of the control structure and control algorithm in telepresence telerobot system based on virtual reality technology, especially for the design of human-machine interface in the system.