Architecture

The integrated system is composed of the following components:

• the haptic interface system;
• the database containing the 3D models of sculptures;
• the stereoscopic visualization system;
• the software API libraries for the haptic rendering;
• the software API libraries for the graphics rendering.

The overall system architecture is schematized in Figure below. Two computing nodes are in charge for the management of the simulation and control of the Haptic Interface system.

The connectivity of the node 1 with the node 2 is achieved by means of a Fast Ethernet (100 Mbit/s) connection, through a TCP/IP communication protocol. The computing nodes are implemented through ordinary PCs.

The modules of the node 2 run on one PC using Windows2000/XP OS (Operative System). The node 2 is responsible for the computation/update of the scene which is simulated in the Virtual Environment (VE). The general VE Scene Manager module, including collision detection, graphics and sound sub-modules, is running on this node.

Node 1 is a stand-alone control unit which integrates real-time and interactive computing functionalities through a Real Time Operative System (RTOS). All the modules which control the haptic interface and generate the contact forces on the basis of local interaction are running on the node 1 and make use of a real time kernel embedded in the computing unit. Such control device, integrates an adequate computing power in order to execute the required real-time and interactive tasks.