A path-planning algorithm for encountered-type haptic devices that render multiple virtual objects in 3D space is proposed. To render multiple virtual objects with a single haptic device, the following two behaviors must be realized; (i) the device should move to the target object location in advance of the user's hand so that the user can encounter it; (ii) otherwise, the device should keep away from the user's hand, avoiding an unexpected collision. To realize such a consistent encounter, the user's hand motion must be tracked. The proposed algorithm determines the device location based on the minimum distance problem between a point (user's hand) and a convex polyhedron constructed from the reference points of multiple objects. A virtual control panel of automobiles was constructed using an encountered-type haptic device where the proposed path-planning algorithm was implemented. The validity of the proposed algorithm was confirmed and the required performances such as device speed and accuracy of hand tracking were evaluated.

A path-planning algorithm for encountered-type haptic devices that render multiple virtual objects in 3D space is proposed. To render multiple virtual objects with a single haptic device, the following two behaviors must be realized; (i) the device should move to the target object location in advance of the user's hand so that the user can encounter it; (ii) otherwise, the device should keep away from the user's hand, avoiding an unexpected collision. To realize such a consistent encounter, the user's hand motion must be tracked. The proposed algorithm determines the device location based on the minimum distance problem between a point (user's hand) and a convex polyhedron constructed from the reference points of multiple objects. A virtual control panel of automobiles was constructed using an encountered-type haptic device where the proposed pathplanning algorithm was implemented. The validity of the proposed algorithm was confirmed and the required performances such as device speed and accuracy of hand tracking were evaluated.

To achieve platform-independent network virtualization among multiple service infrastructures in service providers' data centers, we propose hardware gateway-based data center network virtualization architecture where we place a gateway on each service infrastructure and interconnect them using overlay network virtualization. By considering a type of VXLAN gateway for this architecture, integration method with server virtualization environment and management mechanism for virtual network among service infrastructures, we propose the implementation method of our proposed architecture. We evaluated and confirmed feasibility of the proposed architecture based on our prototype. We also confirmed that the proposed architecture does not have any performance issue on our network throughput measurement evaluation.