Degree Type


Date of Award


Degree Name

Doctor of Philosophy


Mechanical Engineering

First Advisor

Judy M. Vance


This research combines virtual reality with part interaction, force feedback, and network communication to facilitate collaborative design environment. By allowing collaborative tasks to occur with digital models though network communication as opposed to manipulation of real parts, industry can save time and money by trying many different options without gathering at one place.;The objective of this research is to investigate haptic feedback, collision detection, and object interaction within a networked collaborative virtual environment in order to provide realistic part interaction. Various collision detection and physical interaction packages were examined. The advantages and drawbacks of various network architectures were explored and the rationale for using the combination of client-server and peer-to-peer architectures was examined. Different multithreading structures were explored to maintain different update rates effectively.;The network inconsistency problem, which resulted from network delay and CPU latency, was investigated. The "Released-but-not-released" (RNR) synchronization method and timeout mechanism were developed and implemented in order to improve the synchronization of the object position/orientation over the network.;A networked haptic VR application was developed and tested for three network users with three force feedback devices, each with varying capabilities. The simulation speed and the update rates for each of the user's movements were calculated for the trial case when each user grabbed and collided objects with each other. Barrier synchronization was used to increase the speed of the simulation.



Digital Repository @ Iowa State University,

Copyright Owner

ChangEun Kim



Proquest ID


File Format


File Size

65 pages