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中文摘要：
针对虚拟环境力／触觉再现系统中作用力计算的实时性要求，研究了Windows操作系统下循环控制的实现方法：时间查询法、多媒体定时器法和基于实时扩展PTX（real-time extension）的方法。利用Delta 6-DOF力／触觉手控器建立了一个基于PC的力／触觉再现原型系统，分别在系统空载、并存网络通信、并存音频播放和并存视频播放4种系统负载状态下对3种实现方法进行了实验。实验结果表明，基于RTX的方法能够获得较理想的实时循环控制性能，适用于力／触觉再现等需要较高实时性计算循环的应用系统。
英文摘要：
The real-time and consistent requirements for computation control in haptic rendering are described, and several control methods, time query method, multimedia timer based method and RTX （ real-time extension） based method, under Windows operation system are presented. With a Delta 6-1）OF haptic device, a PC-based haptic rendering system is developed to test the proposed methods under different system loading conditions including unloaded, concurrent network traffic, audio application and video application respectively. The results indicate that the RTX based method can achieve considerable real-time characteristic and consistency which is applicable to haptic rendering and other real-time systems.
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