In this paper, I describe the development of a traffic environment simulation system with high level interactions and reality, utilizing the technology of virtual space construction and real time display. I constructed the roads to be designed and all other traffic environments in the virtual space, and realized free driving in the virtual space with real time display on GWS's and easily operated user interface. As the result, the real time simulation system of high way inter-junction with two lanes, thirteen lamps of twelve kilometer length, twenty-six meter of maximum altitude difference, thirty-five road signs, and 100 thousand polygon became possible.

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An indoor distribution substation simulation system previously developed for use in training of substation maintenance personnel was upgraded. The simulator allows the user to go through a routine inspection procedure involving a variety of operations as he "walks" through a virtual substation. Its principal functions include the visual and aural simulation of four cases of dangerous situations which maintenance personnel may encounter in an actual substation. The simulator was experimentally used for collective training and safety education of newly employed company personnel. Results of the experiment are presented.

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To build a VR training system for visuo-motor skills (i.e., hand-eye coordinated skills), a visual interface should be correctly registered to a haptic interface so that the visual sensation and the haptic sensation are consistent spatially and temporally. In this paper, we propose a method to realize correct visual/haptic registration. The proposed method provides correct visual/haptic registration using a vision-based object tracking technique and a video keying technique. The combination of the encountered type haptic interface approach with the motion command type impedance display algorithm makes it possible to realize two extreme cases: free motion and rigid constraint. The first prototype has been built and the proposed concept was demonstrated.

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