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Virtual Reality (VR) is a field of study that aims to create a system that provides a synthetic experience for its users. Developing and maintaining a VR system is a very difficult task, requiring in-depth knowledge in many different disciplines, such as sensing and tracking technologies, stereoscopic displays, multimodal interaction and processing, computer graphics and geometric modeling, dynamics and physical simulation, performance tuning, etc. The difficulty lies in the complexity of having to simultaneously consider many system goals, some of which are conflicting.