Combining physically-based simulation of colliding objects with trajectory control

This paper describes a method that facilitates the use of physically-based models by animators. The main point is to give the animator a familiar interface, while providing a simulation module which detects collisions, thus enhancing realism. The user gives a set of key-frames to guide motion, but does not have to address problems such as interpenetration avoidance, deformations due to collisions, or realism of motion. The simulator will correct the trajectories and compute deformations according to each object's physical properties (such as mass, inertia, stiffness) as well as the collisions and contacts automatically detected during motion. To achieve this, objects are provided with actuators capable of generating forces and torques computed via generalized proportional-derivative controllers. When deflected by external actions, actuated objects try to return to their initial path. Speed variations over time are computed during the simulation, and depend on the complexity of the paths, on the objects models, and on the events such as collisions occurring during motion. In addition simulations are generated at interactive rates, even in the case of complex articulated objects. This facilitates the fine tuning of an animation sequence.     

Tangible user interfaces for physically-based deformation: design principles and first prototype

We present design principles for conceiving tangible user interfaces for the interactive physically-based deformation of 3D models. Based on these design principles, we developed a first prototype using a passive tangible user interface that embodies the 3D model. By associating an arbitrary reference material with the user interface, we convert the displacements of the user interface into forces required by physically-based deformation models. These forces are then applied to the 3D model made out of any material via a physical deformation model. In this way, we compensate for the absence of direct haptic feedback, which allows us to use a force-driven physically-based deformation model. A user study on simple deformations of various metal beams shows that our prototype is usable for deformation with the user interface embodying the virtual beam. Our first results validate our design principles, plus they have a high educational value for mechanical engineering lectures.     

Direct shape optimization for strengthening 3D printable objects

Recently there has been an increasing demand for software that can help designers create functional 3D objects with required physical strength. We introduce a generic and extensible method that directly optimizes a shape subject to physical and geometric constraints. Given an input shape, our method optimizes directly its input mesh representation until it can withstand specified external forces, while remaining similar to the original shape. Our method performs physics simulation and shape optimization together in a unified framework, where the physics simulator is an integral part of the optimizer. We employ geometric constraints to preserve surface details and shape symmetry, and adapt a second‐order method with analytic gradients to improve convergence and computation time. Our method provides several advantages over previous work, including the ability to handle general shape deformations, preservation of surface details, and incorporation of user‐defined constraints. We demonstrate the effectiveness of our method on a variety of prinTable 3D objects through detailed simulations as well as physical validations.     

Using the Model Coupling Toolkit to couple earth system models

Continued advances in computational resources are providing the opportunity to operate more sophisticated numerical models. Additionally, there is an increasing demand for multidisciplinary studies that include interactions between different physical processes. Therefore there is a strong desire to develop coupled modeling systems that utilize existing models and allow efficient data exchange and model control. The basic system would entail model “1” running on “M” processors and model “2” running on “N” processors, with efficient exchange of model fields at predetermined synchronization intervals. Here we demonstrate two coupled systems: the coupling of the ocean circulation model Regional Ocean Modeling System (ROMS) to the surface wave model Simulating WAves Nearshore (SWAN), and the coupling of ROMS to the atmospheric model Coupled Ocean Atmosphere Prediction System (COAMPS). Both coupled systems use the Model Coupling Toolkit (MCT) as a mechanism for operation control and inter-model distributed memory transfer of model variables. In this paper we describe requirements and other options for model coupling, explain the MCT library, ROMS, SWAN and COAMPS models, methods for grid decomposition and sparse matrix interpolation, and provide an example from each coupled system. Methods presented in this paper are clearly applicable for coupling of other types of models.     

Sketch-based design for green geometry and image deformation

User interfaces have traditionally followed the WIMP (window, icon, menu, pointer) paradigm. Though functional and powerful, they are usually cumbersome for a novice user to design a complex model, requiring considerable expertise and effort. This paper presents a system for designing geometric models and image deformation with sketching curves, with the use of Green coordinates. In 3D modeling, the user first creates a 3D model by using a sketching interface, where a given 2D curve is interpreted as the projection of the 3D curve. The user can add, remove, and deform these control curves easily, as if working with a 2D line drawing. For a given set of curves, the system automatically identifies the topology and face embedding by applying graph rotation system. Green coordinates are then used to deform the generated models with detail-preserving property. Also, we have developed a sketch-based image-editing interface to deform image regions using Green coordinates. Hardware-assisted schemes are provided for both control shape deformation and the subsequent surface optimization, the experimental results demonstrate that 3D/2D deformations can be achieved in realtime.     

Paint deposition modeling for trajectory planning on automotive surfaces

This research is focused on developing trajectory planning tools for the automotive painting industry. The geometric complexity of automotive surfaces and the complexity of the spray patterns produced by modern paint atomizers combine to make this a challenging and interesting problem. This paper documents our efforts to develop computationally tractable analytic deposition models for electrostatic rotating bell (ESRB) atomizers, which have recently become widely used in the automotive painting industry. The models presented in this paper account for both the effects of surface curvature as well as the deposition pattern of ESRB atomizers in a computationally tractable form, enabling the development of automated trajectory generation tools. We present experimental results used to develop and validate the models, and verify the interaction between the deposition pattern, the atomizer trajectory, and the surface curvature. Limitations of the deposition model with respect to predictions of paint deposition on highly curved surfaces are discussed. Note to Practitioners-The empirical paint deposition models developed herein, which are fit to experimental data, offer a significant improvement over models that are typically used in industrial robot simulations. The improved simulation results come without the computational cost and complexity of finite element methods. The models could be incorporated, as is, into existing industrial simulation tools, provided the users are cognizant of the model limitations with respect to highly curved surfaces. Although the models are based on readily available information, incorporating the models into existing robot simulation software would likely require support from the software vendor.     

An educational interactive numerical model of the Chesapeake Bay

Scientists use sophisticated numerical models to study ocean circulation and other physical systems, but the complex nature of such simulation software generally make them inaccessible to non-expert users. In principle, however, numerical models represent an ideal teaching tool, allowing users to model the response of a complex system to changing conditions. We have designed an interactive simulation program that allows a casual user to control the forcing conditions applied to a numerical ocean circulation model using a graphical user interface, and to observe the results in real-time. This program is implemented using the Regional Ocean Modeling System (ROMS) applied to the Chesapeake Bay. Portions of ROMS were modified to facilitate user interaction, and the user interface and visualization capabilities represent new software development. The result is an interactive simulation of the Chesapeake Bay environment that allows a user to control wind speed and direction along with the rate of flow from the rivers that feed the bay. The simulation provides a variety of visualizations of the response of the system, including water height, velocity, and salinity across horizontal and vertical planes.     

“Graphical” Jogthrough: expert based methodology for user interface evaluation, applied in the case of an educational simulation interface

“Walkthrough” and “Jogthrough” techniques are well known expert based methodologies for the evaluation of user interface design. In this paper we describe the use of “Graphical” Jogthrough method for evaluating the interface design of the Network Simulator, an educational simulation program that enables users to virtually build a computer network, install hardware and software components, make the necessary settings and test the functionality of the network. Graphical Jogthrough is a further modification of a typical Jogthrough method, where evaluators' ratings produce evidence in the form of a graph, presenting estimated proportion of users who effectively use the interface versus the time they had to work with it in order to succeed effectiveness. We comment on the question: “What are the possible benefits and limitations of the Graphical Jogthrough method when applied in the case of educational software interface design?” We present the results of the evaluation session, and concluding from our experience we argue that the method could offer designers quantitative and qualitative data for formulating a useful (though rough in some aspects) estimation about the novice–becoming–expert pace that end users might follow when working with the evaluated interface.     

Globally stable PID-like control of mechanical systems

Decoupled PID control with actuator constraints and velocity measurement or estimation achieves global asymptotic stability of the desired configuration, if there is some friction in the controlled mechanical system and the signals to be integrated are limited accordingly. Stability analysis using the direct Lyapunov method and Gershgorin's “circle theorem” gives these limits and physically meaningful lower bounds on position control gains. A simple procedure is proposed for selecting the design parameters and determining the gains of the controllers.     

A program selection/resource allocation model for control of malaria and related parasitic diseases

Malaria and related parasitic diseases are in the midst of a severe resurgence world-wide. Due to a series of complex factors reflecting shifting economic and physical conditions and life styles, purely technical approaches to control of parasitic diseases are becoming less effective. An emerging theory calling for an integration of disease control efforts with socioeconomic development is now being proposed as essential to future success. This paper seeks to systematically identify and organize the basic tenets of this “integrated approach.” Based on the resulting analysis, a multiobjective planning and resource allocation model is formulated to help identify “most effective” program-based disease/development intervention strategies. Guidelines are offered for the quantification, sensitivity analysis, and solution of the model in real-world problem contexts. The model represents a first attempt to formally interface the major societal dimensions critical to control of parasitic diseases.     

Collaborative recommender systems: Combining effectiveness and efficiency

Recommender systems base their operation on past user ratings over a collection of items, for instance, books, CDs, etc. Collaborative filtering (CF) is a successful recommendation technique that confronts the “information overload” problem. Memory-based algorithms recommend according to the preferences of nearest neighbors, and model-based algorithms recommend by first developing a model of user ratings. In this paper, we bring to surface factors that affect CF process in order to identify existing false beliefs. In terms of accuracy, by being able to view the “big picture”, we propose new approaches that substantially improve the performance of CF algorithms. For instance, we obtain more than 40% increase in precision in comparison to widely-used CF algorithms. In terms of efficiency, we propose a model-based approach based on latent semantic indexing (LSI), that reduces execution times at least 50% than the classic CF algorithms.     

Haptics-based dynamic implicit solid modeling

We systematically present a novel, interactive solid modeling framework, haptics-based dynamic implicit solid modeling, which is founded upon volumetric implicit functions and powerful physics-based modeling. In particular, we augment our modeling framework with a haptic mechanism in order to take advantage of additional realism associated with a 3D haptic interface. Our dynamic implicit solids are semialgebraic sets of volumetric implicit functions and are governed by the principles of dynamics, hence responding to sculpting forces in a natural and predictable manner. In order to directly manipulate existing volumetric data sets as well as point clouds, we develop a hierarchical fitting algorithm to reconstruct and represent discrete data sets using our continuous implicit functions, which permit users to further design and edit those existing 3D models in real-time using a large variety of haptic and geometric toolkits, and visualize their interactive deformation at arbitrary resolution. The additional geometric and physical constraints afford more sophisticated control of the dynamic implicit solids. The versatility of our dynamic implicit modeling enables the user to easily modify both the geometry and the topology of modeled objects, while the inherent physical properties can offer an intuitive haptic interface for direct manipulation with force feedback.     

A large haptic device for aircraft engine maintainability

The virtual reality for maintainability (Revima) VR system supports maintainability simulation in aeronautics. Within this project we have developed and integrated a haptic device, the large haptic interface for aeronautic maintainability (LHIfAM). We use this device to track hand movements and provide force feedback within the large geometric models that describe aircraft engines. The user movements are the same as those that occur when testing physical mock-ups. An integrated haptic device and VR system for testing aircraft engines reduces development costs and avoids the necessity of physical mock-ups formaintainability.     

Order-controlled free-form animation

This paper introduces an animation system directed by order. High-level operations such as moving, turning, rolling and bouncing on a flat surface provide an easy-to-use interface to build animations. The underlying animation system relies on a constraint-based deformation model. Previously, to build an animation the user had to break up the desired animation into a list of deformations composed of a set of constraints. In addition to each constraint, he had to control the size and the shape of the deformed area as well as the shape of the deformation. The goal of the order-controlled animation is to encapsulate all the parameters of the deformations. Indeed, using these high-level operations the underlying deformations are completely transparent to the user. Before introducing these operations, we will present some extensions of the deformation model such as the generalized shape of the deformed area and a rotating movement combined with the deformation. We also explain how to control velocity and acceleration.     

A computer-based system for risk management support

The scale and complexity of present day industrial operations involving hazardous substances are such that managers are faced with increasingly demanding decision problems. They must simultaneously consider technological, economic, environmental and sociopolitical factors. As a response to this problem a computer based decision support system is being developed to support risk management activities, with special emphasis given to hazardous chemicals. The IRIMS (Ispra Risk Management Support) system is an attempt to integrate a number of data bases, containing information relevant to risk management, with several existing simulation models which can be used to address problems of environmental assessment, risk analysis and system optimisation. The system is designed to be user friendly and results are displayed through high resolution colour graphics allowing the non specialised user to obtain a “feel” for the problem under investigation. The paper describes the current prototype system, which is geared to handle problems on a European scale, and plans for further developments which will allow more detailed studies on particular countries or regions.     

Dynamic modeling of butterfly subdivision surfaces

The authors develop integrated techniques that unify physics based modeling with geometric subdivision methodology and present a scheme for dynamic manipulation of the smooth limit surface generated by the (modified) butterfly scheme using physics based “force” tools. This procedure based surface model obtained through butterfly subdivision does not have a closed form analytic formulation (unlike other well known spline based models), and hence poses challenging problems to incorporate mass and damping distributions, internal deformation energy, forces, and other physical quantities required to develop a physics based model. Our primary contributions to computer graphics and geometric modeling include: (1) a new hierarchical formulation for locally parameterizing the butterfly subdivision surface over its initial control polyhedron, (2) formulation of dynamic butterfly subdivision surface as a set of novel finite elements, and (3) approximation of this new type of finite elements by a collection of existing finite elements subject to implicit geometric constraints. Our new physics based model can be sculpted directly by applying synthesized forces and its equilibrium is characterized by the minimum of a deformation energy subject to the imposed constraints. We demonstrate that this novel dynamic framework not only provides a direct and natural means of manipulating geometric shapes, but also facilitates hierarchical shape and nonrigid motion estimation from large range and volumetric data sets using very few degrees of freedom (control vertices that define the initial polyhedron)     

NURBS-based free-form deformations

Since the advent of computer-based geometric modeling, designers have tried to develop modeling and deformation tools that allow users to emulate the ease with which sculptors work with clay. T.W. Sederberg and S.R. Parry (1986) demonstrated the application of free-form deformations. FFDs let the user conceptually embed an object in a clear pliable solid and apply deformations to the solid, which then carry through to the encased object. We describe a technique that logically extends current FFDs by basing them on nonuniform rational B-splines. The resulting NURBS-based FFDs (NFFDs) offer flexibility and control not achieved in prior implementations. We conclude by describing a straightforward combination of this technique with global and local deformations of solid primitives used to animate a lifelike surface model of the human leg     

Brushables: Example‐based Edge‐aware Directional Texture Painting

In this paper we present Brushables—a novel approach to example‐based painting that respects user‐specified shapes at the global level and preserves textural details of the source image at the local level. We formulate the synthesis as a joint optimization problem that simultaneously synthesizes the interior and the boundaries of the region, transferring relevant content from the source to meaningful locations in the target. We also provide an intuitive interface to control both local and global direction of textural details in the synthesized image. A key advantage of our approach is that it enables a “combing” metaphor in which the user can incrementally modify the target direction field to achieve the desired look. Based on this, we implement an interactive texture painting tool capable of handling more complex textures than ever before, and demonstrate its versatility on difficult inputs including vegetation, textiles, hair and painting media.