Hierarchical simulation model with animation

There are many issues in computer simulation such as verifying model code, validating models, understanding the dynamics of systems and training the personnel. The developers of simulation tool have been interested in the animation, since it can help solve theproblems related to the above listed issues. Trying to display all the graphic objects representing the dynamics of the models being simulated, however, causes the distractionof focus, which results in solving the above listed problems difficult. The redundant graphic objects also increase the computer computation overhead. This paper presents a hierarchical animation environment in which the users can have better focus on the dynamics of system components by selectively choosing the hierarchical level and components within a level of the hierarchically structured model. When the model is large and complex in particular, the selection of observation level is needed. The design of the hierarchical animation is based on the DEVS (Discrete EVent system Specification) formalism, which is theoretically well grounded means of expressing modular and hierarchical models.     

A mathematical model for transient analysis of computer systems

The study of computer system dynamic behavior is a prerequisite for the design and implementation of automatic mechanisms for performance control. An analytic technique for modelling the transient behavior of computer systems is presented and a suitable method for modelling job dynamics is given.

The system model is discussed from the viewpoint of transient analysis with particular reference to bottleneck identification and to bottleneck migration analysis.

A mathematical study is given together with a numerical algorithm. The model is validated on the basis of suitable experimental results.     

The role of simulation in design of FMSs

The present work discusses the fundamental structure of simulation models (components, relations, terms, etc…); their basic elements, the programming language, and model structure and requirements. The study aims to define the role of simulation in design of a dynamic system such as FMS.

A simulation study is carried out to demonstrate the application of simulation models. The system to be examined is a planned PMColl. The major task was to evaluate design issues such as the effect of priority rules for job sequencing, the determination of the number of pallets limit, and better conveyor speed.     

Monadic set operations

In ordinary geonetrical modelling systems, set operations, eg union, intersection and difference, are described by dyadic operators. This kind of definition leads to a binary-tree structure.

In this paper a method is presented where only monadic set operators are used to describe the model completely. With this method the definition structure can be expressed as a list structure only.

A further feature of this model is that a special procedure to define symmetry and/or periodic repetitions of a certain shape can be easily added.

A program which uses this method has been written to test the model and some drawings produced by this program are shown in this paper.     

Digital simulation by partitioning and uncoupling the system model

State variable simulation of linear time-invariant dynamic systems is reviewed with its advantages in accuracy and computational efficiency described. Then a technique for simulation of large order, nonlinear, time-varying dynamic systems is developed by partitioning the system state variable model and uncoupling the resulting subsystem models so that the linear time-invariant ones can be simulated by state variable solution.

A simulation error introduced by this technique of partitioning and uncoupling is derived and analyzed in the form of a state variable model. Results are presented of a simulation error analysis utilizing the derived error state variable model for the simulation of a Saturn V attitude control system.

In addition to computational savings, the technique of partitioning and uncoupling is shown by practical example to result in a modular simulation with flexibility to implement easily changes or additions. The digital simulations by this technique of two large-order dynamic systems, the LST (Large Space Telescope) fine pointing control system and a Shuttle Orbiter/Spacelab SEM (suspended experiment mount) precision attitude control system, are described; and simulation responses are included.     

Desktop animation of multiple human figures

Life Forms, a desktop system specifically designed to develop a full-motion specification for multiple human figures is described. The Life Forms application complements a general-purpose animation system with full modeling, rendering, and composition capabilities. The system supports this process from concept development through detailed choreography and composition to visualization of the final result. Normally, Life Forms' output serves as input to a general-purpose animation system, where an environment is added, body models may be elaborated, and rendering of final images occurs. The enhanced images are then transferred to videotape or film and go on to postproduction. Several concepts of human figure animation are reviewed in discussing Life Forms     

Multibody System Dynamics: Roots and Perspectives

The paper reviews the roots, the state-of-the-art and perspectives of multibody system dynamics. Some historical remarks show that multibody system dynamics is based on classical mechanics and its engineering applications ranging from mechanisms, gyroscopes, satellites and robots to biomechanics. The state-of-the-art in rigid multibody systems is presented with reference to textbooks and proceedings. Multibody system dynamics is characterized by algorithms or formalisms, respectively, ready for computer implementation. As a result simulation and animation are most important. The state-of-the-art in flexible multibody systems is considered in a companion review by Shabana.Future research fields in multibody dynamics are identified as standardization of data, coupling with CAD systems, parameter identification, real-time animation, contact and impact problems, extension to control and mechatronic systems, optimal system design, strength analysis and interaction with fluids. Further, there is a strong interest on multibody systems in analytical and numerical mathematics resulting in reduction methods for rigorous treatment of simple models and special integration codes for ODE and DAE representations supporting the numerical efficiency. New software engineering tools with modular approaches promise improved efficiency still required for the more demanding needs in biomechanics, robotics and vehicle dynamics.     

Chemical sensing by analysing dynamics of plasma polymer film-coated sensors

A chemical sensing system that incorporates unique sensor films and uses pattern recgonition of their dynamic responses is presented. This system consists of a sensor array of quartz-crystal microbalances coated with plasma polymer films. The films, synthesized by radio-frequency sputtering, are useful because of their high density of radical sites and unsaturated bonds. When this sensor array is exposed to a gas, the adsorption and desorption of the target gas causes a dynamic frequency response in each piezoelectric sensor. The sensor response is analysed by an autoregressive model typically to estimate the parameters of dynamic systems. This model's coefficients reflect the sensor dynamics, providing pattern vectors that characterize the target gas. Based on this model, classification maps for single gases can be created with these pattern vectors. Thesse maps show that the dynamic sensor response provides useful information for gas classification. This model also confirms that our sensing system can identify the components of a gas mixture.     

Maya与XSI、MAX节点技术的分析

Maya、XSI、MAX是目前世界上最为优秀的三维动画和特效制作软件。Maya广泛应用于专业的影视广告、角色动画、电影特技等领域,与其他三维动画软件不同的是,Maya中引入了节点的概念。这些节点遍布建模、材质、动画、动力学系统等Maya的各个模块,每个节点都有其特殊的属性,节点与节点之间还有着各种各样的联系。从程序设计的角度解释Maya的节点会更好理解。通过对Maya与XSI、MAX节点技术的分析,体会它们各自的特点和优势。     

A new approach to performance modelling of Client/Server distributed data base architectures

The recent technological advances in the field of computer and communication lead to distributed data base (DDB) architectures based on the Client/Server paradigm. Available DDB performance prediction methodologies are not sufficiently adequate being too expensive both in the model definition and in the model analysis because of the structural complexity and the large system dimension.

This paper concentrates on a new approach to performance modeling of DDB systems called “independent modelling approach”. This approach separates the DDB software model from the DDB machinery model, and models from solution techniques. This way the aspects related to data contention can be analysed as a pure software characteristic and separated from resource contention, considered as a machinery characteristic. Furthermore, it is possible to analytically model some system aspects (e.g., the software only, or part of it, without involving the machinery model), and apply combined analytical/simulation methods for the remaining system aspects. This results in higher flexibility at lower computational cost in the performance analysis of complex DDB architectures.

A case study is developed and experimental results are discussed to show the effectiveness of the approach.     

Non-linear dynamics of flexible multibody systems

In this work we set to examine several important issues pertinent to currently very active research area of the finite element modeling of flexible multibody system dynamics. To that end, we first briefly introduce three different model problems in non-linear dynamics of flexible 3D solid, a rigid body and 3D geometrically exact beam, which covers the vast majority of representative models for the particular components of a multibody system. The finite element semi-discretization for these models is presented along with the time-discretization performed by the mid-point scheme. In extending the proposed methodology to modeling of flexible multibody systems, we also present how to build a systematic representation of any kind of joint connecting two multibody components, a typical case of holonomic contraint, as a linear superposition of elementary constraints. We also indicate by a chosen model of rolling contact, an example of non-holonomic constraint, that the latter can also be included within the proposed framework. An important aspect regarding the reduction of computational cost while retaining the consistency of the model is also addressed in terms of systematic use of the rigid component hypothesis, mass lumping and the appropriate application of the explicit-implicit time-integration scheme to the problem on hand. Several numerical simulations dealing with non-linear dynamics of flexible multibody systems undergoing large overall motion are presented to further illustrate the potential of presented methodology. Closing remarks are given to summarize the recent achievements and point out several directions for future research.     

A combined queueing network and stochastic Petri-net approach for evaluating the performability of fault-tolerant computer systems

In this paper the performability analysis of fault-tolerant computer systems using a hierarchical decomposition technique is presented. A special class of queueing network (QN) models, the so-called BCMP [4], and generalized stochastic Petri nets (GSPN) [1] which are often used to separately model performance and reliability respectively, have been combined in order to preserve the best modelling features of both.

A conceptual model is decomposed into GSPN and BCMP submodels, which are solved in isolation. Then, the remaining GSPN portion of the model is aggregated with flow-equivalents of BCMP models, in order to compute performability measures. The substitutes of BCMP models are presented by means of simple GSPN constructs, thereby preserving the 1st and 2nd moments of the throughput. A simple example of a data communication system where failed transmissions are corrected, is presented.     

Stabilizing Model Predictive Control of Hybrid Systems

In this note, we investigate the stability of hybrid systems in closed-loop with model predictive controllers (MPC). A priori sufficient conditions for Lyapunov asymptotic stability and exponential stability are derived in the terminal cost and constraint set fashion, while allowing for discontinuous system dynamics and discontinuous MPC value functions. For constrained piecewise affine (PWA) systems as prediction models, we present novel techniques for computing a terminal cost and a terminal constraint set that satisfy the developed stabilization conditions. For quadratic MPC costs, these conditions translate into a linear matrix inequality while, for MPC costs based on 1, infin-norms, they are obtained as norm inequalities. New ways for calculating low complexity piecewise polyhedral positively invariant sets for PWA systems are also presented. An example illustrates the developed theory     

面向影视动画的真实感三维人脸快速建模算法

针对影视动画领域,利用LS_5000型三维激光扫描仪,提出了一套真实感三维人脸快速建模算法。只需输入真实演员人脸的三维扫描点云和未定标的照片,以及极少的人工交互,即可生成虚拟演员真实感的三维人脸模型（包括几何模型、纹理模型和面向动画的可变模型）。实验结果表明,算法输出的模型简洁规范,可直接应用于实际的影视动画制作,提高了人脸模型建模效率。     

Human gait simulation with a neuromusculoskeletal model and evolutionary computation

This paper describes a human gait animation system with a precise neuromusculoskeletal model and evolutionary computation. The neuromusculoskeletal model incorporates 14 rigid bodies, 19 degrees of freedom, 60 muscular models, 16 pairs of the neural oscillators, and other neuronal systems. By changing the search parameters and the evaluative criteria of the evolutionary search process, we demonstrate various locomotive patterns, such as normal gait, pathological gait, running and ape‐like walking. The proposed simulation system takes not only kinematic data but also in vivo dynamic data such as energy consumption information into consideration, so that the resultant locomotion patterns are natural and valid from a biomechanical point of view. Hence the simulation system can also be used for finding a biologically appropriate physical model to realize a desired gait by simultaneously modifying the body dynamics parameters with the neuronal parameters. This capability creates a novel application of human gait simulation systems, such as rehabilitation tool design and consultation for physically handicapped people. Copyright © 2003 John Wiley & Sons, Ltd.     

Forward dynamics based realistic animation of rigid bodies

This paper presents a new methodology for model and control of the motion of an (articulated) rigid body for the purposes of animation. The technique uses a parameter optimization method for forward dynamic simulation to obtain a good set of values for the control variables of the system. We model articulated rigid bodies using a moderate number of control nodes, and we linearly interpolate control values between adjacent pairs of these nodes. The interpolated control values are used to determine the forces/torques for the body actuators. We can control total motion duration time, and the control is more flexible than in any other dynamics based animation techniques. We employ a parameter optimization, (or nonlinear programming) method to find a good set of values for the control nodes. We extend this method by using a musculotendon skeletal model for the human body instead of the more commonly used robot model to provide more accurate human motion simulations. Skeletal and musculotendon dynamics enable us to do the human body animation more accurately than ever because the muscle force depends on the geometry of a human as well as on differential kinematic parameters. We show various levels of motion control for forward dynamics animation: ranging from piecewise linear forces/torques control for joints to muscle activation signal control for muscles to generate highly nonlinear forces/torques. This spectrum of control levels provides various nonlinear resulting motions to animators to allow them to achieve effective motion control and physically realistic motion simultaneously. Because our algorithms are heavily dependent on parameter optimization, and since the optimization technique may have difficulty finding a global optimum, we provide a modified optimization method along with various techniques to reduce the search space size. Our parameter optimization based forward dynamic animation and musculotendon dynamics based animation present the first use of such techniques in animation research to date.     

Product design logic for an intelligent product modelling system

Recent research in CAD systems has been conducted to realize intelligent processing. Several CAD systems and product modelling systems have been developed using AI techniques. However, in order to develop more intelligent CAD systems, the design logic which connects the functional requirement to the geometric and the technological information of the designed product must be evaluated.

A product model used in such intelligent CAD systems has to include not only the geometric and the technological information of the product but also the designer's thought process which explains the design logic.

Design logic is generally divided into two parts. One is the generalized design logic which is commonly used in the conceptual design of mechanical products. The other is the product specified design logic which is used in the fundamental and detailed design phase. Different logic is applied to each product. This type of design logic is often used in modification design and compilation design, where the dimensions of parts have to be modified according to different functional requirements. When the dimensions and accuracies of the products are defined in connection with the functional requirements through design logic, the CAD system can automatically make decisions according to the given requirements. In this paper, suitable presentation formats and processing functions for these two types of design logic are discussed.

The importance of design logic in product modelling is proven through several case studies in this paper. As a conclusion, the intelligent product modelling system is developed, which should expedite the progress of design automation in the near future. In conceptual design, the design logic is processed in the modelling system and the product structure, with the technological information decided automatically from the functional requirement. Automation in the detailed design phase is also facilitated by the modelling system using the product specified design logic in the product model.     

基于物理模型的实时喷泉水流运动模拟

本文基于流体动力学和粒子系统给出了一个模拟实时喷泉水流运动的方法。