Enabling Motion Planning and Execution for Tasks Involving Deformation and Uncertainty

A number of outstanding problems in robotic motion and manipulation involve tasks where degrees of freedom (DoF), be they part of the robot, an object being manipulated, or the surrounding environment, cannot be accurately controlled by the actuators of the robot alone. Rather, they are also controlled by physical properties or interactions - contact, robot dynamics, actuator behavior - that are influenced by the actuators of the robot. In particular, we focus on two important areas of poorly controlled robotic manipulation: motion planning for deformable objects and in deformable environments; and manipulation with uncertainty. Many everyday tasks we wish robots to perform, such as cooking and cleaning, require the robot to manipulate deformable objects. The limitations of real robotic actuators and sensors result in uncertainty that we must address to reliably perform fine manipulation. Notably, both areas share a common principle: contact, which is usually prohibited in motion planners, is not only sometimes unavoidable, but often necessary to accurately complete the task at hand. We make four contributions that enable robot manipulation in these poorly controlled tasks: First, an efficient discretized representation of elastic deformable objects and cost function that assess a ``cost of deformation\u27 for a specific configuration of a deformable object that enables deformable object manipulation tasks to be performed without physical simulation. Second, a method using active learning and inverse-optimal control to build these discretized representations from expert demonstrations. Third, a motion planner and policy-based execution approach to manipulation with uncertainty which incorporates contact with the environment and compliance of the robot to generate motion policies which are then adapted during execution to reflect actual robot behavior. Fourth, work towards the development of an efficient path quality metric for paths executed with actuation uncertainty that can be used inside a motion planner or trajectory optimizer

Coupling an SPH-based solver with an FEA structural solver to simulate free surface flows interacting with flexible structures

This work proposes a two-way coupling between a Smoothed Particle Hydrodynamics (SPH) model-based named DualSPHysics and a Finite Element Analysis (FEA) method to solve fluid–structure interaction (FSI). Aiming at having a computationally efficient solution via spatial adjustable resolutions for the two phases, the SPH-FEA coupling herein presented implements the Euler–Bernoulli beam model, based on a simplified model that incorporates axial and flexural deformations, to introduce a solid solver in the DualSPHysics framework. This approach is particularly functional and very precise for slender beam elements undergoing large displacements, and large deformations can also be experienced by the structural elements due to the non-linear FEA implementation via a co-rotational formulation. In this two-way coupling, the structure is discretised in the SPH domain using boundary particles on which the forces exerted by fluid phases are computed. Such forces are passed over to the FEA structural solver that updates the beam shape and, finally, the particle positions are subsequently reshuffled to represent the deformed shape at each time step. The SPH-FEA coupling is validated against four reference cases, which prove the model to be as accurate as other approaches presented in literature.Ministerio de Ciencia e Innovación | Ref. PID2020-113245RB-I00Ministerio de Ciencia e Innovación | Ref. TED2021-129479A-I00Xunta de Galicia | Ref. ED431C 2021/44Xunta de Galicia | Ref. ED481A-2021/337Universidade de Vigo/CISU

Book of Abstracts 15th International Symposium on Computer Methods in Biomechanics and Biomedical Engineering and 3rd Conference on Imaging and Visualization

In this edition, the two events will run together as a single conference, highlighting the strong connection with the Taylor & Francis journals: Computer Methods in Biomechanics and Biomedical Engineering (John Middleton and Christopher Jacobs, Eds.) and Computer Methods in Biomechanics and Biomedical Engineering: Imaging and Visualization (JoãoManuel R.S. Tavares, Ed.). The conference has become a major international meeting on computational biomechanics, imaging andvisualization. In this edition, the main program includes 212 presentations. In addition, sixteen renowned researchers will give plenary keynotes, addressing current challenges in computational biomechanics and biomedical imaging. In Lisbon, for the first time, a session dedicated to award the winner of the Best Paper in CMBBE Journal will take place. We believe that CMBBE2018 will have a strong impact on the development of computational biomechanics and biomedical imaging and visualization, identifying emerging areas of research and promoting the collaboration and networking between participants. This impact is evidenced through the well-known research groups, commercial companies and scientific organizations, who continue to support and sponsor the CMBBE meeting series. In fact, the conference is enriched with five workshops on specific scientific topics and commercial software.info:eu-repo/semantics/draf

Adaptive Physically Based Models in Computer Graphics

International audienceOne of the major challenges in physically-based modeling is making simulations efficient. Adaptive models provide an essential solution to these efficiency goals. These models are able to self-adapt in space and time, attempting to provide the best possible compromise between accuracy and speed. This survey reviews the adaptive solutions proposed so far in computer graphics. Models are classified according to the strategy they use for adaptation, from time-stepping and freezing techniques to geometric adaptivity in the form of structured grids, meshes, and particles. Applications range from fluids, through deformable bodies, to articulated solids

Coarse-grained modelling of blood cell mechanics

This thesis concerns development of mechanically realistic in silico representations of human blood cells using coarse-grained molecular dynamics (CGMD), ultimately building a new model for a lymphocyte-class white blood cell (WBC). This development is approached successively, evaluated through simulation of experimental testing methods common to past in vitro studies on blood cell mechanics. Considering both their biophysical simplicity and the extensive associated literature, the red blood cell (RBC) is first considered. As a foundation, I thus used the CGMD RBC model of Fu et al. [Lennard-Jones type pair-potential method for coarse-grained lipid bilayer membrane simulations in LAMMPS, Fu et al., Comput. Phys. Commun., 210, 193-203 (2017)]. Chapter 3 establishes implementation of this model, and in silico implementations of the three chosen testing methods. In doing so, the first quantitative assessment of the "miniature cell" approach is conducted - being the down-scaling of the physical cell size to make feasible simulation times, as was done in the original article presenting the model. The RBC model is then used as a foundation from which to develop a new whole-cell WBC lymphocyte model. This is approached sequentially. Firstly (Chapter 4), the morphology and mechanics relevant to the existing RBC model are adapted to those of a lymphocyte. As such, a quasi-spherical morphology is induced, and elastic membrane-associated parameters brought in line with the literature on isolated lymphocytes in vitro. A semi-rigid nucleus is then added to the cell interior, again parameterised to produce elastic properties consistent with the literature. These developments produce a cell having macroscopic mechanical properties much more consistent with a WBC, with an "optimal" parameterisation established. After the membrane and nucleus, the entity most influential to the mechanics of nucleated cells (such as WBC) is their complex intracellular actin-based cytoskeleton (CSK). Therefore, Chapter 5 attempts to represent such a system within our new lymphocyte model. This is approached in three successive stages, assessed against recognised CSK mechanical properties, in particular those also common to soft glassy materials. As such, a novel CSK representation is developed, inspired as a discretisation of soft glassy rheology (SGR). It is proposed that the resulting system has characteristics comparable to having undergone a glass-like transition, as relatable to a real CSK. Therefore, the resulting lymphocyte model may lay a foundation for future development towards mechanically accurate representations of other cells - in particular, a circulating tumour cell

Numerical Investigation of Tsunami-Borne Debris Interaction with Coastal Bridges

The destructive potential of tsunamis has been well-documented in past events such as the 2004 Indian Ocean and 2011 Great East Japan tsunamis, which resulted in extensive damage to coastal regions including the destruction or damage of numerous bridges. These transportation links are particularly vulnerable to damage from tsunami-driven debris, such as boats, vehicles, and shipping containers, which upon impact can remove a bridge superstructure from its supports. The significance of understanding the effect of floating debris on coastal bridges cannot be overemphasized, as transportation infrastructure plays a vital role in post-disaster response and recovery efforts. Despite the availability of data from several debris-related studies, the majority of them have been focused on buildings, and very limited information is available for bridges. Furthermore, the majority of studies have been experimental, as the numerical investigation of complex multi-physics phenomena involving fluid flow with turbulent wave breaking, and non-linear contact between the debris, the trapped fluid, and the bridge, is quite challenging. Accurate quantification of the forces involved in debris-flow-bridge interaction is important for the design of tsunami-resilient bridges. The main objectives of this study were to (a) understand the two-fold effect of debris impact and damming on bridges, (b) shed light on the debris dynamics and debris-fluid-bridge interaction and associated loads, (d) quantify the effect of the debris orientation, (d) explore, calibrate and assess the accuracy and limitations of particle-based (SPH) and/or coupled particle-mesh based (SPH-FEM) methods, (e) investigate the role of debris mass, and (e) provide recommendations regarding simplified prescriptive load equations for debris impact for inclusion in the Tsunami Design Guidelines for Coastal Bridges developed by PEER and recently adopted by the AASHTO Committee on Bridges and Structures. In the present study, a thorough examination of the effect of various factors on debris movement, velocity, and impact force on bridge superstructure was conducted. By utilizing the coupled SPH-FEM numerical technique, it is demonstrated that the trajectory of debris can vary depending on the tsunami flow characteristics, the debris initial orientation, debris mass, and the bridge elevation. Through observation and analysis, three distinct patterns of debris movement around bridge decks are identified and designated as Patterns A, B, and C. Pattern A, the most frequently observed pattern, involves debris impacting the offshore side of the bridge superstructure, followed by movement below the soffit and eventual resurfacing on the onshore side. Additionally, when debris passes below the deck, it may impact the soffit, leading to uplift loads that can surpass the maximum horizontal loads. Pattern B involves debris movement above the deck with or without impact on the top surface. Pattern C -the least frequently observed pattern- involves a debris impacting the offshore side of the superstructure and becoming trapped below the offshore overhang, resulting in repetitive impulsive loads and long-duration damming loads until the end of the inundation. The study also reveals that the debris exhibits both horizontal and vertical velocities at the instant of primary impact, resulting in applied forces on the bridge in both directions simultaneously. Additionally, the research demonstrates the complexity of the debris dynamics and debris-flow-bridge interaction, with some cases resulting in secondary impacts of greater magnitude than the primary impact. The study further demonstrates that the debris initial orientation has a significant effect, with longitudinal debris reaching higher velocities and resulting in larger impact forces than the transverse one. In addition, it is also shown that the debris mass plays a crucial role in determining its movement, velocity, and impact forces. The results of this study indicate that the presence of the debris significantly impacts the flow velocities and pressures on bridges relatively to clear-water tsunami conditions. Specifically, it is found that the presence of debris leads to a consistent increase in total horizontal forces. Through the use of SPH-FEM analyses, the ratio of total forces with transverse debris to total forces without debris (Rx) is found to range between 1.5 and 6.5, with an average value of 2.67. Additionally, the ratio in the vertical direction (Rz) is found to range between 0.9 and 4.7, with an average value of 1.85. Furthermore, it is found that the presence of longitudinal debris leads to an average of 3.64 and 2.13 times larger horizontal and vertical forces respectively, in comparison to cases without debris. These findings highlight the importance of considering the debris in tsunami risk assessment frameworks and the design of bridge structures in tsunami-prone areas. In summary, the findings of this research are expected to have significant implications for the design and construction of bridges in areas prone to tsunamis and in this regard, a preliminary set of prescriptive equations for the debris impact forces is proposed

GiD 2008. 4th Conference on advances and applications of GiD

The extended use of simulation programs has leaned on the advances in user-friendly interfaces and in the capability to generate meshes for any generic complex geometry. More than ten years of development have made Gid grow to become one of the more popular pre ans postprocessing systems at international level. The constant dialogue between the GiD development team and the users has guided the development of giD to cover the pre-post needs of many disciplines in science and engineering. Following gthis philosophy, the biannual GiD Conference has become an important forum for discussion and interchange of experiences among the GiD community. This monograph includes the contributions of the participants to the fourth edition of the GiD Conference held in the island of Ibiza from 8-9 May 2008

Calculating the curvature shape characteristics of the human body from 3D scanner data.

In the recent years, there have been significant advances in the development and manufacturing of 3D scanners capable of capturing detailed (external) images of whole human bodies. Such hardware offers the opportunity to collect information that could be used to describe, interpret and analyse the shape of the human body for a variety of applications where shape information plays a vital role (e.g. apparel sizing and customisation; medical research in fields such as nutrition, obesity/anorexia and perceptive psychology; ergonomics for vehicle and furniture design). However, the representations delivered by such hardware typically consist of unstructured or partially structured point clouds, whereas it would be desirable to have models that allow shape-related information to be more immediately accessible. This thesis describes a method of extracting the differential geometry properties of the body surface from unorganized point cloud datasets. In effect, this is a way of constructing curvature maps that allows the detection on the surface of features that are deformable (such as ridges) rather than reformable under certain transformations. Such features could subsequently be used to interpret the topology of a human body and to enable classification according to its shape, rather than its size (as is currently the standard practice for many of the applications concemed). The background, motivation and significance of this research are presented in chapter one. Chapter two is a literature review describing the previous and current attempts to model 3D objects in general and human bodies in particular, as well as the mathematical and technical issues associated with the modelling. Chapter three presents an overview of: the methodology employed throughout the research; the assumptions regarding the data to be processed; and the strategy for evaluating the results for each stage of the methodology. Chapter four describes an algorithm (and some variations) for approximating the local surface geometry around a given point of the input data set by means of a least-squares minimization. The output of such an algorithm is a surface patch described in an analytic (implicit) form. This is necessary for the next step described below. The case is made for using implicit surfaces rather than more popular 3D surface representations such as parametric forms or height functions. Chapter five describes the processing needed for calculating curvature-related characteristics for each point of the input surface. This utilises the implicit surface patches generated by the algorithm described in the previous chapter, and enables the construction of a "curvature map" of the original surface, which incorporates rich information such as the principal curvatures, shape indices and curvature directions. Chapter six describes a family of algorithms for calculating features such as ridges and umbilic points on the surface from the curvature map, in a manner that bypasses the problem of separating a vector field (i.e. the principal curvature directions) across the entire surface of an object. An alternative approach, using the focal surface information, is also considered briefly in comparison. The concluding chapter summarises the results from all steps of the processing and evaluates them in relation to the requirements set in chapter one. Directions for further research are also proposed