ChainQueen: A Real-Time Differentiable Physical Simulator for Soft Robotics

Physical simulators have been widely used in robot planning and control. Among them, differentiable simulators are particularly favored, as they can be incorporated into gradient-based optimization algorithms that are efficient in solving inverse problems such as optimal control and motion planning. Simulating deformable objects is, however, more challenging compared to rigid body dynamics. The underlying physical laws of deformable objects are more complex, and the resulting systems have orders of magnitude more degrees of freedom and therefore they are significantly more computationally expensive to simulate. Computing gradients with respect to physical design or controller parameters is typically even more computationally challenging. In this paper, we propose a real-time, differentiable hybrid Lagrangian-Eulerian physical simulator for deformable objects, ChainQueen, based on the Moving Least Squares Material Point Method (MLS-MPM). MLS-MPM can simulate deformable objects including contact and can be seamlessly incorporated into inference, control and co-design systems. We demonstrate that our simulator achieves high precision in both forward simulation and backward gradient computation. We have successfully employed it in a diverse set of control tasks for soft robots, including problems with nearly 3,000 decision variables.Comment: In submission to ICRA 2019. Supplemental Video: https://www.youtube.com/watch?v=4IWD4iGIsB4 Project Page: https://github.com/yuanming-hu/ChainQuee

Simulating large volumes of granular matter

Master of ScienceDepartment of Computer ScienceDaniel AndresenModern techniques for simulating granular matter can produce excellent quality simulations, but usually involve a great enough performance cost to render them ineffective for real time applications. This leaves something to be desired for low-cost systems and interactive simulations which are more forgiving to inaccurate simulations, but much more strict in regards to the performance of the simulation itself. What follows is a proposal for a method of simulating granular matter that could potentially support millions of particles and several types for each particle while maintaining acceptable frame rates on consumer level hardware. By leveraging the power of consumer level graphics cards, effective data representation, and a model built around Cellular Automata a simulation can be run in real time

New Developments in Simulation-Based Harbour Crane Training

This paper presents the efforts that have been made during the development of a set of harbour training simulators to improve their quality. The paper focuses on two main research lines: the improvement of complex physical systems involved in the simulation and the analysis of hardware architecture solutions. Cable-based hoist systems and bulk materials are systems present in different harbour equipment and are usually simulated with poor quality due to their complexity. In this paper physics-based models for the interactive simulation of these systems are proposed and applied to real cases. Also, different hardware simulator architectures are analysed and different approaches are proposed to the problem of choosing the devices for a simulator

Experimental Approaches to the Composition of Interactive Video Game Music

This project explores experimental approaches and strategies to the composition of interactive music for the medium of video games. Whilst music in video games has not enjoyed the technological progress that other aspects of the software have received, budgets expand and incomes from releases grow. Music is now arguably less interactive than it was in the 1990’s, and whilst graphics occupy large amounts of resources and development time, audio does not garner the same attention. This portfolio develops strategies and audio engines, creating music using the techniques of aleatoric composition, real-time remixing of existing work, and generative synthesisers. The project created music for three ‘open-form’ games : an example of the racing genre (Kart Racing Pro); an arena-based first-person shooter (Counter-Strike : Source); and a real-time strategy title (0 A.D.). These games represent a cross-section of ‘sandbox’- type games on the market, as well as all being examples of games with open-ended or open-source code

A Framework for Dynamic Terrain with Application in Off-road Ground Vehicle Simulations

The dissertation develops a framework for the visualization of dynamic terrains for use in interactive real-time 3D systems. Terrain visualization techniques may be classified as either static or dynamic. Static terrain solutions simulate rigid surface types exclusively; whereas dynamic solutions can also represent non-rigid surfaces. Systems that employ a static terrain approach lack realism due to their rigid nature. Disregarding the accurate representation of terrain surface interaction is rationalized because of the inherent difficulties associated with providing runtime dynamism. Nonetheless, dynamic terrain systems are a more correct solution because they allow the terrain database to be modified at run-time for the purpose of deforming the surface. Many established techniques in terrain visualization rely on invalid assumptions and weak computational models that hinder the use of dynamic terrain. Moreover, many existing techniques do not exploit the capabilities offered by current computer hardware. In this research, we present a component framework for terrain visualization that is useful in research, entertainment, and simulation systems. In addition, we present a novel method for deforming the terrain that can be used in real-time, interactive systems. The development of a component framework unifies disparate works under a single architecture. The high-level nature of the framework makes it flexible and adaptable for developing a variety of systems, independent of the static or dynamic nature of the solution. Currently, there are only a handful of documented deformation techniques and, in particular, none make explicit use of graphics hardware. The approach developed by this research offloads extra work to the graphics processing unit; in an effort to alleviate the overhead associated with deforming the terrain. Off-road ground vehicle simulation is used as an application domain to demonstrate the practical nature of the framework and the deformation technique. In order to realistically simulate terrain surface interactivity with the vehicle, the solution balances visual fidelity and speed. Accurately depicting terrain surface interactivity in off-road ground vehicle simulations improves visual realism; thereby, increasing the significance and worth of the application. Systems in academia, government, and commercial institutes can make use of the research findings to achieve the real-time display of interactive terrain surfaces