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

The role of data in model building and prediction: a survey through examples

The goal of Science is to understand phenomena and systems in order to predict their development and gain control over them. In the scientific process of knowledge elaboration, a crucial role is played by models which, in the language of quantitative sciences, mean abstract mathematical or algorithmical representations. This short review discusses a few key examples from Physics, taken from dynamical systems theory, biophysics, and statistical mechanics, representing three paradigmatic procedures to build models and predictions from available data. In the case of dynamical systems we show how predictions can be obtained in a virtually model-free framework using the methods of analogues, and we briefly discuss other approaches based on machine learning methods. In cases where the complexity of systems is challenging, like in biophysics, we stress the necessity to include part of the empirical knowledge in the models to gain the minimal amount of realism. Finally, we consider many body systems where many (temporal or spatial) scales are at play-and show how to derive from data a dimensional reduction in terms of a Langevin dynamics for their slow components

Energy conserving schemes for the simulation of musical instrument contact dynamics

Collisions are an innate part of the function of many musical instruments. Due to the nonlinear nature of contact forces, special care has to be taken in the construction of numerical schemes for simulation and sound synthesis. Finite difference schemes and other time-stepping algorithms used for musical instrument modelling purposes are normally arrived at by discretising a Newtonian description of the system. However because impact forces are non-analytic functions of the phase space variables, algorithm stability can rarely be established this way. This paper presents a systematic approach to deriving energy conserving schemes for frictionless impact modelling. The proposed numerical formulations follow from discretising Hamilton's equations of motion, generally leading to an implicit system of nonlinear equations that can be solved with Newton's method. The approach is first outlined for point mass collisions and then extended to distributed settings, such as vibrating strings and beams colliding with rigid obstacles. Stability and other relevant properties of the proposed approach are discussed and further demonstrated with simulation examples. The methodology is exemplified through a case study on tanpura string vibration, with the results confirming the main findings of previous studies on the role of the bridge in sound generation with this type of string instrument