L1-Splines-Based Geometric-Physics Modeling of Deformable Objects with Force-Torque Feedback

基于 L1 样条的力扭矩反馈变形物体几何物理建模

• 批准号: 0553310
• 负责人: Yuan-Shin Lee
• 金额: $ 36万
• 依托单位: North Carolina State University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2006
• 资助国家: 美国
• 起止时间: 2006-04-01 至 2010-03-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0553310&HistoricalAwards=false
• 关键词: L1; Splines; Based; Geometric; Physics

Currently, virtually all objects in haptic force-feedback systems are represented by surfaces consisting of large numbers of flat triangular patches. Such surfaces have the advantage of fitting within current computer hardware constraints. However, they are computationally very expensive because the flat triangular patches must be small and numerous for the model to be accurate. In this project, a new approach is to be adopted. The plan is to replace the flat triangular patches by L1 splines, a new class of geometric models that achieve compression and accuracy much greater than that of flat triangular patches and other alternatives. Use of L1 splines will permit accurate modeling with far fewer elements, thus reducing the computational load. This project will develop trivariate parametric L1 splines on tetrahedral irregular networks as geometric models and mechanical models on the same tetrahedral networks, and then integrate the geometric and mechanical models via a two-level optimization procedure. The integrated geometric/mechanical model will be implemented in software for an operational 6-degree-of-freedom haptic system. Success in this project will lead to high-performance haptic force-feedback devices with both speed and accuracy. More generally, this project will provide the scientific community and the national economy with a new class of computationally efficient L1 splines for modeling the geometry and mechanics of many kinds of irregularly shaped objects and processes, including but not limited to human beings, clothes, biological objects, mechanical objects, natural and urban terrain, geophysical features, geographical data, images such as those in computer games, economic processes and social processes. This research will be incorporated into graduate and undergraduate education to enrich regular courses and to attract a diverse group of undergraduate students, as the haptic research is applicable to such a wide set of disciplinary and societal applications.

目前，几乎所有的触觉力反馈系统中的对象表示由大量的平面三角形补丁的表面。这样的表面具有适合当前计算机硬件约束的优点。然而，它们在计算上是非常昂贵的，因为平坦的三角形贴片必须很小并且很多，以使模型准确。在这个项目中，将采用一种新的方法。该计划是用L1样条取代平面三角形贴片，这是一类新的几何模型，其压缩和精度远远高于平面三角形贴片和其他替代品。使用L1样条将允许用更少的元素进行精确建模，从而减少计算负荷。 本计画将在四面体不规则网路上发展三变数参数L1样条，作为几何模型与力学模型，并透过两层最佳化程序整合几何与力学模型。集成的几何/机械模型将在软件中实现的操作6自由度触觉系统。该项目的成功将导致高性能触觉力反馈设备的速度和准确性。 更一般地说，该项目将为科学界和国民经济提供一类新的计算效率高的L1样条，用于对许多种不规则形状的物体和过程的几何和力学建模，包括但不限于人类、衣服、生物物体、机械物体、自然和城市地形、地球物理特征、地理数据、诸如计算机游戏中的图像、经济进程和社会进程。这项研究将被纳入研究生和本科教育，以丰富常规课程，并吸引不同群体的本科生，因为触觉研究适用于这样一个广泛的学科和社会应用。