Control of Dynamic Simulation Through Generalized Constraints

尽管运动的物理原理通常被很好地理解，但在计算机模拟中控制运动以实现特定目标或满足一般约束的适当方法并不存在。这个研究项目的主要目标是开发一种方法，使科学家能够对动态模型进行高水平的控制。这是通过概括约束方程的公式、生成和满足来实现的，以在用户和计算机之间创建直观的界面。约束的抽象定义包括力约束、明确的运动要求、能量最小化和风格考虑。刚性或柔性体的组合，代表了从人体到机械连杆的各种形式，构成了所研究的几何模型的领域。组件的基本描述既包括用于原型的简化多边形表示，也包括用于表示机械和其他图形的精确B样条雕塑曲面。研究了有限元分析中的数值方法，特别是加权残差法，作为允许科学家和机器之间进行交互团队合作的基础。

Although the physical principles of motion are generally well understood, adequate methods for controlling motion in computer simulations to achieve specified goals or to satisfy general constraints do not exist. The primary objective of this research project is to develop means that will allow scientists to exercise a high level of control over dynamic models. This is achieved by generalizing the formulation, generation, and satisfaction of constraint equations to create an intuitive interface between the user and the computer. An abstract definition of constraints will encompass force constraints, explicit motion requirements, energy minimization, and style considerations. Assemblies of rigid or flexible bodies, representing forms ranging from human figures to mechnical linkages, form the domain of the geometric models studied. The underlying description of the assemblies encompasses both simplified polygonal representations for prototyping and exact B- spline sculptured surfaces to represent mechanical and other figures. Numerical methods found within Finite Element Analysis, particularly the method of weighted residuals, are studied as a basis for permitting interactive teamwork between the scientist and the machine.