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DIFIS WP 6.3 Deployment Simulation – November 23 rd -24 th , 2006 – CEA/LIST – DTSI/SRCI

DIFIS WP 6.3 Deployment Simulation – November 23 rd -24 th , 2006 – CEA/LIST – DTSI/SRCI contact: christophe.montandon@cea.fr. DIFIS. F CEA Technologies F Analysis of DIFIS deployment F Strategy for DIFIS deployment simulation. DIFIS - CEA GENERAL CONTEXT.

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DIFIS WP 6.3 Deployment Simulation – November 23 rd -24 th , 2006 – CEA/LIST – DTSI/SRCI

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  1. DIFIS WP 6.3 Deployment Simulation – November 23rd-24th, 2006 – CEA/LIST – DTSI/SRCI contact: christophe.montandon@cea.fr

  2. DIFIS FCEA Technologies F Analysis of DIFIS deployment F Strategy for DIFIS deployment simulation

  3. DIFIS - CEA GENERAL CONTEXT • Robotics Cognitics and Interaction Unit – R&D programs INTERACTIVE ROBOTICS MULTILINGUAL MULTIMEDIA VIRTUAL REALITY, HUMAN-COMPUTER INTERACTION HUMAN-MACHINE COOPERATION

  4. DIFIS - LAB CONTEXT • LSI: Interactive Simulation Laboratory • Design and development of software components, based on VR technologies, to answer industrial needs • Virtual reality  many different potential simulations/uses • Reduce time to market product (cars, planes, boats, buildings, …) • virtual prototyping • study/optimization of the design, the maintenance, the workplaces, factories, … • Preparation of interventions  especially useful for dedicated situations: regular or emergency interventions in sensible installations (nuclear plants, Seveso sites, …) • design of most appropriate scenarios • training of the operators • assistance during the missions

  5. DIFIS - EXAMPLES • Examples • Simulation of the maintenance of a train system (oil pump change) • « pure » animation • automatic/interactive simul° of the procedures, taking into account the operator (avatar) + the physics (collisions, accessibility checks) • Sim° of firemen intervention on Seveso site • animation of the flow • interactive physical simul° of the flow (pipe inclination, pressure, …) • animation of the firemen tasks • physical behaviour • kinematics, • dynamic interactions with the environment (moves, tools manipulation, …)

  6. DIFIS - EXAMPLES

  7. DIFIS - MODULAR ARCHITECTURE ISEN • Framework • Catia V5 • SolidWorks • Virtools • Seemage IPSI XDE FDE PGL … GVM LMD++ Interactive dosimetry Other physics ? Interactive mechanical sim° control Physical mannikin

  8. DIFIS CURRENT INTERACTIVE PHYSICS • Key points • RT simulation of the kinematic of multi-body systems • RT col°detect° • RT haptic devices: 6dof manip°, indexing, force and velocity scale, haptic and visual reference, virtual guide, use of props • Model conversion • CAD  digital mockup & sim° • Tesselation conformity

  9. DIFIS CURRENT INTERACTIVE PHYSICS • Integration of the moves (GVM) • Bilateral constraints (kinematic joints) • Scleronomous binary constraints • Usual joints (fixed, prismatic, hinge, helical, ball-and-socket, free) • Specific exotic joints for 3D curve and 6D path constraints • Tree-like kinematic graphs • Stable penalty methods for kinematic loops closure • Unilateral constraints • LCP-based • Contacts between rigid bodies • Joint limits • Proportional-Derivative (PD) control • In operational manifold SE(3)n (cartesian space control, 6D springs and dampers) • In configuration manifold (joint space control) • Coupling to haptic interface (or other robot) • Cartesian space and joint space interaction ports • Variety of coupling modes : admittance, impedance, « position-position »

  10. DIFIS CURRENT INTERACTIVE PHYSICS • Collision detection [Merlhiot 04] (LMD++) • efficient computation of Local Minimum Distances between elementary primitive (vertex, edge, triangle) soups. • keystone for efficiency [Johnson and Cohen, 2001]: descent of bounding volume hierarchies in the sense of 3D position and orientation of primitives ((sphere, cone) couples). • LMD++  several enhancements wrt Johnson’s original method • construction of a larger and optimized contact space : stable and efficient rendering of conformant (plane vs. plane) contact situations between rigid polyhedra. • generic treatment of topologies : volumes, surfaces (shells, plates), lines (beams, cables), points (point clouds). • optional dilatation of objects (security margin for insertion tasks).

  11. DIFIS - SCENARIZATION ENGINE • Current steps • Software and architecture design • First version based on XML scripts for the scenarios • Event and enriched state machine • Scheduler and supervisor • Independant C++ developments (modular approach) • Enriched state machine: • Management of « disturbing » or emergency events • Machine based on the context • Variables related to the states (parameterization) • stack approach • Successive calls to machines and hierarchical sub-machines (example sby readinf a book, disturbed by a call)

  12. Virtual Reality (Destkop & Scale One) DIFIS - APPLICATIONS • Virtual prototyping • Manikin simulation • Dosimetry calculations • Soft bodies

  13. DIFIS - DIFIS OBJECTIVES • Objectives of the simulation of the deployment • Clarify the viability of the process • Provide a simulation for project review • Training operators Interactive « physical » simulation • Pseudo realistic behavior of the system • Parameters of the simulation can be easily set up • Actions of the user taken into account • Fast time of calculation

  14. DIFIS - DIFIS ANALYSIS • Identification of the physical phenomena • Rigid bodies • Soft bodies (1D, 2D) • Kinematic chain • Waves • Current • Water pressure • Buoyancy / weight  High level of complexity

  15. DIFIS - BODIES SIMULATION Bodies • Buffer bell • Rigid Body • Riser Tube • Kinematic chain • Dome • rigid • deformable surface • Polyarticulated surface • Spring mass system • Cables • Poly-articulated line • Anchors • Rigid bodies

  16. DIFIS - EXTERNAL FORCES • Waves • Force fields • Current • Force fields • Weight and buoyancy • Forces applied on each body • Water pressure • Need of numerical model

  17. DIFIS - LIMITS Limits of the simulation • Many degrees of freedom  optimizations to reach interactivity • Many simplifications  pseudo realistic simulation • Rather Qualitative results  Minimal weight of anchors, horizontal and vertical displacements, deformation of soft bodies will not be realistic.

  18. DIFIS - CONCLUSION • Implementation of unitary module • Scenarization • Use Marin’s measurements as input data of the deployment simulation  supervising

  19. DIFIS - SCENARIZATION ENGINE

  20. DIFIS - SCENARIZATION ENGINE

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