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Collision-Aware Fast Simulation for Soft Robots by Optimization-Based Geometric Computing [article]

Guoxin Fang, Yingjun Tian, Andrew Weightman, Charlie C.L. Wang
2022 arXiv   pre-print
Moreover, adaptive remeshing is applied to achieve the improvement of the convergence when dealing with soft robots that have large volume variations.  ...  Unlike the FEA-based physical simulation, the proposed pipeline performs a much lower computational cost.  ...  The elastic energy in soft body is minimized to compute its deformed shape, and the actuation is formulated as constraints in terms of length, area or volume variation applied to some elements.  ... 
arXiv:2203.02054v2 fatcat:xndyb44qwbc7ffqmmqfiwmoqs4

Page 1698 of Mathematical Reviews Vol. , Issue 84d [page]

1984 Mathematical Reviews  
Shepp, editor Proceedings of Symposia in Applied Mathematics Volume 27, x + 86 pages (hard cover and soft cover) Soft cover prices: List $14, institutional member $11, individual member $7 Hard cover prices  ...  Finally, a number of protocols which are used to achieve levels of security in computer systems and the emerging theory surrounding cryptographic protocols are presented in Chapter 4.  ... 

Dissection of hybrid soft tissue models using position-based dynamics

Junjun Pan, Junxuan Bai, Xin Zhao, Aimin Hao, Hong Qin
2014 Proceedings of the 20th ACM Symposium on Virtual Reality Software and Technology - VRST '14  
The less details of interior structure can effectively reduce the computational cost of deformation and geometric subdivision during dissection.  ...  For physical deformation, we design and implement a position-based dynamics approach that supports topology modification and enforces the volume-preserving constraint.  ...  We give the following equation to express the constraint of volume conservation: C volume (p 1 , p 2 , p 3 , p 4 ) = 1 6 [(p 1 −p 2 )×(p 1 −p 3 )]·(p 1 −p 4 )−V0, (2) where V0 is the original volume of  ... 
doi:10.1145/2671015.2671129 dblp:conf/vrst/PanBZHQ14 fatcat:do5ebvavgff7bfzthgaprd4qiu

Competing damage mechanisms in a two-phase microstructure: How microstructure and loading conditions determine the onset of fracture

T.W.J. de Geus, R.H.J. Peerlings, M.G.D. Geers
2016 International Journal of Solids and Structures  
The simplicity of the model ensures highly efficient computations, enabling an comprehensive study: a large range of hard phase volume fractions and yield stress ratios, for wide range of applied stress  ...  If the hard phase volume fraction is small, the fracture initiation is dominated by the soft phase even at high phase contrast.  ...  For both, the average arrangement of phases is computed at their respective fracture initiation strain (see Figure 4 ).  ... 
doi:10.1016/j.ijsolstr.2016.03.029 fatcat:bbbjiyzkmngivaww5uwnqrtynq

Fracture in multi-phase materials: Why some microstructures are more critical than others

T.W.J. de Geus, R.H.J. Peerlings, M.G.D. Geers
2017 Engineering Fracture Mechanics  
The damage rapidly increases in bands of the soft phase wherein several voids are aligned with the shear directions.  ...  Our goal is to unravel the mechanisms that lead to failure of a ductile two-phase material - that consists of a ductile soft phase and a relatively brittle hard phase.  ...  Note that D is on average higher in Figure 4 (c) than in Figure 4 (a) because of the higher applied strain.  ... 
doi:10.1016/j.engfracmech.2016.08.009 fatcat:cbvdhufenrev5gbnn6io6wv6le

Animating soft substances with implicit surfaces

Mathieu Desbrun, Marie-Paule Gascuel
1995 Proceedings of the 22nd annual conference on Computer graphics and interactive techniques - SIGGRAPH '95  
Firstly, local volume controllers are defined to insure constant volume deformation, even during highly inelastic processes such as splitting or fusion.  ...  This paper presents a hybrid model for animation of soft inelastic substance which undergo topological changes, e.g. separation and fusion and which fit with the objects they are in contact with.  ...  Compute the new position of each particle by integrating the associated equation of motion from the set of applied forces. 2.  ... 
doi:10.1145/218380.218456 dblp:conf/siggraph/DesbrunG95 fatcat:f5az5meg2jbkxk5akyjrtpb5eq

Real-time simulation of hydraulic components for interactive control of soft robots

A. Rodriguez, E. Coevoet, C. Duriez
2017 2017 IEEE International Conference on Robotics and Automation (ICRA)  
Real-time simulation of hydraulic components for interactive control of soft robots.  ...  The theoretical volume of a sphere with r = 1cm is V = 4 3 π = 4.1887cm 3 , however our mesh is not analytic and its exact volume computed using the signed volume method [16] is V = 4.1798cm 3 .  ...  For the bunny model we also compute the exact volume using the signed volume method, obtaining V = 1.7165cm 3 .  ... 
doi:10.1109/icra.2017.7989575 dblp:conf/icra/RodriguezCD17 fatcat:njodonrp5jcdrnynal5lqowqqq

Geometry-based Direct Simulation for Multi-Material Soft Robots

Guoxin Fang, Christopher-Denny Matte, Tsz-Ho Kwok, Charlie C.L. Wang
2018 2018 IEEE International Conference on Robotics and Automation (ICRA)  
In this paper, we present a direct approach to take the geometric actuation as input and compute the deformed shape of soft robots by numerical optimization using a geometry-based algorithm.  ...  However, as many more degrees of freedom are introduced, the motion simulation of a soft robot becomes cumbersome, especially when large deformations are presented.  ...  For a soft element, its target shape comes from the current shape by scaling back to its original volume (see Fig.4 ).  ... 
doi:10.1109/icra.2018.8461088 dblp:conf/icra/FangMKW18 fatcat:2ghkfggu3zelpkfedml73u2kji

A hybrid cultural approach for combined economic and emission dispatch

Bidishna Bhattacharya, K. K. Mandal, N. Chakraborty
2011 2011 Annual IEEE India Conference  
( FICTA 2012), December 22 -23, 2012, Bhubaneswar, India, Advances in Intelligent and Soft Computing, 2013, Volume 132, Springer, pp.321-328. 10.  ...  Frontier in Intelligent Computing Thery and Application ( FICTA 2012), December 22 -23, 2012, Bhubaneswar, India, Advances in Intelligent and Soft Computing, 2013, Volume 132, Springer, pp.349-356.  ...  Application of different soft computing techniques for optimal power control 3. Investigation on new soft computing techniques for power system optimization..  ... 
doi:10.1109/indcon.2011.6139595 fatcat:l2t43c2ycngg7ejjqsbg7uim3u

Simulation of Soft Bodies with Pressure Force and the Implicit Method

Jaruwan Mesit, Ratan K. Guha
2007 First Asia International Conference on Modelling & Simulation (AMS'07)  
The results show that our method can realistically simulate the soft bodies when large constraints are applied.  ...  In soft bodies with pressure forces, models are composed of mesh points connected by springs and applied with pressure forces.  ...  Pressure force for our soft bodies is computed at step 3. Then, the internal forces are combined at step 4.  ... 
doi:10.1109/ams.2007.93 dblp:conf/asiams/MesitG07 fatcat:kg4ocsbl4zarpeb7xivrfnggdq

A hybrid metaheuristic for multiobjective unconstrained binary quadratic programming

Arnaud Liefooghe, Sébastien Verel, Jin-Kao Hao
2014 Applied Soft Computing  
Soft Computing Publié sur Okina (  ...  16 Titre de la revue Applied Soft Computing ISSN 1568-4946 Mots-clés Unconstrained binary quadratic programming; Multiobjective combinatorial optimization; Hybrid metaheuristic; Evolutionary  ... 
doi:10.1016/j.asoc.2013.11.008 fatcat:mrvjpi27zvfqbkozec32kz7un4

Fluid substitution in a shaley sandstone reservoir at seismic scale

Jingye Li
2012 Petroleum Science  
medium, computational experiments are conducted on Han's shaley sand model, the soft-sand model, the stiff-sand model, and their combination under the assumption that the shaley sandstone volume is made  ...  The computational data show that at seismic scale, there are minor differences between uid substitution on rock volume and that on sub-volumes using Gassmann's equation.  ...  Fig. 4 4 Bulk moduli versus porosity by the soft-sand model. Left the volume consists of 5×5×5 sub-volumes; Right the volume consists of 10×10×10 subvolumes.  ... 
doi:10.1007/s12182-012-0179-8 fatcat:lwptao4dinhgpl5imtkzed4viy

Geometric Simulation for 3D-Printed Soft Robots

Tsz Ho Kwok
2018 Robotics & Automation Engineering Journal  
SOFA [4] is one of the most widely used frameworks for physical simulation. It is also applied in the simulation of soft robots that supports interactive deformation [5] .  ...  Geometric Simulation The common way of Finite Element Analysis (FEA) is to apply Hooke's law to each element and then assemble the equations to compute the deformation with the applied force: F Kφ = (1  ... 
doi:10.19080/raej.2018.04.555630 fatcat:yleguwijw5fvzf4e4qhkzymhee

A New Framework of Multiphase Segmentation and Its Application to Partial Volume Segmentation

Fuhua Chen, Yunmei Chen, Hemant D. Tagare
2011 Applied Computational Intelligence and Soft Computing  
In this way, it saves memory space and also avoids the general simplex constraint problem for soft segmentations. The framework is then applied to partial volume segmentation.  ...  Although the partial volume segmentation in this paper is focused on brain MR image, the proposed framework can be applied to any segmentation containing partial volume caused by limited resolution and  ...  Then Chen Applied Computational Intelligence and Soft Computing et al. extended it under stochastic theory 2 when is small enough.  ... 
doi:10.1155/2011/786369 fatcat:va6fgn3plnegfogs2qxhh2wfkm

Microstructural modeling of ductile fracture initiation in multi-phase materials

T.W.J. de Geus, R.H.J. Peerlings, M.G.D. Geers
2015 Engineering Fracture Mechanics  
A distinct spatial arrangement of phases around fracture incidents is found, consisting of hard regions in the tensile direction interrupted by soft regions in the directions of shear.  ...  Figure 4 . 4 Figure 4.  ...  For the domain size considered here, the time to compute the response of one volume element is approximately 15 minutes.  ... 
doi:10.1016/j.engfracmech.2015.04.010 fatcat:kngpdlmjozb5dnn43qfhw2hj54
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