Post on 23-Apr-2018
26 July 2007
1
Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
Virtual Reality Applications based on Virtual Reality Applications based on Physical and Behavioral SimulationPhysical and Behavioral Simulation
Prof. Dr. Prof. Dr. Fernando Fernando OsórioOsório -- Applied Computing / Applied Computing / UnisinosUnisinosProfaProfa . . DraDra. . SoraiaSoraia MusseMusse -- Computing Science / PUCComputing Science / PUC --RSRSProf. Prof. M.ScM.Sc. . FarleiFarlei HeinenHeinen -- Computing Eng. / Computing Eng. / UnisinosUnisinosM.ScM.Sc. Milton Roberto . Milton Roberto HeinenHeinen -- Ph.D. Student at UFRGSPh.D. Student at UFRGSProf. Dr. Christian Prof. Dr. Christian KelberKelber -- Electrical Eng. / Electrical Eng. / UnisinosUnisinosGustavo Gustavo PessinPessin -- M.ScM.Sc. Student at . Student at UnisinosUnisinos
Applied Computing Research Post-grad Program - PIPCAUNISINOS University - Brazil
GRAPHIT - Computer Graphics and Vision Group (Unisinos/PUC-RS)GPVA - Autonomous Vehicles Research Group (Unisinos)
GIA - Artificial Intelligence Research Group (Unisinos)RBV - Rede Brasileira de Visualização [FINEP/Brazil]
GRAPHITGRAPHIT GPVAGPVA GIAGIA
RBV RBV -- FINEPFINEP
IEEE / DVP - Distinguished Visitors Program Latin America
26 July 2007
2
Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
Virtual Reality Applications based on Virtual Reality Applications based on Physical and Behavioral SimulationPhysical and Behavioral Simulation
Prof. Dr. Prof. Dr. Fernando Fernando OsórioOsório -- Applied Computing / Applied Computing / UnisinosUnisinosProfaProfa . . DraDra. . SoraiaSoraia MusseMusse -- Computing Science / PUCComputing Science / PUC --RSRSProf. Prof. M.ScM.Sc. . FarleiFarlei HeinenHeinen -- Computing Eng. / Computing Eng. / UnisinosUnisinosM.ScM.Sc. Milton Roberto . Milton Roberto HeinenHeinen -- Ph.D. Student at UFRGSPh.D. Student at UFRGSProf. Dr. Christian Prof. Dr. Christian KelberKelber -- Electrical Eng. / Electrical Eng. / UnisinosUnisinosGustavo Gustavo PessinPessin -- M.ScM.Sc. Student at . Student at UnisinosUnisinos
GRAPHITGRAPHIT GPVAGPVA GIAGIA
RBV RBV -- FINEPFINEP
IEEE / DVP - Distinguished Visitors Program Latin America
Applied Computing Research Post-grad Program - PIPCAUNISINOS University - Brazil
GRAPHIT - Computer Graphics and Vision Group (Unisinos/PUC-RS)GPVA - Autonomous Vehicles Research Group (Unisinos)
GIA - Artificial Intelligence Research Group (Unisinos)RBV - Rede Brasileira de Visualização [FINEP/Brazil]
26 July 2007
3
Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
IEEE / DVP - Distinguished Visitors Program Latin America
Prof. Fernando Santos Osório - IEEE MemberApplied Computing Research Post-Graduation Program - PIPCAUNISINOS University - Brazil (Porto Alegre - Southern Region)IEEE DVP Program
Created in 1969by JesuitsNow with: - 30.000 Students- 900 Professors- 16 PPGs (post-grad programs)
26 July 2007
4
Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
IEEE / DVP - Distinguished Visitors Program Latin America
Prof. Fernando Santos Osório - IEEE MemberApplied Computing Research Post-Graduation Program - PIPCAUNISINOS University - Brazil (Porto Alegre - Southern Region)IEEE DVP Program
IT Resources:
"Polo de Informática"- Technological Park- Hi-Tech BusinessIncubator
Undergraduate courses (4 years+):• Computer Science (CS)• Information Technology and Systems (IT)• Computer Engineering (CE)• Electrical Engineering (EE)Technological courses (3 years):• Digital Games and Entertainment• IT Security• Software Dev. and Quality Management
26 July 2007
5
Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
VI Brazilian Symposium on Computer Games and Digital Entertainment
Organized byUnisinosPUC-RS
Conference ChairsSoraia MusseFernando OsórioChristian HofsetzJoão Ricardo BittencourtLuiz Gonzaga Jr.
26 July 2007
6
Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
Presentation Topics
Agenda:
1. Introduction: VR - Hierarchy of Models
2. VR and Simulation
Geometry, Physics, Behaviour, Knowledge and Cognition
3. Physics Simulation Tools
Opensteer, ODE, PhysX, Deformable/Dynamic
4. Intelligent Behaviour
Agents: Perception, Action, Behaviour
Autonomous Agents - Control
Multi-Agents Systems - Knowledge
5. Applications: VR Simulation Tools
6. Conclusions and New TrendsVídeo Demo Web/Java
26 July 2007
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Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
Introduction VR - Virtual Reality
[Paul Milgram et al. 95]
Virtual Reality
26 July 2007
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Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
Introduction VR - Virtual Reality
[Paul Milgram et al. 95]
From REAL to VIRTUAL3D + Immersion + Interaction
Virtual Reality
26 July 2007
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Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
3D Visualization
3D World Recreated:
3D Coordinate System - Axes X, Y, Z
• Create 3D objects- Position, Scale, Orientation- Color, Texture, Light- Mesh of polygons
(faces = polygons)
• "Virtual camera"
Introduction VR - Virtual Reality
\\PPTPPT--DemosDemos\\objobj--3d3d
Virtual Reality
26 July 2007
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Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
3D Visualization
3D World Recreated:
3D Coordinate System - Axes X, Y, Z
• Create 3D objects- Position, Scale, Orientation- Color, Texture, Light- Mesh of polygons
(faces = polygons)
• "Virtual camera"
Introduction VR - Virtual Reality
\\PPTPPT--DemosDemos\\LabirintoLabirinto\\PPTPPT--DemosDemos\\CastleCastle
Virtual Reality
26 July 2007
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Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
VISUALIZING 3D & VIRTUAL ENVIRONMENTS
Virtual RealityVirtual Reality...
* VRML - 3D Worlds (Geometry)
* QTVR - Panorama 3D (Images)
Introduction VR - Virtual Reality
\\VRMLVRML
Virtual Reality
26 July 2007
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Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
Introduction VR - Virtual Reality
VISUALIZING 3D & VIRTUAL ENVIRONMENTS
Virtual RealityVirtual Reality...
* VRML - 3D Worlds (Geometry)
* QTVR - Panorama 3D (Images)
\\QTVRQTVR
Virtual Reality
26 July 2007
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Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
2222
Real World Integrated with Virtual Objects
ARToolARTool KitKit
http://http://www.hitl.washington.edu/artoolkitwww.hitl.washington.edu/artoolkit//
Augmented Reality
Augmented Reality: ARToolkit - Positioning 3D Objects using references obtained with a camera (webcam)
26 July 2007
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Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
2323
ARToolARTool KitKit
\\ARToolKit2.65vrmlARToolKit2.65vrml\\binbinsimpleVRML.exesimpleVRML.exesimple.exesimple.exe
Augmented Reality
Real World Integrated with Virtual Objects
26 July 2007
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Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
2424
IRISA / INRIA IRISA / INRIA -- FranceFrancehttp://www.irisa.fr/lagadic/demo/demohttp://www.irisa.fr/lagadic/demo/demo--ar3/demoar3/demo--ar3ar3--eng.htmleng.html
Real World Integrated with Virtual Objects
Augmented Reality
26 July 2007
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Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
Virtual Reality
Virtual RealityVirtual Reality...
* 3D Virtual Environment
* Interaction
* Immersion
* Realism
VISUALIZING 3D & VIRTUAL ENVIRONMENTS
26 July 2007
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Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
Virtual Reality
Virtual RealityVirtual Reality...
* 3D Virtual Environment
* Interaction => Virtual Reality Devices
* Immersion => Virtual Reality Devices
* Realism => Graphical Realism (photo-realism)
Movements
Interaction Real x Virtual
"Physics Realism"
VISUALIZING 3D & VIRTUAL ENVIRONMENTS
26 July 2007
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Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
Virtual Reality
Virtual RealityVirtual Reality...
* 3D Virtual Environment
* Interaction => Virtual Reality Devices
* Immersion => Virtual Reality Devices
* Realism => Graphical Realism (photo-realism)
Movements
Interaction Real x Virtual
"Physics Realism"
VISUALIZING 3D & VIRTUAL ENVIRONMENTS
How to do it?
26 July 2007
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Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
1. Introduction
Sources of Inspiration:
3D Virtual Worlds - Hierarchy of Models
[Funge 1999]
26 July 2007
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Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
1. Introduction
Sources of Inspiration:
3D Virtual Worlds - Hierarchy of Models
[Funge 1999]
26 July 2007
21
Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
1. Introduction
Sources of Inspiration:
3D Virtual Worlds - Hierarchy of Models
[Funge 1999]
26 July 2007
22
Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
1. Introduction
Sources of Inspiration:
3D Virtual Worlds - Hierarchy of Models
[Funge 1999]
26 July 2007
23
Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
1. Introduction
Sources of Inspiration:
3D Virtual Worlds - Hierarchy of Models
[Funge 1999]
26 July 2007
24
Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
1. Introduction
Sources of Inspiration:
3D Virtual Worlds - Hierarchy of Models
[Funge 1999]
PhantomPhantom
HaptionHaption
CyberForceCyberForce
OmegaOmega
26 July 2007
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Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
1. Introduction
Sources of Inspiration:
3D Virtual Worlds - Hierarchy of Models
[Funge 1999]
[Ari Chapiro - Dance]
[CromosLab]
Agents
26 July 2007
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Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
1. Introduction
Sources of Inspiration:
3D Virtual Worlds - Hierarchy of Models
[Funge 1999]
26 July 2007
27
Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
1. Introduction
Sources of Inspiration:
3D Virtual Worlds - Hierarchy of Models
[Funge 1999]
Knowledge
AutonomousBehaviour
26 July 2007
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Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
2. VR and Simulation
Sources of Inspiration:
3D Virtual Worlds - Hierarchy of Models
[Funge 1999]
Virtual World
xx
Real World
26 July 2007
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Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
Presentation Topics
Agenda:
1. Introduction: VR - Hierarchy of Models
2. VR and Simulation
Geometry, Physics, Behaviour, Knowledge and Cognition
3. Physics Simulation Tools
Opensteer, ODE, PhysX, Deformable/Dynamic
4. Intelligent Behaviour
Agents: Perception, Action, Behaviour
Autonomous Agents - Control
Multi-Agents Systems - Knowledge
5. Applications: VR Simulation Tools
6. Conclusions and New TrendsVídeo Demo Web/Java
26 July 2007
30
Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
Sources of Inspiration:
3D Virtual Worlds - Hierarchy of Models
[Funge 1999]
Virtual World
xx
Real World
Increasing Reality in VR Applications: Physical and Behavioral Simulation
2. VR and Simulation
26 July 2007
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Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
RealisticVR
Increasing Reality in VR Applications: Physical and Behavioral Simulation
Virtual World
xx
Real World
26 July 2007
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Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
1. Introduction
RealisticVR
Increasing Reality in VR Applications: Physical and Behavioral Simulation
Virtual World
xx
Real World
Real WorldReal WorldSimulationSimulation
26 July 2007
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Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
Simulation Tools:
1. OpenSteer
2. ODE - Open Dynamics Engine
3. PhysX AGEIA
4. Deformable Objects and Fluids:- Finite Elements Methods- Spring-Mass Systems- CFD (Computational Fluid Dynamics)- Level Set Methods
VR Simulation: Some important questions...
3. Physics Simulation Tools
26 July 2007
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Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
Simulation Tools:
1. OpenSteer
2. ODE - Open Dynamics Engine
3. PhysX AGEIA
4. Deformable Objets and Fluids:- Finite Elements Methods- Spring-Mass Systems- CFD (Computational Fluid Dynamics)- Level Set Methods
VR Simulation: Some important questions...
3. Physics Simulation Tools
Physics:
Physical structure: resistance, mass, density, elasticity;Position and orientation in the 3D space; Kinematics and Dynamics;Linear and angular velocities; Motion (w/ forces and torques), trajectories; Acceleration, deceleration;Attraction and repulsion;Gravity, friction, inertia; Kinetic and potential energy; Laws of energy conservation, linear and angular momentum;Collisions and reaction to collisions;Steering models (wheeled cars, aircrafts, projectiles, boats and ships); Articulated Rigid Bodies Simulation (skeleton, robotic arm);Dynamic Simulation of Deformable Objects: elastic objects; Fluid simulation and Particle Systems (fire, smoke, clouds and liquids).
26 July 2007
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Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
1. OpenSteer [Reynolds]
Simple steering behaviours
3. Physics Simulation Tools
Geometric: SimpleKinematic: SimplePhysical: SimpleBehavioural: Simple
Steering BehaviourGroup Behaviour
26 July 2007
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Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
1. OpenSteer / Boids
Simple steering behaviours
3. Physics Simulation Tools
26 July 2007
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Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
2. ODE - Open Dynamics Engine
Simulation of Articulated Rigid Body Dynamics
Open Source Library (C/C++ API)
Used with OSG, Ogre3D, CrystalSpace, ...
3. Physics Simulation Tools
Slider jointSlider jointHinge jointHinge jointBall and socket jointBall and socket joint
Universal jointUniversal joint
26 July 2007
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Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
2. ODE - Open Dynamics Engine
Simulation of Articulated Rigid Body Dynamics
3. Physics Simulation Tools
Physics Simulation:
- Gravity, friction, acceleration, deceleration; - Generation of motion: applying forces and torques (motors);- Collision avoidance and treatment (reaction, object bounce);- Kinematics models and rigid body dynamics simulation; - Different types of joints with actuators (motors)
Webbots uses ODE [Cyberbotics]
26 July 2007
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Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
2. ODE - Open Dynamics Engine
3. Physics Simulation Tools
26 July 2007
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Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
2. ODE - Open Dynamics Engine
3. Physics Simulation Tools
26 July 2007
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Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
2. ODE - Open Dynamics Engine
3. Physics Simulation Tools
26 July 2007
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Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
2. ODE - Open Dynamics Engine
3. Physics Simulation Tools
26 July 2007
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Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
2. ODE - Open Dynamics Engine
3. Physics Simulation Tools
WebotsCyberbotics
26 July 2007
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Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
2. ODE - Open Dynamics Engine
3. Physics Simulation Tools
Juice[Nate W.]
26 July 2007
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Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
3. PhysX AGEIAHardware Accelerated Physics SimulationPPU - Physics Processing Unit / GPU - Graphics Proc. Unit
3. Physics Simulation Tools
- Complex rigid body object physics system: dynamics and collision detection- Joints and springs. Characters with complex, jointed geometries
for more lifelike motion and interaction- Volumetric fluid creation and simulation- Cloth that drapes and tears the way you would expect it to- Smart particles. Dense smoke and fog that billow around objects in motion.- Explosions that cause dust and collateral debris
26 July 2007
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Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
3. PhysX AGEIA - PPU
3. Physics Simulation Tools
26 July 2007
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Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
Simulation Tools:
1. OpenSteer
2. ODE - Open Dynamics Engine
3. PhysX AGEIA
4. Deformable Objects and Fluids:- Finite Elements Methods- Spring-Mass Systems- CFD (Computational Fluid Dynamics)- Level Set Methods
VR Simulation: Some important questions...
3. Physics Simulation Tools
26 July 2007
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Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
4. Deformable Objects and Fluids
- Finite Elements Methods
- Spring-Mass Systems
- CFD (Computational Fluid Dynamics)
- Level Set Methods
3. Physics Simulation Tools
26 July 2007
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Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
4. Deformable Objects and Fluids- CFD
Computational Fluid Dynamics
- Level Set Methods
3. Physics Simulation Tools
[Fedkiw 2006]
26 July 2007
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Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
3. Physics Simulation Tools
[Fedkiw]
26 July 2007
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Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
Simulation Tools:
1. OpenSteer
2. ODE - Open Dynamics Engine
3. PhysX AGEIA
4. Deformable Objects and Fluids:- Finite Elements Methods- Spring-Mass Systems- CFD (Computational Fluid Dynamics)- Level Set Methods
VR Simulation: Some important questions...REAL TIME SIMULATION !
3. Physics Simulation Tools
26 July 2007
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Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
Intelligent Agents:
Agents: Perception, ActionAgent Behaviours
Control ArchitecturesAutonomous Agents Multi-Agents SystemsKnowledge / Reasoning
4. Intelligent Behaviour
Comportamento
26 July 2007
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Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
Intelligent Agents:
Agents: Perception, ActionAgent Behaviours
Control ArchitecturesAutonomous Agents Multi-Agents SystemsKnowledge Integration
4. Intelligent Behaviour
Reactive-Deliberative Architecture
Control Architectures: Reactive, Deliberative, Hierarchical, Hybrid
Hybrid Architecture
Architecture BDI (Beliefs-Desires-Intentions)
F. Osório et al.[Virtual Concept 2005]
26 July 2007
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Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
Intelligent Agents:
Agents: Perception, ActionAgent Behaviours
Control ArchitecturesAutonomous Agents Multi-Agents SystemsKnowledge / Reasoning
4. Intelligent Behaviour
Robotic [GPVA] Crowds [CromosLab]Ontology [GIA]
26 July 2007
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Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
Presentation Topics
Agenda:
1. Introduction: VR - Hierarchy of Models
2. VR and Simulation
Geometry, Physics, Behaviour, Knowledge and Cognition
3. Physics Simulation Tools
Opensteer, ODE, PhysX, Deformable/Dynamic
4. Intelligent Behaviour
Agents: Perception, Action, Behaviour
Autonomous Agents - Control
Multi-Agents Systems - Knowledge
5. Applications: VR Simulation Tools
6. Conclusions and New Trends
26 July 2007
56
Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
5. Applications: VR Simulation Tools
Applications @ Unisinos
1. Autonomous Robots in VR Environments
SimRob3D - Mobile Robots SimulatorSEVA 3D - Autonomous Vehicle ParkingLEGGEN - Legged (articulated) Robots Simulator
2. Knowledge and Reasoning in VR Environments
UEM - Urban Environment ModelCrowds Simulation in Normal Life Situations
Robombeiros - Fire Fighting
26 July 2007
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Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
5. Applications: VR Simulation Tools
SimRob3D
- Our Simulation Tools: SimRob2D (Khepera)SimRob3D Seva2D
Autonomous Robots in VR Environments
26 July 2007
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Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
5. Applications: VR Simulation Tools
SimRob3D Simulator
> Sensors: Infrared, Sonar, Bumper
> Actuators / Kinematics: Differential, Ackerman
> Realistic Simulation Model: 3D World + noise / error (imprecise sensors and actuators)
Autonomous Robots in VR Environments
26 July 2007
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Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
5. Applications: VR Simulation Tools
SimRob3D Simulator
> Vehicle Simulation xx Vehicle Control
SimRob3D SEVA3D
Commands
Sensors
Control:SEVA3D-A (FSA)SEVA3D-N (Neural)
ControlSimulation
MotorActions
SensorialInformation
Kinematics:Estimation ofPosition and Orientation
Perception:Sensor Simulation
3DWorld
RobotModel
Visualization
SimRob3D SEVA3D
Commands
Sensors
Control:SEVA3D-A (FSA)SEVA3D-N (Neural)
ControlSimulation
MotorActions
SensorialInformation
Kinematics:Estimation ofPosition and Orientation
Perception:Sensor Simulation
3DWorld
RobotModel
Visualization
HyCAR
Hybrid Control ofAutonomous Robots
Autonomous Robots in VR Environments
26 July 2007
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Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
5. Applications: VR Simulation Tools
SimRob3D
Simulator
Autonomous Robots in VR Environments
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Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
5. Applications: VR Simulation Tools
SEVA 3D - "Sistema de Estacionamento de Veículos Autônomos"
Sources of Inspiration:
- Baja Buggy remotely controlled by a cell phoneC. Kelber - UNISINOS, Brazil
Published at:IEEE WCCIIJCNN 2006
Autonomous Robots in VR Environments
26 July 2007
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Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
5. Applications: VR Simulation Tools
SEVA 3D
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Virtual Reality Applications based on Physical and Behavioral SimulationOsório, Musse, Heinen, Kelber, Pessin IEEE Computer Chapter - Colombia Section / Medellin, July 2007
SEVA 3D Simulator
> Vehicle Simulation xx Vehicle Control
SimRob3D SEVA3D
Commands
Sensors
Control:SEVA3D-A (FSA)SEVA3D-N (Neural)
ControlSimulation
MotorActions
SensorialInformation
Kinematics:Estimation ofPosition and Orientation
Perception:Sensor Simulation
3DWorld
RobotModel
Visualization
SimRob3D SEVA3D
Commands
Sensors
Control:SEVA3D-A (FSA)SEVA3D-N (Neural)
ControlSimulation
MotorActions
SensorialInformation
Kinematics:Estimation ofPosition and Orientation
Perception:Sensor Simulation
3DWorld
RobotModel
Visualization
Autonomous Robots in VR Environments
5. Applications: SEVA 3D
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SEVA: FSA - Finite State Automaton
Inputs:
- Sonar Sensors: Stochastic ray-casting / 3D cone)
Outputs:
- Steering Wheel Angle- Gas pedal (car speed + direction: fwd, back)
States:
Autonomous Robots in VR Environments
5. Applications: SEVA 3D
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SEVA: Searching Parking Space
5. Applications: SEVA 3D
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SEVA: Entering
5. Applications: SEVA 3D
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SEVA: Positioning Inside
5. Applications: SEVA 3D
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SEVA: Aligning
5. Applications: SEVA 3D
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SEVA: NEURAL FSA - Learning the FSA...
Si(t) + Si(t-1) + ...Temporal Window
Adapted Jordan-Net using RProp Learning
5. Applications: SEVA 3D
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SEVA3D - Autonomous Vehicle Parking Simulator
3D
SensorsActuatorsKinematicsFSA CtrlANN Ctrl
5. Applications: SEVA 3D
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5. Applications: VR Simulation Tools
Applications @ Unisinos
1. Autonomous Robots in VR Environments
SimRob3D - Mobile Robots SimulatorSEVA 3D - Autonomous Vehicle ParkingLEGGEN - Legged (articulated) Robots Simulator
2. Knowledge and Reasoning in VR Environments
UEM - Urban Environment ModelCrowds Simulation in Normal Life Situations
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5. Applications: VR Simulation Tools
Legged Robots Evolution and Walking Control
Sources of Inspiration:
Autonomous Robots in VR Environments
[EPFL]
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5. Applications: VR Simulation Tools
Legged Robots Evolution and Walking Control
Sources of Inspiration: LEGGEN - Published at: IEEE WCCI CEC 2006SBIA 2006
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Autonomous Robots in VR Environments
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5. Applications: VR Simulation Tools
LEGGEN - Legged Robots Evolution and Walking ControlAutonomous Robots in VR Environments
Simulation of Robots: 3D Realistic Virtual Environments- Sensors: infrared, sonar, bumpers, gyro (accelerometers),
GPS, compass, light and vision sensors, etc. - Actuators: legs and arms with angular motors (joints) - Physics: collision, kinematics, rigid body dynamics
Simulation of Legged Autonomous Robots:- Robot ControlArchitectures Implementation
Genetic Evolved Control of Articulated Robots (w/legs)
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5. Applications: VR Simulation Tools
LEGGEN - Legged Robots Evolution and Walking ControlAutonomous Robots in VR Environments
Simulation of 3D Realistic Virtual Legged Robots LEGGEN Simulator - Tools:
1. OSG- Open Scene Graph (OpenGL + Extensions)[ http://www.openscenegraph.org/ ]
2. ODE - Open Dynamics EngineRigid Body Physics Simulation(gravity, inertia, friction, collision, joints, etc)[ http://www.ode.org/ ]
3. GALib - Genetic Algorithms Simulation[ http://www.lancet.mit.edu/ga/ ]
4. Robot Control FSM: Finite State Machine = Sense + Act
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5. Applications: VR Simulation Tools
LEGGEN - Legged Robots Evolution and Walking ControlAutonomous Robots in VR Environments
Simulation main goals:
- Evaluate different Robot Models(hardware configurations)IEEE WCCI / CEC 2006 - Vancouver, Canadá
- Evaluate different Fitness FunctionsIBERAMIA / SBIA - Ribeirão Preto, SP Robot Models
Boston Dynamics
Evaluate different robot models in order to select a better hardware configuration
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LEGGEN SIMULATOR
Simulation Results:
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LEGGEN SIMULATOR
Simulation RESULTS:
Tetrapod Video - Distance, Gyro
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LEGGEN SIMULATOR
Simulation RESULTS: Tetrapod Video - 2 a 2
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LEGGEN SIMULATOR
Simulation RESULTS: Tetrapod Video - "bloopers"
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5. Applications: VR Simulation Tools
Applications @ Unisinos
1. Autonomous Robots in VR Environments
SimRob3D - Mobile Robots SimulatorSEVA 3D - Autonomous Vehicle ParkingLEGGEN - Legged (articulated) Robots Simulator
2. Knowledge and Reasoning in VR Environments
UEM - Urban Environment ModelCrowds Simulation in Normal Life Situations
Robombeiros - Fire Fighting
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5. Applications: VR Simulation Tools
UEM - Urban Environment Model
Sources of Inspiration: CromosLab
Knowledge and Reasoning in VR Environments
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5. Applications: VR Simulation Tools
UEM - Urban Environment Model
Sources of Inspiration: CromosLab
Knowledge and Reasoning in VR Environments
Normal Life - Agents:Children going to the schoolAdults going to work at usual times...
Environment:School, Stores, ...Flammable Liquids...
Ontology!
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5. Applications: VR Simulation Tools
UEM - Urban Environment ModelKnowledge and Reasoning in VR Environments
- Agents are created using an ontology;
- Ontology includes information of population profiles;
- Ontology includes information about the urban environment;
- People (virtual agents) created based on statistical data or fictitious information;
- Agents move and behave in the urban lifeaccording their usual activities (time),
as described in the ontologies;
- People move during “normal life” in a more realistic way,
without a “random aspect”, which is common in other (not so realistic) works;
- Able to manage crowds in a macrocospic point of view;
- Easy to define, easy to implement, easy to control!
- Knowledge about the general model of the VE can be used to the sKnowledge about the general model of the VE can be used to the simulationimulation;
Structured and semantic environment
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5. Applications: VR Simulation Tools
UEM - Urban Environment ModelKnowledge and Reasoning in VR Environments
UEM - Global Ontology
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5. Applications: VR Simulation Tools
UEM - Urban Environment ModelKnowledge and Reasoning in VR Environments
UEM - Global Ontology
Has
Components ofEnvironment
Is
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5. Applications: VR Simulation Tools
UEM - Urban Environment ModelKnowledge and Reasoning in VR Environments
UEM - Global Ontology
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5. Applications: VR Simulation Tools
UEM - Urban Environment ModelKnowledge and Reasoning in VR Environments
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5. Applications: VR Simulation Tools
UEM Urban Environment Model
Knowledge and Reasoning in VR Environments
At 7:00 AM people are at home
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5. Applications: VR Simulation Tools
UEM Urban Environment Model
Knowledge and Reasoning in VR Environments
At 11:29 AM:Students and employed adults are in school and workWe can observe some other people on the street
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5. Applications: VR Simulation Tools
UEM Urban Environment Model
Knowledge and Reasoning in VR Environments
At 11:29 AM:Students and employed adults are in school and workWe can observe some other people on the streetAt 12:05 PM:Students leave school
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5. Applications: VR Simulation Tools
UEM Urban Environment Model
Knowledge and Reasoning in VR Environments
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5. Applications: VR Simulation Tools
Applications @ Unisinos
1. Autonomous Robots in VR Environments
SimRob3D - Mobile Robots SimulatorSEVA 3D - Autonomous Vehicle ParkingLEGGEN - Legged (articulated) Robots Simulator
2. Knowledge and Reasoning in VR Environments
UEM - Urban Environment ModelCrowds Simulation in Normal Life Situations
Robombeiros - Fire Fighting
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Robombeiros - Fire Fighting VR Simulation
Virtual Simulation Environment:* 2D and 3D Simulation* Simulation of fire propagation* Autonomous fire-fighting team* Define: Strategy, Mission, Execution
Fire PropagationSimulation:
- Direction and Speedof wind
- Vegetation type andcoverture density
(speed of propagation)- Terrain
Figure: 2D Simulation using SDL library => http://pessin.googlepages.com/robombeiros
Published at SVR 2007 (Symposium on Virtual and Augmented Reality) [G. Pessin, F. Osório, S. Musse, V. Nonnenmacher, S. Ferreira]
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Robombeiros - Fire Fighting VR Simulation
Virtual Simulation Environment:
http://pessin.googlepages.com/robombeirosPublished at SVR 2007 (Symposium on Virtual and Augmented Reality) [G. Pessin, F. Osório, S. Musse, V. Nonnenmacher, S. Ferreira]
3D Visualization:- Vegetation, Fire- Autonomous mobile Robots- Stereo 3D - Tools: OSG, ODE, Demeter
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Robombeiros - Fire Fighting VR Simulation
Virtual Simulation Environment:
3D Simulation:- Fire propagation- Physics- Robot Control
http://pessin.googlepages.com/robombeiros
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Presentation Topics
Agenda:
1. Introduction: VR - Hierarchy of Models
2. VR and Simulation
Geometry, Physics, Behaviour, Knowledge and Cognition
3. Physics Simulation Tools
Opensteer, ODE, PhysX, Deformable/Dynamic
4. Intelligent Behaviour
Agents: Perception, Action, Behaviour
Autonomous Agents - Control
Multi-Agents Systems - Knowledge
5. Applications: VR Simulation Tools
6. Conclusions and New Trends
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New Trends
Claytronics - Nanotech[Published at IROS2006]
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Conclusions => Review
VR... From Real to VirtualVisualization (3D) InteractionAgentsSimulation
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Conclusions => Review
VR... From Real to VirtualVisualization (3D) => OpenGL, DirectX, VRML, QTVR, OSGInteraction => Augmented Reality, Haptic Devices, SensorsAgents => Behaviour (Perceive, Act, Interact), ControlSimulation => Models, Physics, ODE
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Conclusions => Review
VR... From Real to VirtualVisualization (3D) => OpenGL, DirectX, VRML, QTVR, OSGInteraction => Augmented Reality, Haptic Devices, SensorsAgents => Behaviour (Perceive, Act, Interact), ControlSimulation => Models, Physics, ODE
* Interaction based on PhysicsPerception Physics => Rigid Body DynamicsAction Soft Body - Deformable, ParticlesKinematics Steering modelsDynamics
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Conclusions => Review
VR... From Real to VirtualVisualization (3D) => OpenGL, DirectX, VRML, QTVR, OSGInteraction => Augmented Reality, Haptic Devices, SensorsAgents => Behaviour (Perceive, Act, Interact), ControlSimulation => Models, Physics, ODE
* Interaction based on PhysicsPerception Physics => Rigid Body DynamicsAction Soft Body - Deformable, ParticlesKinematics Steering modelsDynamics
* Behavioural Simulation and Virtual Autonomous Agents (AI)Behavioural control (e.g. boids)Control Architectures: Deliberative, Reactive, Hierarchical, HybridCognitive...
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Conclusions => Review
VR... From Real to VirtualVisualization (3D) => OpenGL, DirectX, VRML, QTVR, OSGInteraction => Augmented Reality, Haptic Devices, SensorsAgents => Behaviour (Perceive, Act, Interact), ControlSimulation => Models, Physics, ODE
* Behavioural Simulation and Virtual Autonomous Agents (AI)Behavioural control (e.g. boids)Control Architectures: Deliberative, Reactive, Hierarchical, HybridCognitive:- Knowledge- Emotional states- Personality- Personal profile- Special places- Functioning rules (ontology)- Place profile
Agents
Environment
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Conclusions => Review
VR... From Real to VirtualVisualization (3D) => OpenGL, DirectX, VRML, QTVR, OSGInteraction => Augmented Reality, Haptic Devices, SensorsAgents => Behaviour (Perceive, Act, Interact), ControlSimulation => Models, Physics, ODE
* Behavioural Simulation and Virtual Autonomous Agents (AI)Behavioural control (e.g. boids)Control Architectures: Deliberative, Reactive, Hierarchical, HybridCognitive:- Knowledge- Emotional states- Personality- Personal profile- Special places- Functioning rules (ontology)- Place profile
Agents
Environment
Autonomy IVREReality VR PBSim
VR++
VeryVery interestinginterestingapplicationsapplications!!
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Conclusions and New Trends
Virtual Reality Environments:
Geometric + Kinematic + Physical + Behavioural + Cognitive=
Realistic RV Environments
New Trends:
VR PhysicsArtificial IntelligenceAR - Augmented RealityHaptic Interfaces
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Conclusions and New Trends
Virtual Reality Environments:
Geometric + Kinematic + Physical + Behavioural + Cognitive=
Realistic RV Environments
New Trends:
VR PhysicsArtificial IntelligenceAR - Augmented RealityHaptic Interfaces
FullImmersion
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CONTACT INFORMATION
UNISINOS University UNISINOS University -- BrazilBrazil
Applied Computing Research PostApplied Computing Research Post --grad Programgrad Program -- PIPCAPIPCAAutonomous Vehicles Research GroupAutonomous Vehicles Research Group -- GPVAGPVA
WebWeb: : GoogleGoogle -- veiculosveiculos autonomosautonomos
GPVA GPVA WebWeb PagePage: : http://www.eletrica.unisinos.br/~autonomhttp://www.eletrica.unisinos.br/~autonom
ContactContact -- WebWeb PagesPages : : http://inf.unisinos.br/~osorio/http://inf.unisinos.br/~osorio/http://www.inf.pucrs.br/~smusse/http://www.inf.pucrs.br/~smusse/http://ncg.unisinos.br/robotica/http://ncg.unisinos.br/robotica/
Contact: Prof. Dr. Fernando OsórioE-Mail: fosorio@unisinos.brProfa. Dra. Soraia MusseE-Mail: soraiarm@unisinos.brProfa. M.Sc. Milton HeinenE-mail: miheinen@gmail.com