改进的布尔方法及其在虚拟ACL手术中的应用

为了实现在虚拟ACL手术中对骨骼模型进行钻孔操作的动态模拟,提出了一种针对面网格模型的改进布尔操作方法.首先对与切割曲面相交的三角形进行细分,并移动切割曲面附近的网格顶点使其位于曲面上,实现模型表面上的布尔操作;然后对切割曲面附近的模型表面进行平滑处理,以消除在顶点移动操作中带来的模型表面锯齿状现象;最后采用前沿推进方法生成模型的内壁网格,并利用基于时间的钻孔深度控制函数实现对钻孔操作过程的动态模拟.该方法消除了近似布尔方法中的"T"型点问题,能够保持模型表面平滑效果和切割边缘尖锐特征,实现了对布尔操作的动态模拟,满足实时性的要求.该方法适用于实时系统中针对面网格模型的动态、交互式布尔操作模拟.     

虚拟手术中模拟软组织切割的混合弹性模型

虚拟手术仿真系统应该同时满足真实性和实时性的要求.弹簧质点模型可以满足实时性的要求,但它无法模拟人体的粘弹性特征;而传统的有限元模型虽然可以模拟人体的粘弹性特征,但巨大的时间消耗使得这个方法几乎无法给出实时的反馈.混合弹性模型是一种基于有限元方法的优化模型,由于采用了简化措施,使得它既克服了弹簧质点模型的缺陷;同时也满足了虚拟手术的实时性要求.实验证明混合弹性模型在虚拟手术的真实性和实时性之间达到了一个较好的折中效果,它可以实时的提供视觉反馈,同时也使在虚拟手术系统中引入力反馈器成为可能.     

实时交互式软组织切割与变形计算模型

为提高虚拟手术模拟的交互性与实时性,提出一种软组织实时切割与变形计算模型.该模型以混合有限元模型为基础,根据手术过程中不同区域的交互特点,利用GPU加速手术区域的切割与变形计算;同时,对非手术区域的软组织因交互而引起的实时变形可通过选择性相乘的方法快速实现.实验结果充分证明,该计算模型可以灵活有效地实现实时软组织的交互切割与变形模拟.     

雪场景真实感的实时建模与绘制

针对计算机图形学中雪场景的真实感渲染的难题,提出了一种实时绘制高真实感雪景的方法。首先采用类衰减正弦函数模拟雪花运动轨迹,在保证真实性的同时大大提高其实时性;然后基于温度变化与不同地表类型影响,提出了实时积雪-融雪模型,通过计算无损失的热传递积雪方程,提高了交互积雪场景动态渲染的真实性;最后采用GPU图形硬件加速技术提高了整个过程的计算效率,绘制效果逼真。     

通用三维服装模型的强约束动态仿真方法

随着三维游戏和虚拟试衣要求的不断提高,服装仿真已经从布料模拟向服装动态模拟的方向发展,具有真实性、实时性、通用性与交互性的服装仿真技术有很强的研究和实用价值。针对目前算法研究中普遍存在的实时性与通用性不足,提出了一种针对任意三维服装模型的实时仿真方法,将模型顶点和三角面映射为质点的弹簧模型,以克服传统的布料解算器对三维模型的网格限制。利用简便易行的Verlet积分器提高运算效率,并对质点间的形变进行强约束补偿,防止过拉伸(超弹)现象的发生,提高了系统的稳定性。通过实验验证了算法的高效性和可靠性,并可方便地以插件或模块形式与其它软件整合。     

一种大场景环境下降雪和积雪仿真的新方法

在分析已有的降雪和积雪模拟方法的基础上,提出了一种大场景环境下降雪和积雪模拟的新方法。将降雪和积雪过程看成雪景模拟的两个阶段,分别用不同的方法进行模拟。在降雪方面,引入粒子的旋转,粒子动态纹理和动态颜色等,提高了降雪模拟的真实性和灵活性;在积雪方面,引入噪声技术,解决了已有积雪模拟方法不能用于大场景模拟的问题。实验表明,降雪积雪模拟方法模拟效果真实,实时性良好,适合大场景尤其是飞行模拟系统中。     

基于粒子系统的火箭尾焰实时模拟

提高虚拟火箭飞行的真实性,火箭尾焰的实时模拟是关键;在对火箭尾焰的静动态特性进行分析的基础上,建立了火箭尾焰的粒子运动模型,实时模拟了火箭尾焰;在建模过程中采用了面片贴图作为粒子体素的方法以简化模型,并通过相应算法,将面片法向量与观察视线的夹角维持在恒定的范围内,保证了观察效果,提高了粒子体素利用率;应用该方法在火箭飞行仿真中模拟火箭尾焰,粒子量少,逼真度高,较好地解决了视景仿真过程中实时性和逼真度的矛盾,证明了方法的可用性。     

基于改进弹簧振子模型的软组织形变仿真

研究虚拟手术中软组织形变的特定性优化问题。传统弹簧振子模型由于采用线弹力方程及显示欧拉积分法求解,导致的真实性低、计算复杂、实时性差的问题。为解决形变动特性问题,提出一种改进弹簧振子模型的形变方法,采用四面体网格弹簧振子模型进行建模,并通过定义质点间弹簧的非线性弹力方程以及作用于质点的体积力方程,来减弱超弹性现象的发生,提高真实性。模型求解时,采用一种改进显式欧拉积分的动态局部算法来求解形变方程。实验结果表明,所提算法提高了形变仿真的真实性、实时性和稳定性,可为软组织形变动态仿真系统的设计提供参考。     

基于粒子系统的虚拟战场环境特殊效果模拟

作战系统在军事训练和军事演习的应用上具有经济性、科学性、实时性、交互性等其他训练模式无法比拟的优点,能够提高军事训练的效率,减少训练的成本,增加战士在训练过程中的安全性。虚拟战场环境是作战系统的一个非常基础的平台,值得研究探讨。在虚拟战场环境模拟中,对不规则动态形状物体建模的最有效的方法是粒子系统。而文中深入研究了粒子系统的基本原理,应用粒子系统的方法构建了一个战场爆炸模型来实现爆炸效果的具体实现过程,并分析爆炸粒子所受的动力来建立爆炸粒子的物理模型。实验结果表明这一模拟方法简单有效,逼真度和实时性效果较好。     

基于物理模型的实时烟雾模拟

针对使用直接绘制法渲染烟雾时,在高网格分辨率下实时性差的问题,文中提出了一种新的基于纹理的烟雾渲染算法。该算法采用不可压缩的Navier-Stokes方程作为烟雾模拟的基本物理计算模型,从而保证烟雾物理运动的真实性,同时利用OpenGL中的纹理映射技术渲染烟雾,保证了烟雾渲染效果真实,烟雾模拟细节更能体现出来;另外文中还给出了在烟雾中添加障碍物时边界条件的计算方式。模拟实验结果表明,该算法既能满足烟雾模拟的实时性,又能真实有效地模拟烟雾流动情况。     

Displacement-Correlated XFEM for Simulating Brittle Fracture

We present a remeshing-free brittle fracture simulation method under the assumption of quasi-static linear elastic fracture mechanics (LEFM). To achieve this, we devise two algorithms. First, we develop an approximate volumetric simulation, based on the extended Finite Element Method (XFEM), to initialize and propagate Lagrangian crack-fronts. We model the geometry of fracture explicitly as a surface mesh, which allows us to generate high-resolution crack surfaces that are decoupled from the resolution of the deformation mesh. Our second contribution is a mesh cutting algorithm, which produces fragments of the input mesh using the fracture surface. We do this by directly operating on the half-edge data structures of two surface meshes, which enables us to cut general surface meshes including those of concave polyhedra and meshes with abutting concave polygons. Since we avoid triangulation for cutting, the connectivity of the resulting fragments is identical to the (uncut) input mesh except at edges introduced by the cut. We evaluate our simulation and cutting algorithms and show that they outperform state-of-the-art approaches both qualitatively and quantitatively.     

基于Cosserat理论的头发动态模拟*

针对基于弹性杆理论的超螺旋模型中对动力学方程的求解影响头发模拟实时性的问题,采用Cosserat弹性杆理论对头发建模,引入角速度变量,并加入头发运动平衡的固有约束,得到改进的拉格朗日动力学运动方程;然后,将头发单体离散化,用角速度和四元数作为状态变量简化动力学方程,用半显式的欧拉方程加速方程的执行,大大降低了系统的运行时间,提高了模拟的速度,在满足实时性要求的同时提高了头发模拟的真实度。     

Dynamics and control of a novel 3-DOF parallel manipulator with actuation redundancy

This paper deals with the dynamics and control of a novel 3-degrees-of-freedom （DOF） parallel manipulator with actuation redundancy. According to the kinematics of the redundant manipulator, the inverse dynamic equation is formulated in the task space by using the Lagrangian formalism, and the driving force is optimized by utilizing the minimal 2-norm method. Based on the dynamic model, a synchronized sliding mode control scheme based on contour error is proposed to implement accurate motion tracking control. Additionally, an adaptive method is introduced to approximate the lumped uncertainty of the system and provide a chattering-free control. The simulation results indicate the effectiveness of the proposed approaches and demonstrate the satisfactory tracking performance compared to the conventional controller in the presence of the parameter uncertainties and un-modelled dynamics for the motion control of manipulators.     

机器人臂的模型参数识别及其仿真

本文提出了一种识别机器人臂动力学方程的模型参数的方法.通过重组机器人臂的拉氏函数,使得臂的动力学方程中的模型参数个数最少;进一步形成了上三角块形式的机器人臂的模型参数识别公式.通过使用最小二乘法和龙格-库塔方法,对一个两连杆操作臂的模型参数的识别进行了仿真,得到了高的仿真精度.本方法有助于机器人的控制算式中有关操作臂的参数的确定和机器人的机械设计.     

Dynamic analysis and driving force optimization of a 5-DOF parallel manipulator with redundant actuation

Redundant actuation can improve the performance and ability of parallel manipulator. In order to deal with coordination and distribution of the driving force of the parallel manipulator with redundant actuation and to realize the control strategy based on dynamics, on the basis of the original 5UPS/PRPU parallel manipulator, it increases a drive for the middle PRPU passive constraint branch to make it a redundant actuation branch. It introduces configurations’ redundant types and compositions of 5UPS/PRPU parallel manipulator with redundant actuation, illustrates that the mechanism is redundant actuation from the perspective of degree of freedom and establishes a dynamic model based on Lagrangian method. On the basis of the weighted optimization principle of driving torque, it optimizes the driving torque of the parallel manipulator and calculates the driving force of the redundant driving chain with cutting force. It carries out the simulation by using ADAMS software and proves validity of dynamic model. Finally it detects the dynamic performance of the parallel manipulator by processing experiment of parallel manipulator with redundant actuation and its non-redundant counterpart.     

立铣加工过程中的微元铣削力建模分析

针对单纯通过高速切削技术制造某些大型飞机零件过程中,存在难以控制的加工变形和较强表面残余拉应力分布等突出问题,以直齿和螺旋齿立铣加工过程为研究对象,基于微元切削机理,通过对刀齿铣削过程的分析,建立动态铣削加工仿真模型,导出铣削面积、铣削力、主轴扭矩、铣削功率与切削用量的关系.数值模拟结果与试验值较吻合,表明该模型可以实现动态铣削力预测,优化切削用量.     

可重入混合流水车间调度的拉格朗日松弛算法

为了有效提升多重入车间的生产效率,考虑了实际生产中检查和修复过程对于逐层制造的可重入生产系统的重要性,提出了基于拉格朗日松弛算法的可重入混合流水车间的调度方法.首先进行了问题域的描述,并在此基础上以最小化加权完成时间为调度目标,建立数学规划模型.针对该调度问题提出了基于松弛机器能力约束的拉格朗日松弛算法,使松弛问题分解成工件级子问题,并使用动态规划方法建立递归公式,求解工件级子问题.随后,使用次梯度算法求解拉格朗日对偶问题.最后,对各种不同问题规模进行了仿真实验,结果表明,所提出的调度算法能够在合理的时间内获得满意的近优解.     

Response of structures to planar blast loads – A finite element engineering approach

Design and validation of structures against blast loads are important for modern society in order to protect and secure its citizen. Since it is a challenge to validate and optimise protective structures against blast loads using full-scale experimental tests, we have to turn our attention towards advanced numerical tools like the finite element method. Several different finite element techniques can be used to describe the response of structures due to blast loads. Some of these are: (1) a pure Lagrangian formulation, (2) an initial Eulerian simulation (to determine the load) followed by a Lagrangian simulation (for the structural response) and (3) a hybrid technique that combines the advantages of Eulerian and Lagrangian methods to have a full coupling between the blast waves and the deformation of the structure. Ideally, all blast simulations should be carried out using the fully coupled Eulerian–Lagrangian approach, but this may not be practical as the computational time increases considerably when going from a pure Lagrangian to a fully coupled Eulerian–Lagrangian simulation. A major goal in this study is to investigate if a pure Lagrangian formulation can be applied to determine the structural response in a specified blast load problem or if more advanced approaches such as the fully coupled Eulerian–Lagrangian approach is required for reliable results. This is done by conducting numerical simulations of an unprotected 20 ft ISO container exposed to a blast load of 4000 kg TNT at 120 m standoff distance using the three different approaches presented above. To validate and discuss the results, the simulated response of the container is compared to available data from a full-scale blast test under such conditions.     

基于LS-DYNA刨刀刨削煤岩的模拟研究

利用有限元分析软件LS-DYNA,建立刨煤机刨刀刨削煤层的三维模型,模拟刨刀刨削煤层的动态过程。研究中,获取了刨刀刨削阻力、应力分布等时间历程曲线,分析了刨刀不同刨削深度、刨刀间距和刨刀宽度对刨削能耗的影响。     

A Survey on Position‐Based Simulation Methods in Computer Graphics

The dynamic simulation of mechanical effects has a long history in computer graphics. The classical methods in this field discretize Newton's second law in a variety of Lagrangian or Eulerian ways, and formulate forces appropriate for each mechanical effect: joints for rigid bodies; stretching, shearing or bending for deformable bodies and pressure, or viscosity for fluids, to mention just a few. In the last years, the class of position‐based methods has become popular in the graphics community. These kinds of methods are fast, stable and controllable which make them well‐suited for use in interactive environments. Position‐based methods are not as accurate as force‐based methods in general but they provide visual plausibility. Therefore, the main application areas of these approaches are virtual reality, computer games and special effects in movies. This state‐of‐the‐art report covers the large variety of position‐based methods that were developed in the field of physically based simulation. We will introduce the concept of position‐based dynamics, present dynamic simulation based on shape matching and discuss data‐driven upsampling approaches. Furthermore, we will present several applications for these methods.