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UID:www.tcs.tifr.res.in/event/201
DTSTAMP:20230914T125914Z
SUMMARY:Real-Time High Fidelity Rigid Body Simulations for Virtual Environm
 ents
DESCRIPTION:Speaker: Atul Thakur\nUniversity of Maryland\nDepartment of Mec
 hanical Engineering\nCollege Park\, MD 20742\nUnited States\n\nAbstract: \
 nRigid body simulation is an integral part of Virtual Environments (VE) fo
 r autonomous planning\, training\, and design tasks. The underlying physic
 s based simulation of VE must be accurate and computationally fast enough 
 for the intended application\, which unfortunately are conflicting require
 ments. Two ways to perform fast and high fidelity physics based simulation
  are: (1) model simplification\, and (2) parallel computation.  Model simp
 lification can be used to allow simulation at an interactive rate while in
 troducing an acceptable level of error. Currently\, manual model simplific
 ation is the most popular way of performing simulation speed up but it is 
 time consuming. Hence\, in order to reduce the development time of VEs\, a
 utomated model simplification is needed. I will present an automated model
  simplification approach based on geometric reasoning\, spatial decomposit
 ion\, and temporal coherence. Geometric reasoning is used to develop an ac
 cessibility based algorithm for removing portions of geometric models that
  do not play any role in rigid body to rigid body interaction simulation. 
  Removing such inaccessible portions of the interacting rigid body models 
 has no influence on the simulation accuracy but reduces computation time s
 ignificantly. Spatial decomposition is used to develop a clustering algori
 thm that reduces the number of fluid pressure computations resulting in si
 gnificant speedup of rigid body and fluid interaction simulation. Temporal
  coherence algorithm reuses the computed force values from rigid body to f
 luid interaction based on the coherence of fluid surrounding the rigid bod
 y. The simulations can further be sped up by performing computing on gener
 al purpose graphics processor (GP-GPU). Harnessing GP-GPU computing techno
 logy requires development of parallel algorithms for the simulation. I wil
 l talk about the issues pertaining to the development of parallel algorith
 ms for rigid body simulations.  The developed algorithms have enabled real
  time high fidelity 6-DOF time domain simulation of Unmanned Sea Surface V
 ehicles. The developed simulator can be used for autonomous motion plannin
 g\, teleoperation\, and learning from demonstration.\n \nBiography: Atul T
 hakur is a Ph.D. candidate in the Department of Mechanical Engineering at 
 the University of Maryland. His main research interests include model simp
 lification for physics based simulations for unmanned vehicles and robot m
 otion planning. Prior to joining University of Maryland in 2007\, he was w
 orking as Design Engineer at Aircraft Engine Performance Engineering cente
 r of excellence at General Electric - India Technology Center\, Bangalore.
  He received a Master of Technology (M. Tech.) degree in Manufacturing Eng
 ineering from the Indian Institute of Technology\, Bombay in 2006. He rece
 ived a Bachelor of Engineering (B.E.) degree in Production Engineering fro
 m the University of Mumbai in 2003.\n
URL:https://www.tcs.tifr.res.in/web/events/201
DTSTART;VALUE=DATE:20110610
LOCATION:A-212 (STCS Seminar Room)
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