1 28 Sept. 2007 1 CERMA 2007 Prof. Ph.D. Prof. Ph.D. Fernando Fernando Osório Osório - Applied Computing / Applied Computing / Unisinos Unisinos Profa Profa. Ph.D. . Ph.D. Soraia Soraia Musse Musse - Computing Science / PUC Computing Science / PUC-RS RS Prof. Prof. M.Sc M.Sc. . Farlei Farlei Heinen Heinen - Computing Eng. / Computing Eng. / Unisinos Unisinos M.Sc M.Sc. Milton Roberto . Milton Roberto Heinen Heinen - Ph.D. Student at UFRGS Ph.D. Student at UFRGS Prof. Prof. Ph.D Ph.D Christian Christian Kelber Kelber - Electrical Eng. / Electrical Eng. / Unisinos Unisinos Gustavo Gustavo Pessin Pessin - M.Sc M.Sc. at . at Unisinos Unisinos 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] IEEE / DVP - Distinguished Visitors Program Latin America Applied Computing Applied Computing Post Post-grad. Program grad. Program - PIPCA PIPCA UNISINOS University UNISINOS University - Brazil Brazil Autonomous robots: Autonomous robots: Design and Testing using Design and Testing using Virtual Reality and Physical Simulation Virtual Reality and Physical Simulation Research group: Fernando Osório, Ph.D. / IEEE CS DVP 28 Sept. 2007 2 CERMA 2007 IEEE / DVP - Distinguished Visitors Program Latin America Prof. Fernando Santos Osório - IEEE Member Applied Computing Research Post-Graduation Program - PIPCA UNISINOS University - Brazil (Porto Alegre - Southern Region) IEEE Computer Society DVP Program Jesuit University With: - 30.000 Students - 900 Professors - 16 PPGs (post- grad programs)
Transcript
1
28 Sept. 2007
1
CERMA 2007
Prof. Ph.D. Prof. Ph.D. Fernando Fernando OsórioOsório -- Applied Computing / Applied Computing / UnisinosUnisinosProfaProfa . Ph.D. . Ph.D. 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. Prof. Ph.DPh.D Christian Christian KelberKelber -- Electrical Eng. / Electrical Eng. / UnisinosUnisinosGustavo Gustavo PessinPessin -- M.ScM.Sc. at . at UnisinosUnisinos
GRAPHIT - Computer Graphics and Vision Group (Unisino s/PUC-RS)GPVA - Autonomous Vehicles Research Group (Unisinos)GIA - Artificial Intelligence Research Group (Unisino s)RBV - Rede Brasileira de Visualização [FINEP/Brazil]
IEEE / DVP - Distinguished Visitors Program Latin America
UNISINOS University UNISINOS University -- BrazilBrazil
Autonomous robots: Autonomous robots: Design and Testing using Design and Testing using
Virtual Reality and Physical SimulationVirtual Reality and Physical Simulation
Research group:
Fernando Osório, Ph.D. / IEEE CS DVP
28 Sept. 2007
2
CERMA 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 Computer Society DVP Program
Geometry, Physics, Behaviour, Knowledge and Cognition
3. Physics Simulation Tools
Opensteer, ODE, PhysX, Deformable/Dynamic
4. Intelligent Behaviour
Agents: Perception, Action, Behaviour
Autonomous Robots and Agents - Control
Multi-Agents Systems - Knowledge
5. Autonomous Robots VR Simulation Tools
6. Conclusions and New TrendsVídeo Demo Web/Java
10
28 Sept. 2007
19
CERMA 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
28 Sept. 2007
20
CERMA 2007
1. Introduction
RealisticVR
Increasing Reality in VR Applications: Physical and Behavioral Simulation
Virtual World
xx
Real World
Real WorldReal WorldSimulationSimulation
11
28 Sept. 2007
21
CERMA 2007
Simulation Tools:
* ODE - Open Dynamics Engine
* OpenSteer
* PhysX AGEIA
* 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
28 Sept. 2007
22
CERMA 2007
Simulation Tools:
* ODE - Open Dynamics Engine
* OpenSteer
* PhysX AGEIA
* 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
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).
12
28 Sept. 2007
23
CERMA 2007
* Deformable Objects and Fluids
- Finite Elements Methods
- Spring-Mass Systems
- CFD (Computational Fluid Dynamics)
- Level Set Methods
3. Physics Simulation Tools
28 Sept. 2007
24
CERMA 2007
* 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
13
28 Sept. 2007
25
CERMA 2007
* 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]
28 Sept. 2007
26
CERMA 2007
* ODE - Open Dynamics Engine
3. Physics Simulation Tools
14
28 Sept. 2007
27
CERMA 2007
* ODE - Open Dynamics Engine
3. Physics Simulation Tools
28 Sept. 2007
28
CERMA 2007
* ODE - Open Dynamics Engine
3. Physics Simulation Tools
WebotsCyberbotics
15
28 Sept. 2007
29
CERMA 2007
* ODE - Open Dynamics Engine
3. Physics Simulation Tools
Juice[Nate W.]
28 Sept. 2007
30
CERMA 2007
3. Physics Simulation Tools
Simulation Tools:
* ODE - Open Dynamics Engine
* OpenSteer
* PhysX AGEIA
* Deformable Objects and Fluids:- Finite Elements Methods- Spring-Mass Systems- CFD (Computational Fluid Dynamics)- Level Set Methods
VR Simulation: Some important questions...REAL TIME SIMULATIONREAL TIME SIMULATION
16
28 Sept. 2007
31
CERMA 2007
Intelligent Agents:
Agents: Perception, ActionAgent Behaviours
Control ArchitecturesAutonomous Agents Multi-Agents SystemsKnowledge / Reasoning
4. Intelligent Behaviour
Comportamento
28 Sept. 2007
32
CERMA 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]
17
28 Sept. 2007
33
CERMA 2007
Intelligent Agents:
Agents: Perception, ActionAgent Behaviours
Control ArchitecturesAutonomous Agents Multi-Agents SystemsKnowledge / Reasoning
4. Intelligent Behaviour
Robotic
Teams, Squads, Swarms
Artificial Intelligence Tools
28 Sept. 2007
34
CERMA 2007
Presentation Topics
Agenda:
1. Introduction: VR - Hierarchy of Models
2. VR and Simulation
Geometry, Physics, Behaviour, Knowledge and Cognition
Sources of Inspiration: LEGGEN - Published at: IEEE WCCI CEC 2006SBIA 2006
33
Autonomous Robots in VR Environments
28 Sept. 2007
48
CERMA 2007
25
28 Sept. 2007
49
CERMA 2007
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 Control Architectures Implementation
Genetic Evolved Control of Articulated Robots (w/legs)
28 Sept. 2007
50
CERMA 2007
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/ ]
- Evaluate different Fitness FunctionsIBERAMIA / SBIA - Ribeirão Preto, SP Robot Models
Boston Dynamics
Evaluate different robot models in order to select a better hardware configuration
28 Sept. 2007
52
CERMA 2007
LEGGEN SIMULATOR
Simulation Results:
27
28 Sept. 2007
53
CERMA 2007
LEGGEN SIMULATOR
Simulation RESULTS:
Tetrapod Video - Distance, Gyro
28 Sept. 2007
54
CERMA 2007
LEGGEN SIMULATOR
Simulation RESULTS: Tetrapod Video - "bloopers"
28
28 Sept. 2007
55
CERMA 2007
5. Applications: VR Simulation Tools
Applications @ Unisinos
1. Autonomous Robots in VR Environments
SimRob3D - Mobile Robots Simulator
SEVA 3D - Autonomous Vehicle Parking
LEGGEN - Legged (articulated) Robots Simulator
Robombeiros - Fire Fighting
28 Sept. 2007
56
CERMA 2007
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]
29
28 Sept. 2007
57
CERMA 2007
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
28 Sept. 2007
58
CERMA 2007
Robombeiros - Fire Fighting VR Simulation
Virtual Simulation Environment:
3D Simulation:- Fire propagation- Physics- Robot Control
http://pessin.googlepages.com/robombeiros
30
28 Sept. 2007
59
CERMA 2007
Presentation Topics
Agenda:
1. Introduction: VR - Hierarchy of Models
2. VR and Simulation
Geometry, Physics, Behaviour, Knowledge and Cognition
Simulation VR PBSimVR Physical and Behavioral Simulation
More Real VR++
28 Sept. 2007
62
CERMA 2007
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
This conference This conference -- Web Page: Web Page: http://inf.unisinos.br/~osorio/palestras/cerma07.ht mlhttp://inf.unisinos.br/~osorio/palestras/cerma07.ht ml
