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Computer Animation

作者： Ying Liu N.I. Badler Center for Human Modeling and Simulation Department of Computer and Information Science University of Pennsylvania USA

We present a heuristic-based real-time reach planning algorithm for virtual human figures. Given the start and goal positions in a 3D workspace, our problem is to compute a collision-free path that specifies all the configurations for a human arm to move from the start to the goal. Our algorithm consists of three modules: spatial search, inverse kinematics, and collision detection. For the search module, instead of searching in joint configuration space like most existing motion planning methods do, we run a direct search in the workspace, guided by a heuristic distance-to-goal evaluation function. The inverse kinematics module attempts to select natural posture configurations for the arm along the path found in the workspace. During the search, candidate configurations will be checked for collisions taking advantage of the graphics hardware-depth buffer. The algorithm is fast and easy to implement. It allows real-time planning not only in static, structured environments, but also in dynamic, unstructured environments. No preprocessing and prior knowledge about the environment is required. Several examples are shown illustrating the competence of the planner at generating motion plans for a typical human arm model with seven degrees of freedom.

关键词： Animation Hardware Acceleration humans Computer graphics Motion planning Application software Computational modeling Computer simulation Kinematics

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A taxonomy and comparison of haptic actions for disassembly tasks

A taxonomy and comparison of haptic actions for disassembly ...

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IEEE Annual International Symposium Virtual Reality

作者： A. Bloomfield Yu Deng J. Wampler P. Rondot D. Harth M. McManus N. Badler Center for Human Modeling and Simulation University of Pennsylvania USA Deployment and Sustainment Division (AFRL/HES) Air Force Research Laboratory USA GE Global Research Center USA

The usefulness of modern day haptics equipment for virtual simulations of actual maintenance actions is examined. In an effort to categorize which areas haptic simulations may be useful, we have developed a taxonomy for haptic actions. This classification has two major dimensions: the general type of action performed and the type of force or torque required. Building upon this taxonomy, we selected three representative tasks from the taxonomy to evaluate in a virtual reality simulation. We conducted a series of human subject experiments to compare user performance and preference on a disassembly task with and without haptic feedback using CyberGlove, Phantom, and SpaceMouse interfaces. Analysis of the simulation runs shows Phantom users learned to accomplish the simulated actions significantly more quickly than did users of the CyberGlove or the SpaceMouse. Moreover, a lack of differences in the post-experiment questionnaire suggests that haptics research should include a measure of actual performance speed or accuracy rather than relying solely on subjective reports of a device's ease of use.

关键词： Taxonomy Haptic interfaces Data gloves Imaging phantoms Analytical models Torque Virtual reality humans Feedback Velocity measurement

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human systems integration and advanced technology in engineering department workload and manpower reduction

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NAVAL ENGINEERS JOURNAL 2003年第1期115卷 57-65页

作者： Lively, KA Seman, AJ Kirkpatrick, M KENNETH A. LIVELY graduated from the University of Colorado with a BS in applied mathematics and an MS in mathematics in 1976 and from the Massachusetts Institute of Technology with an MS in electrical engineering and the degree ocean engineer in naval architecture and marine engineering in 1984. He retired from the U.S. Navy in 1989 after 23 years of service. Assignments included electrical officer on the USS Constellation (CV 64) project engineer for the DDG 51 machinery control system (NAVSEA) and DDG 51 Technical Director (NAVSEA). He was vice president of the PDI Division of Bird-Johnson Company from July 1989 to November 1998 where he managed various gas turbine and machinery controls related development projects. He joined Anteon Corporation's Systems Engineering Group as senior controls engineer in December 1998 where he provided technical support to the integrated power systems program (NAVSEA PMS 510) and managed the Office of Naval Research Afloat Laboratory. DR. MARK KIRKPATRICK is currently an independent consultant in human factors and work-load/manning analysis and modeling. He holds a Ph.D. degree in experimental psychology from The Ohio State University and has 34 years of experience in applied human factors. From 1982 through 2000 Dr. Kirkpatrick served as the senior vice president of Carlow International. Prior to joining Carlow in 1982 Dr. Kirkpatrick served as a member of the technical staff at North American Rockwell's Missiles Division and as a project director and vice president for Essex Corporation. His areas of expertise include workload simulation task analysis operator-in-the-loop simulation human performance experimentation statistical analysis and human factors T&E. He has directed and/or participated in human factors projects for the U.S. Navy U.S. Army NASA Department of Transportation the U.S. Nuclear Regulatory Commission and private industry. ANTHONY J. SEMAN III is the technical manager for the reduced ship's crew by virtual presence (RSVP) advanced technology d

Aboard current ships, such as the DDG 51, engineering control and damage control activities are manpower intensive. It is anticipated that, for future combatants, the workload demand arising from operation of systems under conditions of normal steaming and during casualty response will need to be markedly reduced via automated monitoring, autonomous control, and other technology initiatives. Current DDG 51 class ships can be considered as a manpower baseline and under Condition III typical engineering control involves seven to eight watchstanders at manned stations in the Central Control Station, the engine rooms and other machinery spaces. In contrast to this manning level, initiatives such as DD 21 and the integrated engineering plant (IEP) envision a partnership between the operator and the automation system, with more and more of the operator's functions being shifted to the automation system as manning levels decrease. This paper describes some human systems integration studies of workload demand reduction and, consequently, manning reduction that can be achieved due to application of several advanced technology concepts. Advanced system concept studies in relation to workload demand are described and reviewed including. Piecemeal applications of diverse automation and remote control technology concepts to selected high driver tasks in current DDG 51 activities. Development of the reduced ship's crew by virtual presence system that will provide automated monitoring and display to operators of machinery health, compartment conditions, and personnel health. The IEP envisions the machinery control system as a provider of resources that are used by various consumers around the ship. Resource needs and consumer priorities are at all times dependent upon the ship's current mission and the availability of equipment pawnbrokers.

关键词： Naval warfare

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Representing and parameterizing agent behaviors

Representing and parameterizing agent behaviors

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Computer Animation

作者： N. Badler J. Allbeck Liwei Zhao M. Byun Center for Human Modeling and Simulation Computer and Information Science University of Pennsylvania Philadelphia PA USA

The last few years have seen great maturation in understanding how to use computer graphics technology to portray 3D embodied characters or virtual humans. Unlike the off-line, animator-intensive methods used in the special effects industry, real-time embodied agents are expected to exist and interact with us "live." They can be represent other people or function as autonomous helpers, teammates, or tutors enabling novel interactive educational and training applications. We should be able to interact and communicate with them through modalities we already use, such as language, facial expressions, and gesture. Various aspects and issues in real-time virtual humans will be discussed, including consistent parameterizations for gesture and facial actions using movement observation principles, and the representational basis for character believability, personality, and affect. We also describe a Parameterized Action Representation (PAR) that allows an agent to act, plan, and reason about its actions or actions of others. Besides embodying the semantics of human action, the PAR is designed for building future behaviors into autonomous agents and controlling the animation parameters that portray personality, mood, and affect in an embodied agent.

关键词： Animation humans Autonomous agents Computational modeling Computer simulation Information science Computer graphics Industrial training Buildings Mood

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Formational parameters and adaptive prototype instantiation for MPEG-4 compliant gesture synthesis

Formational parameters and adaptive prototype instantiation ...

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Computer Animation

作者： B. Hartmann M. Mancini C. Pelachaud Center for Human Modeling and Simulation University of Pennsylvania Australia Department of Computer and System Science University of Rome E2809CLa SapienzaE2809D Italy

This paper introduces Gesture Engine, an animation system that synthesizes human gesturing behaviors from augmented conversation transcripts using a database of highlevel gesture definitions. An abstract scripting language to specify hand-arm gestures is introduced that incorporates knowledge from sign language research, psycholinguistics, and traditional keyframe animation. A new planning algorithm instantiates and adjusts gestures according to communicative context and temporal constraints obtained from a speech synthesizer The system animates an MPEG-4 compliant skeleton using Body Animation Parameters.

关键词： Prototypes Animation Engines humans Databases Handicapped aids Psychology Context Speech synthesis Synthesizers

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Pedestrians: creating agent behaviors through statistical analysis of observation data

Pedestrians: creating agent behaviors through statistical an...

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Computer Animation

作者： K. Ashida Seung-Joo Lee J.M. Allbeck H. Sun N.I. Badler D. Metaxas Center for Human Modeling & Simulation University of Pennsylvania USA

Creating a complex virtual environment with human inhabitants that behave as we would expect real humans to behave is a difficult and time consuming task. Time must be spent to construct the environment, to create human figures, to create animations for the agents' actions, and to create controls for the agents' behaviors, such as scripts, plans, and decision-makers. Often work done for one virtual environment must be completely replicated for another. The creation of robust, procedural actions that can be ported from one simulation to another would ease the creation of new virtual environments. As walking is useful in many different virtual environments, the creation of natural looking walking is important. In this paper we present a system for producing more natural looking walking by incorporating actions for the upper body. We aim to provide a tool that authors of virtual environments can use to add realism to their characters without effort.

关键词： Statistical analysis Legged locomotion humans Virtual environment Animation Robustness Leg Sun Analytical models Biological system modeling

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Collision resolutions in cloth simulation

Collision resolutions in cloth simulation

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Computer Animation

作者： S. Huh D.N. Metaxas N.I. Badler Center of Human Modeling and Simulation Laboratory University of Pennsylvania Philadelphia PA USA

We present a new collision resolution scheme for cloth collisions. Our main concern is to find dynamically convincing resolutions, i.e. positions and velocities of cloth elements, for any kinds of collisions occuring in cloth simulation (cloth-cloth, cloth-rigid, anti cloth-cloth-rigid). We define our cloth surface as connected faces of mass particles, where each particle is controlled by its internal energy functions. Our collision resolution method finds appropriate next positions and velocities of particles by conserving the particles' momentums as accurately as possible. Cloth-cloth collision resolution is a special case of deformable N-body collision resolution. So to solve deformable N-body collision resolutions, we propose a new collision resolution method which groups cloth particles into parts and resolves collisions between parts using the law of momentum conservation. To resolve collisions, we solve a system of linear equations derived from the collision relationships. A system of linear equations is built using a scheme adapted from the simultaneous resolution method for rigid N-body collisions. For the special case where we can,find cyclic relationships in collisions, we solve a system of linear inequalities derived from the collision relationships.

关键词： Energy resolution Equations Face detection humans Computer graphics Detection algorithms Acceleration Gradient methods Visual effects

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To gesture or not to gesture: what is the question?

To gesture or not to gesture: what is the question?

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Computer Graphics International

作者： N. Badler M. Costa L. Zhao D. Chi Center for Human Modeling and Simulation University of Pennsylvania Philadelphia PA USA

Computer synthesized characters are expected to make appropriate face, limb, and body gestures during communicative acts. We focus on non-facial movements and try to elucidate what is intended with the notions of "gesture" and "naturalness". We argue that looking only at the psychological notion of gesture and gesture type is insufficient to capture movement qualities needed by an animated character. Movement observation science, specifically Laban Movement Analysis and its Effort and Shape components with motion phrasing provide essential gesture components (I. Bartenieff and D. Lewis, 1980). We assert that the expression of movement qualities from the Effort dimensions are needed to make a gesture naturally crystallize out of abstract movements. Finally, we point out that nonfacial gestures must involve the rest of the body to appear natural and convincing. A system called EMOTE has been implemented which applies parameterized Effort and Shape qualities to movements and thereby forms improved synthetic gestures.

关键词： Animation Biological system modeling Shape Legged locomotion humans Computational modeling Computer simulation Face Psychology Crystallization

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Virtual human animation based on movement observation and cognitive behavior models

Virtual human animation based on movement observation and co...

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Computer Animation

作者： N.I. Badler D.M. Chi S. Chopra Center for Human Modeling and Simulation University of Pennsylvania Philadelphia PA USA

Automatically animating virtual humans with actions that reflect real human motions is still a challenge. We present a framework for animation that is based on utilizing empirical and validated data from movement observation and cognitive psychology. To illustrate these, we demonstrate a mapping from effort motion factors onto expressive arm movements, and from cognitive data to autonomous attention behaviors. We conclude with a discussion on the implications of this approach for the future of real time virtual human animation.

关键词： humans Animation Psychology

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Smart avatars in JackMOO

Smart avatars in JackMOO

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IEEE Annual International Symposium Virtual Reality

作者： Jianping Shi T.J. Smith J.P. Granieri N.I. Badler Center for Human Modeling and Simulation University of Pennsylvania Philadelphia PA USA

Creation of compelling 3-dimensional, multi-user virtual worlds for education and training applications requires a high degree of realism in the appearance, interaction, and behavior of avatars within the scene. Our goal is to develop and/or adapt existing 3-dimensional technologies to provide training scenarios across the Internet in a form as close as possible to the appearance and interaction expected of live situations with human participants. We have produced a prototype system, JackMOO, which combines Jack, a virtual human system, and LambdaMOO, a multiuser; network-accessible, programmable, interactive server: Jack provides the visual realization of avatars and other objects. LambdaMOO provides the Web-accessible communication, programmability, and persistent object database. The combined JackMOO allows us to store the richer semantic information necessitated by the scope and range of human actions that an avatar must portray, and to express those actions in the form of imperative sentences. We describe JackMOO, its components, and a prototype application with five virtual human agents.

关键词： Avatars humans Internet Biological system modeling Virtual prototyping Lifting equipment Communication system control Facial animation Electrical capacitance tomography Layout

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