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A geodesics-based model for obstacle avoidance

A geodesics-based model for obstacle avoidance

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Digital Human Modeling for design and Engineering Symposium

作者： Olmstead Muhs, Jason C. Yang, Jingzhou Virtual Soldier Research Program Center for Computer Aided Design University of Iowa United States

This paper presents a path prediction model for obstacle avoidance. A geodesics model is used to obtain the desired path in Cartesian space. The distance between the start target point (and end target point) and the surface of an obstacle is minimized to determine the boundary points of a geodesic across the surface of the obstacle. The model then numerically solves for a geodesic curve between the two boundary points of the geodesic on the surface of the obstacle. The model offsets the resulting discrete points on the geodesic in the positive normal direction (outside of the obstacle) to form a path of motion around the obstacle. Copyright © 2005 SAE International.

关键词： Geodesy

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SANTOS™ hand: A 25 degree-of-freedom model

SANTOS™ hand: A 25 degree-of-freedom model

引用

Digital Human Modeling for design and Engineering Symposium

作者： Pitarch, Esteban Peña Yang, Jingzhou Abdel-Malek, Karim University of Iowa United States Program Center for Computer Aided Design University of Iowa Iowa City IA 52242 United States

This paper presents a SANTOS™ 25 degree-of-freedom (DOF) hand model and the forward and inverse kinematic analysis. The Denavit-Hartenberg (D-H) method is used to define the position of the end- effector (fingertip). In the SANTOS™ hand model each finger has different constraints and movements (e.g., the middle finger in distal Interphalangeal (DIP) joint can move in Flexion/Extension (F/E) with a range 0-100 degrees, and the thumb in interphalangeal (IP) joint can rotate in F/E with arrange of 15H/80). Including hand model SANTOS™ has over 100 DOFs and the forward and inverse kinematics have been studied. Optimization-based dynamic motion prediction will be used to consider different gestures for hand grasping. Copyright © 2005 SAE International.

关键词： Virtual reality

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Motion prediction and inverse dynamics for human upper extremities

Motion prediction and inverse dynamics for human upper extre...

引用

2005 SAE World Congress

作者： Kim, Joo H. Abdel-Malek, Karim Yang, Jingzhou Nebel, Kyle Program Center for Computer-Aided Design University of Iowa United States U.S. Army TACOM/RDECOM AMSRD-TAR-NAC/157 United States

Santos™, a digital human avatar developed at The University of Iowa, exhibits extensive modeling and simulation capabilities. Santos™ is a part of a virtual environment for conducting human factors analysis consisting of posture prediction, motion prediction, and ergonomics studies. This paper presents part of the functionality in the Santos™ virtual environment, which is an optimization-based algorithm for simulating dynamic motion of Santos™. The joint torque and muscle power during the motion are also calculated within the algorithm. Mathematical cost functions that evaluate human performance are essential to any effort that would evaluate and compare various ergonomic designs. It is widely accepted that the ergonomic design process is actually an optimization problem with many design variables. This effort is basically a task-based approach that believes humans assume different postures and exert different forces to accomplish different tasks. We propose using the concepts of design variables, cost functions, and constraints to formulate the optimization problem for motion/posture prediction. Various human performance measures are currently being reported in research literature as cost functions for motion/posture optimization. Energy consumption is one of the most widely used human performance measures, where total muscle energy is decomposed as mechanical work and heat. An inverse dynamics problem is formulated by minimizing muscle energy cost subject to several physical and physiological constraints to solve for the joint torques, as well as the joint kinematic profiles. The results of the generalized torque at each joint should be useful in future studies of muscle stress prediction with a given task. Copyright © 2005 SAE International.

关键词： Optimization

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Santos TM: A new generation of virtual humans

Santos TM: A new generation of virtual humans

引用

2005 SAE World Congress

作者： Yang, Jingzhou Marler, Tim Kim, Hyungjoo Farrell, Kimberly Mathai, Anith Beck, Steven Abdel-Malek, Karim Arora, Jasbir Nebel, Kyle Program Center for Computer Aided Design University of Iowa Iowa City IA 52242 United States U.S. Army TACOM/RDECOM United States

Presented in this paper is an on-going project to develop a new generation of virtual human models that are highly realistic in terms of appearance, movement, and feedback (evaluation of the human body during task execution). Santos™ is an avatar that exhibits extensive modeling and simulation capabilities. It is an anatomically correct human model with more than 100 degrees of freedom. Santos™ resides in a virtual environment and can conduct human-factors analysis. This analysis entails, among other things, posture prediction, motion prediction, gait analysis, reach envelope analysis, and ergonomics studies. There are essentially three stages to developing virtual humans: (1) basic human modeling (representing how a human functions independently), (2) input functionality (awareness and analysis of the human's environment), and (3) intelligent reaction to input (memory, reasoning, etc.). This paper addresses the first stage. Specifically, we discuss a new human model in terms of mechanics and appearance. We present an optimization-based approach to kinematic and dynamic motion analysis. This approach allows the avatar to operate with complete autonomy rather than with dependence on stored animations and data, or restrictions associated with inverse kinematics. With dynamic analysis, it is not necessary to solve equations of motion. A novel approach for determining reach envelopes is also presented, and this approach provides a unique tool for ergonomic studies. Methods for evaluating the physiological status of the virtual human as tasks are completed are discussed. Finally, additional on-going research is summarized. The result is an exciting step towards a virtual human that is more extensive and more complete than any other.

关键词： Inverse kinematics

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SANTOS™ hand: Workspace analysis

SANTOS™ hand: Workspace analysis

引用

16th IASTED International Conference on Modelling and Simulation

作者： Pitarch, Esteban Peña Yang, Jingzhou Abdel-Malek, Karim Av. Bases de Manresa 61-73 08240 Manresa Spain Program Center for Computer-Aided Design University of Iowa Iowa City IA 52242-1000

Human hands are important parts that permit a person take different activities, grasp different objects and work with varieties of tools. This paper presents a 25-degree-of-freedom (DOF) model and workspace analysis of fingers for Santos™, a new generation of virtual humans. This 25 DOF model can realistically simulate all possible movement of each finger in 3-dimension. It permits the hand arch in the palm. The Jacobian rank deficiency method is implemented to study the workspace of fingers.

关键词： End effectors

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Joystick ergonomic study in material handling using virtual humans

Joystick ergonomic study in material handling using virtual ...

引用

2005 ASME International Mechanical Engineering Congress and Exposition, IMECE 2005

作者： Pitarch, Esteban Peña Yang, Jingzhou Abdel-Malek, Karim Kim, Joo Marler, Tim Universitat Politecnica de Catalunya Departament Enginyeria Mecanica Av. Bases de Manresa 61-73 08240 Manresa Spain University of Iowa Virtual Soldier Research Program Center for Computer-Aided Design Iowa City IA 52242-1000

ISBN: (纸本)0791842231

Raw material and product manufacturing are related to material handling. Although there have been great advances in technologies, regulations, methodologies, strategies, and workplace safety, the number of fatalities, the severity of injuries, and the number of lost workdays per accident-incident related to material handling continue keeping high. Some hand injuries occur when the operators repetitively use joysticks to handle materials in manufacturing environment. This paper studies joystick ergonomics used in the material handling equipment and evaluates the design and use of joysticks using a new generation of virtual humans (Santos™). The Denavit-Hartenberg method is implemented to analyze the 25-degree-of-freedom (DOF) hand model of the virtual humans. Human performance measures (joint torques and joint displacements) are criteria for the design of joysticks in the material handling machines. Copyright © 2005 by ASME.

关键词： Ergonomics

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Multi-objective optimization for upper body posture prediction

Multi-objective optimization for upper body posture predicti...

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Collection of Technical Papers - 10th AIAA/ISSMO Multidisciplinary Analysis and Optimization Conference

作者： Yang, Jingzhou Marler, R. Timothy Kim, Hyungjoo Arora, Jasbir S. Abdel-Malek, Karim Virtual Soldier Research Program Center for Computer-Aided Design University of Iowa Iowa City IA 52242-1000 Center for Computer Aided Design Department of Mechanical and Industrial Engineering Department of Civil and Environmental Engineering Department of Biomedical Engineering

ISBN: (纸本)1563477165

The demand for realistic autonomous virtual humans is increasing, with potential application to prototype design and analysis for a reduction in design cycle time and cost. In addition, virtual humans that function independently, without input from a user or a database of animations, provide a convenient tool for biomechanical studies. However, development of such avatars is limited. In this paper, we capitalize on the advantages of optimization-based posture prediction for virtual humans. We extend this approach by incorporating multi-objective optimization (MOO) in two capacities. First, the objective sum and lexicographic approaches for MOO are used to develop new human performance measures that govern how an avatar moves. Each measure is based on a different concept with different potential applications. Secondly, the objective sum, the min-max, and the global criterion methods are used as different means to combine these performance measures. It is found that although using MOO to combine the performance measures generally provides reasonable results especially with a target point located behind the avatar, there is no significant difference between the results obtained with different MOO methods. Copyright © 2004 by the American Institute of Aeronautics and Astronautics, Inc.

关键词： Optimization

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The Iowa interactive digital-human virtual environment

The Iowa interactive digital-human virtual environment

引用

2004 ASME International Mechanical Engineering Congress and Exposition, IMECE 2004

作者： Yang, Jingzhou Abdel-Malek, Karim Farrell, Kim Nebel, Kyle Virtual Soldier Research Program Center for Computer-Aided Design University of Iowa Iowa City IA 52242-1000 Virtual Soldier Research Program Center for Computer-Aided Design University of Iowa U.S. Army TACOM 6501 East 11 Mile Rd. Warren MI 48397-5000

Proper assessment of human reach posture is one of the essential functions for workspace design and evaluation in a CAD system with a built-in human model. Most existing models have used heuristic methods, which provide only the range of feasible human reaching postures, which may or may not include naturalistic reach posture. We present a multi-objective-optimization (MOO)-based approach for predicting realistic reach postures of digital humans, one based on our belief that humans assume different reach postures depending on different cost functions, i.e., multi-objective functions. In this work, the number of degrees of freedom (DOF) associated with the model is unlimited, and ranges of motion of joints are considered. The problem is formulated as MOO and single-objective optimization (SOO) algorithms where one or all cost functions (joint displacement, energy, effort, etc.) are considered as objective functions that drive the model to a solution set. A real-time simulation of the digital human's motion is applied in the IOWA digital-human virtual environment. Copyright © 2004 by ASME.

关键词： computer aided design

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Layout design using an optimization-based human energy consumption formulation

Layout design using an optimization-based human energy consu...

引用

Digital Human Modeling for design and Engineering Symposium

作者： Kim, Joo H. Abdel-Malek, Karim Mi, Zan Nebel, Kyle Program Center for Computer Aided Design University of Iowa Iowa City IA 52242 United States U.S. Army TACOM/RDECOM United States

An optimization-based method for layout design (also called equipment layout) is presented that is based upon kinetic functions also introduced in this paper. The layout problem is defined by the method whereby positions of target points are specified in the environment surrounding a human. The problem is of importance to ergonomists, vehicle/cockpit packaging engineers, designers of manufacturing assembly lines, and designers concerned with the placement of lever, knobs, and controls in the reachable workspace of a human, but also to users of digital human modeling code, where digital prototyping has become a valuable tool. The method comprises kinematically-driven constraints for reaching the target points and for satisfying the joint ranges of motion. The algorithm is driven by a cost function (also called objective function) that is kinetic in nature to minimize approximate energy consumption and visual discomfort. The formulation is not restricted by the number of degrees of freedom used to model the upper extremity or by the number of target points. A commercially available optimization code is used to implement the algorithm and to yield global optimum solutions. The method is demonstrated using a 15 degree-of-freedom model of the upper extremity. It is indeed shown that this method yields the most comfortable regions in space for a particular anthropometric model and for one or more cost function(s). Copyright © 2004 SAE International.

关键词： Energy utilization

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Restrained and unrestrained driver reach barriers

Restrained and unrestrained driver reach barriers

引用

Digital Human Modeling for design and Engineering Symposium

作者： Yang, Jingzhou Abdel-Malek, Karim Nebel, Kyle Program Center for Computer Aided Design University of Iowa Iowa City IA 52246 United States U.S Army TACOM/RDECOM United States

design and packaging of automotive interiors and airplane cockpits has become a science in itself, particularly in recent years where safety is paramount. There are various methods for restraining operators in their seats, including fitting an operator, such as a race car driver or pilot, with two seat belts, one for each side of the body, a three point restraining system as in commercial vehicles, and a lap belt as in some trucks and other types of vehicles. Moreover, significant experimental efforts have been made to study driver reach and barriers since they directly affect performance and safety. This paper presents a rigorous formulation for addressing the reach envelope and barriers therein of a 3-point restrained driver compared with a lap-belt-restrained driver. The formulation is based on a kinematic model of the driver, which characterizes the upper body and arm as 7 degrees of freedom (DOF) for an unrestrained and 4DOF for a 3-point restrained driver. These kinematic equations are further developed to address crossability analysis, a concept that is based on a quadratic form of the acceleration of the hand as it moves across a barrier. Visualization of such barriers and their crossability results within the reach envelope provides significant insight into driver performance and reach zones. Copyright © 2004 SAE International.

关键词： Ergonomics

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