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1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992

作者： Ching, Wallace S. Badler, Norman I. Computer Graphics Research Laboratory Department of Computer and Information Science University of Pennsylvania PhiladelphiaPA19104 6389 United States

ISBN: (纸本)0780307372

A fast algorithm is presented that can handle the motion planning problem for articulated figures with branches and many degrees of freedom. The algorithm breaks down the degrees of freedom of the figure into Cspace groups and compute the free motion for each of these groups in a sequential fashion. It traverses the tree in a deptn first order to compute the motion for all the branches. A special playback routine is then used to traverse the tree again in a reverse order to playback the final motion. The planner runs in linear time with respect to the total number of Cspace groups without backtracking. We believe that the planner would find a path in most cases and is fast enough for practical use in a wide range of applications. © 1992 IEEE. All rights reserved.

关键词： Motion planning

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Automatic viewing control for 3D direct manipulation 92

Automatic viewing control for 3D direct manipulation

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Proceedings of the 1992 Symposium on interactive 3D graphics

作者： Phillips, Cary B. Badler, Norman I. Granieri, John Computer Graphics Research Laboratory Department of Computer and Information Science University of Pennsylvania Philadelphia 19104-6389 PA United States Pacific Data Images 1111 Karlstad Dr Sunnyvale 94089 CA United States

ISBN: (纸本)0897914678

This paper describes a technique for augmenting the process of 3D direct manipulation by automatically finding an effective placement for the virtual camera. Many of the best techniques for direct manipulation of 3D geometric objects are sensitive to the angle of view, and can thus require that the user coordinate the placement of the viewpoint during the manipulation process. In some cases, this process can be automated. This means that the system can automatically avoid degenerate situations in which translations and rotations are difficult to perform. The system can also select viewpoints and viewing angles which make the object being manipulated visible, ensuring that it is not obstructed by other objects. © 1992 ACM.

关键词： interactive computer graphics

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Fast motion planning for anthropometric figures with many degrees of freedom

Fast motion planning for anthropometric figures with many de...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： W. Ching N. Badler Computer Graphics Research Laboratory Department of Computer and Information Science University of Pennsylvania Philadelphia PA USA

The authors discuss a class of robots which resemble the human structure. They are characterized by having a torso, two manipulator arms, a head mounted with vision system, and a lower body which is either a transport unit or legs. The total number of degrees-of-freedom involved is usually fairly large for these robots. An efficient motion planning algorithm for this type of robot is an aid to the achievement of task level programming. An efficient algorithm is presented that has successfully computed collision-free motions for anthropometric figures with many degrees of freedom within a cluttered environment.< >

关键词： Orbital robotics Motion planning Humanoid robots Arm Robot programming Manipulators Humans Torso Leg Weapons

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Graphical displays of human strength data

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The Journal of Visualization and computer Animation 1992年第1期3卷 13-22页

作者： Wei, Susanna Badler, Norman I. Department of Mathematics and Computer Science Saint Joseph's University Philadelphia Pennsylvania 19131-1395 United States Computer Graphics Research Laboratory Department of Computer and Information Science University of Pennsylvania Philadelphia Pennsylvania 19104 United States

To facilitate the effective use of strength data in a human‐task simulation environment, we have developed graphical methods to display the multidimensional characteristics of strength data. We use human figures together with two and three dimensional graphical symbols, colours and animations to visualize the effects of different parameters on strength. These displays give a dynamic view of the effects of various parameters on strength, and illustrate safe and forbidden body postures (or regions) in terms of strength capabilities. Copyright © 1992 John Wiley & Sons, Ltd

关键词： Human figures Strength display

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interactive behaviors for bipedal articulated figures 91

Interactive behaviors for bipedal articulated figures

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18th Annual Conference on computer graphics and interactive Techniques, SIGGRAPH 1991

作者： Phillips, Cary B. Badler, Norman I. Computer Graphics Research Laboratory Department of Computer and Information Science University of Pennsylvania PhiladelphiaPA19104-6389 United States

ISBN: (纸本)0897914368

We describe techniques for interactively controlling bipedal articulated figures through kinematic constraints. These constraints model certain behavioral tendencies which capture some of the characteristics of human-like movement, and give us control over such elements as the figures' balance and stability. They operate in near real-time, so provide behavioral control for interactive manipulation. These constraints form the basis of an interactive motion-generation system that allows the active movement elements to be layered on top of the passive behavioral constraints. © 1991 ACM.

关键词： Inverse kinematics

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interactive real-time articulated figure manipulation using multiple kinematic constraints 90

Interactive real-time articulated figure manipulation using ...

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1990 Symposium on interactive 3D graphics, I3D 1990

作者： Phillips, Cary B. Zhao, Jianmin Badler, Norman I. Computer Graphics Research Laboratory Department of Computer and Information Science University of Pennsylvania PhiladelphiaPA19104-0389 United States

ISBN: (纸本)0897913515

In this paper, we describe an interactive system for positioning articulated figures which uses a 3D direct manipulation technique to provide input to an inverse kinematics algorithm running in real time. The system allows the user to manipulate highly articulated figures, such as human figure models, by interactively dragging 3D "reach goals." The user may also define multiple "reach constraints" which are enforced during the manipulation. The 3D direct manipulation interface provides a good mechanism for control of the inverse kinematics algorithm and helps it to overcome problems with redundancies and singularities which occur with figures of many degrees of freedom. We use an adaptive technique for evaluating the constraints which allows us to ensure that only a certain user-controllable amount of time will be consumed by the inverse kinematics algorithm at each iteration of the manipulation process. This technique is also sensitive to the time it takes to redraw the screen, so it prevents the frame display rate of the direct manipulation from become too slow for interactive control, © 1990 ACM.

关键词： Degrees of freedom (mechanics)

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THE COMMAND SUPPORT AT-SEA EXPERIMENT

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NAVAL ENGINEERS JOURNAL 1990年第3期102卷 25-36页

作者： BUSCHER, DJ SUNDAY, DM David J. Buscher:is an electrical engineer on the Principal Professional Staff of the Fleet Systems Department of The Johns Hopkins University Applied Physics Laboratory. He earned his BS degree in electrical engineering from Villanova University in 1967 an MSEE degree from the University of Maryland in 1972 and an MS degree in technical management from The Johns Hopkins University in 1985. He was the lead engineer on the Command Support At-Sea Experiment Project. He started his career in 1967 with the U.S. Army Harry Diamond Laboratory working on computer and communications projects. During this time he worked in Vietnam with the United States Army Vietnam Science Advisor Office. Since joining JHU/APL in 1978 he has worked on a variety of projects associated with computer graphics hospital patient information systems computer networks autonomous underwater vehicles and satellite communications. He is currently assistant group supervisor of the Computer Systems Group. Daniel M. Sunday:is a mathematician on the Principal Professional Staff of the Fleet Systems Department of The Johns Hopkins University Applied Physics Laboratory. He earned his Ph.D. in mathematics from the University of Minnesota in 1971 and did postdoctoral research on neural networks at the University of California at Berkeley. Since joining JHU/APL in 1980 Dr. Sunday has worked as a designer and developer of software systems with emphasis on medical imaging interactive graphics natural language interfaces and software standards. He was the network designer for the Headquarters Integrated Office System (HIOS) Network for the Army at the Pentagon. He is currently the lead software engineer on the Command Support At-Sea Experiment Project.

The Command Support At-Sea Experiment (CS@SE) provides experimental advanced graphics display systems consisting of large screen color displays and operator console color displays in the combat information center (CIC) of an Aegis cruiser and in the tactical flag command center (TFCC) of an aircraft carrier. CS@SE systems are designed to prototype potential command support capabilities in an at-sea environment to validate and refine requirements for planned production system upgrades. These systems use sophisticated color graphics techniques to provide real-time tactical displays that improve the availability of information to an operator by reducing clutter through the use of color, area fill, transparen overlays and intensity coding of track symbols. Interfaces wen developed with the Aegis Display System (ADS), Shipboarc Gridlock System with Auto-correlation (SGS/AC), Flag Dats Display System (FDDS) and Tomahawk Engagement Planning and Exercise Evaluation System (TEPEE) that provided the data for the presentation of a tactical display. Display elements included both real-time and over-the-horizon (OTH) surface track data, velocity leaders, tags, uncertainty ellipses, and history trails. The display also included filled land masses, country boundaries, commercial airways, cities, graphics overlays (i.e., operational areas), weapon system missile performance contours, and engagement plans. This paper describes the experiment, its installation and integration into the shipboard environments of an Aegis cruiser (USS Leyte Gulf ) and an aircraft carrier (USS America , its usage by the ships companies and embarked staffs, and the experiment result! and findings. Key conclusions of the experiment are: 1 Advanced graphics color displays can significantly enhance the ability of the warfighter to assimilate a complex tactical display. 2 Both ships reported a requirement for a correlated OTH and real-time track display with the ability to clearly differentiate the two types

关键词： computer graphics

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Visualization tools for industrial design problems applied to electron optics

Visualization tools for industrial design problems applied t...

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Three-Dimensional Visualization and Display Technologies 1989

作者： Alexander, J. Bechis, D. Winarsky, N. Alonso, R. Laur, D. Applied Mathematics and Scientific Computing David Sarnoff Research Center PrincetonNJ08540 United States Department of Computer Science Princeton University PrincetonNJ08544 United States Interactive Computer Graphics Laboratory Princeton University PrincetonNJ08544 United States

At the David Sarnoff Research Center there exists a long standing research effort in support of the design of electron optic devices. The design process for such devices - the color high definition picture tube being the most recent and most outstanding example - involves the generation of very large volumes of data, from both simulation and experimentation. The goal of the design process is to simultaneously optimize performance parameters such as resolution, brightness, contrast and color purity, subject to manufacturing constraints, while varying the geometry or operating conditions of the electron gun or magnetic deflection system. To make effective use of this multi-dimensional information requires visualization tools to aid designers in exploring the design space. In this paper, we describe in detail the nature of the interactive graphics tools we have developed. After a brief overview of the optical design process, we sketch the details of the engineering database, which contains the simulation and experimentation results. We then present "general use" visualization tools which can be applied to many engineering fields to manipulate arrays of data. We also describe paradigms for using these tools to perform constrained optimization. Finally, we present a prototype visual searcher for the design-space, i.e., a tool that allows designers to visually search through the design database and ask "what-if" type questions. © 1989 SPIE. All rights reserved.

关键词： Electron guns

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Maintaining integrity in complex shape definitions 15

Maintaining integrity in complex shape definitions

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15th Design Automation Conference, DAC 1978

作者： Baer, Adrian E. New Jersey Institute of Technology Department of Computer and Information Science Interactive Graphics Laboratory NewarkNJ07102 United States

A method is discussed for combining flexibility in defining 3-dimensional geometric shape with system maintained integrity. Such capabilities allow the user to concentrate on local considerations in modifying design databases in an interactive environment. © 2017 Institute of Electrical and Electronics Engineers Inc. All rights reserved.

关键词： computer aided design

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Maintaining Integrity in Complex Shape Definitions 78

Maintaining Integrity in Complex Shape Definitions

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Design Automation Conference

作者： A.E. Baer Department of Computer and Information Science Interactive Graphics Laboratory New Jersey Institute of Technology Newark NJ USA

A method is discussed for combining flexibility in defining 3-dimensional geometric shape with system maintained integrity. Such capabilities allow the user to concentrate in modifying design databases in an interacti... 详细信息

关键词： Shape Solid modeling Spatial databases information science computer graphics Laboratories Sheet materials Stress Structural engineering Automotive engineering

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