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  • Building of a Motion Feedback Roller Coaster Simulatior: a Case Study

    Expósito, Sánchez, M. A.; García fernández, I.; Gamón, M. A.; Pla castells, M.; Martínez Durá, R. J.

    (2010).Article

    PROC OF ISC. 2010.

  • Modelling and Simulation of Several Interacting Cellular Automata

    Pla Castells, M.; García Fernández, I.; Martínez Durá, R. J.

    (2010).Article

    PROC. OF ISC. 2010. Cellular Automata are used for modelling and simulation of many systems. In some applications, the system is formed by a set of subsystems that can be modelled separately, but, in such cases, the existence of interactions between these subsystems requires additional modelling and computer programming. In this paper we propose a modelling methodology for the simulation of a set of Cellular Automata models that interact with each other. The modelling methodology is described, together with an insight on implementation details. Also, it is applied to a particular Cellular Automata model, the Sanpile Model, to illustrate its use and to obtain some example simulations.

  • Grupo Colaborativo Transportando Objetos

    Rodríguez Cerro, A.; Martínez Durá, R. J.

    (2009).Article

    CEIG'09 - Short Papers. En computación gráfica, muchos investigadores han estudiado el problema de la navegación en entornos virtuales, pero ha sido en las últimas décadas cuando la formación de grupos de agentes ha tomado cierta relevancia. Se emplean tanto métodos de navegación global para mover al grupo como un individuo indivisible, como métodos de navegación local que afectan al interior del grupo. En cualquier caso, todas las técnicas siempre aplican la misma función a todos los miembros del grupo por igual, para computarlos todos juntos de una manera rápida y sencilla. Este artículo demuestra las ventajas de usar diferentes papeles para cada miembro del grupo, haciendo posible la...

    CEIG'09 - Short Papers. En computación gráfica, muchos investigadores han estudiado el problema de la navegación en entornos virtuales, pero ha sido en las últimas décadas cuando la formación de grupos de agentes ha tomado cierta relevancia. Se emplean tanto métodos de navegación global para mover al grupo como un individuo indivisible, como métodos de navegación local que afectan al interior del grupo. En cualquier caso, todas las técnicas siempre aplican la misma función a todos los miembros del grupo por igual, para computarlos todos juntos de una manera rápida y sencilla. Este artículo demuestra las ventajas de usar diferentes papeles para cada miembro del grupo, haciendo posible la realización de tareas complejas, como puede ser el transporte de objetos de grandes dimensiones, con una gran simplicidad y de una manera colaborativa. La clave es descomponer el trabajo a realizar en subtareas, que se asignan a los diferentes agentes que forman el grupo y que por tanto se ejecutan simultáneamente y asíncronamente. De este modo es posible construir un grupo modular con una base central y proporcionar nuevas funcionalidades gracias a los papeles que se asignan a cada uno de sus miembros.

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  • Simulador de realidad virtual para la formación de operadores de grúa Torre

    Gamón, M. A.; Pla Castells, M.; García Fernández, I.; Reyes Lacueva, A.; Martínez Durá, R. J.

    (2009).Article

    CEIG’09. 2009. La utilización de simuladores basados en realidad virtual proporciona una solución a los diferentes inconvenientes del entrenamiento de operadores de maquinaria pesada. Entre las ventajas aportadas al ámbito de formación, se encuentran la reducción de riesgos laborales y costes económicos, el incremento en la productividad, y la utilización como herramienta objetiva de evaluación. Este artículo presenta un sistema instruccional basado en simulación para el entrenamiento de operadores de grúa Torre. Este simulador destaca por su enfoque formativo mediante la inclusión de material docente interactivo, el aprendizaje en la maniobrabilidad de una grúa Torre a través de un...

    CEIG’09. 2009. La utilización de simuladores basados en realidad virtual proporciona una solución a los diferentes inconvenientes del entrenamiento de operadores de maquinaria pesada. Entre las ventajas aportadas al ámbito de formación, se encuentran la reducción de riesgos laborales y costes económicos, el incremento en la productividad, y la utilización como herramienta objetiva de evaluación. Este artículo presenta un sistema instruccional basado en simulación para el entrenamiento de operadores de grúa Torre. Este simulador destaca por su enfoque formativo mediante la inclusión de material docente interactivo, el aprendizaje en la maniobrabilidad de una grúa Torre a través de un conjunto de ejercicios y circuitos de entrenamiento, y la utilización de técnicas de realidad virtual del estado del arte (como shaders de iluminación, técnicas de sombreado y avatares cooperativos) que incrementan la experiencia de realismo obtenida. Se describe la arquitectura que compone el simulador, el diseño del entorno virtual basado en OpenSceneGraph, el sistema de autoevaluación, y las características de realismo del modelo dinámico de la grúa, como son la influencia del viento y las colisiones de los cables con otros objetos del entorno virtual. El sistema se complementa con un puesto de instructor que facilita el control, la evaluación, y la monitorización de los puestos de entrenamiento de un aula multipuesto.

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  • Interactive Earthmoving Simulation in Real-Time

    Pla Castells, M.; García Fernández, I.; Gamón, M. A.; Martínez Durá, R. J.

    (2009).Article

    CEIG’09—Short Papers. Virtual Reality simulators of heavy machinery are often used for training purposes. However, the complexity of terrain as a dynamical system makes the simulation of earthmoving machinery an specially challenging problem. In this paper, the architecture of an excavator simulator is described, together with the different models used to describe the behavior of the systems involved. Special attention is paid to soil dynamics and to the interaction models, including soil-wheel interaction and soil-tool interaction. The different models used are physically-based, in order to guarantee a realistic simulation and an appropriate force feedback.

  • UVSIM: A Harbor Cranes Training System

    García Fernández, I.; Pla Castells, M.; Gamón, M. A.; Martínez Durá, R. J.

    (2009).Article

    HMS’09. 2009. This paper presents a simulation-based instructional system for harbor crane operators training. The configurable design of the simulator allows the training of several crane types: Quay-Side Gantry, Rubber Tired Gantry, Mobile, Reach-Stacker and Ro-Ro tractor. In this paper the simulator architecture, the Virtual Reality techniques, the projection system, the configurable cabin and the instructional design are described. The virtual environment design includes the representation of harbor terminals, container ship load and unload operations, mobile crane driving and bulk material handling. The simulator includes an automatic evaluation system that measures the...

    HMS’09. 2009. This paper presents a simulation-based instructional system for harbor crane operators training. The configurable design of the simulator allows the training of several crane types: Quay-Side Gantry, Rubber Tired Gantry, Mobile, Reach-Stacker and Ro-Ro tractor. In this paper the simulator architecture, the Virtual Reality techniques, the projection system, the configurable cabin and the instructional design are described. The virtual environment design includes the representation of harbor terminals, container ship load and unload operations, mobile crane driving and bulk material handling. The simulator includes an automatic evaluation system that measures the trainees’ evolution in terms of their abilities. The instructor’s panel gives full control on the exercise and on many parameters such as weather conditions, crane failures or load distribution during the simulation. The system also includes an advanced debriefing system for exercise revision and evaluation.

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  • Elevation Cable Modeling for Interactive Simulation of Cranes

    García fernández, I.; Pla Castells, M.; Martínez Durá, R. J.

    (2008).Article

    SCA '08: Proceedings of the 2008 ACM SIGGRAPH/Eurographics Symposium on Computer Animation 2008, 1-10 In this paper, the way to simulate hoisting cables in real time is addressed. We overcome instability in such simulation by considering a two-layered model: a model for the dynamics of a cable passing through a set of pulleys and an oscillation model based on the classical one-dimensional wave equation. The first layer considers the interaction between the cable and pulleys with the elevation equipment, while the second layer simulates cable oscillation. Numerical instability is avoided by suspending the oscillation layer when required. Due to the system properties, this can be carried out...

    SCA '08: Proceedings of the 2008 ACM SIGGRAPH/Eurographics Symposium on Computer Animation 2008, 1-10 In this paper, the way to simulate hoisting cables in real time is addressed. We overcome instability in such simulation by considering a two-layered model: a model for the dynamics of a cable passing through a set of pulleys and an oscillation model based on the classical one-dimensional wave equation. The first layer considers the interaction between the cable and pulleys with the elevation equipment, while the second layer simulates cable oscillation. Numerical instability is avoided by suspending the oscillation layer when required. Due to the system properties, this can be carried out in such a way that does not cause significant loss in the system quality. It considers the oscillation of the cable between every pair of pulleys, collision detection and the variation of the cable length very efficiently. Rendering issues are discussed, with remarks on how to prevent aliasing artifacts in the cable. Efficiency is analyzed, including performance tests which show that the model can be run very efficiently. The paper also covers how to integrate the model in a complex multibody simulation with a high degree of interactivity.

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    Ignacio García Fernández

  • Physically-Based Interactive Sand Simulation

    Pla Castells, M.; García Fernández, I.; Martínez Durá, R. J.

    (2008).Article

    Eurographics 2008 - Short Papers, 21-24. 2008 The interactive simulation of 3D terrains has been approached from several perspectives. Due to the complexity of the system involved, most of the models proposed focus on a visually realistic animation of the scene, rather than on a physically-based accurate simulation of a granular system. Those models lack generality when interacting with the environment; in most cases, no reaction forces are computed, considering only soil deformation. This limitation reduces their usability in applications such as driving simulators. We propose the use of a theoretical discrete model that considers normal forces for 3D real-time simulation of granular...

    Eurographics 2008 - Short Papers, 21-24. 2008 The interactive simulation of 3D terrains has been approached from several perspectives. Due to the complexity of the system involved, most of the models proposed focus on a visually realistic animation of the scene, rather than on a physically-based accurate simulation of a granular system. Those models lack generality when interacting with the environment; in most cases, no reaction forces are computed, considering only soil deformation. This limitation reduces their usability in applications such as driving simulators. We propose the use of a theoretical discrete model that considers normal forces for 3D real-time simulation of granular systems. We also extend this model to consider horizontal forces, allowing a wider range of interactions. Several numerical tests have been implemented and detailed results have been analyzed which show a good model performance.

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  • Analysis of cable model, considering mass and wave oscillations

    García Fernández, I.; Pla Castells, M.; Martínez Durá, R. J.

    (2007).Article

    International e-Conference on Computer Science. Proceedings of the IeCCS2007 2007 Theoretical cable-pulley dynamics models usually lead to computationally expensive numerical models. For this reason, both mass and cable oscillation are usually neglected when efficiency is an issue. Recently a new model has been presented that allows the simulation of cable oscillation and catenary with low computational cost. In this paper, we present a preliminary analysis of the dynamics of the model, based on numerical tests. More precisely, we analyze the influence of the main parameters of the model over its dynamics, taking as a reference the massless models used so far.

    Ignacio García Fernández

  • A Mixed Model for Real-Time, Interactive Simulation of a Cable Passing Through Several Pulleys

    García Fernández, I.; Pla Castells, M.; Martínez Durá, R.J.

    (2007).Article

    AIP Conference Proceedings, AIP 2007, 212-215 A model of a cable and pulleys is presented that can be used in Real Time Computer Graphics applications. The model is formulated by the coupling of a damped spring and a variable coefficient wave equation, and can be integrated in more complex mechanical models of lift systems, such as cranes, elevators, etc. with a high degree of interactivity.

    Ignacio García Fernández

 
 
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