Determination of elasticity parameters in lumped element (mass-spring) models of deformable objects

Natsupakpong, Suriya; Çavuşoğlu, M. Cenk

doi:10.1016/j.gmod.2010.10.001

Cited by 33 publications

(16 citation statements)

References 19 publications

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“…Alternative modeling approaches (such as mass–spring–damper models) which may have computational advantages can potentially be considered. However, care should be taken with regards to systematic errors with such models (Natsupakpong and Çavuşoğlu, 2010). …”

Section: Discussionmentioning

confidence: 99%

Identification and active exploration of deformable object boundary constraints through robotic manipulation

Boonvisut

Çavuşoğlu

2014

The International Journal of Robotics Research

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Robotic motion planning algorithms for manipulation of deformable objects, such as in medical robotics applications, rely on accurate estimations of object deformations that occur during manipulation. An estimation of the tissue response (for off-line planning or real-time on-line re-planning), in turn, requires knowledge of both object constitutive parameters and boundary constraints. In this paper, a novel algorithm for estimating boundary constraints of deformable objects from robotic manipulation data is presented. The proposed algorithm uses tissue deformation data collected with a vision system, and employs a multi-stage hill climbing procedure to estimate the boundary constraints of the object. An active exploration technique, which uses an information maximization approach, is also proposed to extend the identification algorithm. The effects of uncertainties on the proposed methods are analyzed in simulation. The results of experimental evaluation of the methods are also presented.

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Section: Discussionmentioning

confidence: 99%

Identification and active exploration of deformable object boundary constraints through robotic manipulation

Boonvisut

Çavuşoğlu

2014

The International Journal of Robotics Research

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“…Recent research is going on addressing the parameter finding for mass spring model. Various techniques have been proposed in the literature for parameter finding as in [32][33][34][35][36].…”

Section: ) Finite Element Methodsmentioning

confidence: 99%

Real Time Vertex Based Deformation in Training Simulator

Ahmad

2011

2011 International Symposium on Ubiquitous Virtual Reality

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Soft tissue simulation is very important in medical simulation and learning procedures. But such simulations require intensive computation. With the force feedback devices, the computation required should be much faster as touch sensation is approximately 20 times faster than that of visual. In this paper an efficient Vertex based algorithm for visual deformation is presented. Visual deformation of linear, isotropic and homogenous triangular mesh soft model is achieved by modifying a slope intercept equation of a line which is used to get a new position for the point contacted through a tip of a force feedback device. Haptic sensation is achieved using Hooke's law which is coupled with visual deformation based on our proposed algorithm. In our simulation we use up to 20K of triangles for object representation.

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“…This area of research is in its infancy and exemplified by rather limited efforts. For example, in [52] finite element model of 3D deformable objects are converted to the corresponding lumped mass-spring models by minimizing the difference of stiffness matrices of these two models. Others proposed various methods for associating geometric information with components in the lumped parameter systems.…”

Section: Interoperability Of Lumped Parameter Languages and Systemsmentioning

confidence: 99%

Topological semantics for lumped parameter systems modeling

Wang

Shapiro

2019

Advanced Engineering Informatics

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Behaviors of many engineering systems are described by lumped parameter models that encapsulate the spatially distributed nature of the system into networks of lumped elements; the dynamics of such a network is governed by a system of ordinary differential and algebraic equations. Languages and simulation tools for modeling such systems differ in syntax, informal semantics, and in the methods by which such systems of equations are generated and simulated, leading to numerous interoperability challenges. Logical extensions of SysML aim specifically at unifying a subset of the underlying concepts in such languages.We propose to unify semantics of all such systems using standard notions from algebraic topology. In particular, Tonti diagrams classify all physical theories in terms of physical laws (topological and constitutive) defined over a pair of dual cochain complexes and may be used to describe different types of lumped parameter systems. We show that all possible methods for generating the corresponding state equations within each physical domain correspond to paths over Tonti diagrams. We further propose a generalization of Tonti diagram that captures the behavior and supports canonical generation of state equations for multi-domain lumped parameter systems.The unified semantics provides a basis for greater interoperability in systems modeling, supporting automated translation, integration, reuse, and numerical simulation of models created in different authoring systems and applications. Notably, the proposed algebraic topological semantics is also compatible with spatially and temporally distributed models that are at the core of modern CAD and CAE systems.

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Determination of elasticity parameters in lumped element (mass-spring) models of deformable objects

Cited by 33 publications

References 19 publications

Identification and active exploration of deformable object boundary constraints through robotic manipulation

Identification and active exploration of deformable object boundary constraints through robotic manipulation

Real Time Vertex Based Deformation in Training Simulator

Topological semantics for lumped parameter systems modeling

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