Interactive Terrain Simulation and Force Distribution Models in Sand Piles

Pla‐Castells, Marta; García-Fernández, Ignacio; Martı́nez, Rafael

doi:10.1007/11861201_46

Cited by 22 publications

(22 citation statements)

References 17 publications

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“…Sand has also been modeled using height fields [Li and Moshell 1993;Chanclou et al 1996], and several extensions have been proposed for modeling footprints and tracks [Sumner et al 1999], using multi-valued height fields for some 3D effects [Onoue and Nishita 2003], and combining with a flowing surface layer composed of particles [Zhu and Yang 2010]. Cellular automata can be used for interactive sand manipulation [Pla-Castells et al 2006]. …”

Section: Related Workmentioning

confidence: 99%

Free-flowing granular materials with two-way solid coupling

Narain

Golas

Lin

2010

ACM SIGGRAPH Asia 2010 Papers on - SIGGRAPH ASIA '10

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Figure 1: An explosion goes off inside a sand pile, sending freely splashing sand and rigid bodies flying in the air (running at less than 20 seconds per frame on a single-processor PC). In such a scenario, sand needs to be modeled as a cohesionless granular material. AbstractWe present a novel continuum-based model that enables efficient simulation of granular materials. Our approach fully solves the internal pressure and frictional stresses in a granular material, thereby allows visually noticeable behaviors of granular materials to be reproduced, including freely dispersing splashes without cohesion, and a global coupling between friction and pressure. The full treatment of internal forces in the material also enables two-way interaction with solid bodies. Our method achieves these results at only a very small fraction of computational costs of the comparable particle-based models for granular flows.

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Section: Related Workmentioning

confidence: 99%

Free-flowing granular materials with two-way solid coupling

Narain

Golas

Lin

2010

ACM SIGGRAPH Asia 2010 Papers on - SIGGRAPH ASIA '10

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“…This implementation is effective with respect to CPU consumption and allows a natural way of parallelization for further performance optimization. External forces can be integrated following [15], by adding a "force equivalent height" to each node, effectively combining the external force and the height differences between adjacent nodes to a single pressure value per node.…”

Section: A a Fast Methods For Soil Simulationmentioning

confidence: 99%

“…The method of soil simulation presented here uses cellular automata as simulation mechanism and is based on the method presented in [15]. For the interaction with rigid bodies, parts of the soil contact model of [16] are used.…”

Section: A a Fast Methods For Soil Simulationmentioning

confidence: 99%

Developing Virtual Testbeds for mobile robotic applications in the woods and on the moon

Roßmann

Jung²,

Rast³

2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Simulation in the context of engineering often focuses on very special details of global systems. Robot designers usually begin with the analysis of new actuators and joint designs. This corresponds to a "bottom-up"-strategy in the development of simulation models. For classical fields of application of robotics, e.g. in production plants with a well defined environment this is the approved method, because it allows very detailed insights into the analyzed subsystems. On the other hand, unpredictable effects of the interaction of multiple subsystems may easily be overseen. In particular, nontechnical environments like in moon exploration tasks or in a biological environment like in forestry applications are hard to describe in an analytical way to integrate them into an analytical simulation model. This is why this paper presents the idea and some practical aspects of the development of "Virtual Testbeds". In a Virtual Testbed, the entire system is simulated as a whole in Virtual Reality -not only small subsystems of a global system. According to the requirements different subsystems are simulated with different levels of detail. In contrast to the classical "bottom-up"-strategy this can be seen as a "topdown"-approach. Therefore the employment of a multi-body dynamics system as a platform for the development of versatile simulation and testing environments is proposed. Using the examples of the evaluation and testing of an extraterrestrial walking exploration robot design and the development of a method for self-localization in forestry, the idea is further deepened. As a special field of attention the integration of a method of soil simulation as a particular requirement of a Virtual Testbed for walking exploration robots is presented.

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“…When extreme computational efficiency is required, simplified approaches like height fields [Sumner et al 1999;Onoue and Nishita 2003;Li and Moshell 1993;Chen and Wong 2013;Chanclou et al 1996] and cellular automata [Pla-Castells et al 2006] have been used to provide real-time interaction.…”

Section: Related Workmentioning

confidence: 99%

Drucker-prager elastoplasticity for sand animation

et al. 2016

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Figure 1: Sand falls through the narrow neck of an hourglass, accumulating at the bottom. AbstractWe simulate sand dynamics using an elastoplastic, continuum assumption. We demonstrate that the Drucker-Prager plastic flow model combined with a Hencky-strain-based hyperelasticity accurately recreates a wide range of visual sand phenomena with moderate computational expense. We use the Material Point Method (MPM) to discretize the governing equations for its natural treatment of contact, topological change and history dependent constitutive relations. The Drucker-Prager model naturally represents the frictional relation between shear and normal stresses through a yield stress criterion. We develop a stress projection algorithm used for enforcing this condition with a non-associative flow rule that works naturally with both implicit and explicit time integration. We demonstrate the efficacy of our approach on examples undergoing large deformation, collisions and topological changes necessary for producing modern visual effects.

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Interactive Terrain Simulation and Force Distribution Models in Sand Piles

Cited by 22 publications

References 17 publications

Free-flowing granular materials with two-way solid coupling

Free-flowing granular materials with two-way solid coupling

Developing Virtual Testbeds for mobile robotic applications in the woods and on the moon

Drucker-prager elastoplasticity for sand animation

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