Speculative parallel asynchronous contact mechanics

Ainsley, Samantha; Vouga, Etienne; Grinspun, Eitan; Tamstorf, Rasmus

doi:10.1145/2366145.2366170

Cited by 40 publications

(38 citation statements)

References 29 publications

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“…Due to limitations of our collision handling implementation we were not able to reproduce their densest experiment with φ = 22%. Doing so would require more robust collision handling, such as described by Ainsley et al [2012], that could accommodate large stacks of arbitrarily close surfaces.…”

Section: Crumpling Comparisonmentioning

confidence: 99%

Folding and crumpling adaptive sheets

2013

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Figure 1: Crumpling a sheet of paper is a challenging process to simulate as it produces geometry with both sharp creases and smooth areas. We efficiently resolve the emerging detail in the material through adaptive remeshing. AbstractWe present a technique for simulating plastic deformation in sheets of thin materials, such as crumpled paper, dented metal, and wrinkled cloth. Our simulation uses a framework of adaptive mesh refinement to dynamically align mesh edges with folds and creases. This framework allows efficient modeling of sharp features and avoids bend locking that would be otherwise caused by stiff in-plane behavior. By using an explicit plastic embedding space we prevent remeshing from causing shape diffusion. We include several examples demonstrating that the resulting method realistically simulates the behavior of thin sheets as they fold and crumple.

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Section: Crumpling Comparisonmentioning

confidence: 99%

Folding and crumpling adaptive sheets

2013

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“…ARCSim adapts the elastic model formulation from several different approaches [Bridson et al 2003;Grinspun et al 2003;Müller and Gross 2004;Wang et al 2011] and used different algorithms for collision handling. There has been a rich body of research on contact and collision for cloth simulation [Bridson et al 2002;Baraff et al 2003;Harmon et al 2008;Kaufman et al 2008;Otaduy et al 2009;Harmon et al 2009;Tang et al 2010;Miguel and Otaduy 2011;Ainsley et al 2012]. The core algorithm for collision handling in ARCSim is based on Bridson et al [Bridson et al 2002], who uses a geometry-based repulsive impulse to handle collision robustly.…”

Section: Related Workmentioning

confidence: 99%

Coupling cloth and rigid bodies for dexterous manipulation

Bai

Liu

2014

Proceedings of the Seventh International Conference on Motion in Games

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This paper introduces a new simulation technique to enable detailed dexterous manipulation of cloth. Without reimplementation or substantial modification, existing cloth simulators can only be used to approximate limited interaction between cloth and rigid bodies due to the incorrect computation of contact forces. For example, a simple scenario of two fingers pinching a piece of cloth often results in the cloth slipping out of the hand. Our technique provides a simple solution to cloth-rigid coupling using existing cloth and rigid body simulators as-is. We develop a light-weight interface so that the rigid body and cloth simulators communicate on a demand-driven manner to achieve two main goals: allow the rigid bodies to impart friction forces to the cloth and avoid unsolvable collision situations between the rigid bodies and the cloth. We demonstrate a set of basic manipulation skills including gripping, pinching, and pressing, that are frequently seen in daily activities such as dressing and folding clothes.

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“…Applications considered in this paper include (i) asynchronous variational integrators (AVI), which are used in computational mechanics and in graphics for solving complicated contact mechanics problems [27] like simulating the tying of ribbons and the crushing of rabbits in a trash compactor [1,18], (ii) discrete-event simulation (DES) [9], (iii) the simulation of collisions between a set of moving bodies like billiard balls [2,18], and (iv) graph analytics algorithms such as Breadth-First Search (BFS), Minimumweight Spanning Tree (MST), and tree traversals. The inadequacy of conventional task graphs for these applications arises from the fact that the dependence graph computed from a particular program state may not remain valid after a task has executed because new tasks may have been created and dependences between existing tasks may have changed.…”

Section: Introductionmentioning

confidence: 99%

“…For example, sequential DES implementations process events in increasing time order by maintaining a priority queue of events sorted by their time-stamp; it can be shown that it is correct to process the earliest event, which is a safe source in the DAG. These kinds of algorithms are called ordered algorithms in the TAO classification of algorithms [34] because the execution of the program must respect the priority order between tasks (in contrast, tasks in unordered algorithms can be executed in any order without violating program semantics) 1 . Some of these applications have been parallelized previously by other researchers using problem-specific techniques: for example, AVI has been parallelized by Huang et al [19] using "edge-flipping" DAGs, described in Sections 2.1 and 4.1, but this technique cannot be used for any of the other problems considered in this paper.…”

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confidence: 99%

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Kinetic Dependence Graphs

Hassaan

Nguyen

Pingali

2015

SIGARCH Comput. Archit. News

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Task graphs or dependence graphs are used in runtime systems to schedule tasks for parallel execution. In problem domains such as dense linear algebra and signal processing, dependence graphs can be generated from a program by static analysis. However, in emerging problem domains such as graph analytics, the set of tasks and dependences between tasks in a program are complex functions of runtime values and cannot be determined statically. In this paper, we introduce a novel approach for exploiting parallelism in such programs. This approach is based on a data structure called the kinetic dependence graph (KDG), which consists of a dependence graph together with update rules that incrementally update the graph to reflect changes in the dependence structure whenever a task is completed.We have implemented a simple programming model that allows programmers to write these applications at a high level of abstraction, and a runtime within the Galois system [15] that builds the KDG automatically and executes the program in parallel. On a suite of programs that are difficult to parallelize otherwise, we have obtained speedups of up to 33 on 40 cores, out-performing third-party implementations in many cases.

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Speculative parallel asynchronous contact mechanics

Cited by 40 publications

References 29 publications

Folding and crumpling adaptive sheets

Folding and crumpling adaptive sheets

Coupling cloth and rigid bodies for dexterous manipulation

Kinetic Dependence Graphs

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