Technical Report No. VSR-04.02
End-of-Year Technical Report
For Project
Digital Human Modeling and Virtual Reality for FCS
By
The Virtual Soldier Research (VSR) Program
Center for Computer-Aided Design
College of Engineering
The University of Iowa
116 Engineering Research Facility
Iowa City, IA 52242-1000
VSR TEAM
K. Abdel-Malek, J.
Arora, S. Beck, M. Bhatti, J. Carroll (Clarkson University), T. Cook, S.
Dasgupta, N. Grosland, R. Han, H. Kim, J. Lu, C. Swan, A. Williams, J. Yang
K. Farrell, R. Vignes, T. Sinokrot, A. Mathai, T.
Marler, J. Muhs, Q. Wang, X. Zhou, J. Lee, J. Kim, X. Man, S. Rahmatala, S.
Dandach, R. Fetter, E. Horn, A. Patrick, Z. Mi
Dated: October 25, 2004
CONTRACT/PR NO. DAAE07-03-D-L003/0001
Table of Contents
Executive Summary (Karim)
I. Kinematic Human Modeling (Yang, Esteban)
a. Review of methods for human kinematic modeling
b. The DH Method for kinematic modeling
c. Simple example
d. Kinematics model for Santos™
e. Hand Model (Esteban)
II. Posture Prediction (Tim)
a. Literature review
b. Problem Definition
c. Main challenges (large DOF, real-time solutions, realistic nature)
d. Optimization formulation (Tim, may want to write some optimization basics)
e. Benchmark Study of Large NLP Optimization Software
f. Sample (elementary) problem
g. Multi-objective (Bi-Criterion Posture Prediction Problem Using Pareto Optimal Sets
h. Complex examples (implementation on Santos™)
i. Validations
j. Major contribution
III. Human Performance Measures (Joo)
a. What is human performance measures
b. How to evaluate human performance
c. Total Energy cost function
d. Torque and Force
e. Inverse Dynamics
f. Simples example
g. Complex example for Santos™
IV. Motion Prediction (much from Zan’s dissertation- Kim)
a. Literature review
b. Current limitations and the challenges
c. Proposed formulation (continuous versus discreet, NURBS, optimization)
d. Sample example
e. Complex examples (implementation on Santos™)
f. Major contribution
V. Real-Time Simulation Environments (Steve and Becca)
A. Creating the Human
a. Current technologies
b. Current gaming engines (available development engines, what is the difference between them,
what are their capabilities)
c. Limitations and challenges
d. Developing a human model for a real-time environment
(1) Obtaining a scan of a human
(2) Meshing for real-time (lack of standards)
(3) Texturing for real-time
e. Animating versus real-time
f. The development of Santos™
g. The musculoskeletal system
h. Kinesiology for Santos™
(1) Polygonal models for motion
(2) Cost of performance (performance versus quality)/FONT>
B. Creating the environment
i. 3D CAD Models
j. Interacting with Santos (keyboard, mouse, clicking)
k. Development of a Real-time Gesture-based Man-machine Interface for Immersive Environments
(Jim Carroll)
l. A Geodesics-Based Model for Motion Prediction with Obstacle Avoidance
(Jason)
VI. Virtual Reality for Santos™ (Amos)
a. Current available technologies
b. Why immersive solutions
c. Full immersion for interaction with Santos™
d. Hardware design
e. The UI 6-walled PC based fully immersive solution
f. Examples of implementations
VII. Motion Dynamics of Gait and Lifting (HyungJoo and Emily)
a. Literature review
b. Limitations of current formulations and associated integrators (DOF, integration, real-time)
c. Proposed formulation (no integration)
d. Simple example
e. Benefits
f. Complex examples and Santos™ (gait, balance, swinging)
g. Major contribution
VIII. Motion Capture Research: VSR (Salam and Meagan)
a. Basic
b. Setup at VSR
c. Capturing, recording, and editing
d. Major challenges
e. Research at VSR
i. Santos mimicking a user
ii. Interacting with Santos in real time
iii. Validating posture and motion prediction
IX. Mathematical Modeling of Clothing (Colby and Xman)
a. Literature review of current cloth/textiles modeling techniques
b. Motivation for conducting this work (NBC clothing for the soldier)
c. Problem formulation
d. Proposed method of solutions
e. Elementary example
f. Complex examples
g. Future work
XII. Modeling Physiology (Anith)
a. Literature review
b. The Challenges
c. Modeling heart rate
d. Modeling the respiratory system
e. odeling blood pressure
f. Modeling other stuff…Anith please add!
g. Modeling Thermal comfort Rabadi’s report)
h. Implementation on Santos™
XIII. Muscle stress and strain (Jia and Alex)
a. Literature review
b. Limitations of current methods (FEM methods)
c. Proposed formulation
d. NURBS-FEM method
e. Sample example
f. Complex examples
XIV. Optimization Based Formulations (Qian and Jasbir)
a. Literature review
b. Conventional formulation
c. Simultaneous formulations
d. Evaluation of formulations
e. Numerical examples
f. Complex examples
XV. Workspace Analysis (Tariq, Yang, and Becca)
a. Literature review
b. Limitations of current formulations
c. Determining the workspace in closed form
d. Simple example (planar 2DOF arm)
e. Complex examples
f. Implementation on Santos™ (cutting plane, trace, visualization)
XVI. Optimization Software Benchmark
a. General Nonlinear Programming
b. Software requirements
c. Available Gradient Based optimization egines.
d. VSR Examples
e. Optimization formulation
XVII. Modeling Muscle Fatigue
a. The Physiology of Muscles
b. Mechanical muscle models
c. Muscle force prediction model
d. Mechanical simulations with muscle fatigue
