Collaboration with agents in VR environments

Virtual reality is gaining on importance in many fields – scientific simulation, training, therapy and also more and more in entertainment. All these applications require the human user to interact with virtual worlds inhabited by intelligent characters and to solve simulated or real problems. This thesis will present an integrated approach to simulated problem solving in virtual reality environments, with the emphasis on teamwork and the ability to control the simulations. A simulation framework satisfying these goals will be presented. A unified approach to the representation of semantic information in virtual environments based on predicate calculus will be introduced, including the representation of the world state, action semantics and basic axioms holding in the simulated world. Afterwards, the focus will be on the collaboration model based on task delegation and facilitator-centric architecture. A simple but efficient facilitator design will be presented. The issues of the collaborative problem solving will be examined. A new technique using propositional (STRIPS-like) planning with delegated actions and object-specific planning will be described. A control technique for virtual characters/objects will be detailed, enabling run-time exchange of control and control sharing over a virtual entity between multiple autonomous agents and/or human users. Finally, a set of case studies will be shown, illustrating the possible applications of the techniques developed and described in this dissertation.

Analysis and numerical simulation of free surface flows

Alexandre Caboussat

Mathematical and numerical aspects of free surface flows are investigated. On one hand, the mathematical analysis of some free surface flows is considered. A model problem in one space dimension is first investigated. The Burgers equation with diffusion has to be solved on a space interval with one free extremity. This extremity is unknown and moves in time. An ordinary differential equation for the position of the free extremity of the interval is added in order to close the mathematical problem. Local existence in time and uniqueness results are proved for the problem with given domain, then for the free surface problem. A priori and a posteriori error estimates are obtained for the semi-discretization in space. The stability and the convergence of an Eulerian time splitting scheme are investigated. The same methodology is then used to study free surface flows in two space dimensions. The incompressible unsteady Navier-Stokes equations with Neumann boundary conditions on the whole boundary are considered. The whole boundary is assumed to be the free surface. An additional equation is used to describe the moving domain. Local existence in time and uniqueness results are obtained. On the other hand, a model for free surface flows in two and three space dimensions is investigated. The liquid is assumed to be surrounded by a compressible gas. The incompressible unsteady Navier-Stokes equations are assumed to hold in the liquid region. A volume-of-fluid method is used to describe the motion of the liquid domain. The velocity in the gas is disregarded and the pressure is computed by the ideal gas law in each gas bubble trapped by the liquid. A numbering algorithm is presented to recognize the bubbles of gas. Gas pressure is applied as a normal force on the liquid-gas interface. Surface tension effects are also taken into account for the simulation of bubbles or droplets flows. A method for the computation of the curvature is presented. Convergence and accuracy of the approximation of the curvature are discussed. A time splitting scheme is used to decouple the various physical phenomena. Numerical simulations are made in the frame of mould filling to show that the influence of gas on the free surface cannot be neglected. Curvature-driven flows are also considered.

EPFL2004

Object-oriented approach for dynamic system modelling and simulation

Adel Besrour

Software engineering always cares to provide solutions for building applications as close as possible to what they should be, according to the requirements and the final users needs. Systems behavior simulation is a very common application to virtually reproduce and often predict the real-world behavior. Simulation is one of the most operational research tool in a large variety of engineering and scientific domains: Transport, telecommunication, medicine, chemical processes, physics, etc. The complexity of such application is relative to the increasing complexity of the systems. In this context, it is relevant to bring together different tools and formalisms such as markovian chain, Petri nets, etc., to improve the existent approaches and so to answer the simulations performances needs. The principle objective of this thesis is to bring together techniques from software engineering and safety engineering in order to improve the state of the art of modeling and simulation of dynamic systems in the industrial context. In addressing this objective, this work initially involves defining the essential limitations of the used formalisms, methods and tools regarding from one hand the software engineering modeling and simulation techniques and from the other hand the existent risk analysis methodologies. This work is conducted with respect to the problem of danger identification, considering the context of the complex systems behavior and their interaction with the human operator. In software engineering, it is well known that Petri/high-level nets have attractive characteristics to be used in systems simulation and behavior prediction such as the natural graphical representation, and their well-defined semantic. They are well-suited for the description of complex situations with concurrency (interleaving and true concurrency depending on the underlying semantics), conflict and confusion. However, the absence of structuring capabilities has been one of the main criticisms raised against Petri nets/high-level nets. Thus, there have been many attempts to introduce structuring principles in nets of this kind [BCM88] [Kie89] [JR91]. The attractive characteristics of Petri/high-level nets have prompted researchers to enrich these formalisms with object-oriented features. CO-OPN (Concurrent Object-Oriented Petri Net) approach, brings together the power of both Petri/high-level nets and object-orientation techniques, it has been devised so as to offer an adequate framework for the specification and design of large scale concurrent system [BG91]. CO-OPN, as a powerful modeling tool, has been used in a limited way to simulate systems. This work aims to provide a CO-OPN extension to allow a more realistic systems' simulation. Actually, its simulator semantic uses to be a suitable approach for modeling near closed systems and software components, because they need to loose coupling with external world. But, when we model more realistic problems like industrial processes, where human interaction is a relevant event, this approach is not sufficient to catch all system activity attributes. Moreover, the CO-OPN interpretation process does not allow interaction with the object internal states. This work provides a new solution to overcome CO-OPN simulation limitations and a set of prototypes to assist dynamic systems simulations. Furthermore, this work has been conducted in a Risk Analysis (RA) context, a domain where computer-based simulations research are of utmost interest. Actually, classical approaches used to address complex workplace hazard in a limited way, using checklists or sequence models. Moreover, the use of single oriented methods, such as AEA (man-oriented), FMEA (machine oriented) or HAZOP (process oriented), is not satisfactory to overcome the increasing sophistication of industrial processes. The automation of a part of the analysis process as well as the multiple-oriented approach allowed by dynamic modeling may indeed enhance significantly the analysis completeness and reduce the time analyzing time. This work, based on Object Oriented Petri net formalism (CO-OPN), propose an alternative multi-oriented approach where existent methods limitations have been criticized to develop a dynamic model, MORM (Man-machine Occupational Risk Modeling). A real industrial system (metal wire making process) has been specified to implement the different approach steps (system identification, model application, system simulation, system analysis).

EPFL2005

Crowds for interactive virtual environments

Branislav Ulicny

Crowds are part of our everyday experience; nevertheless, in virtual worlds they are still relatively rare. In this thesis we explore the challenges of bringing crowds into interactive virtual environments and the possible applications of real-time interactive crowds, for example, in the domains of virtual heritage and training systems. We address several topics including real-time generation of higher-level behaviors, lower-level motion control for many characters, management of variety, integration of crowds into virtual environments, interaction with virtual crowds and authoring of scenarios. In comparison with the other crowd modeling approaches, we focus on more complex behaviors of many agents in dynamic environments with possible user interaction. In our system a crowd is modeled as a collection of individuals which react to the environment, to other agents and to real human participants of the simulation and can have very different behaviors, both for one agent in different situations, and for many agents in the same situation. We emphasize the importance of variety as one of the most distinguishing features of the crowd simulations; we introduce the notion of levels-of-variety. We address as well the question of how to author crowd scenes in an efficient way. We introduce a novel approach to create complex scenes involving thousands of animated individuals in a simple and intuitive way. By employing a brush metaphor, analogous to the tools used in image manipulation programs, we can distribute, modify and control crowd members in real-time with immediate visual feedback. We demonstrate the validity of our behavior simulation approach with several case studies, where we use our crowd system to manage crowd behaviour in a virtual reality training system and virtual heritage reconstruction. The potential of our authoring approach is shown by authoring a scenario of a virtual audience in a theater and a scenario of a pedestrian crowd in a city.

EPFL2005

Analysis and numerical simulation of free surface flows

Alexandre Caboussat

EPFL2004

Object-oriented approach for dynamic system modelling and simulation

Adel Besrour

EPFL2005

Crowds for interactive virtual environments

Branislav Ulicny

EPFL2005