Simulation Tools for Model-Based Robotics: Comparison of Bullet, Havok, Mujoco, ODE and Physx
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Master's Thesis
MASTER'S THESIS Online Model Predictive Control of a Robotic System by Combining Simulation and Optimization Mohammad Rokonuzzaman Pappu 2015 Master of Science (120 credits) Space Engineering - Space Master Luleå University of Technology Department of Computer Science, Electrical and Space Engineering Mohammad Rokonuzzaman Pappu Online Model Predictive Control of a Robotic System by Combining Simulation and Optimization School of Electrical Engineering Department of Electrical Engineering and Automation Thesis submitted in partial fulfillment of the requirements for the degree of Master of Science in Technology Espoo, August 18, 2015 Instructor: Professor Perttu Hämäläinen Aalto University School of Arts, Design and Architecture Supervisors: Professor Ville Kyrki Professor Reza Emami Aalto University Luleå University of Technology School of Electrical Engineering Preface First of all, I would like to express my sincere gratitude to my supervisor Pro- fessor Ville Kyrki for his generous and patient support during the work of this thesis. He was always available for questions and it would not have been possi- ble to finish the work in time without his excellent guidance. I would also like to thank my instructor Perttu H¨am¨al¨ainen for his support which was invaluable for this thesis. My sincere thanks to all the members of Intelligent Robotics group who were nothing but helpful throughout this work. Finally, a special thanks to my colleagues of SpaceMaster program in Helsinki for their constant support and encouragement. Espoo, August 18, -
Agx Multiphysics Download
Agx multiphysics download click here to download A patch release of AgX Dynamics is now available for download for all of our licensed customers. This version include some minor. AGX Dynamics is a professional multi-purpose physics engine for simulators, Virtual parallel high performance hybrid equation solvers and novel multi- physics models. Why choose AGX Dynamics? Download AGX product brochure. This video shows a simulation of a wheel loader interacting with a dynamic tree model. High fidelity. AGX Multiphysics is a proprietary real-time physics engine developed by Algoryx Simulation AB Create a book · Download as PDF · Printable version. AgX Multiphysics Toolkit · Age Of Empires III The Asian Dynasties Expansion. Convert trail version Free Download, product key, keygen, Activator com extended. free full download agx multiphysics toolkit from AYS search www.doorway.ru have many downloads related to agx multiphysics toolkit which are hosted on sites like. With AGXUnity, it is possible to incorporate a real physics engine into a well Download from the prebuilt-packages sub-directory in the repository www.doorway.rug: multiphysics. A www.doorway.ru app that runs a physics engine and lets clients download physics data in real Clone or download AgX Multiphysics compiled with Lua support. Agx multiphysics toolkit. Developed physics the was made dynamics multiphysics simulation. Runtime library for AgX MultiPhysics Library. How to repair file. Original file to replace broken file www.doorway.ru Download. Current version: Some short videos that may help starting with AGX-III. Example 1: Finding a possible Pareto front for the Balaban Index in the Missing: multiphysics. -
Physx As a Middleware for Dynamic Simulations in the Container Loading Problem
Proceedings of the 2018 Winter Simulation Conference M. Rabe, A.A. Juan, N. Mustafee, A. Skoogh, S. Jain, and B. Johansson, eds. PHYSX AS A MIDDLEWARE FOR DYNAMIC SIMULATIONS IN THE CONTAINER LOADING PROBLEM Juan C. Martínez-Franco David Álvarez-Martínez Department of Mechanical Engineering Department of Industrial Engineering Universidad de Los Andes Universidad de Los Andes Carrera 1 Este No. 19A – 40 Carrera 1 Este No. 19A – 40 Bogotá, 11711, COLOMBIA Bogotá, 11711, COLOMBIA ABSTRACT The Container Loading Problem (CLP) is an optimization challenge where the constraint of dynamic stability plays a significant role. The evaluation of dynamic stability requires the use of dynamic simulations that are carried out either with dedicated simulation software that produces very small errors at the expense of simulation speed, or real-time physics engines that complete simulations in a very short time at the cost of repeatability. One such engine, PhysX, is evaluated to determine the feasibility of its integration with the open source application PackageCargo. A simulation tool based on PhysX is proposed and compared with the dynamic simulation environment of Autodesk Inventor to verify its reliability. The simulation tool presents a dynamically accurate representation of the physical phenomena experienced by cargo during transportation, making it a viable option for the evaluation of dynamic stability in solutions to the CLP. 1 INTRODUCTION The Container Loading Problem (CLP) consists of the geometric arrangement of small rectangular items (cargo) into a larger rectangular space (container), but it is not a simple geometry problem. The arrangements of cargo must maximize volume utilization while complying with certain constraints such as cargo fragility, delivery order, etc. -
An Optimal Solution for Implementing a Specific 3D Web Application
IT 16 060 Examensarbete 30 hp Augusti 2016 An optimal solution for implementing a specific 3D web application Mathias Nordin Institutionen för informationsteknologi Department of Information Technology Abstract An optimal solution for implementing a specific 3D web application Mathias Nordin Teknisk- naturvetenskaplig fakultet UTH-enheten WebGL equips web browsers with the ability to access graphic cards for extra processing Besöksadress: power. WebGL uses GLSL ES to communicate with graphics cards, which uses Ångströmlaboratoriet Lägerhyddsvägen 1 different Hus 4, Plan 0 instructions compared with common web development languages. In order to simplify the development process there are JavaScript libraries handles the Postadress: Box 536 751 21 Uppsala communication with WebGL. On the Khronos website there is a listing of 35 different Telefon: JavaScript libraries that access WebGL. 018 – 471 30 03 It is time consuming for developers to compare the benefits and disadvantages of all Telefax: these 018 – 471 30 00 libraries to find the best WebGL library for their need. This thesis sets up requirements of a Hemsida: specific WebGL application and investigates which libraries that are best for http://www.teknat.uu.se/student implmeneting its requirements. The procedure is done in different steps. Firstly is the requirements for the 3D web application defined. Then are all the libraries analyzed and mapped against these requirements. The two libraries that best fulfilled the requirments is Three.js with Physi.js and Babylon.js. The libraries is used in two seperate implementations of the intitial game. Three.js with Physi.js is the best libraries for implementig the requirements of the game. -
Procedural Destruction of Objects for Computer Games
Procedural Destruction of Objects for Computer Games PUBLIC VERSION THESIS submitted in partial fulfilment of the requirements for the degree of MASTER OF SCIENCE in MEDIA AND KNOWLEDGE ENGINEERING by Joris van Gestel born in Zevenhuizen, the Netherlands Computer Graphics and CAD/CAM Group Cannibal Game Studios Department of Mediamatics Molengraaffsingel 12-14 Faculty of EEMCS, Delft University of Technology 2629 JD Delft Delft, the Netherlands The Netherlands www.ewi.tudelft.nl www.cannibalgamestudios.com Author: Joris van Gestel Student id: 1099825 Email: [email protected] Date: May 10, 2011 © 2011 Cannibal Game Studios. All Rights Reserved i Summary Traditional content creation for computer games is a costly process. In particular, current techniques for authoring destructible behaviour are labour intensive and often limited to a single object basis. We aim to create an intuitive approach which allows designers to visually define destructible behaviour for objects in a reusable manner, which can then be applied in real-time. First we present a short introduction into the way that destruction has been done in games for many years. To better understand the physical processes that are being replicated, we present some information on how destruction works in the real world, and the high level approaches that have developed to simulate these processes. Using criteria gathered from industry professionals, we survey previous research work and determine their usability in a game development context. The approach which suits these criteria best is then selected as the basis for the approach presented in this work. By examining commercial solutions the shortcomings of existing technologies are determined to establish a solution direction. -
The Growing Importance of Ray Tracing Due to Gpus
NVIDIA Application Acceleration Engines advancing interactive realism & development speed July 2010 NVIDIA Application Acceleration Engines A family of highly optimized software modules, enabling software developers to supercharge applications with high performance capabilities that exploit NVIDIA GPUs. Easy to acquire, license and deploy (most being free) Valuable features and superior performance can be quickly added App’s stay pace with GPU advancements (via API abstraction) NVIDIA Application Acceleration Engines PhysX physics & dynamics engine breathing life into real-time 3D; Apex enabling 3D animators CgFX programmable shading engine enhancing realism across platforms and hardware SceniX scene management engine the basis of a real-time 3D system CompleX scene scaling engine giving a broader/faster view on massive data OptiX ray tracing engine making ray tracing ultra fast to execute and develop iray physically correct, photorealistic renderer, from mental images making photorealism easy to add and produce © 2010 Application Acceleration Engines PhysX • Streamlines the adoption of latest GPU capabilities, physics & dynamics getting cutting-edge features into applications ASAP, CgFX exploiting the full power of larger and multiple GPUs programmable shading • Gaining adoption by key ISVs in major markets: SceniX scene • Oil & Gas Statoil, Open Inventor management • Design Autodesk, Dassault Systems CompleX • Styling Autodesk, Bunkspeed, RTT, ICIDO scene scaling • Digital Content Creation Autodesk OptiX ray tracing • Medical Imaging N.I.H iray photoreal rendering © 2010 Accelerating Application Development App Example: Auto Styling App Example: Seismic Interpretation 1. Establish the Scene 1. Establish the Scene = SceniX = SceniX 2. Maximize interactive 2. Maximize data visualization quality + quad buffered stereo + CgFX + OptiX + volume rendering + ambient occlusion 3. -
Geometry & Computation for Interactive Simulation
Geometry & Computation for Interactive Simulation Jorg Peters (CISE University of Florida, USA), Dinesh Pai (University of British Columbia), Ulrich Reif (Technische Universitaet Darmstadt) Sep 24 – Sep 29, 2017 1 Overview The workshop advanced the state of the art in geometry and computation for interactive simulation by in- troducing to each other researchers from different branches of academia, research labs and industry. These researchers share the common goal of improving the interface between geometry and computation for physi- cal simulation – but approach it with differing emphasis, techniques and toolkits. A key issue for all partici- pants is to shorten process times and to improve the outcomes of the design-analysis cycle. That is, to more quickly optimize shape, structure and properties to achieve one or multiple design goals. Correspondingly, the challenges laid out covered a wide spectrum from hierarchical design and prediction of novel 3D printed materials, to multi-objective optimization minimizing fuel consumption of commercial airplanes, to creating training scenarios for minimally invasive surgery, to multi-point interactive force feedback for virtually plac- ing an engine into a restricted cavity. These challenges map to challenges in the underlying areas of geometry processing, computational geometry, geometric design, formulation of simulation models, isogeometric and higher-order isoparametric design with splines and meshingless approaches, to real-time computation for interactive surgical force-feedback simulation. The workshop was highly succesful in presenting and con- trasting this rich set of techniques. And it generated recommendations for educating future generation of researchers in geometry and computation for interactive simulation (see outcomes). The lower than usual number of participants (due to a second series of earth quakes just before the meeting) allowed for increased length of individual presentations, so as to discuss topics and ideas at length, and to address basics theory. -
NVIDIA Physx SDK EULA
NVIDIA CORPORATION NVIDIA® PHYSX® SDK END USER LICENSE AGREEMENT Welcome to the new world of reality gaming brought to you by PhysX® acceleration from NVIDIA®. NVIDIA Corporation (“NVIDIA”) is willing to license the PHYSX SDK and the accompanying documentation to you only on the condition that you accept all the terms in this License Agreement (“Agreement”). IMPORTANT: READ THE FOLLOWING TERMS AND CONDITIONS BEFORE USING THE ACCOMPANYING NVIDIA PHYSX SDK. IF YOU DO NOT AGREE TO THE TERMS OF THIS AGREEMENT, NVIDIA IS NOT WILLING TO LICENSE THE PHYSX SDK TO YOU. IF YOU DO NOT AGREE TO THESE TERMS, YOU SHALL DESTROY THIS ENTIRE PRODUCT AND PROVIDE EMAIL VERIFICATION TO [email protected] OF DELETION OF ALL COPIES OF THE ENTIRE PRODUCT. NVIDIA MAY MODIFY THE TERMS OF THIS AGREEMENT FROM TIME TO TIME. ANY USE OF THE PHYSX SDK WILL BE SUBJECT TO SUCH UPDATED TERMS. A CURRENT VERSION OF THIS AGREEMENT IS POSTED ON NVIDIA’S DEVELOPER WEBSITE: www.developer.nvidia.com/object/physx_eula.html 1. Definitions. “Licensed Platforms” means the following: - Any PC or Apple Mac computer with a NVIDIA CUDA-enabled processor executing NVIDIA PhysX; - Any PC or Apple Mac computer running NVIDIA PhysX software executing on the primary central processing unit of the PC only; - Any PC utilizing an AGEIA PhysX processor executing NVIDIA PhysX code; - Microsoft XBOX 360; - Nintendo Wii; and/or - Sony Playstation 3 “Physics Application” means a software application designed for use and fully compatible with the PhysX SDK and/or NVIDIA Graphics processor products, including but not limited to, a video game, visual simulation, movie, or other product. -
Physics Editor Mac Crack Appl
1 / 2 Physics Editor Mac Crack Appl This is a list of software packages that implement the finite element method for solving partial differential equations. Software, Features, Developer, Version, Released, License, Price, Platform. Agros2D, Multiplatform open source application for the solution of physical ... Yves Renard, Julien Pommier, 5.0, 2015-07, LGPL, Free, Unix, Mac OS X, .... For those who prefer to run Origin as an application on your Mac desktop without a reboot of the Mac OS, we suggest the following virtualization software:.. While having the same core (Unigine Engine), there are 3 SDK editions for ... Turnkey interactive 3D app development; Consulting; Software development; 3D .... Top Design Engineering Software: The 50 Best Design Tools and Apps for ... design with the intelligence of 3D direct modeling,” for Windows, Linux, and Mac users. ... COMSOL is a platform for physics-based modeling and simulation that serves as ... and tools for electrical, mechanical, fluid flow, and chemical applications .... Experience the world's most realistic and professional digital art & painting software for Mac and Windows, featuring ... Your original serial number will be required. ... Easy-access panels let you instantly adjust how paint is applied to the brush and how the paint ... 4 physical cores/8 logical cores or higher (recommended).. A dynamic soft-body physics vehicle simulator capable of doing just about anything. ... Popular user-defined tags for this product: Simulation .... Easy-to-Use, Powerful Tools for 3D Animation, GPU Rendering, VFX and Motion Design. ... Trapcode Suite 16 With New Physics, Magic Bullet Suite 14 With New Color Workflows Now ... Maxon Cinema 4D Immediately Available for M1-Powered Macs image .. -
Tegra: Mobile & GPU Supercomputing Convergence | GTC 2013
Tegra – at the Convergence of Mobile and GPU Supercomputing Neil Trevett, VP Mobile Content, NVIDIA © 2012 NVIDIA - Page 1 Welcome to the Inaugural GTC Mobile Summit! Tuesday Afternoon - Room 210C Ecosystem Broad View – including Ouya Development Tools – including Tegra 4 and Shield Wednesday Morning - Marriott Ballroom 3 Visualization – including using H.264 for still imagery Augmented device interaction – including depth camera on Tegra Wednesday Afternoon - Room 210C Vision and Computational Photography – including Chimera Web – the fastest mobile browser Mobile Panel – your chance to ask gnarly questions! Select Mobile Summit Tag in your GTC Mobile App! © 2012 NVIDIA - Page 2 Why Mobile GPU Compute? State-of-the-art Augmented Reality without GPU Compute Courtesy Metaio http://www.youtube.com/watch?v=xw3M-TNOo44&feature=related © 2012 NVIDIA - Page 3 Augmented Reality with GPU Compute Research today on CUDA equipped laptop PCs How will this GPU Compute Capability migrate from high- end PCs to mobile? High-Quality Reflections, Refractions, and Caustics in Augmented Reality and their Contribution to Visual Coherence P. Kán, H. Kaufmann, Institute of Software Technology and Interactive Systems, Vienna University of Technology, Vienna, Austria © 2012 NVIDIA - Page 4 Denver CPU Mobile SOC Performance Increases Maxwell GPU FinFET Full Kepler GPU CUDA 5.0 OpenGL 4.3 100 Parker Google Nexus 7 Logan HTC One X+ 100x perf increase in Tegra 4 four years 1st Quad A15 10 Chimera Computational Photography Core i5 Tegra 3 1st Quad A9 1st Power saver 5th core Core 2 Duo Tegra 2 st CPU/GPU AGGREGATE PERFORMANCE AGGREGATE CPU/GPU 1 Dual A9 1 2012 2013 2014 2015 2011 Device Shipping Dates © 2012 NVIDIA - Page 5 Power is the New Design Limit The Process Fairy keeps bringing more transistors. -
Remaster Edition Features
Deceived by the forces of evil into prematurely bringing about the end of the world, War – the first Horseman of the Apocalypse – stands accused of breaking the sacred law by inciting a war between Heaven and Hell. In the slaughter that ensued, the demonic forces defeated the heavenly hosts and laid claim to the Earth. Brought before the sacred Charred Council, War is indicted for his crimes and stripped of his powers. Dishonored and facing his own death, War is given the opportunity to return to Earth to search for the truth and punish those responsible. Hunted by a vengeful group of Angels, War must take on the forces of Hell, forge uneasy alliances with the very demons he hunts, and journey across the ravaged remains of the Earth on his quest for vengeance and vindication. Remaster Edition Features • PS4, Xbox One and Wii U versions of Darksiders (Wrath of War) • Native 1080p rendering resolution • Doubled all the texture resolutions • Rendering improvements and rework • Better shadow rendering quality • Post processing effects Apocalyptic Power – Unleash the wrath of War, combining brutal attacks and supernatural abilities to decimate all who stand in your way • 60 FPS in moment to moment gameplay (PS4, Xbox One, PC, 30 for WiiU) Extreme Arsenal – Wield a devastating arsenal of angelic, demonic and Earthly weapons; and blaze a trail of destruction atop Ruin, War’s fiery phantom steed Epic Quest – Battle across the wastelands and demon-infested dungeons of the decimated Earth in your quest for vengeance and redemption Character Progression – Uncover powerful ancient relics, upgrade your weapons, unlock new abilities, and customize your gameplay style Battle Heaven and Hell – Battle against all who stand in your way - from war-weary angelic forces to Hell’s hideous demon hordes © 2016 by Nordic Games Licensing AB, Sweden. -
Software Design for Pluggable Real Time Physics Middleware
2005:270 CIV MASTER'S THESIS AgentPhysics Software Design for Pluggable Real Time Physics Middleware Johan Göransson Luleå University of Technology MSc Programmes in Engineering Department of Computer Science and Electrical Engineering Division of Computer Science 2005:270 CIV - ISSN: 1402-1617 - ISRN: LTU-EX--05/270--SE AgentPhysics Software Design for Pluggable Real Time Physics Middleware Johan GÄoransson Department of Computer Science and Electrical Engineering, LuleºaUniversity of Technology, [email protected] October 27, 2005 Abstract This master's thesis proposes a software design for a real time physics appli- cation programming interface with support for pluggable physics middleware. Pluggable means that the actual implementation of the simulation is indepen- dent and interchangeable, separated from the user interface of the API. This is done by dividing the API in three layers: wrapper, peer, and implementation. An evaluation of Open Dynamics Engine as a viable middleware for simulating rigid body physics is also given based on a number of test applications. The method used in this thesis consists of an iterative software design based on a literature study of rigid body physics, simulation and software design, as well as reviewing related work. The conclusion is that although the goals set for the design were ful¯lled, it is unlikely that AgentPhysics will be used other than as a higher level API on top of ODE, and only ODE. This is due to a number of reasons such as middleware speci¯c tools and code containers are di±cult to support, clash- ing programming paradigms produces an error prone implementation layer and middleware developers are reluctant to port their engines to Java.