Publications associées à Soft-body dynamics

Implicit Distance Functions: Learning and Applications in Robotics

In this thesis, we address the complex issue of collision avoidance in the joint space of robots. Avoiding collisions with both the robot's own body parts and obstacles in the environment is a critical constraint in motion planning and is crucial for ensur ...

EPFL2023

Gazebo Fluids: SPH-based simulation of fluid interaction with articulated rigid body dynamics

Auke Ijspeert, Jonathan Patrick Arreguit O'Neill, Wei Wang, Emmanouil Angelidis

Physical simulation is an indispensable component of robotics simulation platforms that serves as the basis for a plethora of research directions. Looking strictly at robotics, the common characteristic of the most popular physics engines, such as ODE, DAR ...

IEEE2022

Radatron: Accurate Detection Using Multi-resolution Cascaded MIMO Radar

Haitham Al Hassanieh, Junfeng Guan, Seyedsohrab Madani, Saurabh Gupta, Waleed Ahmed

Millimeter wave (mmWave) radars are becoming a more popular sensing modality in self-driving cars due to their favorable characteristics in adverse weather. Yet, they currently lack sufficient spatial resolution for semantic scene understanding. In this pa ...

SPRINGER INTERNATIONAL PUBLISHING AG2022

Real-time high-resolution omnidirectional imaging platform for drone detection and tracking

Jean-Philippe Thiran, Selman Ergünay, Yusuf Leblebici, Vladan Popovic, Bilal Demir, Gökçen Nurlu

Drones have become steadily affordable, which raises privacy and security concerns as well as interest in drone detection systems. On the other hand, drone detection is a challenging task due to small dimensions of drones, difficulty of long-distance detec ...

SPRINGER HEIDELBERG2020

GarNet: A Two-Stream Network for Fast and Accurate 3D Cloth Draping

Pascal Fua, Mathieu Salzmann, Victor Constantin, Erhan Gündogdu

While Physics-Based Simulation (PBS) can accurately drape a 3D garment on a 3D body, it remains too costly for real-time applications, such as virtual try-on. By contrast, inference in a deep network, requiring a single forward pass, is much faster. Taking ...

IEEE2019

Phace: Physics-based Face Modeling and Animation

Mark Pauly, Ladislav Kavan, Alexandru Eugen Ichim

We present a novel physics-based approach to facial animation. Contrary to commonly used generative methods, our solution computes facial expressions by minimizing a set of non-linear potential energies that model the physical interaction of passive flesh, ...

2017

Reconstructing Personalized Anatomical Models for Physics-based Body Animation

Ladislav Kavan, Alexandru Eugen Ichim

We present a method to create personalized anatomical models ready for physics-based animation, using only a set of 3D surface scans. We start by building a template anatomical model of an average male which supports deformations due to both 1) subject-spe ...

Assoc Computing Machinery2016

Accuracy and Precision of Head Motion Information in Multi-Channel Free Induction Decay Navigators for Magnetic Resonance Imaging

Tobias Kober, Gunnar Krüger, Michael Herbst, Maryna Volodimirivna Waszak

Free induction decay (FID) navigators were found to qualitatively detect rigid-body head movements, yet it is unknown to what extent they can provide quantitative motion estimates. Here, we acquired FID navigators at different sampling rates and simultaneo ...

Ieee-Inst Electrical Electronics Engineers Inc2015

Mechanical form-finding of timber fabric structures

Seyed Sina Nabaei

How about fastening a knot? not with ropes... but with timber panels. Timber Fabric Structures (TFS) originate from such an inspiration. An architectural reinterpretation of fabric techniques (mainly braiding) using building scale timber panels to design ...

EPFL2014

Fast collision detection methods for joint surfaces

Daniel Thalmann, Ronan Boulic, Ehsan Arbabi

In the recent years medical diagnosis and surgery planning often require the precise evaluation of joint movements. This has led to exploit reconstructed three-dimensional models of the joint tissues obtained from CT or MR Images (for bones, cartilages, et ...

2009

Contact mechanics with a multiscale approach

Jean-François Molinari, Guillaume Anciaux

We present a multiscale coupling method to address contact problems. The components of the model are a molecular dynamics engine, a finite element program and a coupling scheme. We validate the approach on an Hertzian contact. Various measures are provided ...

2009

Numerical simulations of nanotribology

Jean-François Molinari, Guillaume Anciaux, Pedro Romero

We present a 3D multiscale coupling method to address sliding contact simulations at the nanoscale. The components of the model are a molecular dynamics engine, a finite element program and a coupling scheme. We consider the normal loading of a rough (frac ...

2009

Fast Non-Rigid Surface Detection, Registration and Realistic Augmentation

Pascal Fua, Vincent Lepetit, Julien Pilet

We present a real-time method for detecting deformable surfaces, with no need whatsoever for a priori pose knowledge. Our method starts from a set of wide baseline point matches between an undeformed image of the object and the image in which it is to be d ...

2008

New insight into cataract formation: Enhanced stability through mutual attraction

Nicolas Dorsaz, Giuseppe Foffi

Small-angle neutron scattering experiments and molecular dynamics simulations combined with an application of concepts from soft matter physics to complex protein mixtures provide new insight into the stability of eye lens protein mixtures. Exploring this ...

2007

A Computer-Based Real-Time Simulation of Interventional Radiology

Hannes Bleuler, Lindo Robert Duratti, Evren Samur, Ulrich Spälter, Fei Wang

Interventional radiology is a minimally invasive procedure where thin instruments, guidewires and catheters or stents are steered through the patient’s vascular system under X- ray imaging for treatment of vascular diseases. The complexity of these procedu ...

2007

Rigid body dynamics simulation for robot motion planning

Alan Ettlin

The development of robot motion planning algorithms is inherently a challenging task. This is more than ever true when the latest trends in motion planning are considered. Some motion planners can deal with kinematic and dynamic constraints induced by the ...

EPFL2006

Real-Time Non-Rigid Surface Detection

Pascal Fua, Vincent Lepetit, Julien Pilet

We present a real-time method for detecting deformable surfaces, with no need whatsoever for a priori pose knowledge. Our method starts from a set of wide baseline point matches between an undeformed image of the object and the image in which it is to be d ...

2005