{"id":74344,"date":"2005-03-06T00:00:00","date_gmt":"2005-03-06T00:00:00","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/nuevas-estrategias-para-tiempo-real-en-modelos-matematicos-de-terrenos-dinamicos-basados-en-dem-aplicacion-a-los-simuladores-de-entrenamiento\/"},"modified":"2005-03-06T00:00:00","modified_gmt":"2005-03-06T00:00:00","slug":"nuevas-estrategias-para-tiempo-real-en-modelos-matematicos-de-terrenos-dinamicos-basados-en-dem-aplicacion-a-los-simuladores-de-entrenamiento","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/sistemas-en-tiempo-real\/nuevas-estrategias-para-tiempo-real-en-modelos-matematicos-de-terrenos-dinamicos-basados-en-dem-aplicacion-a-los-simuladores-de-entrenamiento\/","title":{"rendered":"Nuevas estrategias para tiempo real en modelos matem\u00e1ticos de terrenos din\u00e1micos basados en dem. aplicaci\u00f3n a los simuladores de entrenamiento"},"content":{"rendered":"<h2>Tesis doctoral de <strong> Jon Ares Azpiroz <\/strong><\/h2>\n<p>Titulo: nuevas estrategias para tiempo real en modelos matem\u00e1ticos de terrenos din\u00e1micos basados en dem. Aplicaci\u00f3n a los simuladores de entrenamiento #resumen: la reducci\u00f3n en el precio de los ordenadores y en el coste de los componentes electr\u00f3nicos ha propiciado una transferencia de la tecnolog\u00eda desarrollada en la simulaci\u00f3n militar hacia la simulaci\u00f3n civil, como consecuencia de este hecho, el empleo de los simuladores para la formaci\u00f3n de profesionales se ha ido extendiendo a casi todos los \u00e1mbitos de la vida diaria. La aplicaci\u00f3n de las nuevas t\u00e9cnicas de entrenamiento y el af\u00e1n por dotar de mayor realismo a las aplicaciones han generado nuevos requerimientos en las prestaciones de los simuladores. De esta forma, para los simuladores de entrenamiento de veh\u00edculos de movimiento de tierras, se plantea la necesidad de visualizar en tiempo real las modificaciones realizadas en el terreno durante los ejercicios. Frente a los dise\u00f1os de car\u00e1cter microsc\u00f3pico desarrollados en otras disciplinas de la ingenier\u00eda civil, los requerimientos principales de estos simuladores se traducen en dos puntos: por un lado, la aplicaci\u00f3n en tiempo real de una apariencia visual del terreno basada en sus propiedades f\u00edsicas y, por otro lado, una generaci\u00f3n de los esfuerzos sobre la herramienta para provocar sensaciones de movimiento realistas sobre el usuario del simulador. Se incide, por lo tanto, en la idea de reproducir las roturas y las grandes deformaciones discontinuas que se producen en los procesos de movimiento de tierras. El c\u00e1lculo y la representaci\u00f3n din\u00e1mica de la evoluci\u00f3n del terreno es un problema de gran complejidad cuya resoluci\u00f3n se desglosa en tres m\u00f3dulos. El primero de ellos consiste en el modelado matem\u00e1tico de la interacci\u00f3n del terreno con las herramientas del veh\u00edculo que se simula. El segundo de los m\u00f3dulos se encarga de la gesti\u00f3n de la base de datos del terreno y el \u00faltimo se ocupa de su visualizaci\u00f3n. El trabajo que se presenta en la memoria se ha centrado en el desarrollo gen\u00e9rico de modelos matem\u00e1ticos de terrenos y su interacci\u00f3n con herramientas de la maquinaria de movimiento de tierras. El estudio realizado ha permitido desarrollar un software flexible para el modelado de terrenos din\u00e1micos en 3d a partir de la modificaci\u00f3n del m\u00e9todo num\u00e9rico de los elementos discretos (dem). El terreno se ha modelado mediante objetos esf\u00e9ricos simples y agrupaciones de estos, clusters, con una distribuci\u00f3n variable de tama\u00f1os y densidades. El an\u00e1lisis de los resultados ha revelado que la apariencia visual y los esfuerzos generados son adecuados a los objetivos planteados. La gran capacidad de c\u00e1lculo computacional que demanda la etapa de la detecci\u00f3n de contactos se ha reducido mediante la aplicaci\u00f3n de la t\u00e9cnica de subdivisi\u00f3n espacial uniforme. No obstante, el requerimiento de tiempo real que exige la aplicaci\u00f3n ha motivado el desarrollo de m\u00e9todos de optimizaci\u00f3n y t\u00e9cnicas de simplificaci\u00f3n en el modelo. El dise\u00f1o de un algoritmo novedoso para la b\u00fasqueda eficaz de los contactos entre el terreno y la herramienta y el filtrado de las fuerzas de contacto han reducido considerablemente los tiempos de ejecuci\u00f3n del modelo. A pesar de todas las modificaciones realizadas en el modelo secuencial, se ha desarrollado un algoritmo de paralelizaci\u00f3n para garantizar el requerimiento de tiempo real. El modelo paralelo es aplicable en arquitecturas de memoria distribuida formadas por varios procesadores. Los resultados obtenidos en una arquitectura formada por dos procesadores en paralelo avalan la eficiencia del algoritmo y abren el camino para su integraci\u00f3n en un simulador de maquinaria de obras p\u00fablicas. price reduction on computers and electronic components has favoured the transference of the technology developed in military training simulators to civil applications. As a consequence of this fact, the use of simulators to train professionals has been extended to practican y all daily life fields. The application of new training methods and the need to provide more realism to them have generated new requirements for simulator performances. Therefore, training simulators of earthmoving vehicles require the visualization in real time of every modification made on terrain during exercises. Contrary to microscopic designs developed by other civil engineering disciplines, the main requirements of these simulators are, on one hand, real time application of a terrain visual appearance based on its physical properties and, on the other hand, generation of forces acting on the tool in order to cause a realistic motion feeling on the simulator user. Special attention is paid on reproducing cracks and large discontinuous deformations of earthmoving processes. The simulation and dynamic representation of the terrain evolution is a very complex problem; its resolution is detached in three modules. The first one consists of mathematical modelling of the interaction between terrain and simulated vehicle tools. The second module takes charge of the terrain database management and the last one deals with visualization. This work has been focused on generic development of terrain mathematical models and its interaction with earthmoving vehicle tools. This study has made possible the development of flexible software for 3d dynamic terrain modelling starting from discrete element method (dem) modification. Terrain has been modelled through simple spherical objects and their groupings, clusters, with a variable distribution of sizes and densities. Analysis of results has showed that visual appearance and forces generation are suitable for the suggested purposes. The enormous computational effort requested by contact detection stage has been reduced by uniform spatial subdivisi\u00f3n technique. Nevertheless, real time requirement requested by the appli cati\u00f3n has motivated the development of optimization and simplificati\u00f3n techniques on the model. A new algorithm design for efficient contact searching between terrain and tool and contact forces filtering have considerably reduced execution times of the model however, despite all modifications made on the sequential model, a parallel algorithm has been developed in order to guarantee real time requirement. The parallel model can be used for distributed memory architectures made up of several processors. The results obtained in a parallel architecture formed by two processors assures the efficiency of the algorithm and enables its integration on an earthmoving simulator.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Nuevas estrategias para tiempo real en modelos matem\u00e1ticos de terrenos din\u00e1micos basados en dem. aplicaci\u00f3n a los simuladores de entrenamiento<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Nuevas estrategias para tiempo real en modelos matem\u00e1ticos de terrenos din\u00e1micos basados en dem. aplicaci\u00f3n a los simuladores de entrenamiento <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Jon Ares Azpiroz <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Navarra<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 03\/06\/2005<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<h3>Direcci\u00f3n y tribunal<\/h3>\n<ul>\n<li><strong>Director de la tesis<\/strong>\n<ul>\n<li>Alfonso Brazalez Guerra<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: alejo Avello iturriagagoitia <\/li>\n<li>alejandro Garcia-alonso montoya (vocal)<\/li>\n<li>Rafael Javier Martinez dura (vocal)<\/li>\n<li>Juan  Manuel Pagalday erana (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Jon Ares Azpiroz Titulo: nuevas estrategias para tiempo real en modelos matem\u00e1ticos de terrenos din\u00e1micos basados en 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