Friction contact resolution between deformable objects in interactive simulation with haptic feedback.
Identifieur interne : 000230 ( Hal/Curation ); précédent : 000229; suivant : 000231Friction contact resolution between deformable objects in interactive simulation with haptic feedback.
Auteurs : Nadjet Talbi [France]Source :
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Abstract
This thesis deals with the solving of multiple friction contact problems between deformable bodies in the specific area of interactive simulation with force feedback. The general context of this work is the training of medical-surgical gestures via an haptic device. In this type of context, it is often necessary to take into account the global deformations of the organs and the local contact forces due to interactions soft tissues/ soft tissues or to interactions tools/soft tissues. These interactions are the consequences of the friction contact force (dry or viscous). We use the Finite Element Method based on the mechanics theory of continuous media which is certainly the most rigorous method to model linear or non linear behaviours of soft tissues. We also consider that the objects are deformed following the quasi-static equilibrium hypothesis because the operational gestures are slow and the handled objects have low masses. In order to solve these quasi-static equilibrium equations whose unknowns are the forces of contact and the elastic displacements, we use the incremental method of Newton-Raphson. We present various formulations, mainly based on the augmented lagrangian method (pseudo-potentials, bi-potential) to model the contacts laws (Signorini and friction of Coulomb) between deformable objects within a general framework (dynamic, large deformations, explicit or implicit numerical resolution). In order to disconnect the computation of the contact forces from the computation of the elastic displacements, we use the flexibility method which gives the possibility to consider a contact solver independently of the displacement solver. The contact solver is based on " Gauss-Seidel " and " Uzawa " techniques and allows a robust control of the contact forces relative to a given numerical precision. A version of this solver has been realised in which it is not necessary to know the models used for the deformations. A real-time simulator with haptic device has been produced and allowed to test the concepts introduced in this thesis.
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<front><div type="abstract" xml:lang="en">This thesis deals with the solving of multiple friction contact problems between deformable bodies in the specific area of interactive simulation with force feedback. The general context of this work is the training of medical-surgical gestures via an haptic device. In this type of context, it is often necessary to take into account the global deformations of the organs and the local contact forces due to interactions soft tissues/ soft tissues or to interactions tools/soft tissues. These interactions are the consequences of the friction contact force (dry or viscous). We use the Finite Element Method based on the mechanics theory of continuous media which is certainly the most rigorous method to model linear or non linear behaviours of soft tissues. We also consider that the objects are deformed following the quasi-static equilibrium hypothesis because the operational gestures are slow and the handled objects have low masses. In order to solve these quasi-static equilibrium equations whose unknowns are the forces of contact and the elastic displacements, we use the incremental method of Newton-Raphson. We present various formulations, mainly based on the augmented lagrangian method (pseudo-potentials, bi-potential) to model the contacts laws (Signorini and friction of Coulomb) between deformable objects within a general framework (dynamic, large deformations, explicit or implicit numerical resolution). In order to disconnect the computation of the contact forces from the computation of the elastic displacements, we use the flexibility method which gives the possibility to consider a contact solver independently of the displacement solver. The contact solver is based on " Gauss-Seidel " and " Uzawa " techniques and allows a robust control of the contact forces relative to a given numerical precision. A version of this solver has been realised in which it is not necessary to know the models used for the deformations. A real-time simulator with haptic device has been produced and allowed to test the concepts introduced in this thesis.</div>
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<abstract xml:lang="en">This thesis deals with the solving of multiple friction contact problems between deformable bodies in the specific area of interactive simulation with force feedback. The general context of this work is the training of medical-surgical gestures via an haptic device. In this type of context, it is often necessary to take into account the global deformations of the organs and the local contact forces due to interactions soft tissues/ soft tissues or to interactions tools/soft tissues. These interactions are the consequences of the friction contact force (dry or viscous). We use the Finite Element Method based on the mechanics theory of continuous media which is certainly the most rigorous method to model linear or non linear behaviours of soft tissues. We also consider that the objects are deformed following the quasi-static equilibrium hypothesis because the operational gestures are slow and the handled objects have low masses. In order to solve these quasi-static equilibrium equations whose unknowns are the forces of contact and the elastic displacements, we use the incremental method of Newton-Raphson. We present various formulations, mainly based on the augmented lagrangian method (pseudo-potentials, bi-potential) to model the contacts laws (Signorini and friction of Coulomb) between deformable objects within a general framework (dynamic, large deformations, explicit or implicit numerical resolution). In order to disconnect the computation of the contact forces from the computation of the elastic displacements, we use the flexibility method which gives the possibility to consider a contact solver independently of the displacement solver. The contact solver is based on " Gauss-Seidel " and " Uzawa " techniques and allows a robust control of the contact forces relative to a given numerical precision. A version of this solver has been realised in which it is not necessary to know the models used for the deformations. A real-time simulator with haptic device has been produced and allowed to test the concepts introduced in this thesis.</abstract>
<abstract xml:lang="fr">Cette thèse traite de la résolution de contacts multiples frottants entre objets déformables dans le cadre de la simulation interactive avec retour d'effort. Le contexte de ces travaux est l'apprentissage des gestes médicaux-chirurgicaux par l'intermédiaire d'une interface haptique. Dans ce type de contexte, il est nécessaire de prendre en compte la déformation des organes, les interactions organes/organes et les interactions outils/organes. Ces interactions sont du type contact avec frottements (secs ou visqueux). On utilise la Méthode des Eléments Finis appliquée aux équations de la Mécanique des Milieux Continus qui est certainement la méthode la plus rigoureuse pour modéliser le comportement linéaire ou non linéaire des tissus mous. On considère que les objets se déforment dans un état d'équilibre quasi-statique car les gestes opératoires sont lents et les objets manipulés sont de faible masse. Afin de résoudre ces équations d'équilibre quasi-statique dont les inconnues sont les forces de contact et les déplacements élastiques, on utilise la méthode incrémentale de Newton-Raphson. Plusieurs formulations, basées principalement sur le lagrangien augmentée (pseudo-potentiels, bi-potentiel), sont présentées pour modéliser les lois de contact frottant (Signorini et frottement de Coulomb) entre objets déformables dans un cadre très général (statique/dynamique, grandes déformations, schémas numériques : explicite, implicite). Afin de séparer le calcul des forces de contact du calcul des déplacements élastiques, on utilise la méthode de flexibilité laquelle permet de considérer un solveur de force de contact indépendamment du solveur des déplacements. Le solveur de forces de contact utilise des techniques de résolution numérique type " Gauss-Seidel " et " Uzawa " et permet un contrôle robuste de la solution en fonction de la précision demandée. Une version de ce solveur a été développée dans laquelle, il n'est pas nécessaire de connaître les modèles utilisés au niveau des déformations. Un simulateur temps réel avec interface haptique appelé " HapCo " a été mis au point et a permis de valider les concepts introduits dans cette thèse.</abstract>
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