Jernej Barbic's research while affiliated with University of Southern California and other places
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Publications (60)
Modeling arbitrarily large deformations of surfaces smoothly embedded in three-dimensional space is challenging. We give a new method to represent surfaces undergoing large spatially varying rotations and strains, based on differential geometry, and surface first and second fundamental forms. Methods that penalize the difference between the current...
We consider the problem of identifying material parameters of a deformable object, such as elastic moduli, by non-destructive robotic manipulation. We assume known geometry and mass, a reliable fixed grasp, and the ability to track the positions of a few points on the object surface. We collect a dataset of grasp pose sequences and corresponding po...
Precision modeling of the hand internal musculoskeletal anatomy has been largely limited to individual poses, and has not been connected into continuous volumetric motion of the hand anatomy actuating across the hand's entire range of motion. This is for a good reason, as hand anatomy and its motion are extremely complex and cannot be predicted mer...
Deep learning based image segmentation methods have showcased tremendous potential in defect detection applications for several manufacturing processes. Currently, majority of deep learning research for defect detection focuses on manufacturing processes where the defects have well defined features and there is tremendous amount of image data avail...
Modeling arbitrarily large deformations of surfaces smoothly embedded in three-dimensional space is challenging. The difficulties come from two aspects: the existing geometry processing or forward simulation methods penalize the difference between the current status and the rest configuration to maintain the initial shape, which will lead to sharp...
Automation of high-performance manufacturing processes such as prepreg composite layup has been gaining a lot of interest lately. Reliable and accurate defect detection methods play a crucial role in the automation of such processes to maintain the desired quality. The composite prepreg layup process involves manipulation of sheet-like material. Tr...
Humans routinely sit or lean against supporting surfaces and it is important to shape these surfaces to be comfortable and ergonomic. We give a method to design the geometric shape of rigid supporting surfaces to maximize the ergonomics of physically based contact between the surface and a deformable human. We model the soft deformable human using...
The composite sheet layup process involves stacking several layers of a viscoelastic prepreg sheet and curing the laminate to manufacture the component. Demands for automating functional tasks in the composite manufacturing processes have dramatically increased in the past decade. A simulation system representing a digital twin of the composite she...
We present a method for modeling solid objects undergoing large spatially varying and/or anisotropic strains, and use it to reconstruct human anatomy from medical images. Our novel shape deformation method uses plastic strains and the finite element method to successfully model shapes undergoing large and/or anisotropic strains, specified by sparse...
The composite sheet layup process involves stacking several layers of a viscoelastic prepreg sheet and curing the laminate to manufacture the component. Demands for automating functional tasks in the composite manufacturing processes have dramatically increased in the past decade. A simulation system representing a digital twin of the composite she...
Fast and light-weight methods for animating 3D characters are desirable in various applications such as computer games. We present a learning-based approach to enhance skinning-based animations of 3D characters with vivid secondary motion effects. We design a neural network that encodes each local patch of a character simulation mesh where the edge...
Physically based simulation is often combined with geometric mesh animation to add realistic soft‐body dynamics to virtual characters. This is commonly done using constraint‐based simulation whereby a soft‐tissue simulation is constrained to geometric animation of a subpart (or otherwise proxy representation) of the character. We observe that stand...
We give a method for modeling solid objects undergoing large spatially varying and/or anisotropic strains, and use it to reconstruct human anatomy from medical images. Our novel shape deformation method uses plastic strains and the Finite Element Method to successfully model shapes undergoing large and/or anisotropic strains, specified by sparse po...
Haptics plays an important role in training users to assemble mechanical components such as airplane or car parts. Because mechanical components are often geometrically complex, efficient collision detection and 6-DoF haptic rendering of contact are required for virtual assembly, and this has been extensively explored in prior work. However, as our...
We describe an efficient method to model shapes undergoing contact and self-contact. Previous shape modeling methods mostly focused on deformations (without contact), and, if used directly for contact, suffer from excessively long calculation times when new contacts are detected. In our work, we demonstrate fast, output-sensitive shape modeling tha...
We demonstrate how to acquire complete human hand bone anatomy (meshes) in multiple poses using magnetic resonance imaging (MRI). Such acquisition was previously difficult because MRI scans must be long for high-precision results (over 10 minutes) and because humans cannot hold the hand perfectly still in non-trivial and badly supported poses. We i...
Self-intersecting, or nearly self-intersecting, meshes are commonly found in 2D and 3D computer graphics practice. Self-intersections occur, for example, in the process of artist manual work, as a by-product of procedural methods for mesh generation, or due to modeling errors introduced by scanning equipment. If the space bounded by such inputs is...
Simulating frictional contact between objects with complex geometry is important for 6-DoF haptic rendering applications. For example, friction determines whether components can be navigated past narrow clearances in virtual assembly. State-of-the-art haptic rendering of frictional contact either augments penalty contact with frictional penalty spr...
To date, material modeling in physically based computer animation has largely focused on mass and stiffness material properties. However, deformation dynamics is largely affected also by the damping properties. In this paper, we propose an interactive design method for nonlinear isotropic and anisotropic damping of complex three-dimensional solids...
Botanical simulation plays an important role in many fields including visual effects, games and virtual reality. Previous plant simulation research has focused on computing physically based motion, under the assumption that the material properties are known. It is too tedious and impractical to manually set the spatially-varying material properties...
We present a system to combine arbitrary triangle mesh animations with physically based Finite Element Method (FEM) simulation, enabling control over the combination both in space and time. The input is a triangle mesh animation obtained using any method, such as keyframed animation, character rigging, 3D scanning, or geometric shape modeling. The...
We present an algorithm for fast continuous collision detection between points and signed distance fields, and demonstrate how to robustly use it for 6-DoF haptic rendering of contact between objects with complex geometry. Continuous collision detection is often needed in computer animation, haptics and virtual reality applications, but has so far...
We present state-of-the-art character animation techniques for generating realistic anatomical motion of muscles, fat, and skin. Physics-based character animation uses computational resources in lieu of exhaustive artist effort to produce physically realistic images and animations. This principle has already seen widespread adoption in rendering, f...
We enrich character animations with secondary soft-tissue Finite Element Method (FEM) dynamics computed under arbitrary rigged or skeletal motion. Our method optionally incorporates pose-space deformation (PSD). It runs at milliseconds per frame for complex characters, and fits directly into standard character animation pipelines. Our simulation me...
The penalty method is a popular approach to resolving contact in haptic rendering. In simulations involving complex distributed contact, there are, however, many simultaneous individual contacts. These contacts have normals pointing in several directions, many of which may be parallel, causing the stiffness to effectively accumulate in a temporally...
In this chapter, we focus on three–dimensional elastic bodies undergoing deformation in space and discuss how we can formulate quantitative descriptions for the deformed shape of an object and the forces resulting from it. To a certain extent, these formulations are analogous to similar concepts from mass–spring systems, or deformable elastic stran...
The preceding chapters detailed a variety of physical laws that may be used to describe the response of elastic materials to deformation. Up to this point, these laws were expressed relative to a continuous deformation in space. Naturally, in order to enable numerical simulation all such laws have to be discretized; physical quantities such as the...
In this chapter we survey a number of different simulated materials and describe how their physical properties are encoded in their respective governing equations. The mathematical description of the physical traits of a given material is referred to as its constitutive model and includes the equations that relate stimuli (e.g., deformations) to th...
This book serves as a practical guide to simulation of 3D deformable solids using the Finite Element Method (FEM). It reviews a number of topics related to the theory and implementation of FEM approaches: measures of deformation, constitutive laws of nonlinear materials, tetrahedral discretizations, and model reduction techniques for real-time simu...
The Finite Element Method (FEM) is commonly used to simulate isotropic deformable objects in computer graphics. Several applications (wood, plants, muscles) require modeling the directional dependence of the material elastic properties in three orthogonal directions. We investigate linear orthotropic materials, a special class of linear anisotropic...
The Finite Element Method is widely used for solid deformable object simulation in film, computer games, virtual reality and medicine. Previous applications of nonlinear solid elasticity employed materials from a few standard families such as linear corotational, nonlinear St.Venant-Kirchhoff, Neo-Hookean, Ogden or Mooney-Rivlin materials. However,...
We propose a method to design linear deformation subspaces, unifying linear blend skinning and generalized barycentric coordinates. Deformation subspaces cut down the time complexity of variational shape deformation methods and physics-based animation (reduced-order physics). Our subspaces feature many desirable properties: interpolation, smoothnes...
We present a technique for synthesizing the effects of skin microstructure deformation by anisotropically convolving a high-resolution displacement map to match normal distribution changes in measured skin samples. We use a 10-micron resolution scanning technique to measure several in vivo skin samples as they are stretched and compressed in differ...
The penalty method is a simple and popular approach to resolving contact in computer graphics and robotics. Penalty-based contact, however, suffers from stability problems due to the highly variable and unpredictable net stiffness, and this is particularly pronounced in simulations with time-varying distributed geometrically complex contact. We emp...
We endeavor to model dynamic microfacet distributions of rough surfaces such as skin to simulate the changes in surface BRDF under stretching and compression. We begin by measuring microfacet distributions at 5-micron scale of several surface patches under controlled deformation. Generally speaking, rough surfaces become flatter and thus shinier as...
Physically based simulation can produce quality motion of plants, but requires an authoring stage to convert plant "polygon soup" triangle meshes to a format suitable for physically based simulation. We give a system that can author complex simulation-ready plants in a manner of minutes. Our system decomposes the plant geometry, establishes a hiera...
This practice and experience paper describes a robust C++ implementation of several non‐linear solid three‐dimensional deformable object strategies commonly employed in computer graphics, named the Vega finite element method (FEM) simulation library. Deformable models supported include co‐rotational linear FEM elasticity, Saint–Venant Kirchhoff FEM...
A practical guide to finite-element-method (FEM) simulation of 3D deformable solids reviews essential offline FEM simulation techniques: complex nonlinear materials, invertible treatment of elasticity, and model-reduction techniques for real-time simulation.
Simulations of deformable solids are important in many applications in computer graphics, i...
We present an interactive animation editor for complex deformable object animations. Given an existing animation, the artist directly manipulates the deformable body at any time frame, and the surrounding animation immediately adjusts in response. The automatic adjustments are designed to respect physics, preserve detail in both the input motion an...
We present a new technique for physically-plausible shape blending by interpolating the spring rest length parameters of a mass-spring system. This blendshape method begins by constructing two consistent mass-spring systems (i.e., with vertex-wise correspondence and the same topology) for source and target shapes, respectively, and setting the two...
This paper shows a method to extend 3D nonlinear elasticity model reduction to open-loop multi-level reduced deformable structures. Given a volumetric mesh, we decompose the mesh into several subdomains, build a reduced deformable model for each domain, and connect the domains using inertia coupling. This makes model reduction deformable simulation...
We show how to greatly accelerate self-collision detection (SCD) for reduced deformable models. Given a triangle mesh and a set of deformation modes, our method precomputes Subspace Self-Collision Culling (SSCC) certificates which, if satisfied, prove the absence of self-collisions for large parts of the model. At runtime, bounding volume hierarchi...
Keyframe animation is a common technique to generate animations of deformable characters and other soft bodies. With spline interpolation, however, it can be difficult to achieve secondary motion effects such as plausible dynamics when there are thousands of degrees of freedom to animate. Physical methods can provide more realism with less user eff...
In this demonstration, we show haptic results from our research on distributed contact between deformable objects with complex geometry. The demos run at 1000 Hz, and support 6-DoF haptic rendering. Real-time evaluation of distributed contact forces between rigid or deformable 3D objects is a key ingredient of 6-DoF force-feedback rendering. We dem...
Recent advances have brought real-time physically based simula- tion within reach, but simulations are still difficult to control in real time. We present interactive simulations of passive systems such as deformable solids or fluids that are not only fast, but also directable: they follow given input trajectories while simultaneously reacting to u...
Real-time evaluation of distributed contact forces between rigid or deformable 3D objects is a key ingredient of 6-DoF force-feedback rendering. Unfortunately, at very high temporal rates, there is often insufficient time to resolve contact between geometrically complex objects. We propose a spatially and temporally adaptive approach to approximate...
Real-time evaluation of distributed contact forces for rigid or deformable 3D objects is important for providing multi-sensory feedback in emerging real-time applications, such as 6-DoF haptic force-feedback rendering. Unfortunately, at very high temporal rates (1 kHz for haptics), there is often insufficient time to resolve distributed contact bet...
Simulating sounds produced by realistic vibrating objects is chal- lenging because sound radiation involves complex diffraction and interreflection effects that are very perceptible and important. These wave phenomena are well understood, but have been largely ig- nored in computer graphics due to the high cost and complexity of computing them at a...
Simulating sounds produced by realistic vibrating objects is challenging because sound radiation involves complex diffraction and interreflection effects that are very perceptible and important. These wave phenomena are well understood, but have been largely ignored in computer graphics due to the high cost and complexity of computing them at audio...
In this paper, we present an approach for fast subspace integration of reduced-coordinate nonlinear deformable models that is suitable for interactive applications in computer graphics and haptics. Our approach exploits dimensional model reduction to build reduced-coordinate deformable models for objects with complex geometry. We exploit the fact t...
Introduction The vast majority of geometric meshes used in computer graphics are optimized for rendering, and not deformable object simulation. Despite tools for volume (or surface) (re)meshing of geometric models to support physical simulation, in practice, the construction of physically based deformable models from arbitrary graphical models rema...
Citations
... Synthetic data are being created using physics-based simulations as well as generative AI tools. Both methods show promise and the future points to a hybrid approach that leverages the strengths of both methods [29,30]. ...
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... Modeling shape deformation is an important topic in computer graphics and encountered in many sub-disciplines, including geometric modeling [Alexa et al. 2006;Botsch and Sorkine 2008], physically based FEM simulation [Sifakis and Barbič 2015] and mesh non-rigid registration [Allen et al. 2003]. In general, a shape deformation problem can be treated as an optimization problem whose objective function is defined as the "smoothness" of the shape, combined with some user constraints. ...
... One could think of several approaches to capture the expert's policy to sequence these tasks, e.g., using physicsbased simulation for planning defect-free sequences. However, simulating defects in a process such as composite prepreg layup that involves manipulating a sheet can be complex [2]- [4]. Additionally, heuristic-based approaches to capture this policy can be cumbersome and may be hard to generalize. ...
... Other methods focus on learning tasks over one template mesh [Tan et al. 2018;, and assign per-vertex coordinates [Shen et al. 2021] or offsets from a simpler (e.g., linear) model [Bailey et al. 2018[Bailey et al. , 2020Romero et al. 2021;Zheng et al. 2021;Yin et al. 2021]. ...
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... Montes et al., (2020) recently developed a design method for tight clothing that considers design and comfort metrics, and accounts for simulation models of both clothing and the body. Zhao et al., (2021) recently developed a similar method to design supporting surfaces for the human body, accounting for metrics that optimize ergonomics. ...
... One could think of several approaches to capture the expert's policy to sequence these tasks, e.g., using physicsbased simulation for planning defect-free sequences. However, simulating defects in a process such as composite prepreg layup that involves manipulating a sheet can be complex [2]- [4]. Additionally, heuristic-based approaches to capture this policy can be cumbersome and may be hard to generalize. ...
![[object Object]](https://i1.rgstatic.net/ii/profile.image/1069286609141763-1631949202885_Q64/Yi-Wei-Chen-9.jpg)
![[object Object]](https://i1.rgstatic.net/ii/profile.image/862649466236929-1582683068061_Q64/Alec-Kanyuck.jpg)
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... The various approaches to geometric fitting differ in the first place in terms of their input data. Common choices include dense point clouds coming from scanners (Li et al., 2008), volume images such as CT-scans (Gill et al., 2012), or sparse landmarks (Wang et al., 2021). ...
![[object Object]](https://i1.rgstatic.net/ii/profile.image/577319725002753-1514655156333_Q64/George-Matcuk.jpg)
... The proposed simulation and real-time sheet tracking system can play a pivotal role in predicting optimal grasping locations for the draping of composite sheet. These grasping locations can then be used to deploy a human robot collaborative cell where the robots can aid the human in the draping process by holding the sheet appropriately [23]. Furthermore, the sheet tracking data can act as a rectifying input for the grasping location in case of sub-optimal simulator predictions. ...
... Although these methods are robust and accurate, they cannot be implemented online, making robotic automation an open-loop process. With the gaining momentum for automation in such high-performance applications [20,[25][26][27][28][29], it is important to focus on in-process defect detection applications. Elkington et al. [30] demonstrated the use of tactile shape sensing for detecting defects online, but this method cannot be used to prevent the formation of defects in the first place. ...
... This GPGPU approach was one of the first to dispense with shader and texture-based graphics programming, which is low level and not very portable, facilitating the exploitation of scientific, engineering and industrial problems [239][240][241][242][243][244][245][246][247][248][249][250] to Nvidia technologies, being designed specifically for their GPUs, and not any type of accelerator and manufacturer. ...
