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juicebottleAI and Robotics

Nov 14, 2013 (3 years and 11 months ago)

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DTSI / Interfaces, Cogniticsand virtual Reality Unit
© CEA [2007]. All rightsreserved. Anyreproduction in wholeor in part on anymedium or use of the information containedhereinisprohibitedwithoutthe priorwrittenconsent of CEA
V
V
irtual
irtual
R
R
eality
eality
CEA
CEA
-
-
LIST
LIST
70 staff (40 permanents + PhDs+ PostDocs) Contact : leservot@cea.fr
laurent.chodorge@cea.fr
www-list.cea.fr
DTSI / Interfaces, Cogniticsand virtual Reality Unit
© CEA [2007]. All rightsreserved. Anyreproduction in wholeor in part on anymedium or use of the information containedhereinisprohibitedwithoutthe priorwrittenconsent of CEA
Technology
Technology
Research
Research
Division
Division
(DRT)
(DRT)
liten
Fundamental
Research
Physicalsciences
Biotech.
CEA: appliedresearchlab
15 000 researchstaff
2.8 G euros annualbudget
LIST
500 researchstaff
40 M euros annualbudget
DTSI / Interfaces, Cogniticsand virtual Reality Unit
© CEA [2007]. All rightsreserved. Anyreproduction in wholeor in part on anymedium or use of the information containedhereinisprohibitedwithoutthe priorwrittenconsent of CEA
Virtual Reality R&D and applications
Digital mockup
Interactive
simulation
Interfaces
© PSA Peugeot Citroën
DTSI / Interfaces, Cogniticsand virtual Reality Unit
© CEA [2007]. All rightsreserved. Anyreproduction in wholeor in part on anymedium or use of the information containedhereinisprohibitedwithoutthe priorwrittenconsent of CEA
HapticInterfaces: force-feedback& tactile
Hapticfor Virtual Reality
(Destkop& Scale One)
Tactile
USES
HAPTION StartUp
DTSI / Interfaces, Cogniticsand virtual Reality Unit
© CEA [2007]. All rightsreserved. Anyreproduction in wholeor in part on anymedium or use of the information containedhereinisprohibitedwithoutthe priorwrittenconsent of CEA
VIFLEX & VIBEE
Lightweightmobile haptic interface
High levelof integration
Platform –2 DOF
DTSI / Interfaces, Cogniticsand virtual Reality Unit
© CEA [2007]. All rightsreserved. Anyreproduction in wholeor in part on anymedium or use of the information containedhereinisprohibitedwithoutthe priorwrittenconsent of CEA
Light weightmobile haptic interface
High levelof integration
Platform –2 DOF
Samuel Roselier –Florent Souvestre
Tip/Tilt hapticinterface -VIFLEX
DTSI / Interfaces, Cogniticsand virtual Reality Unit
© CEA [2007]. All rightsreserved. Anyreproduction in wholeor in part on anymedium or use of the information containedhereinisprohibitedwithoutthe priorwrittenconsent of CEA
MR fluidbase hapticinterface
DTSI / Interfaces, Cogniticsand virtual Reality Unit
© CEA [2007]. All rightsreserved. Anyreproduction in wholeor in part on anymedium or use of the information containedhereinisprohibitedwithoutthe priorwrittenconsent of CEA
Interfaces for Entreprise Workspace
Data Exploration & manipulation
Interactive screens
Sensitive clothes
immersives rooms
DTSI / Interfaces, Cogniticsand virtual Reality Unit
© CEA [2007]. All rightsreserved. Anyreproduction in wholeor in part on anymedium or use of the information containedhereinisprohibitedwithoutthe priorwrittenconsent of CEA
VR controller


VR:
VR:
Interactive
Interactive
Simulation
Simulation
Soft systems
physical
mannikin


Interactive
simulation of physicalphenomena
answeringindustrialneeds
Virtual
Virtual
prototyping
prototyping
Plant
Plant
security
security
Physical
Mannikin
Scientificthematics
•Collision detection
•physicalcontact models
•numericalsolver
•Geometricpropagation
•control, balance
•prehension/manipulation
•soft body mechanics
•solids
•fluids
•propagation
•interactions
•optimization(//, …),
«distribution »
Accessibility
study
(rigidmono/multibody)
Soft body
(cables, shells)
Collaborative
work
Guides/assistances
(visual, sound, haptics)
Scenarization
Robotic
Simulation
Radiological
Simulation
Fluid
propagation
(gases, smokes, …)
simplified
Cutting/breaking
DTSI / Interfaces, Cogniticsand virtual Reality Unit
© CEA [2007]. All rightsreserved. Anyreproduction in wholeor in part on anymedium or use of the information containedhereinisprohibitedwithoutthe priorwrittenconsent of CEA

How doesitwork
withhapticsor mocap?
Controller
-Virtual coupling
-Virtual kinematic
-PriorizedMulti-
Target Control
-Balance control
Real Time simu
-collision
-exact contact
-friction
-kinematic
-joint limits
-linearFEM
Virtools
Position
3DXML
Tesselation
Tesselation

1 Khz
200 –1000 Hz
DTSI / Interfaces, Cogniticsand virtual Reality Unit
© CEA [2007]. All rightsreserved. Anyreproduction in wholeor in part on anymedium or use of the information containedhereinisprohibitedwithoutthe priorwrittenconsent of CEA

Assembly& Ergonomicsstudies
Computation time < 1 ms, accuracy < 2
mm, Dell Xeon 5110
Data © PSA peugeotcitroën
Computation time < 20 ms, accuracy < 1 mm
Dell Xeon 5110
DTSI / Interfaces, Cogniticsand virtual Reality Unit
© CEA [2007]. All rightsreserved. Anyreproduction in wholeor in part on anymedium or use of the information containedhereinisprohibitedwithoutthe priorwrittenconsent of CEA
Roboticsapplications
DTSI / Interfaces, Cogniticsand virtual Reality Unit
© CEA [2007]. All rightsreserved. Anyreproduction in wholeor in part on anymedium or use of the information containedhereinisprohibitedwithoutthe priorwrittenconsent of CEA

Interactive
Manipulation
withART™
Interactive grasping
Physicalmannikin
For accessibility&
ergonomicsstudies
DTSI / Interfaces, Cogniticsand virtual Reality Unit
© CEA [2007]. All rightsreserved. Anyreproduction in wholeor in part on anymedium or use of the information containedhereinisprohibitedwithoutthe priorwrittenconsent of CEA
© Renault

Dynamics& Automaticmodes

VirtualHumanin digital factory
DTSI / Interfaces, Cogniticsand virtual Reality Unit
© CEA [2007]. All rightsreserved. Anyreproduction in wholeor in part on anymedium or use of the information containedhereinisprohibitedwithoutthe priorwrittenconsent of CEA
Interactive simulation of flexible parts
© Renault
© Renault
DTSI / Interfaces, Cogniticsand virtual Reality Unit
© CEA [2007]. All rightsreserved. Anyreproduction in wholeor in part on anymedium or use of the information containedhereinisprohibitedwithoutthe priorwrittenconsent of CEA
Collaborative haptics
(Part@geproject)
© Renault
DTSI / Interfaces, Cogniticsand virtual Reality Unit
© CEA [2007]. All rightsreserved. Anyreproduction in wholeor in part on anymedium or use of the information containedhereinisprohibitedwithoutthe priorwrittenconsent of CEA
VR for security: nuclear, chemicalplants…
PartnershipwithAREVA
DTSI / Interfaces, Cogniticsand virtual Reality Unit
© CEA [2007]. All rightsreserved. Anyreproduction in wholeor in part on anymedium or use of the information containedhereinisprohibitedwithoutthe priorwrittenconsent of CEA
Disabled: assistances, hapticsguides
exampleon the rehabilitation
withforce feedback
(KINE HAPTIQUE
project)
DTSI / Interfaces, Cogniticsand virtual Reality Unit
© CEA [2007]. All rightsreserved. Anyreproduction in wholeor in part on anymedium or use of the information containedhereinisprohibitedwithoutthe priorwrittenconsent of CEA
Scenarize«Smart Manipulation»
cogniticsto help takea waterglass manually
–GIVE ME A GLASS ofWATER
–Location search
•Kitchen, bathroom
–Glass search
•Wherein thekitchen?
•Taketheglass
–Filltheglass withwater
•Open thewatervalve
•Taketheglass
•Put theglass underthewaterflow
•Close thevalve
–Ontology, action verbs…
DTSI / Interfaces, Cogniticsand virtual Reality Unit
© CEA [2007]. All rightsreserved. Anyreproduction in wholeor in part on anymedium or use of the information containedhereinisprohibitedwithoutthe priorwrittenconsent of CEA
What’s aroundglass, fromcognitics
Glass
SUJET être( 49 )
, avoir( 37 )
, servir( 6 )
,
contenir
contenir( 5 )
, couler( 5 )
, devoir( 5 )
,
pouvoir( 5 )
, rendre( 4 )
, rester( 4 )
, tomber
( 4 )
, commencer( 3 )
, retirer( 3 )
, venir( 3
)
, aller( 2 )
, boire( 2 )
, …
OBJET réaliser( 123 )
, prendre( 106 )
,
boire
boire( 102 )
, être( 57 )
, servir( 54 )
, avoir(
40 )
, verser( 32 )
, lever( 26 )
, finir( 24 )
,
offrir( 18 )
,
remplir
remplir( 18 )
,
COMPLEMENT fibre( 272 )
, fabrication(
108 )
, produit( 73 )
, éclat( 50 )
, industrie(
46 )
, morceau
ADJECTIFS plein( 71 )
, blanc( 68 )
, vide
( 57 )
, correcteur( 50 )
, plat( 38 )
, point( 32
)
, rouge( 30 )
, transparent( 30 )
,
TYPES
eau
eau( 477 )
, glace( 256 )
, infini(
238 )
, vin( 185 )
, prise( 132 )
, mélange( 83
)
, type( 74 )
, bière
EN APPOSITION bois( 8 )
, métal( 7 )
,
plastique( 5 )
, papier( 4 )
, ciment( 3 )
,
bouteille( 2 )
, glaçon( 2 )
, peinture( 2 )
, pet
( 2 )
, porcelaine( 2 )
, argent( 1 )
, arme( 1 )
,
assiette( 1 )
, carafon( 1 )
, coupe( 1 )
,
flacon
(1)
fleur
(1)
fourchette
(1)
C
o
n
ce
p
t
s
syntax
verre_eau
verre_eau(32)
verre_miroir(15)
verre_correcteur(11)
verre_transparent(7)
verre_vin(6) verre_bière(6)
verre_demi(6)
verre_whisky(5)
verre_grand(5)
verre_concepteur(4)
verre_minéral(4)
verre_dépoli(4)
verre_sphérique(3)
verre_mélange(3)
verre_convergent(3)
verre_lunette(3)
verre_lunettes(3)
verre_phosphore(2)
verre_bleu(2)
verre_opaque(2)
verre_clair(2)
verre_champagne(2)
verre_cylindrique(2)
verre_plastique(2)
verre_foncé(2)
verre_cognac(2)

n
e
i
g
h
b
o
o
r
s
acier, alcool, aluminium, ampoule, argile, armé, assiette,
avaler, ballon, barman, beurre, bille, bière, blanc, bocal,
boire, boisson, bol, borosilicaté, bouteille, brique, brisé,
béton, cadrer, caillou, cassé, chablis, champagne, chauffer,
cidre, cigarette, ciment, citron, cloche, cognac, coloré,
concave, concepteur, conditionner, conducteur, contenance,
contenir, contrôleur, convexe, coque, correcteur, couler,
coulomb, couper, coupeur, coupeuse, cristal, crème, cuillère,
céramique, danser, devoir, dilué, dioptre, drink, débris,
décorer, découper, déguster, dépoli,
eau
eau, emballage, exiger,
fabrication,

DTSI / Interfaces, Cogniticsand virtual Reality Unit
© CEA [2007]. All rightsreserved. Anyreproduction in wholeor in part on anymedium or use of the information containedhereinisprohibitedwithoutthe priorwrittenconsent of CEA

Prospective projects
: interactive simulation
and hapticsin micro or nano-manipulation

moleculardocking
(PhDpartnership
withAventis)
PHARMA
DTSI / Interfaces, Cogniticsand virtual Reality Unit
© CEA [2007]. All rightsreserved. Anyreproduction in wholeor in part on anymedium or use of the information containedhereinisprohibitedwithoutthe priorwrittenconsent of CEA
Collaborative
work
Equipments...

PHARE 1 VR Plateform
•GraphicscomputersOrad+TechViz
•2 BarcoGalaxyproj.
•MocapART (corps/doigt)
•Virtuose hapticdevices

ParallelCluster Physicalengine96 cores

HighresolutionPHARE Plateform
•(2.5m*2m): 5 M pixels, submm
•4 Christie Digital 2000+ proj.
•Nvidia+TechVizgraph. computers
•MocapART (body/fingers)
•Virtuose hapticdevices
DTSI / Interfaces, Cogniticsand virtual Reality Unit
© CEA [2007]. All rightsreserved. Anyreproduction in wholeor in part on anymedium or use of the information containedhereinisprohibitedwithoutthe priorwrittenconsent of CEA
ThankYou!
Questions ?