High performance geometric computing for mobile robotics simulation
Jérémie Farret Parallel Geometry Inc June 2010
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Agenda • Geometric computing approach
General principles Originality of simulation data representation Arithmetic of forms Algorithmic approach
• Applications Urban and territorial simulation Aerospace
• High Performance Geometric Computing for Mobile Robotic Simulation
IRPS project Planetary rover applications HPC System Architecture - Exploitation and Mapping Ongoing developments and perspectives
• Questions
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Geometric Computing Approach General principles Algorithmic approach Originality of simulation data Arithmetic of forms
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General Principles Algorithmic approach
Geometry
Graphics Polynomials
Physics Simulation Systems
Originality of simulation data Polynomial representation Polynomial Representation
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Polygonal Representation
Originality of simulation data - Polynomial representation
(…)
Arithmetic of Forms
(- (* Q7 Q8 Q9 Q10) (+ (* Q1 Q4) (* Q2 Q5) (* Q3 Q6))) 7
Applications St Etienne ASPIC – Nizza Airport Terminal Virtual Vermont Concorde Overpass
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Applications CAD / CAM
Space AEC
Simulation Systems
CFD GIS
Aerospace
Robotics Life Sciences Photogrammetry Data Acquisition Scientific Computing
Ground Infrastructures And Terrains
Underground, Sea and Underwater
Simulation Applications
Applications CAD / CAM AEC
Space
Simulation Systems
CFD GIS Robotics Life Sciences Photogrammetry Data Acquisition Scientific Computing
Air Interoperability
Unification Ground Infrastructures And Terrains Underground, Sea and Underwater
Simulation Applications
St Etienne LAS Generation
LLG St Etienne Urban Community Solid Model 20 km2 – 30000 buildings
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St Etienne LAS Generation
LLG St Etienne Virtual LIDAR Processing 809105 points 12
St Etienne LAS Generation
LLG St Etienne Virtual LIDAR Processing 809105 points 13
ASPIC – Nizza Airport Terminal
ASPIC 3D Mapping System
Critical Site Datasets
Sensors information
• Real Real--time access / Parallel computing • Rendering optimization • Visibility detection • Spatial data processing and optimization
Modelisation / Simulation Safety Analysis and Optimization
Virtools Polygonal Visualization
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ASPIC – Nizza Airport Terminal
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Virtual Vermont
• Exclusively assembled from publicly available datasets • 25000 km2 • 3 pilot sites Heritage Urban Planning Energy and sustainable development
Three different sorts of models: models: • Design Model • Construction Model • Restitution Model
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Virtual Vermont GIS Terrain Datasets
GIS env.
3D Solid Terrain Smoothing
GIS Orthophoto Datasets GIS Information Layers
Nurbs env.
Parametric 3D Dataset
Polygonal env.
Polygonal 3D Dataset
Photogrammetric env.
3D Dataset
3D Solid Dataset
Solidification & Conversion
Structuring & Optimization
3D Solid Dataset
Photo Model CAD Datasets, Paper
Projective 3D Solid Modeling
Architecture Inputs 17
Virtual Vermont - Design Model
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Virtual Vermont - Design Model
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Virtual Vermont - Construction Model
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Virtual Vermont – Restitution Model
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Concorde Overpass
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Aerospace - Canadarm 2 and International Space Station
Geometric Computing
International Space Station Blueprints / Data
Robotic simulation data
• Data Access and Computing Resources • Physics Simulation / Collision detection
SMP2 training and simulation system
Visualisation embedded system
Immersive visualization Panoscope System
Aerospace - Canadarm 2 and International Space Station Immersive Visualization
Système parallélisé de visualisation immersive Anamorphosis Aggregation
Shared Memory
Shared Memory
Shared Memory
Shared Memory
Shared Memory
LLG Render Thread
LLG Render Thread
LLG Render Thread
LLG Render Thread
LLG Render Thread
Haptics
Control station CSA Control Socket
LLG Collision detection CSA Application LLG Render
LLG Render
LLG Render
High Performance Geometric Computing for Mobile Robotic Simulation IRPS project Planetary rover applications HPC System Architecture Exploitation and Mapping Ongoing developments and perspectives 25
IRPS Project – Faro Airport Terminal
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IRPS Project – Mobile robot navigation principles
Model updates
Obstacle Detection
Navigation Obstacle avoidance
Virtual LIDAR 27
IRPS Project – Mobile robot navigation principles • Simulated LIDAR acquisition or Virtual LIDAR • Intel TBB implementation • Tested successfully on HPC Project Wildnode system (8 cores)
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Planetary Rover applications Wheel – Soil contact dynamics Graphical rendering component
Communication library
Contact Dynamics System Matlab / Simulink
Geometry Analysis Library
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Planetary Rover applications Wheel – Soil contact dynamics
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Planetary Rover applications Wheel – Soil contact dynamics
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Planetary Rover applications Solar panel lighting simulation
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HPC System Architecture – Exploitation and Mapping Monocore Workstation
Multicore Workstation
CSA Contact Dynamics System
CSA Contact Dynamics system
Monocore Rendering Component
Multicore Rendering Component
Rendering Component Communications
LLG Com Library (Communications)
Contact Dynamics Matlab / Simulink
Contact Dynamics Matlab / Simulink
Monocore LLG Geometry Analysis
Multicore LLG Geometry Analysis
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HPC System Architecture – Exploitation and Mapping Front-end Workstation Canadian Space Agency SMP2
Graphical rendering Wild Node 32 cores 4 unit system
Geometry Analysis Server
Contact Dynamics Matlab / Simulink
Corba Tao Ethernet Gigabit Interconnexion
Geometry Analysis Client
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HPC System Architecture – Exploitation and Mapping Performances on terrain consisting of quartic unicursal surfaces 10 9 8 7 6 5 collison time (milliseconds) 4 3 2 1
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Ongoing Developments and Perspectives • Addition of new simulation modalities Solar panel exposition simulation Virtual LIDAR generation
• General performances optimizations • Hybrid architecture ((Multicore Multicore / Multiple nodes interconnection) evolutions Implement terrain deformation on wheel – soil simulation. Terrain model synchronization over computing nodes. Migrating the current Corba Tao real time implementation to an HPC implementation for precalculations (Terrain processing) and off-the-loop simulation
• Porting on alternative HPC architectures Addition of GPGPU hardware to current computation nodes. Ongoing Nvidia Fermi tests and prototyping. Feasibility studies to address alternative systems 36
Questions
[email protected] 37
