The goal of this thesis is to synthesize believable motions of a character interacting with its surroundings and manipulating objects through physical contacts and forces. Human-like autonomous avatars are in increasing demand in areas such as entertainment, education, and health care. Yet modeling the basic human motor skills of locomotion and manipulation remains a long-standing challenge in animation research. The seemingly simple tasks of navigating an uneven terrain or grasping cups of different shapes involve planning with complex kinematic and physical constraints as well as adaptation to unexpected perturbations. Moreover, natural movements exhibit unique personal characteristics that are complex to model. Although motion capture technologies allow virtual actors to use recorded human motions in many applications, the recorded motions are not directly applicable to tasks involving interactions for two reasons. First, the acquired data cannot be easily adapted to new environments or different tasks goals. Second, acquisition of accurate data is still a challenge for fine scale object manipulations. In this work, we utilize data to create natural looking animations, and mitigate data deficiency with physics-based simulations and numerical optimizations. We develop algorithms based on a single reference motion for three types of control problems. The first problem focuses on motions without contact constraints. We use joint torque patterns identified from the captured motion to simulate responses and recovery of the same style under unexpected pushes. The second problem focuses on locomotion with foot contacts. We use contact forces to control an abstract dynamic model of the center of mass, which sufficiently describes the locomotion task in the input motion. Simulation of the abstract model under unexpected pushes or anticipated changes of the environment results in responses consistent with both the laws of physics and the style of the input. The third problem focuses on fine scale object manipulation tasks, in which accurate finger motions and contact information are not available. We propose a sampling method to discover contact relations between the hand and the object from only the gross motion of the wrists and the object. We then use the abundant contact constraints to synthesize detailed finger motions. The algorithm creates finger motions of various styles for a diverse set of object shapes and tasks, including ones that are not present at capture time. The three algorithms together control an autonomous character with dexterous hands to interact naturally with a virtual world. Our methods are general and robust across character structures and motion contents when testing on a wide variety of motion capture sequences and environments. The work in this thesis brings closer the motor skills of a virtual character to its human counterpart. It provides computational tools for the analysis of human biomechanics, and can potentially inspire the design of novel control algorithms for humanoid robots.

A complete chain of analysis and synthesis system identification tools for detectability assessment and adaptive identification of parameters with physical interpretation that can be found commonly in control-oriented powertrain models is presented. This research is motivated from the fact that future powertrain control and monitoring systems will depend increasingly on physically oriented system models to reduce the complexity of existing control strategies and open the road to new environmentally friendly technologies. At the outset of this study a physics-based control-oriented dynamic model of a complete transient engine testing facility, consisting of a single cylinder engine, an alternating current dynamometer and a coupling shaft unit, is developed to investigate the functional relationships of the inputs, outputs and parameters of the system. Having understood these, algorithms for identifiability analysis and adaptive identification of parameters with physical interpretation are proposed. The efficacy of the recommended algorithms is illustrated with three novel practical applications. These are, the development of an on-line health monitoring system for engine dynamometer coupling shafts based on recursive estimation of shaft’s physical parameters, the sensitivity analysis and adaptive identification of engine friction parameters, and the non-linear recursive parameter estimation with parameter estimability analysis of physical and semi-physical cyclic engine torque model parameters. The findings of this research suggest that the combination of physics-based control oriented models with adaptive identification algorithms can lead to the development of component-based diagnosis and control strategies. Ultimately, this work contributes in the area of on-line fault diagnosis, fault tolerant and adaptive control for vehicular systems.

L’utilisation de personnages virtuels dans le cadre de simulations basées sur les lois de la physique trouve maintenant des applications allant de la biomécanique à l’animation. L’un des éléments incontournables de cette performance est le contrôleur de mouvement, capable de transformer les actions souhaitées en mouvements synthétisés. La conceptualisation de ces contrôleurs a profondément évolué grâce à l'apport des connaissances en biomécanique qui a conduit à l'utilisation de modèles de personnages encore plus détaillés car s'inspirant de l’appareil squelettique et surtout musculaire de l’être humain (ou personnages à modèle musculaire). Contrôler les personnages virtuels implique un défi de taille : contrôler la redondance, ou le fait même qu’un nombre important de muscles ou d’actionneurs aient besoin d’être contrôlés simultanément pour exécuter la tâche de motricité demandée.L’objectif de cette thèse est d’y répondre en s’inspirant du système de contrôle moteur humain permettant de gérer cette redondance. Une solution de contrôle, pour les personnages virtuels, est proposée d’après la théorie des synergies musculaires et appliquée à des mouvements de contrôle du lancer. Les synergies musculaires sont des représentations de contrôle à faible dimension et qui permettent aux muscles d’être contrôlés en groupe, réduisant ainsi de manière significative le nombre de variables. Grâce à cette stratégie, cette thèse permet les contributions suivantes : en premier lieu, la validation de la théorie des synergies musculaires, utilisée ici pour étudier un nouveau mouvement et pour tenter de contrôler un personnage virtuel. Et elle contribue également à l'ensemble des domaines impliquant des simulations corporelles, ayant recours aux personnages à modèle musculaire (comme par exemple, la biomécanique ou l'animation) en leur proposant une solution de contrôle permettant de réduire la redondance. / The use of virtual characters in physics-based simulations has applications that range from biomechanics to animation. An essential component behind such applications is the character’s motion controller, which transforms desired tasks into synthesized motions. The way these controllers are designed is being profoundly transformed through the integration of knowledge from biomechanics, which motivates the idea of using more detailed character models, inspired by the human musculoskeletal system (or muscle-based characters). Controlling these characters implies solving an important challenge: control redundancy, or the fact that numerous muscles or actuators need to be coordinated simultaneously to achieve the desired motion task.The goal of this thesis is to address this challenge by taking inspiration from how the human motor control system manages this redundancy. A control solution for virtual characters is proposed based on the theory of muscle synergies, and applied on the control of throwing motions. Muscle synergies are low-dimensional control representations that allow muscles to be controlled in groups, thus reducing significantly the number of control variables.Through this solution this thesis has the following contributions: 1) A contribution to the validation of the muscle synergy theory by using it to study a new motion, and challenging it with the control of a virtual character, and 2) a contribution to the variety of domains involving physical simulation with muscle-based characters (e.g, biomechanics, animation) by proposing a control solution that reduces redundancy.

The main objective for physics based modeling of the power converter components is to design the whole converter with respect to physical and operational constraints. Therefore, all the elements and components of the energy conversion system are modeled numerically and combined together to achieve the whole system behavioral model. Previously proposed high frequency (HF) models of power converters are based on circuit models that are only related to the parasitic inner parameters of the power devices and the connections between the components. This dissertation aims to obtain appropriate physics-based models for power conversion systems, which not only can represent the steady state behavior of the components, but also can predict their high frequency characteristics. The developed physics-based model would represent the physical device with a high level of accuracy in predicting its operating condition. The proposed physics-based model enables us to accurately develop components such as; effective EMI filters, switching algorithms and circuit topologies [7]. One of the applications of the developed modeling technique is design of new sets of topologies for high-frequency, high efficiency converters for variable speed drives. The main advantage of the modeling method, presented in this dissertation, is the practical design of an inverter for high power applications with the ability to overcome the blocking voltage limitations of available power semiconductor devices. Another advantage is selection of the best matching topology with inherent reduction of switching losses which can be utilized to improve the overall efficiency. The physics-based modeling approach, in this dissertation, makes it possible to design any power electronic conversion system to meet electromagnetic standards and design constraints. This includes physical characteristics such as; decreasing the size and weight of the package, optimized interactions with the neighboring components and higher power density. In addition, the electromagnetic behaviors and signatures can be evaluated including the study of conducted and radiated EMI interactions in addition to the design of attenuation measures and enclosures.

The mm-wave frequency range is being increasingly researched to close the gap between 100 to 1000 GHz, the least explored region of the electromagnetic spectrum, often termed as the 'THz Gap'. The ever increasing demand for compact, portable and reliable THz (Terahertz) devices and the huge market potential for THz system have led to an enormous amount of research and development in the area for a number of years. The Gunn Diode is expected to play a significant role in the development of low cost solid state oscillators which will form an essential part of these THz systems.Gunn and mixer diodes will 'power' future THz systems. The THz frequencies generation methodology is based on a two-stage module. The initial frequency source is provided by a high frequency Gunn diode and is the main focus of this work. The output from this diode is then coupled into a multiplier module. The multiplier provides higher frequencies by the generation of harmonics of the input signal by means of a non-linear element, such as Schottky diode Varactor. A realistic Schottky diode model developed in SILVACOTM is presented in this work.This thesis describes the work done to develop predictive models for Gunn Diode devices using SILVACOTM. These physically-based simulations provide the opportunity to increase understanding of the effects of changes to the device's physical structure, theoretical concepts and its general operation. Thorough understanding of device physics was achieved to develop a reliable Gunn diode model. The model development included device physical structure building, material properties specification, physical models definition and using appropriate biasing conditions.The initial goal of the work was to develop a 2D model for a Gunn diode commercially manufactured by e2v Technologies Plc. for use in second harmonic mode 77GHz Intelligent Adaptive Cruise Control (ACC) systems for automobiles. This particular device was chosen as its operation is well understood and a wealth of data is available for validation of the developed physical model. The comparisons of modelled device results with measured results of a manufactured device are discussed in detail. Both the modelled and measured devices yielded similar I-V characteristics and so validated the choice of the physical models selected for the simulations. During the course of this research 2D, 3D rectangular, 3D cylindrical and cylindrical modelled device structures were developed and compared to measured results.The injector doping spike concentration was varied to study its influence on the electric field in the transit region, and was compared with published and measured data.Simulated DC characteristics were also compared with measured results for higher frequency devices. The devices mostly correspond to material previously grown for experimental studies in the development of D-band GaAs Gunn devices. Ambient temperature variations were also included in both simulated and measured data.Transient solutions were used to obtain a time dependent response such as determining the device oscillating frequency under biased condition. These solutions provided modelled device time-domain responses. The time-domain simulations of higher frequency devices which were developed used modelling measured approach are discussed. The studied devices include 77GHz (2nd harmonic), 125 GHz (2nd harmonic) and 100 GHz fundamental devices.During the course of this research, twelve research papers were disseminated. The results obtained have proved that the modelling techniques used, have provided predictive models for novel Transferred Electron Devices (TEDs) operating above 100GHz.

The compromise between ride comfort and handling for a passive suspension system is a well-known and often researched problem. Semi-active suspension systems offer significant improvements to this compromise. One example of a semi-active system, that can change both spring and damper characteristics between two discrete values is the 4-state semi-active hydro-pneumatic suspension system. This system can switch between a ”ride comfort mode” (soft spring and low damping) and a ”handling mode” (stiff spring and high damping) within 100ms, improving both ride comfort and handling. The discrete 4S4 could be improved upon further by adding continuous variable damping. Work on this topic showed great promise but also posed its challenges in achieving this in a safe and controllable manner. In order to make continuous variable damping a reality a new configuration for the 4S4 is proposed. This new configuration incorporates a blow-off damper in parallel with a proportional flow control valve. The system ensures that, in the highly non-linear closing region of the proportional flow control valve, adequate damping for handling is maintained and uncontrollable peak pressure differences are avoided. Experimental work conducted showed that the system was capable of achieving the required spring and variable damping characteristics in a safe and controllable manner. The experimental data was used for parametrizing and validating a physics based mathematical model of the suspension system. The mathematical model incorporates the: pressure drop vs: flow characteristics for both the blow-off and proportional valves, response time for the on-off valves as well as the gas pressure vs: flow characteristic incorporating the compressibility of the oil and thermal properties of the gas. This model can be used to make informed decisions on further prototype development or in full vehicle simulations. The system makes continuous variable damping possible ranging from the optimal damping characteristic for handling to the low damping characteristic required for ride comfort. The system also shows a significant reduction in friction. / Dissertation (MEng)--University of Pretoria, 2020. / VDG / University of Pretoria / Mechanical and Aeronautical Engineering / MEng / Unrestricted

Objects interacting with fluid are of high interest to visually present in three-dimensional applications, such as computer games and virtual environments. For presenting the interactions with high correctness, dynamic rigid body simulation may be used. This paper presents methods for efficient, physics-based real-time simulation of fluid-immersed rigid bodies, where the correctness of the simulation is maintained. Simulated forces include gravity, buoyancy, thrust, drag, and lift. To have the simulation run efficiently in real-time, discretization of the simulated rigid body is made by applying mentioned forces to a user-defined number of particles, sampled pseudo-randomly within the rigid body.

Indiana University-Purdue University Indianapolis (IUPUI) / Although current augmented, virtual, and mixed reality (AR/VR/MR) systems are facing advanced and immersive experience in the entertainment industry with countless media forms. Theses systems suffer a lack of correct direct and indirect illumination modeling where the virtual objects render with the same lighting condition as the real environment. Some systems are using baked GI, pre-recorded textures, and light probes that are mostly accomplished offline to compensate for precomputed real-time global illumination (GI). Thus, illumination information can be extracted from the physical scene for interactively rendering the virtual objects into the real world which produces a more realistic final scene in real-time. This work approaches the problem of visual coherence in AR by proposing a system that detects the real-world lighting conditions in dynamic scenes, then uses the extracted illumination information to render the objects added to the scene. The system covers several major components to achieve a more realistic augmented reality outcome. First, the detection of the incident light (direct illumination) from the physical scene with the use of computer vision techniques based on the topological structural analysis of 2D images using a live-feed 360-degree camera instrumented on an AR device that captures the entire radiance map. Also, the physics-based light polarization eliminates or reduces false-positive lights such as white surfaces, reflections, or glare which negatively affect the light detection process. Second, the simulation of the reflected light (indirect illumination) that bounce between the real-world surfaces to be rendered into the virtual objects and reflect their existence in the virtual world. Third, defining the shading characteristic/properties of the virtual object to depict the correct lighting assets with a suitable shadow casting. Fourth, the geometric properties of real-scene including plane detection, 3D surface reconstruction, and simple meshing are incorporated with the virtual scene for more realistic depth interactions between the real and virtual objects. These components are developed methods which assumed to be working simultaneously in real-time for photo-realistic AR. The system is tested with several lighting conditions to evaluate the accuracy of the results based on the error incurred between the real/virtual objects casting shadow and interactions. For system efficiency, the rendering time is compared with previous works and research. Further evaluation of human perception is conducted through a user study. The overall performance of the system is investigated to reduce the cost to a minimum.

A complete chain of analysis and synthesis system identification tools for detectability assessment and adaptive identification of parameters with physical interpretation that can be found commonly in control-oriented powertrain models is presented. This research is motivated from the fact that future powertrain control and monitoring systems will depend increasingly on physically oriented system models to reduce the complexity of existing control strategies and open the road to new environmentally friendly technologies. At the outset of this study a physics-based control-oriented dynamic model of a complete transient engine testing facility, consisting of a single cylinder engine, an alternating current dynamometer and a coupling shaft unit, is developed to investigate the functional relationships of the inputs, outputs and parameters of the system. Having understood these, algorithms for identifiability analysis and adaptive identification of parameters with physical interpretation are proposed. The efficacy of the recommended algorithms is illustrated with three novel practical applications. These are, the development of an on-line health monitoring system for engine dynamometer coupling shafts based on recursive estimation of shaft’s physical parameters, the sensitivity analysis and adaptive identification of engine friction parameters, and the non-linear recursive parameter estimation with parameter estimability analysis of physical and semi-physical cyclic engine torque model parameters. The findings of this research suggest that the combination of physics-based control oriented models with adaptive identification algorithms can lead to the development of component-based diagnosis and control strategies. Ultimately, this work contributes in the area of on-line fault diagnosis, fault tolerant and adaptive control for vehicular systems.

In this thesis, a physics-based single particle modeling is presented to analyze a proposed direct coupled hybrid energy storage modules using lithium-ion battery and ultracapacitor. Firstly, a state of the art for the energy storage system in the electrified vehicles are summarized. Several energy storage elements including lead-acid battery, nickel-metal hydride battery, lithium-ion battery, ultracapacitor, and lithium-ion capacitor are reviewed. Requirements of the energy storage systems in electric, hybrid electric, and plug-in hybrid electric vehicles are generalized. Typical hybrid energy storage system topologies are also reviewed. Moreover, these energy storage elements and hybrid energy storage system topologies are compared to the requirements of the energy storage systems in terms of specific power and specific energy. Secondly, the performance of different battery balancing topologies, including line shunting, ring shunting, synchronous flyback, multi-winding, and dissipative shunting are analyzed based on a linear programming methodology. As a traction battery in an electric or plug-in electric vehicle, high voltage lithium-ion packs are typically configured in a modular fashion, therefore, the analysis considers the balancing topologies at module level and cell level and focuses on minimum balancing time, minimum plug-in charge time, minimum energy loss, and component counts of every balancing topology for the entire battery pack. Thirdly, different modeling techniques for the lithium-ion battery and ultracapacitor are presented. One of the main contributions of this thesis is the development of a physics-based single particle modeling embedded with a solid-electrolyte interface growth model for a lithium-ion battery in battery management system. This development considers the numerical solution of diffusion equation, cell level quantities, parametrization method, effects of number of shells in a spherical particle, SOC-SOH estimation algorithms, and aging effects. The accuracy of the modeling is validated by experimental results of a Panasonic NCR18650A lithium-ion battery cell. Fourthly, the physics-based modeling is applied to analyze the performance of a proposed direct coupled hybrid energy storage module topology based on the Panasonic NCR18650A lithium-ion battery and Maxwell BCAP0350 ultracapacitor. There are many ways to directly connect battery cells and ultracapacitor cells in a module which would influence the performance of the module. The results show that a module has 9 cells in a battery string and 14 cells in an ultracapacitor string can obtain the highest power capability and utilize the most of the energy in an ultracapacitor. More ultracapacitor strings connected in parallel would increase the power density but reduce the energy density. Moreover, the simulation and experimental results indicate that the direct coupled hybrid modules can extend the operating range and slow the capacity fade of lithium-ion battery. An SOC-SOH estimation algorithm for the hybrid module is also developed based on the physics-based modeling. Finally, a pack design methodology is proposed to meet U.S. Advanced Battery Consortium LLC PHEV-40, power-assist, and 48V HEV performance targets for the battery packs or the proposed direct coupled topologies. In order to explore replacement tradeoffs between the battery and ultracapacitor, a case study of the direct coupled topologies is presented. From the case study, ultracapacitors enhance the power capability for short term pulse power and marginally reduce the cost of an entire energy storage system. Moreover, the hybrid module topologies can keep a relatively long all-electric range when the batteries degrade. / Dissertation / Doctor of Philosophy (PhD)