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Award Abstract #0205671
ITR: Representations and Algorithms for Deformable Objects
| NSF Org: |
CCF
Division of Computer and Communication Foundations
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| Initial Amendment Date: |
August 29, 2002 |
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| Latest Amendment Date: |
July 24, 2009 |
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| Award Number: |
0205671 |
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| Award Instrument: |
Continuing grant |
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| Program Manager: |
Almadena Y. Chtchelkanova
CCF Division of Computer and Communication Foundations
CSE Directorate for Computer & Information Science & Engineering
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| Start Date: |
September 1, 2002 |
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| Expires: |
February 28, 2010 (Estimated) |
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| Awarded Amount to Date: |
$2809668 |
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| Investigator(s): |
Leonidas Guibas guibas@cs.stanford.edu (Principal Investigator)
Jean-Claude Latombe (Co-Principal Investigator)
Muthu Govindaraj (Co-Principal Investigator)
Dimitris Metaxas (Co-Principal Investigator)
Lydia Kavraki (Co-Principal Investigator)
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| Sponsor: |
Stanford University
340 Panama Street
STANFORD, CA 94305 650/723-2300
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| NSF Program(s): |
ITR MEDIUM (GROUP) GRANTS
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| Field Application(s): |
0000099 Other Applications NEC
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| Program Reference Code(s): |
HPCC, 9216, 1652
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| Program Element Code(s): |
1687
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ABSTRACT
Deformable objects are ubiquitous in the physical world at all scales, from the molecular to the astrophysical. Many of life's basic functions, from protein folding and ligand binding at the micro level, to meiosis and mitosis at the cellular level, to the beating of a heart at the macro level, are best described as shape deformations in time. Flexible materials are finding increasing applications in engineering, across areas such as testing and manufacturing, and especially in biomedical applications, including prosthetic devices and minimally invasive imaging and surgical procedures. Special effects in the entertainment industry and haptics-based human-computer interfaces also require better models for flexible objects. Though deformation in nature can be based on a variety of underlying physical processes, we believe that there are a number of unifying principles common to understanding all deformations. Today, however, we lack a general computational theory of how to sense, represent, simulate, approximate, actuate, control, and render deformable objects.
Research Goals and Methods
The goal of this proposal is to undertake a foundational study of representations and algorithms for the computational modeling of deformable objects. Such modeling is challenging because deformations involve representations of shape and motion, and bring together continuous and discrete phenomena, as well as local and global constraints. Some of the specific challenges that have to be addressed are:
1. the behavior of deformable objects is defined by both geometry and physics and characterized by complex high-dimensional energy landscapes that need to be compactly encoded and efficiently interrogated for actuation, control, and planning;
2. physically accurate simulation of deformations is of-ten computationally expensive; we must find ways to approximate the full physics, while still guaranteeing the correctness, or at least appropriateness, of the solution that we compute in the parts of the system we care about;
3. discrete events, such as collisions and self-collisions, alter the continuous evolution law of the system; these events must be efficiently predicted or detected, and processed;
4. contact and self-contact must be modeled across rapid changes in the contact manifold, including its dimensionality (e.g., cloth draping over a rigid object);
5. deformations are often associated with changes in the shape topology (e.g., the surgeon's scalpel cutting the patient's skin tissue); such topology modifications must be smoothly accommodated in our models.
Towards this goal we have put together a team of PIs and consultants/advisors that combines expertise in scientific computing and physical simulation, geometric modeling and computation, motion planning and control, local and distributed sensing and actuation, model parameter estimation, as well as extensive experience in the computational modeling of specific deformable objects, from molecules to textiles, and in applications from medicine to entertainment
PUBLICATIONS PRODUCED AS A RESULT OF THIS RESEARCH
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(Showing: 1 - 10 of 57)
(Showing: 1 - 57 of 57)
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A. Ladd and L.E. Kavraki. "Motion Planning in the Presence of Drift, Underactuation and Discrete System Changes," Robotics: Science and Systems I, 2005.
A. Madabhushi and D. N. Metaxas. "Combining Low, High-Level and Empirical Domain Specific Knowledge for Automated Segmentation of Ultrasonic Breast Lesions," IEEE Trans. on Medical Imaging, v.22, 2003, p. 155.
A. Montillo, D. Metaxas and L. Axel. "Automated deformable model-based segmentation of the left and right ventricles in tagged cardiac MRI.," Procs. MICCAI, v.0, 2003, p. 505.
A. Shehu, C. Clementi and L.E. Kavraki. "Modeling Conformational Ensembles: From Missing Loops to Equilibrium Flunctuations," Proteins: Struture, Function and Bioinformatics, v.65(1), 2006.
A.M. Ladd and L.E. Kavraki. "Measure Theoretic Analysis of Probabilistic Path Planning," IEEE Transactions on Robotics, v.20(2), 2004, p. 229.
Bart Adams, Mark Pauly, Richard Keiser, and Leonidas J. Guibas. "Adaptively Sampled Particle Fluids," ACM SIGGRAPH 2007 (ACM Transactions on Graphics), v.1, 2007.
Blemker, S., Teran, J., Sifakis, E., Fedkiw, R. and Delp, S.. "Fast 3D Muscle Simulations using a New Quasistatic Invertible Finite-Element Algorithm," 10th International Symposium on Computer Simulation in Biomechanics, 2005.
Bridson, R., Marino, S. and Fedkiw, R.. "Simulation of Clothing with Folds and Wrinkles," ACM SIGGRAPH/Eurographics Symposium on Computer Animation (SCA), 2003, p. 28.
Bridson, R., Teran, J., Molino, N. and Fedkiw, R.. "Adaptive Physics Based Tetrahedral Mesh Generation Using Level Sets," Engineering with Computers, v.21, 2005.
Carson J., Ju T., Thaller C., Bello M., Kakadiaris I., Chiu W., Eichele G., and Warren J.. "Automated Characterization of Gene Expression Patterns with an Atlas of the Mouse Brain," Proceedings of IEEE Engineering in Medicine and Biology Society, 2004, p. 2917.
D. K. Pai. "Multisensory Interaction: Real and Virtual," Robotics Research: the Eleventh International Symposium, Springer Tracts on Advanced Robotics, 2004., v.15, 2005, p. 489.
D. K. Pai, E. W. VanDerLoo, S. Sadhukhan, P. G. Kry. "The Tango: a tangible tangoreceptive whole-hand human interface," WorldHaptics (Joint Eurohaptics Conference and IEEE Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems), Pisa, Italy March 18-20, 2005, 2005, p. 141.
D. M. Kaufman, T. Edmunds, and D. K. Pai. "Fast Frictional Dynamics for Rigid Bodies," ACM Transactions on Graphics (SIGGRAPH), v.24(3), 2005, p. 946.
D. Samaras and D. Metaxas. "Incorporating Illumination Constraints in Deformable Models for Shape from Shading and Light Direction Estimation," IEEE Trans. Pattern Analysis and Machine Intelligence, v.25, 2003, p. 247.
E. Plaku and L. E. Kavraki. "Distributed Computation of the Knn Graph for Large High-Dimensional Point Sets," Journal of Parallel and Distributed Computing, v.67, 2007.
E. Plaku and L.E. Kavraki. "Distributed Sampling-Based Roadmap of Trees for Large-Scale Motion Planning," IEEE International Conference on Robotics and Automation, Barcelona, Spain, April, 2005, v.0, 2005, p. 3879.
E. Plaku, K.E. Bekris, B.Y. Chen, A.M. Ladd, and L.E. Kavraki. "Sampling-Based Roadmap of Trees for Parallel Motion Planning," IEEE Transactions on Robotics, v.21(4), 2005.
F. Schwarzer, M. Saha, and J.C. Latombe. "Adaptive Dynamic Collision Checking for Single and Multiple Articulated Robots in Complex Environments," IEEE Tr. on Robotics (formerly IEEE Tr. on Robotics and Automation), v.21(3), 2005, p. 338.
Frédéric Chazal, David Cohen-Steiner, Leonidas J. Guibas, Facundo Mémoli and Steve Y. Oudot. "Gromov-Hausdorff Stable Signatures for Shapes Using Persistence," Proc. Eurographics Symposium on Geometry Processing, Berlin, 2009.
Gang Huang, Dimitris Metaxas, and Muthu Govindaraj. "Feel the Fabric: An Audio-Haptic Interface," Symposium on Computer Animation, v.0, 2003, p. 0.
Gang Huang, Dimitris Metaxas, Muthu Govindaraj. "Feel the "Fabric": An Audio-Haptic Interface," ACM Symposium on Computer Animation, San Diego, July 2003, v.0, 2003, p. 0.
Guendelman, E., Bridson, R. and Fedkiw, R. "Nonconvex Rigid Bodies with Stacking," ACM SIGGRAPH Symposium (TOG), v.22, 2003.
Irving, G., Teran, J. and Fedkiw, R.. "Invertible Finite Elements for Robust Simulation of Large Deformation," ACM SIGGRAPH/Eurographics Symposium on Computer Animation (SCA)edited by R. Boulic and D. Pai, 2004, p. 131.
Irving, G., Teran, J. and Fedkiw, R.. "Tetrahedral and Hexahedral Invertible Finite Elements," Graphical Models, v.68, 2006.
J. Brown, J.C. Latombe, and K. Montgomery. "Real-Time Knot Tying Simulation," The Visual Computer Journal, v.20(2-3), 2004, p. 165.
J. Warren, M. Bello, T. Ju, J. Carson, and I. A. Kakadiaris. "Learning-based Segmentation Framework for Tissue Images Containing Gene Expression Data," IEEE Transactions on Medical Imaging, v.26, 2007.
J. Warren, T. Ju, J. Carson, C. Thaller, W. Chiu, G. Eichele, M. Bello and I. Kakadiaris. "Building 3D Surface Networks from 2D Curve Networks with Application to Anatomical Modeling," Visual Computer, v.21, 2005.
J. Warren, T. Ju, J. Carson, C. Thaller, W. Chiu, G. Eichele, M. Bello T. Ju, J. Carson, C. Thaller, W. Chiu, G. Eichele, M. Bello. "3D Volume Reconstruction of a Mouse Brain from Histological Sections Using Warp Filtering," Journal of Neuroscience Methods, v.156, 2006.
J. Warren, T. McPhail and S. Schaefer. "Image Deformation Using Moving Least Squares," ACM Transactions on Graphics, v.25, 2006.
Jian Sun, Maks Ovsjanikov, and Leonidas Guibas. "A Concise and Provably Informative Multi-scale Signature Based on Heat Diffusion," Proc. Eurographics Symposium on Geometry Processing (SGP), 2009.
K. Bekris and L. E. Kavraki. "Greedy but Safe Replanning under Kinodynamic Constraints," IEEE ICRA, v.2007, 2007.
K.E. Bekris, A.Y. Chen, A.M. Ladd, E. Plaku, and L.E. Kavraki. "Multiple Query Probabilistic Roadmap Planning Using Single Query Planning Primitives," 2003 IEEE/RJS International Conference on Intelligent Robots and Systems (IROS), IEEE Press, Las Vegas, NV, October 2003, v.0, 2003, p. 656.
Ladd and L.E. Kavraki. "Using Motion Planning for Knot Untangling," International Journal of Robotics Research, v.23(7-8), 2004, p. 797.
M. Moll and L. E. Kavraki. "Path Planning for Variable Resolution Minimal-Energy Curves of Constant Length," IEEE International Conference on Robotics and Automation, Barcelona, Spain, April, 2005, v.0, 2005, p. 2143.
M. Moll and L. E. Kavraki. "Path Planning for Deformable Linear Objects," IEEE Transactions on Robotics, v.22(4), 2006.
M. Moll and L.E. Kavraki. "Path Planning for Minimal Energy Curves of Constant Length," Proceedings of the IEEE International Conference of Robotics and Automation (ICRA), IEEE Press, New Orleans, LA, April 2004, v.0, 2004, p. 2826.
M. Pauly, D. K. Pai, and L. Guibas. "Quasi-Rigid Objects in Contact," ACM SIGGRAPH/Eurographics Symposium on Computer Animation, 2004, p. 109.
M. Saha and P. Isto. "Motion Planning for Robotic Manipulation of Deformable Linear Objects.," Proceedings of the IEEE International Conference on Robotics and Automation, 2006.
M. Saha, P. Isto, J.-C. Latombe. "Motion Planning for Robotic Knot Tying," Proceedings of the International Symposium on Experimental Robotics, 2006.
Michael Wand, Philipp Jenke, Qixing Huang, Martin Bokeloh, Leonidas Guibas, and Andreas Schilling. "Reconstruction of Deforming Geometry from Time-Varying Point Clouds," Proc. Fifth Eurographics Symposium on Geometry Processing, v.1, 2007.
Molino, N., Bridson, R., Teran, J. and Fedkiw, R.. "A Crystalline, Red Green Strategy for Meshing Highly Deformable Objects with Tetrahedra," 12th Int. Meshing Roundtable, v.0, 2003, p. 103.
Molino. N., Bao, Z. and Fedkiw, R.. "A Virtual Node Algorithm for Changing Mesh Topology During Simplification," SIGGRAPH 2004, ACM TOG, v.23, 2004, p. 385.
Niloy J. Mitra, Leonidas J. Guibas, and Mark Pauly. "Symmetrization," ACM SIGGRAPH 2007 (ACM Transactions on Graphics), v.1, 2007.
Niloy Mitra, Simon Flory, Maks Ovsjanikov, Natasha Gelfand, Leonidas Guibas, and Helmut Pottmann. "Dynamic Geometry Registration," Proc. 5th Eurographics Symposium on Geometry Processing, v.1, 2007.
P. Das, M. Moll, H. Stamati, L.E. Kavraki and C. Clementi. "Low-dimensional Free-energy Landscapes of Protein-folding Reactions by Nonlinear Dimensionality Reduction," Proceedings of the National Academy of Sciences, USA, v.103(26), 2006.
Qixing Huang, Martin Wicke, Bart Adams, and Leonidas Guibas. "Shape Decomposition Using Modal Analysis," Computer Graphics Forum 28(2) [Proceedings Eurographics], v.28, 2009.
S. Goldenstein, C. Vogler, and D. Metaxas. "Statistical Cue Integration in DAG Deformable Models," IEEE Trans. Pattern Analysis and Machine Intelligence, v.0, 2003, p. 0.
Schaefer S. and Warren J.. "Dual Marching Cubes: Primal Contouring of Dual Grids," Pacific Graphics, Seoul, Korea,, 2004, p. 70.
Sifakis, E., Neverov, I. and Fedkiw, R.. "Automatic Determination of Facial Muscle Activations from Sparse Motion Capture Marker Data," SIGGRAPH 2005, ACM TOG, v.24, 2005.
Sifakis, E., Selle, A., Robinson-Mosher, A. and Fedkiw, R.. "Simulating Speech with a Physics-Based Facial Muscle Model," ACM SIGGRAPH/Eurographics Symposium on Computer Animation (SCA), 2006.
T. Ju, J. Warren, G. Eichele, C. Thaller, W. Chiu, J. Carson. "A geometric Database for Gene Expression Data," Eurographics Symposium on Geometry Processing, June 2003., v.0, 2003, p. 0.
T. Ju, J. Warren, G. Eichele, C. Thaller, W. Chiu, J. Carson. "A Geometric Database for Gene Expression Data," Eurographics Symposium on Geometry Processing, 2003, p. 177.
Teran, J., Blemker, S., Ng Thow Hing, V. and Fedkiw, R.. "Finite Volume Methods for the Simulation of Skeletal Muscle," ACM SIGGRAPH/Eurographics Symposium on Computer Animation (SCA), 2003, p. 68.
Teran, J., Blemker, S., Ng Thow Hing, V., Lau, C. and Fedkiw, R.. "Creating and Simulating Skeletal Muscle from the Visible Human Dataset," IEEE TVCG, v.11, 2005.
Teran, J., Sifakis, E., Irving, G. and Fedkiw, R.. "Robust Quasistatic Finite Elements and Flesh Simulation," ACM SIGGRAPH/Eurographics Symposium on Computer Animation (SCA), 2005.
Xiaolei Huang, Nikos Paragios, Dimitris Metaxas. "Establishing Local Correspondences towards Compact Representations of Anatomical Structures,??," 6th Annual International Conference on Medical Image Computing & Computer Assisted Intervention (MICCAI?03) LNCS-2879, Montreal, Canada, November, 2003, v.0, 2003, p. 926.
Z. Hu, D. Metaxas and L. Axel. "In vivo stress and strain estimation of the Heart?s left and right ventricles from MRI images," Medical Image Analysis, v.7, 2003, p. 435.
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