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Virtual Soldier Research Program

From Wikipedia, the free encyclopedia

The Virtual Soldier Research program (VSR) is a research group within the University of Iowa Center for Computer-Aided Design (CCAD). VSR was founded by Professor Karim Abdel-Malek (called the father of Santos) in 2003 through external funding from the US Army Tank Automotive Command (TACOM) to put the Warfighter at the center of US Army product designs.[1] Professor Abdel-Malek's background in robotics and the use of rigorous mathematical formulations was the first introduction of mathematical kinematics to the field of Digital Human Modeling (DHM).[2][3][4][5][6][7] Prior to 2003, all DHM models were based on experimental data that use lookup tables to enable the posturing of simple mannequins. Indeed, the first version of Santos, presented at the a DHM conference was met with great success because it was the first fully articulated digital human model that behaved as humans do,[8] whereby joints had constraints (also called ranges of motion) and a user could pull on an arm for example and as a result the entire body would respond accordingly. Cost functions representing human performance measures were used to drive the motion within the optimization formulation.[9][10][8] Seated posture prediction for example was accomplished by simply providing the seat geometry.[11] The posture prediction methodology was subsequently validated[12][13][14] Later on, the Predictive Dynamics method was created and used the same optimization technique with the addition of 3D laws of motion (equations of motion).[15] The Santos system includes many aspects of physiology modeling,[16] thermal, hand model,[17] grasp prediction,[18][19] gait analysis including stability,[20][15] mobility, suitability, survivability, maintainability, training,[21] and many other metrics typically used in the assessment of human performance for the Warfighter.[22]

Using this initial research and funding as a foundation, the VSR program continues to develop new technologies in digital human modeling and simulation, specifically with applications for the military, automotive, manufacturing, athletics, injury prediction, With over $60M in funding, the Santos simulation platform provides two key components that differentiates it among all other DHM systems: (1) Physics based[23] and (2) Predicts behavior.[24]

VSR's digital human model, Santos (R), stands at the center of its digital human modeling and simulation research.[25] The high-fidelity, biomechanically and biofidelic accurate musculoskeletal model incorporates 215 degrees of freedom, including the hand,[26] feet, and eyes. The dimensions of the skeleton are mutable, able to represent any anthropometric cross section. In addition, Santos includes a muscular system with the ability to predict muscle activation and muscle forces in real time, using a novel optimization-based methodology.[27][28][29] This method, developed over a period of eight years by the Virtual Soldier Research program is called Predictive Dynamics and published by a book[30] and a large number of papers.[31][32][33][34][35][36][6][37][38][39] Furthermore, the gradient based methodology used to solve for the motion was also replaced with an artificial intelligence neural network method.[40][41]

The mathematical model for the Santos skeleton was developed based on the Denavit-Hartenberg method for kinematic and dynamic analysis.[42] Optimization is used to determine postures and motions that are governed by various human performance measures (objective functions) and constrained by the restrictions imposed by the skeleton, the laws of physics, and the environment. The Santos simulation platform is being used by the US Military, industry (for example automotive industry),[43] and academia. The Virtual Soldier Research team transitioned a product from the Santos environment called Enhanced Technologies for the Optimization of Warfighter Load (ETOWL) funded by the Office of Naval Research (ONR) to the US Marines.[44] The product was later renamed as GruntSim.[45] This human modeling and simulation environment is now being used to study human factors[46][47] and ergonomics[48] in many applications.[49][50] This model includes not only Predictive Dynamics but also stability criteria called Zero Moment Point.[51] The use of the Santos Digital Human Model for example in assessing assembly issues in the design stage have been demonstrated[52] and for gait prediction as well.[53] Running for example,[54] which substantially more difficult to predict for a virtual human, was accomplished.[55]

The Santos simulation platform was developed from the ground up. Using the 215 DOF and based on the use of optimization based methods that enable cost functions to drive the motion, the numerical algorithm drives the motion to predict joint variables across time (also called joint profiles) and subject to a number of constraints. For example, predicting gait of any body type is now possible.[56] Similarly, any task can be modeled and simulated using this approach.[57][58] Xiang, Yujiang, Jasbir S. Arora, and Karim Abdel-Malek. "Hybrid predictive dynamics: a new approach to simulate human motion." Multibody System Dynamics 28.3 (2012): 199-224.[59]

The Santos system was also used to predict injury for various activities, particularly musculoskeletal injuries in athletics, military, manufacturing, and other domains.[60]

VSR research has led to the spin-off of a private company, Santos Human Inc.,[61] specifically focused on product development.

Who is Santos™?

Santos is the only physics-based[62][63] virtual human that stands at the center of the digital human modeling and simulation research at the University of Iowa and in use by the US Army and the US Marines. This high-fidelity, biofidelic, biomechanically and physiologically accurate musculoskeletal model was developed from the inside out by a large multidisciplinary team, and incorporates 215 degrees of freedom, including the hand, feet, and eyes. The dimensions of the skeleton are mutable, able to represent any anthropometric cross section. In addition, Santos includes a muscular system with the ability to predict muscle activation and muscle forces in real time, using a novel optimization-based methodology. The Santos system has been used in many applications.[64]

Over time, the Santos family has grown to incorporate a variety of different body scans to provide a range of models that include our female version, Sophia, and a broad array of different body shapes, types, and sizes.[65] Our research is currently being extended to allow multiple digital human models to interact with each other to complete tasks cooperatively.

Santos was built using state-of-the-art technologies adapted from robotics, Hollywood, and the game industry.[66] VSR research continues to grow in its dynamic capabilities, physiology, and intelligent behaviors through integration of Artificial Intelligence, design optimization, physics-based modeling, and advanced, multi-scale physiological models.[16]

The mathematical model for the Santos skeleton was developed based on the Denavit-Hartenberg method for kinematic and dynamic analysis. Optimization is used to determine postures and motions that are governed by various human performance measures (objective functions) and constrained by the restrictions imposed by the skeleton, the laws of physics, and the environment. The software must be as fast and efficient as possible in an effort to provide real-time simulations.


The Santos continued to evolve and used to further develop programs with the US Marines (called GruntSim) to simulate load configuration on a Soldier, to study its effects, and to conduct tradeoff analysis.

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Transcription

Mechanical Engineering student David Bein came to the University of Iowa after serving in the Marines. He was an avionics tech who worked on Harrier jets. I always kind of knew growing up that I was going to join the marines. My dad was a marine. He’s one of those old salty marines that still throw around marine slang. So I always kind of knew it was going to be a step in my path of life. After serving his country, David knew he wanted to get a degree. His wife wanted to come to Iowa, so he moved to Iowa City and enrolled in the Engineering program. I guess I’ll do mechanical engineering, which is always something I’ve kind of been interested in. Ever since I was a kid, I guess I’ve always been really interested in it, I just didn’t know what the name was. I liked architecture because I liked designing things. Now that I’m a mechanical engineering student, I see that’s actually a far better path if I want to design things. It was while he was at the University Veteran’s Center on campus that he was approached to help out with, Santos and the virtual soldier project. As soon as I heard they needed help, I said yeah, I’ll go do that. As veterans, we ask people for help all the time. It’s very rarely that people come and ask us for help with stuff. They needed some vets to come in and help make things look correct for Santos. I didn’t know it at the time, but I was applying for a job. With his marine background, David became the military advisor for Santos, the virtual soldier. He works with Biomedical Engineering Professor Dr. Karim Malek, who is the director for the Virtual Soldier Research Program. The virtual solider is a human being that we make live on the computer. We want to make him as real as possible, as life-like as possible to answer questions for us that we can’t answer. That could be, you send him into an environment and say, hey Santos, try this thing, see what you think. How comfortable are you? We want him to answer these questions to us. Santos is not only a computer model; he is the only human model that actually predicts motion. He is able to test things virtually and provide insight to what may or may not work. We’re not trying to replicate motion. We want Santos to give us what’s called cause and effect. If you push him, we want him to fall. We want Santos to fall and tell us I fell because you pushed me with this particular force. Santos quickly was in demand. He was able to test things virtually and respond to conditions he encountered. The virtual soldier project was created to save the military time and money when designing new equipment. All of a sudden we had the Army very interested, one particular area of the Army called Tank-Com that designs tanks, and they wanted to see is we could send Santos into the tank and check things for them. That’s what started it. Then comes Caterpillar, Caterpillar wanted to use Santos to design and test their very large equipment, all before they manufacture. Instead of taking 10 years to create a tank or a huge appliance or construction equipment, you want to reduce that time significantly. The way you do this is you prototype; you try things inside the computer before you cut metal. It enables people to test things before they’re designed badly. Dr. Malek uses Marines and athletes to base the movements of Santos to ensure that his actions are what an actual human would do. He does so by comparing the motions of Santos to a real person using motion capture technology. So motion capture, which is Hollywood technology, is using a very sophisticated set of cameras… and we model, or capture the motion off a person going through a task. After David became the military advisor for the Virtual Soldier Program, he used his passion for designing to become a 3-D modeler for Santos. To visualize anything inside of software, whether a video game or Santos or anything like that, you have 3D models in them. Say you’re playing a video game, and there’s a car, there was a 3D modeler who built that car in a 3D modeling application. You start from scratch and you bring out primitives and stretch them and move them to the shapes you need to be. Then you export that and give it to the programmers and the coders and they put that into the software. And the research continues for the Virtual Soldier project. In an effort by Congress to address the load soldiers carry and how it affects their performance, the Lighten the Load project was announced to see how much or how little a soldier carries impedes their flexibility, agility, and speed. Our part if it is to have Santos understand what it takes to lighten the load. Instead of bringing in thousands of soldiers in or thousands of marines in, we’re able to deploy Santos, and Santos is able to test any new equipment, configuration of equipment, heavy loads, light loads. As a result it will take one day. And David knows first-hand what it is like to carry a pack full of gear. And he uses that experience when modeling the pack for Santos. We had 57-ish items that we needed to model and put into the software. So myself and 2 other modelers have modeled all of those. Basically, it’s everything a marine would ever carry on a deployment. The Virtual Soldier research that is done at the University of Iowa is being put to use out in the field, for both the military and private sector. And that is what keeps the 50-member team going. Every scientist, every faculty member wants to see their stuff out there used by people. It is more rewarding for me that the military is using it on a daily basis, and hopefully it will save lives. And David is willing to help any way he can, as a Marine, and as a student. Someday, maybe years from now, I can point to a TV and say I helped do that as an undergrad mechanical engineering student.

References

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