Program Overview

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University Programs

The university offers a range of programs for students, including bachelor's degrees, master's degrees, and integrated bachelor-master degrees.

Bachelor's Degrees

• Bachelor Degree in Informatics Engineering
  • Enrolment: Available places
  • Curriculum: Syllabus, Reassessment, Specializations, Competences, Competences for degree subjects
  • Faculty
  • Bachelor's Thesis
  • Timetables
  • Exams
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• Bachelor Degree in Data Science and Engineering
  • Enrolment: Available places
  • Curriculum: Syllabus, Competences, Competences for degree subjects
  • Faculty
  • Timetables
  • Exams
  • Academic Regulations and organization
• Bachelor Degree in Artificial Intelligence
  • Enrolment: Places lliures
  • Curriculum: Competences, Syllabus, Competences for degree subjects
  • Faculty
  • Timetables
  • Exams
  • Academic regulations
  • Bachelor's thesis
• Bachelor Degree in Bioinformatics
  • Enrolment: Available places
  • Curriculum: Learning Outcomes, Syllabus
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• Integrated Bachelor Master Degree
  • Enrolment
  • Curriculum

Master's Degrees

• Master in Informatics Engineering
  • Enrolment: Available places
  • Curriculum: Syllabus, Competences, Competences for degree subjects
  • Faculty
  • Academic Regulations
  • Master's Thesis
  • Timetables
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• Master in Informatics Engineering - Industrial Modality
  • Curriculum
• Master in Innovation and Research in Informatics
  • Enrolment: Available places
  • Curriculum: Syllabus, Specializations, Competences, Competences for degree subjects
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  • Master's Thesis
  • Seminars
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• Master in Artificial Intelligence
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  • Curriculum: Syllabus, Competences, Competences for degree subjects
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  • Master's Thesis
  • Timetables
  • Exams
  • FAQs
• Master in Cybersecurity
• Master in Data Science
  • Enrolment: Available places
  • Curriculum: Syllabus, Competences, Competences for degree subjects
  • Faculty
  • Academic Regulations
  • Timetables
  • Exams
  • Master's Thesis
    • Gender Competency
• Erasmus Mundus Master in Big Data Management and Analytics
  • Timetables
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  • Exams
• Master in Urban Mobility
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• EUMaster4HPC
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• Other Masters
  • Master in Pure and Applied Logic
  • Master in Computational Modelling in Physics, Chemistry and Biochemistry

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Realistic Animation of Articulated Bodies

Course Description

The aim of this subject is to give students an understanding of physics in order to enable them to build physically realistic mathematical models of articulated systems.

Credits

3

Types

Elective

Requirements

This subject has no requirements, but it has previous capacities.

Department

FIS

Web

www-fen.upc.es/~arca

Teachers

• Person in charge: Joaquim Casulleras Ambros

Weekly hours

• Theory: 2
• Problems: 1
• Laboratory: 1
• Guided learning: 0
• Autonomous learning: 7

Competences

• Technical Competences of each Specialization
  • CTE7: Capability to understand and to apply advanced knowledge of high performance computing and numerical or computational methods to engineering problems.
  • CTE10: Capability to use and develop methodologies, methods, techniques, special-purpose programs, rules and standards for computer graphics.
  • CTE12: Capability to create and exploit virtual environments, and to the create, management and distribution of multimedia content.
• Generic Technical Competences
  • CG4: Capacity for mathematical modeling, calculation and simulation in technology and engineering companies centers, particularly in research, development and innovation tasks in all areas related to Informatics Engineering.
  • CG8: Capability to apply the acquired knowledge and to solve problems in new or unfamiliar environments inside broad and multidisciplinary contexts, being able to integrate this knowledge.
• Transversal Competences
  • CTR6: Capacity for critical, logical and mathematical reasoning. Capability to solve problems in their area of study. Capacity for abstraction: the capability to create and use models that reflect real situations. Capability to design and implement simple experiments, and analyze and interpret their results. Capacity for analysis, synthesis and evaluation.

Objectives

1. To know how to develop a mathematical model of an articulated body system.
2. Mastering the Denavit-Hartenberg formalism.
3. Learn to adapt and extend the DH formalism to describe the physical properties and mass distribution of an articulated body.
4. To understand and properly use the laws of dynamics of articulated systems.
5. Knowing how to use the Lagrange formalism to find static and dynamic equations.
6. Being able to identify and determine the relevant physical quantities (generalized coordinates and moments) of the dynamics in the Lagrangian formulation.
7. To be able to Identify the relevant variables in systems subject to restricted dynamic conditions.
8. Knowing how make use of the Lagrange formalism in dynamics under restricted conditions.
9. To know and make proper use of computer mathematical methods for the integration of dynamic equations.
10. Being able to establish the generalized forces from an optimization problem of the cost function.
11. To be able to establish a cost function based on the generalized coordinates and moments that allow discriminating among the physically valid solutions, those that best suit the sought movement.
12. Being able to create a physically realistic animation, based on an optimization process under the conditions dictated by the dynamics equations.

Contents

1. Articulated rigid bodies systems. Denavit-Hartenberg Formalism.
2. Lagrange Dynamics. Generalized coordinates and momenta. Dynamics equations.
3. Constraint conditions. Equations for constrained movements.
4. Optimization. Objective function. Optimal physically realistic evolution generation.

Activities

• Development of theme 1 of the course
• Development of theme 2 of the course
• Development of item 3 of the course
• Development of theme 4 of the course
• Final Exam
• Continuous assessment.
• Lab work
• Study and preparatory work for lab sessions.
• Solving exercises and problems.

Teaching Methodology

The teaching methodology will be based on theory classes, classes of problems, practical exercises, and a practical session covering computer animation and drawing upon the knowledge acquired during the course and on basic numerical computer calculation.

Evaluation Methodology

The evaluation will consider three aspects:

• Continuous assessment of work done during the course, in solving exercises proposed in class.
• Evaluation of a lab exercise.
• An exam (theory and problems).

Bibliography

• Basic: Apunts de teoria de Animació Realista de Cossos Articulats - Casulleras, J
• Complementary: Col.lecció d'exercicis i problemes en Animació Realista de Cossos Articulats - Casulleras, J

Previous Capacities

Knowledge of mathematical analysis. Vector and matrix formalism. Notions of differential calculus.