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Abstract
The purpose of this thesis work is the study and creation of a harness modelling system. The model needs to simulate faithfully the physical behaviour of the harness, without any instability or incorrect movements.
Since there are various simulation engines that try to model wiring's systems, this thesis work focused on the creation and test of a 3D environment with wiring and other objects through the PyChrono Simulation Engine.
Fine-tuning of the simulation parameters were done during the test to achieve the most stable and correct simulation possible, but tests showed the intrinsic limits of the Engine regarding the collisions' detection between the various part of the cables, while collisions between cables and other physical objects such as pavement, walls and others are well managed by the simulator.
Finally, the main purpose of the model is to be used to train Artificial Intelligence through Reinforcement Learnings techniques, so we designed, using OpenAI Gym APIs, the general structure of the learning environment, defining its basic functions and an initial framework.
Abstract
The purpose of this thesis work is the study and creation of a harness modelling system. The model needs to simulate faithfully the physical behaviour of the harness, without any instability or incorrect movements.
Since there are various simulation engines that try to model wiring's systems, this thesis work focused on the creation and test of a 3D environment with wiring and other objects through the PyChrono Simulation Engine.
Fine-tuning of the simulation parameters were done during the test to achieve the most stable and correct simulation possible, but tests showed the intrinsic limits of the Engine regarding the collisions' detection between the various part of the cables, while collisions between cables and other physical objects such as pavement, walls and others are well managed by the simulator.
Finally, the main purpose of the model is to be used to train Artificial Intelligence through Reinforcement Learnings techniques, so we designed, using OpenAI Gym APIs, the general structure of the learning environment, defining its basic functions and an initial framework.
Tipologia del documento
Tesi di laurea
(Laurea magistrale)
Autore della tesi
Gangemi, Jacopo Maria
Relatore della tesi
Correlatore della tesi
Scuola
Corso di studio
Ordinamento Cds
DM270
Parole chiave
Deformable Linear Object Simulation,Cable modelling,Deformable Linear Object,Deformable Object Modelling,PyChrono
Data di discussione della Tesi
5 Dicembre 2022
URI
Altri metadati
Tipologia del documento
Tesi di laurea
(NON SPECIFICATO)
Autore della tesi
Gangemi, Jacopo Maria
Relatore della tesi
Correlatore della tesi
Scuola
Corso di studio
Ordinamento Cds
DM270
Parole chiave
Deformable Linear Object Simulation,Cable modelling,Deformable Linear Object,Deformable Object Modelling,PyChrono
Data di discussione della Tesi
5 Dicembre 2022
URI
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