The thesis is organized as follows:
In Chapter we review previous work upon which our research draws. At its lowest level of abstraction, our work is an instance of physics-based graphics modeling. Therefore we first survey physics-based modeling where we discuss two basic approaches: the constraint-based approach and the motion synthesis approach. The modeling and control technique we employ in producing realistic fish locomotion pertains to the latter. At a higher level of abstraction, our research is an instance of advanced behavioral animation. We survey prior behavioral animation work and describe related previous perception models developed for the purposes of animation. Then we proceed to discuss the design of action selection mechanisms and review some related previous work in ALife/Animat research.
In subsequent chapters, we describe in detail the animation system that we have developed. In Chapter we begin by presenting a functional overview of the artificial fish model.
In Chapter we describe the biomechanical model and how it achieves muscle-based hydrodynamic locomotion. Next, we develop a numerical simulation of the equations of motion. Subsequently, the motor control of the physics-based artificial fish, derived from piscine biomechanical principles, is presented. This includes the construction of the muscle motor controllers as well as the pectoral fin motor controllers.
Chapter describes our approach to constructing geometric display models that capture the form and appearance of a variety of artificial fishes. An interactive, deformable contour tool is developed and applied to map realistic textures over the fish bodies. Finally we explain how the geometric display models are coupled to the biomechanical fish model to yield realistic animation.
In Chapter we present the perception model employed within the artificial fish. In particular, we describe the modeling of the perceptual attention mechanism and the use of motor preferences for generating compromised actions. We present concrete examples of how perception guided behaviors are synthesized. Possible extensions of our perception model are also discussed.
In Chapter we discuss behavior modeling in the artificial fish. We describe the internal motivations and action selection, which is carried out by an intention generator and a set of behavior routines that are explained in detail. Results are presented to illustrate the various behaviors achieved in three varieties of artificial fishes: pacifists, prey, and predators. We then analyze the properties of the action selection mechanism that we have designed and possible extensions are suggested.
Chapter discusses the modeling of the marine environment of the artificial fishes. In particular, we describe the physics-based modeling of seaweeds, food particles and water currents.
In Chapter we present the user interface that we have designed to facilitate the use of our animation system.
In Chapter we describe the animation results that we have achieved to date.
In Chapter we review the contributions of the thesis, and list possible directions of future research.
|Xiaoyuan Tu||January 1996|