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doc:concepts [2019/06/04 10:49]
tgeijten
doc:concepts [2019/06/04 10:57] (current)
tgeijten
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 ====== SCONE Concepts ====== ====== SCONE Concepts ======
-==== SCONE Scenario ==== 
 In SCONE, everything needed to perform a predictive simulation is bundled in what is called a **scenario**. Each SCONE scenario consists of the following components: In SCONE, everything needed to perform a predictive simulation is bundled in what is called a **scenario**. Each SCONE scenario consists of the following components:
  
-  * A musculoskeletal **model** of the human or animal, which is used in the simulation+  * A musculoskeletal **[[doc:model|Model]]** of the human or animal ​you wish to simulate
-  * A **controller**, which generates input for the model actuators. +  * A **[[doc:controller|Controller]]** that generates input for the model actuators. 
-  * An **objective**, which describes the goal task for which you wish to optimize, through a weighted combination of **measures**. +  * An **[[doc:objective|Objective]]** that describes the goal task for which you wish to optimize, through a weighted combination of **[[doc:​objective|Measures]]**. 
-  * An **optimizer**, which attempts ​to find the parameters that best perform ​the specified ​objective.+  * An **[[doc:optimizer|Optimizer]]** that tries to find the parameters that optimally ​perform ​a specific ​objective.
  
-==== SCONE Models ==== +To learn more about SCONE scenarios, be sure check out the [[tutorials:introduction]] tutorial.
-SCONE is designed to work with [[https://​opensim.stanford.edu|OpenSim]] for modeling and simulationAny type of model is supported (both 2D and 3D), as long as the model contains **controllable actuators**,​ such as hill-type muscle-tendon units or torque-based actuators. In case a model needs to interact with the environment,​ it must also contain **collision shapes** and **contact models**. This is needed to compute the reaction forces during the forward dynamics simulation. Finally, models should typically contain **limit forces** to simulate the forces generated by tendons and bony structures when a joint reaches a certain limit. +
- +
-Models used for predictive simulations should be as simple as possible. The reason for this is threefold:​ +
-  1. Models with less degrees-of-freedom are more restricted in their motion, making it easier to find an optimum; +
-  2. The less actuators, the less control parameters are needed during the optimization;​ +
-  3. Simulation performance decreases with model complexity, so optimizations will run much quicker with simpler models. +
- +
-==== SCONE Controllers ==== +
-Controllers compute the input values of the model actuators.  +
- +
-In SCONE, controllers consist of modular components that can be combined to perform complex behaviors. +
- +
-==== SCONE Objectives and Measures ==== +
-Measures define the //fitness// or //quality// of a simulation. The goal of the optimizer is to minimize (or maximize, depending on the type) the measure. +
- +
-==== SCONE Optimizers ====+
  
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