3,721 research outputs found
Collision-free motion of two robot arms in a common workspace
Collision-free motion of two robot arms in a common workspace is investigated. A collision-free motion is obtained by detecting collisions along the preplanned trajectories using a sphere model for the wrist of each robot and then modifying the paths and/or trajectories of one or both robots to avoid the collision. Detecting and avoiding collisions are based on the premise that: preplanned trajectories of the robots follow a straight line; collisions are restricted to between the wrists of the two robots (which corresponds to the upper three links of PUMA manipulators); and collisions never occur between the beginning points or end points on the straight line paths. The collision detection algorithm is described and some approaches to collision avoidance are discussed
On the minimum orbital intersection distance computation: a new effective method
The computation of the Minimum Orbital Intersection Distance (MOID) is an
old, but increasingly relevant problem. Fast and precise methods for MOID
computation are needed to select potentially hazardous asteroids from a large
catalogue. The same applies to debris with respect to spacecraft. An iterative
method that strictly meets these two premises is presented.Comment: 13 pages, 10 figures, article accepted for publication in MNRA
Trifocal Relative Pose from Lines at Points and its Efficient Solution
We present a new minimal problem for relative pose estimation mixing point
features with lines incident at points observed in three views and its
efficient homotopy continuation solver. We demonstrate the generality of the
approach by analyzing and solving an additional problem with mixed point and
line correspondences in three views. The minimal problems include
correspondences of (i) three points and one line and (ii) three points and two
lines through two of the points which is reported and analyzed here for the
first time. These are difficult to solve, as they have 216 and - as shown here
- 312 solutions, but cover important practical situations when line and point
features appear together, e.g., in urban scenes or when observing curves. We
demonstrate that even such difficult problems can be solved robustly using a
suitable homotopy continuation technique and we provide an implementation
optimized for minimal problems that can be integrated into engineering
applications. Our simulated and real experiments demonstrate our solvers in the
camera geometry computation task in structure from motion. We show that new
solvers allow for reconstructing challenging scenes where the standard two-view
initialization of structure from motion fails.Comment: This material is based upon work supported by the National Science
Foundation under Grant No. DMS-1439786 while most authors were in residence
at Brown University's Institute for Computational and Experimental Research
in Mathematics -- ICERM, in Providence, R
Fast Isogeometric Boundary Element Method based on Independent Field Approximation
An isogeometric boundary element method for problems in elasticity is
presented, which is based on an independent approximation for the geometry,
traction and displacement field. This enables a flexible choice of refinement
strategies, permits an efficient evaluation of geometry related information, a
mixed collocation scheme which deals with discontinuous tractions along
non-smooth boundaries and a significant reduction of the right hand side of the
system of equations for common boundary conditions. All these benefits are
achieved without any loss of accuracy compared to conventional isogeometric
formulations. The system matrices are approximated by means of hierarchical
matrices to reduce the computational complexity for large scale analysis. For
the required geometrical bisection of the domain, a strategy for the evaluation
of bounding boxes containing the supports of NURBS basis functions is
presented. The versatility and accuracy of the proposed methodology is
demonstrated by convergence studies showing optimal rates and real world
examples in two and three dimensions.Comment: 32 pages, 27 figure
Parametric Surfaces for Augmented Architecture representation
Augmented Reality (AR) represents a growing communication channel, responding to the need to expand reality with additional information, offering easy and engaging access to digital data. AR for architectural representation allows a simple interaction with 3D models, facilitating spatial understanding of complex volumes and topological relationships between parts, overcoming some limitations related to Virtual Reality. In the last decade different developments in the pipeline process have seen a significant advancement in technological and algorithmic aspects, paying less attention to 3D modeling generation. For this, the article explores the construction of basic geometries for 3D model’s generation, highlighting the relationship between geometry and topology, basic for a consistent normal distribution. Moreover, a critical evaluation about corrective paths of existing 3D models is presented, analysing a complex architectural case study, the virtual model of Villa del Verginese, an emblematic example for topological emerged problems. The final aim of the paper is to refocus attention on 3D model construction, suggesting some "good practices" useful for preventing, minimizing or correcting topological problems, extending the accessibility of AR to people engaged in architectural representation
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