285 research outputs found
Fast Penetration Depth Estimation for Elastic Bodies
We present a fast penetration depth estimation algorithm between deformable polyhedral objects. We assume the continuum of non-rigid models are discretized using standard techniques, such as finite element or finite difference methods. As the objects deform, the pre-computed distance fields are deformed accordingly to estimate penetration depth, allowing enforcement of non-penetration constraints between two colliding elastic bodies. This approach can automatically handle self-penetration and inter-penetration in a uniform manner. We demonstrate its effectiveness on moderately complex simulation scenes
2D multi-objective placement algorithm for free-form components
This article presents a generic method to solve 2D multi-objective placement
problem for free-form components. The proposed method is a relaxed placement
technique combined with an hybrid algorithm based on a genetic algorithm and a
separation algorithm. The genetic algorithm is used as a global optimizer and
is in charge of efficiently exploring the search space. The separation
algorithm is used to legalize solutions proposed by the global optimizer, so
that placement constraints are satisfied. A test case illustrates the
application of the proposed method. Extensions for solving the 3D problem are
given at the end of the article.Comment: ASME 2009 International Design Engineering Technical Conferences &
Computers and Information in Engineering Conference, San Diego : United
States (2009
Trajectory planning with task constraints in densely filled environments
In this paper the problem of computing a rigid object trajectory in an environment populated with deformable objects is addressed. The problem arises in Minimally Invasive Robotic Surgery (MIRS) from the needs of reaching a point of interest inside the anatomy with rigid laparoscopic instruments. We address the case of abdominal surgery. The abdomen is a densely populated soft environment and it is not possible to apply classical techniques for obstacle avoidance because a collision free solution is, most of the time, not feasible. In order to have a convergent algorithm with, at least, one possible solution we have to relax the constraints and allow collision under a specific contact threshold to avoid tissue damaging. In this work a new approach for trajectory planning under these peculiar conditions is implemented. The method computes offline the path which is then tested in a surgical simulator as part of a pre-operative surgical plan
Minkowski Sum Construction and other Applications of Arrangements of Geodesic Arcs on the Sphere
We present two exact implementations of efficient output-sensitive algorithms
that compute Minkowski sums of two convex polyhedra in 3D. We do not assume
general position. Namely, we handle degenerate input, and produce exact
results. We provide a tight bound on the exact maximum complexity of Minkowski
sums of polytopes in 3D in terms of the number of facets of the summand
polytopes. The algorithms employ variants of a data structure that represents
arrangements embedded on two-dimensional parametric surfaces in 3D, and they
make use of many operations applied to arrangements in these representations.
We have developed software components that support the arrangement
data-structure variants and the operations applied to them. These software
components are generic, as they can be instantiated with any number type.
However, our algorithms require only (exact) rational arithmetic. These
software components together with exact rational-arithmetic enable a robust,
efficient, and elegant implementation of the Minkowski-sum constructions and
the related applications. These software components are provided through a
package of the Computational Geometry Algorithm Library (CGAL) called
Arrangement_on_surface_2. We also present exact implementations of other
applications that exploit arrangements of arcs of great circles embedded on the
sphere. We use them as basic blocks in an exact implementation of an efficient
algorithm that partitions an assembly of polyhedra in 3D with two hands using
infinite translations. This application distinctly shows the importance of
exact computation, as imprecise computation might result with dismissal of
valid partitioning-motions.Comment: A Ph.D. thesis carried out at the Tel-Aviv university. 134 pages
long. The advisor was Prof. Dan Halperi
Reachability-based Trajectory Design with Neural Implicit Safety Constraints
Generating safe motion plans in real-time is a key requirement for deploying
robot manipulators to assist humans in collaborative settings. In particular,
robots must satisfy strict safety requirements to avoid self-damage or harming
nearby humans. Satisfying these requirements is particularly challenging if the
robot must also operate in real-time to adjust to changes in its
environment.This paper addresses these challenges by proposing
Reachability-based Signed Distance Functions (RDFs) as a neural implicit
representation for robot safety. RDF, which can be constructed using supervised
learning in a tractable fashion, accurately predicts the distance between the
swept volume of a robot arm and an obstacle. RDF's inference and gradient
computations are fast and scale linearly with the dimension of the system;
these features enable its use within a novel real-time trajectory planning
framework as a continuous-time collision-avoidance constraint. The planning
method using RDF is compared to a variety of state-of-the-art techniques and is
demonstrated to successfully solve challenging motion planning tasks for
high-dimensional systems faster and more reliably than all tested methods
A method for dense packing discovery
The problem of packing a system of particles as densely as possible is
foundational in the field of discrete geometry and is a powerful model in the
material and biological sciences. As packing problems retreat from the reach of
solution by analytic constructions, the importance of an efficient numerical
method for conducting \textit{de novo} (from-scratch) searches for dense
packings becomes crucial. In this paper, we use the \textit{divide and concur}
framework to develop a general search method for the solution of periodic
constraint problems, and we apply it to the discovery of dense periodic
packings. An important feature of the method is the integration of the unit
cell parameters with the other packing variables in the definition of the
configuration space. The method we present led to improvements in the
densest-known tetrahedron packing which are reported in [arXiv:0910.5226].
Here, we use the method to reproduce the densest known lattice sphere packings
and the best known lattice kissing arrangements in up to 14 and 11 dimensions
respectively (the first such numerical evidence for their optimality in some of
these dimensions). For non-spherical particles, we report a new dense packing
of regular four-dimensional simplices with density
and with a similar structure to the densest known tetrahedron packing.Comment: 15 pages, 5 figure
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