4 research outputs found

    VRCC-3D+: Qualitative spatial and temporal reasoning in 3 dimensions

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    Qualitative Spatial Reasoning (QSR) has varying applications in Geographic Information Systems (GIS), visual programming language semantics, and digital image analysis. Systems for spatial reasoning over a set of objects have evolved in both expressive power and complexity, but implementations or usages of these systems are not common. This is partially due to the computational complexity of the operations required by the reasoner to make informed decisions about its surroundings. These theoretical systems are designed to focus on certain criteria, including efficiency of computation, ease of human comprehension, and expressive power. Sadly, the implementation of these systems is frequently left as an exercise for the reader. Herein, a new QSR system, VRCC-3D+, is proposed that strives to maximize expressive power while minimizing the complexity of reasoning and computational cost of using the system. This system is an evolution of RCC-3D; the system and implementation are constantly being refined to handle the complexities of the reasoning being performed. The refinements contribute to the accuracy, correctness, and speed of the implementation. To improve the accuracy and correctness of the implementation, a way to dynamically change error tolerance in the system to more accurately reflect what the user sees is designed. A method that improves the speed of determining spatial relationships between objects by using composition tables and decision trees is introduced, and improvements to the system itself are recommended; by streamlining the relation set and enforcing strict rules for the precision of the predicates that determine the relationships between objects. A potential use case and prototype implementation is introduced to further motivate the need for implementations of QSR systems, and show that their use is not precluded by computational complexity. --Abstract, page iv

    High-Dimensional Design Evaluations For Self-Aligning Geometries

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    Physical connectors with self-aligning geometry aid in the docking process for many robotic and automatic control systems such as robotic self-reconfiguration and air-to-air refueling. This self-aligning geometry provides a wider range of acceptable error tolerance in relative pose between the two rigid objects, increasing successful docking chances. In a broader context, mechanical alignment properties are also useful for other cases such as foot placement and stability, grasping or manipulation. Previously, computational limitations and costly algorithms prevented high-dimensional analysis. The algorithms presented in this dissertation will show a reduced computational time and improved resolution for this kind of problem. This dissertation reviews multiple methods for evaluating modular robot connector geometries as a case study in determining alignment properties. Several metrics are introduced in terms of the robustness of the alignment to errors across the full dimensional range of possible offsets. Algorithms for quantifying error robustness will be introduced and compared in terms of accuracy, reliability, and computational cost. Connector robustness is then compared across multiple design parameters to find trends in alignment behavior. Methods developed and compared include direct simulation and contact space analysis algorithms (geometric by a \u27pre-partitioning\u27 method, and discrete by flooding). Experimental verification for certain subsets is also performed to confirm the results. By evaluating connectors using these algorithms we obtain concrete metric values. We then quantitatively compare their alignment capabilities in either SE(2) or SE(3) under a pseudo-static assumption

    Hadron models and related New Energy issues

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    The present book covers a wide-range of issues from alternative hadron models to their likely implications in New Energy research, including alternative interpretation of lowenergy reaction (coldfusion) phenomena. The authors explored some new approaches to describe novel phenomena in particle physics. M Pitkanen introduces his nuclear string hypothesis derived from his Topological Geometrodynamics theory, while E. Goldfain discusses a number of nonlinear dynamics methods, including bifurcation, pattern formation (complex GinzburgLandau equation) to describe elementary particle masses. Fu Yuhua discusses a plausible method for prediction of phenomena related to New Energy development. F. Smarandache discusses his unmatter hypothesis, and A. Yefremov et al. discuss Yang-Mills field from Quaternion Space Geometry. Diego Rapoport discusses theoretical link between Torsion fields and Hadronic Mechanic. A.H. Phillips discusses semiconductor nanodevices, while V. and A. Boju discuss Digital Discrete and Combinatorial methods and their likely implications in New Energy research. Pavel Pintr et al. describe planetary orbit distance from modified Schrödinger equation, and M. Pereira discusses his new Hypergeometrical description of Standard Model of elementary particles. The present volume will be suitable for researchers interested in New Energy issues, in particular their link with alternative hadron models and interpretation

    Efficient Computation of Object Boundary Intersection and Error Tolerance in VRCC-3D+

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    Computational geometry is a field that is relevant to computer graphics rendering, computational physical simulation, and countless other problem domains involving the use of image data. Efficiently determining the intersection of the boundaries, interiors, and exteriors of two objects can mean the difference between a realistic and relevant simulation, and a slow program that produces results that do not keep pace with user manipulation of the object. However, the speed of these calculations is not the only area of concern. Taking into consideration the finite unit of resolution in a computer display (the pixel) and error in the floating-point representation of numbers, it may be the case that the perceived correctness of these computations does not necessarily correspond to the accuracy with which the calculations are carried out. In this paper, we examine two of the most well-known methods of determining such intersections, as well as various programming language libraries available to perform these calculations. These existing approaches are considered with respect to limitations in human perception, display resolution, and floating point error. We also propose a new method which lends itself to exploiting the inherently parallel nature of these calculations
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