Smooth trajectory generation for rotating extensible manipulators

In this study the generation of smooth trajectories of the end-effector of a rotating extensible manipulator arm is considered. Possible trajectories are modelled using Cartesian and polar piecewise cubic interpolants expressed as polynomial Hermite-type functions. The use of polar piecewise cubic interpolants devises continuous first and - in some cases - second order derivatives and allows easy calculation of kinematics variables such as velocity and acceleration. Moreover, the manipulator equations of motion can be easily handled, and the constrained trajectory of the non-active end of the manipulator derived directly from the position of the end-effector. To verify the proposed approach, numerical simulations are conducted for two different configurations

Control of Curvature Extrema in Curve Modeling

We present a method for constructing almost-everywhere curvature-continuous curves that interpolate a list of control points and have local maxima of curvature only at the control points. Our premise is that salient features of the curve should occur only at control points to avoid the creation of features unintended by the artist. While many artists prefer to use interpolated control points, the creation of artifacts, such as loops and cusps, away from control points has limited the use of these types of curves. By enforcing the maximum curvature property, loops and cusps cannot be created unless the artist intends to create such features. To create these curves, we analyze the curvature monotonicity of quadratic, rational quadratic and cubic curves and develop a framework to connect such curve primitives with curvature continuity. We formulate an energy to encode the desired properties in a boxed constrained optimization and provide a fast method of estimating the solution through a numerical optimization. The optimized curve can serve as a real-time curve modeling tool in art design applications

High-order adaptive methods for computing invariant manifolds of maps

The author presents efficient and accurate numerical methods for computing invariant manifolds of maps which arise in the study of dynamical systems. In order to decrease the number of points needed to compute a given curve/surface, he proposes using higher-order interpolation/approximation techniques from geometric modeling. He uses B´ezier curves/triangles, fundamental objects in curve/surface design, to create adaptive methods. The methods are based on tolerance conditions derived from properties of B´ezier curves/triangles. The author develops and tests the methods for an ordinary parametric curve; then he adapts these methods to invariant manifolds of planar maps. Next, he develops and tests the method for parametric surfaces and then he adapts this method to invariant manifolds of three-dimensional maps

New strategies for curve and arbitrary-topology surface constructions for design

This dissertation presents some novel constructions for curves and surfaces with arbitrary topology in the context of geometric modeling. In particular, it deals mainly with three intimately connected topics that are of interest in both theoretical and applied research: subdivision surfaces, non-uniform local interpolation (in both univariate and bivariate cases), and spaces of generalized splines. Specifically, we describe a strategy for the integration of subdivision surfaces in computer-aided design systems and provide examples to show the effectiveness of its implementation. Moreover, we present a construction of locally supported, non-uniform, piecewise polynomial univariate interpolants of minimum degree with respect to other prescribed design parameters (such as support width, order of continuity and order of approximation). Still in the setting of non-uniform local interpolation, but in the case of surfaces, we devise a novel parameterization strategy that, together with a suitable patching technique, allows us to define composite surfaces that interpolate given arbitrary-topology meshes or curve networks and satisfy both requirements of regularity and aesthetic shape quality usually needed in the CAD modeling framework. Finally, in the context of generalized splines, we propose an approach for the construction of the optimal normalized totally positive (B-spline) basis, acknowledged as the best basis of representation for design purposes, as well as a numerical procedure for checking the existence of such a basis in a given generalized spline space. All the constructions presented here have been devised keeping in mind also the importance of application and implementation, and of the related requirements that numerical procedures must satisfy, in particular in the CAD context

Blending techniques in Curve and Surface constructions

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Curve Skeleton and Moments of Area Supported Beam Parametrization in Multi-Objective Compliance Structural Optimization

This work addresses the end-to-end virtual automation of structural optimization up to the derivation of a parametric geometry model that can be used for application areas such as additive manufacturing or the verification of the structural optimization result with the finite element method. A holistic design in structural optimization can be achieved with the weighted sum method, which can be automatically parameterized with curve skeletonization and cross-section regression to virtually verify the result and control the local size for additive manufacturing. is investigated in general. In this paper, a holistic design is understood as a design that considers various compliances as an objective function. This parameterization uses the automated determination of beam parameters by so-called curve skeletonization with subsequent cross-section shape parameter estimation based on moments of area, especially for multi-objective optimized shapes. An essential contribution is the linking of the parameterization with the results of the structural optimization, e.g., to include properties such as boundary conditions, load conditions, sensitivities or even density variables in the curve skeleton parameterization. The parameterization focuses on guiding the skeletonization based on the information provided by the optimization and the finite element model. In addition, the cross-section detection considers circular, elliptical, and tensor product spline cross-sections that can be applied to various shape descriptors such as convolutional surfaces, subdivision surfaces, or constructive solid geometry. The shape parameters of these cross-sections are estimated using stiffness distributions, moments of area of 2D images, and convolutional neural networks with a tailored loss function to moments of area. Each final geometry is designed by extruding the cross-section along the appropriate curve segment of the beam and joining it to other beams by using only unification operations. The focus of multi-objective structural optimization considering 1D, 2D and 3D elements is on cases that can be modeled using equations by the Poisson equation and linear elasticity. This enables the development of designs in application areas such as thermal conduction, electrostatics, magnetostatics, potential flow, linear elasticity and diffusion, which can be optimized in combination or individually. Due to the simplicity of the cases defined by the Poisson equation, no experts are required, so that many conceptual designs can be generated and reconstructed by ordinary users with little effort. Specifically for 1D elements, a element stiffness matrices for tensor product spline cross-sections are derived, which can be used to optimize a variety of lattice structures and automatically convert them into free-form surfaces. For 2D elements, non-local trigonometric interpolation functions are used, which should significantly increase interpretability of the density distribution. To further improve the optimization, a parameter-free mesh deformation is embedded so that the compliances can be further reduced by locally shifting the node positions. Finally, the proposed end-to-end optimization and parameterization is applied to verify a linear elasto-static optimization result for and to satisfy local size constraint for the manufacturing with selective laser melting of a heat transfer optimization result for a heat sink of a CPU. For the elasto-static case, the parameterization is adjusted until a certain criterion (displacement) is satisfied, while for the heat transfer case, the manufacturing constraints are satisfied by automatically changing the local size with the proposed parameterization. This heat sink is then manufactured without manual adjustment and experimentally validated to limit the temperature of a CPU to a certain level.:TABLE OF CONTENT III I LIST OF ABBREVIATIONS V II LIST OF SYMBOLS V III LIST OF FIGURES XIII IV LIST OF TABLES XVIII 1. INTRODUCTION 1 1.1 RESEARCH DESIGN AND MOTIVATION 6 1.2 RESEARCH THESES AND CHAPTER OVERVIEW 9 2. PRELIMINARIES OF TOPOLOGY OPTIMIZATION 12 2.1 MATERIAL INTERPOLATION 16 2.2 TOPOLOGY OPTIMIZATION WITH PARAMETER-FREE SHAPE OPTIMIZATION 17 2.3 MULTI-OBJECTIVE TOPOLOGY OPTIMIZATION WITH THE WEIGHTED SUM METHOD 18 3. SIMULTANEOUS SIZE, TOPOLOGY AND PARAMETER-FREE SHAPE OPTIMIZATION OF WIREFRAMES WITH B-SPLINE CROSS-SECTIONS 21 3.1 FUNDAMENTALS IN WIREFRAME OPTIMIZATION 22 3.2 SIZE AND TOPOLOGY OPTIMIZATION WITH PERIODIC B-SPLINE CROSS-SECTIONS 27 3.3 PARAMETER-FREE SHAPE OPTIMIZATION EMBEDDED IN SIZE OPTIMIZATION 32 3.4 WEIGHTED SUM SIZE AND TOPOLOGY OPTIMIZATION 36 3.5 CROSS-SECTION COMPARISON 39 4. NON-LOCAL TRIGONOMETRIC INTERPOLATION IN TOPOLOGY OPTIMIZATION 41 4.1 FUNDAMENTALS IN MATERIAL INTERPOLATIONS 43 4.2 NON-LOCAL TRIGONOMETRIC SHAPE FUNCTIONS 45 4.3 NON-LOCAL PARAMETER-FREE SHAPE OPTIMIZATION WITH TRIGONOMETRIC SHAPE FUNCTIONS 49 4.4 NON-LOCAL AND PARAMETER-FREE MULTI-OBJECTIVE TOPOLOGY OPTIMIZATION 54 5. FUNDAMENTALS IN SKELETON GUIDED SHAPE PARAMETRIZATION IN TOPOLOGY OPTIMIZATION 58 5.1 SKELETONIZATION IN TOPOLOGY OPTIMIZATION 61 5.2 CROSS-SECTION RECOGNITION FOR IMAGES 66 5.3 SUBDIVISION SURFACES 67 5.4 CONVOLUTIONAL SURFACES WITH META BALL KERNEL 71 5.5 CONSTRUCTIVE SOLID GEOMETRY 73 6. CURVE SKELETON GUIDED BEAM PARAMETRIZATION OF TOPOLOGY OPTIMIZATION RESULTS 75 6.1 FUNDAMENTALS IN SKELETON SUPPORTED RECONSTRUCTION 76 6.2 SUBDIVISION SURFACE PARAMETRIZATION WITH PERIODIC B-SPLINE CROSS-SECTIONS 78 6.3 CURVE SKELETONIZATION TAILORED TO TOPOLOGY OPTIMIZATION WITH PRE-PROCESSING 82 6.4 SURFACE RECONSTRUCTION USING LOCAL STIFFNESS DISTRIBUTION 86 7. CROSS-SECTION SHAPE PARAMETRIZATION FOR PERIODIC B-SPLINES 96 7.1 PRELIMINARIES IN B-SPLINE CONTROL GRID ESTIMATION 97 7.2 CROSS-SECTION EXTRACTION OF 2D IMAGES 101 7.3 TENSOR SPLINE PARAMETRIZATION WITH MOMENTS OF AREA 105 7.4 B-SPLINE PARAMETRIZATION WITH MOMENTS OF AREA GUIDED CONVOLUTIONAL NEURAL NETWORK 110 8. FULLY AUTOMATED COMPLIANCE OPTIMIZATION AND CURVE-SKELETON PARAMETRIZATION FOR A CPU HEAT SINK WITH SIZE CONTROL FOR SLM 115 8.1 AUTOMATED 1D THERMAL COMPLIANCE MINIMIZATION, CONSTRAINED SURFACE RECONSTRUCTION AND ADDITIVE MANUFACTURING 118 8.2 AUTOMATED 2D THERMAL COMPLIANCE MINIMIZATION, CONSTRAINT SURFACE RECONSTRUCTION AND ADDITIVE MANUFACTURING 120 8.3 USING THE HEAT SINK PROTOTYPES COOLING A CPU 123 9. CONCLUSION 127 10. OUTLOOK 131 LITERATURE 133 APPENDIX 147 A PREVIOUS STUDIES 147 B CROSS-SECTION PROPERTIES 149 C CASE STUDIES FOR THE CROSS-SECTION PARAMETRIZATION 155 D EXPERIMENTAL SETUP 15

Polynomial-based non-uniform interpolatory subdivision with features control

Starting from a well-known construction of polynomial-based interpolatory 4-point schemes, in this paper we present an original affine combination of quadratic polynomial samples that leads to a non-uniform 4-point scheme with edge parameters. This blending-type formulation is then further generalized to provide a powerful subdivision algorithm that combines the fairing curve of a non-uniform refinement with the advantages of a shape-controlled interpolation method and an arbitrary point insertion rule. The result is a non-uniform interpolatory 4-point scheme that is unique in combining a number of distinctive properties. In fact it generates visually-pleasing limit curves where special features ranging from cusps and flat edges to point/edge tension effects may be included without creating undesired undulations. Moreover such a scheme is capable of inserting new points at any positions of existing intervals, so that the most convenient parameter values may be chosen as well as the intervals for insertion. Such a fully flexible curve scheme is a fundamental step towards the construction of high-quality interpolatory subdivision surfaces with features control

Semi-automated Generation of Road Transition Lines Using Mobile Laser Scanning Data

Recent advances in autonomous vehicles (AVs) are exponential. Prominent car manufacturers, academic institutions, and corresponding governmental departments around the world are taking active roles in the AV industry. Although the attempts to integrate AV technology into smart roads and smart cities have been in the works for more than half a century, the High Definition Road Maps (HDRMs) that assists full self-driving autonomous vehicles did not yet exist. Mobile Laser Scanning (MLS) has enormous potential in the construction of HDRMs due to its flexibility in collecting wide coverage of street scenes and 3D information on scanned targets. However, without proper and efficient execution, it is difficult to generate HDRMs from MLS point clouds. This study recognizes the research gaps and difficulties in generating transition lines (the paths that pass through a road intersection) in road intersections from MLS point clouds. The proposed method contains three modules: road surface detection, lane marking extraction, and transition line generation. Firstly, the points covering road surface are extracted using the voxel- based upward-growing and the improved region growing. Then, lane markings are extracted and identified according to the multi-thresholding and the geometric filtering. Finally, transition lines are generated through a combination of the lane node structure generation algorithm and the cubic Catmull-Rom spline algorithm. The experimental results demonstrate that transition lines can be successfully generated for both T- and cross-intersections with promising accuracy. In the validation of lane marking extraction using the manually interpreted lane marking points, the method can achieve 90.80% precision, 92.07% recall, and 91.43% F1-score, respectively. The success rate of transition line generation is 96.5%. Furthermore, the Buffer-overlay-statistics (BOS) method validates that the proposed method can generate lane centerlines and transition lines within 20 cm-level localization accuracy from MLS point clouds. In addition, a comparative study is conducted to indicate the better performance of the proposed road marking extraction method than that of three other existing methods. In conclusion, this study makes a considerable contribution to the research on generating transition lines for HDRMs, which further contributes to the research of AVs

Analysis and new constructions of generalized barycentric coordinates in 2D

Different coordinate systems allow to uniquely determine the position of a geometric element in space. In this dissertation, we consider a coordinate system that lets us determine the position of a two-dimensional point in the plane with respect to an arbitrary simple polygon. Coordinates of this system are called generalized barycentric coordinates in 2D and are widely used in computer graphics and computational mechanics. There exist many coordinate functions that satisfy all the basic properties of barycentric coordinates, but they differ by a number of other properties. We start by providing an extensive comparison of all existing coordinate functions and pointing out which important properties of generalized barycentric coordinates are not satisfied by these functions. This comparison shows that not all of existing coordinates have fully investigated properties, and we complete such a theoretical analysis for a particular one-parameter family of generalized barycentric coordinates for strictly convex polygons. We also perform numerical analysis of this family and show how to avoid computational instabilities near the polygon’s boundary when computing these coordinates in practice. We conclude this analysis by implementing some members of this family in the Computational Geometry Algorithm Library. In the second half of this dissertation, we present a few novel constructions of non-negative and smooth generalized barycentric coordinates defined over any simple polygon. In this context, we show that new coordinates with improved properties can be obtained by taking convex combinations of already existing coordinate functions and we give two examples of how to use such convex combinations for polygons without and with interior points. These new constructions have many attractive properties and perform better than other coordinates in interpolation and image deformation applications