Geometric data transfer between CAD systems: solid models

The CAD/CAM community is showing great interest in the development of data exchange standards. This article highlights some aspects of the work accomplished during the first phase of the ESPRIT project CAD*1. Part of this work has resulted in a specification for the exchange of solid models, as well as in some pilot implementations of processors based on this specification. This work also contributes to the efforts of the International Standards Organization (ISO) in developing the Standard for the Exchange of Product Model Data (STEP). The authors present a summary of the CAD*1 approach, addressing the structure of neutral files for solids, entities, and attributes supporting three kinds of representations, facilities for the transfer of parametric designs, referencing library components, and other general mechanisms. Also is described the current state of the specification and processor implementations. An example of a CAD*1 neutral file is included. Results from cycle and intersystem solid model transfer tests are presented, showing the practicality of the CAD*1 proposal. B-rep model transfer results are discussed in some detail. Finally, the authors outline the relationship of this work with standardizatio

A Survey of Methods for Converting Unstructured Data to CSG Models

The goal of this document is to survey existing methods for recovering CSG representations from unstructured data such as 3D point-clouds or polygon meshes. We review and discuss related topics such as the segmentation and fitting of the input data. We cover techniques from solid modeling and CAD for polyhedron to CSG and B-rep to CSG conversion. We look at approaches coming from program synthesis, evolutionary techniques (such as genetic programming or genetic algorithm), and deep learning methods. Finally, we conclude with a discussion of techniques for the generation of computer programs representing solids (not just CSG models) and higher-level representations (such as, for example, the ones based on sketch and extrusion or feature based operations).Comment: 29 page

SMP: A solid modeling program

A prototype solid modeling program, SMP, developed by CSC for Langley Research Center (LaRC) is documented in this paper. The SMP software is employed by the System and Experiments Branch (SEB) of the Space Systems Division (SSD) for preliminary space station design, but is intended as a general purpose tool. The SMP document provides details concerning: the basic geometric modeling primitives and associated operators, the data representation scheme utilized to structure the geometric model, the available commands for both editing and displaying the solid model, the interactive user interface and the input/output interfaces to external software, and the utility of the package in the LaRC computing environment. The document is sufficiently detailed to serve both as a user's guide and reference manual

An ontology-based approach towards coupling task and path planning for the simulation of manipulation tasks

This work deals with the simulation and the validation of complex manipulation tasks under strong geometric constraints in virtual environments. The targeted applications relate to the industry 4.0 framework; as up-to-date products are more and more integrated and the economic competition increases, industrial companies express the need to validate, from design stage on, not only the static CAD models of their products but also the tasks (e.g., assembly or maintenance) related to their Product Lifecycle Management (PLM). The scientific community looked at this issue from two points of view: - Task planning decomposes a manipulation task to be realized into a sequence of primitive actions (i.e., a task plan) - Path planning computes collision-free trajectories, notably for the manipulated objects. It traditionally uses purely geometric data, which leads to classical limitations (possible high computational processing times, low relevance of the proposed trajectory concerning the task to be performed, or failure); recent works have shown the interest of using higher abstraction level data. Joint task and path planning approaches found in the literature usually perform a classical task planning step, and then check out the feasibility of path planning requests associated with the primitive actions of this task plan. The link between task and path planning has to be improved, notably because of the lack of loopback between the path planning level and the task planning level: - The path planning information used to question the task plan is usually limited to the motion feasibility where richer information such as the relevance or the complexity of the proposed path would be needed; - path planning queries traditionally use purely geometric data and/or “blind” path planning methods (e.g., RRT), and no task-related information is used at the path planning level Our work focuses on using task level information at the path planning level. The path planning algorithm considered is RRT; we chose such a probabilistic algorithm because we consider path planning for the simulation and the validation of complex tasks under strong geometric constraints. We propose an ontology-based approach to use task level information to specify path planning queries for the primitive actions of a task plan. First, we propose an ontology to conceptualize the knowledge about the 3D environment in which the simulated task takes place. The environment where the simulated task takes place is considered as a closed part of 3D Cartesian space cluttered with mobile/fixed obstacles (considered as rigid bodies). It is represented by a digital model relying on a multilayer architecture involving semantic, topologic and geometric data. The originality of the proposed ontology lies in the fact that it conceptualizes heterogeneous knowledge about both the obstacles and the free space models. Second, we exploit this ontology to automatically generate a path planning query associated to each given primitive action of a task plan. Through a reasoning process involving the primitive actions instantiated in the ontology, we are able to infer the start and the goal configurations, as well as task-related geometric constraints. Finally, a multi-level path planner is called to generate the corresponding trajectory. The contributions of this work have been validated by full simulation of several manipulation tasks under strong geometric constraints. The results obtained demonstrate that using task-related information allows better control on the RRT path planning algorithm involved to check the motion feasibility for the primitive actions of a task plan, leading to lower computational time and more relevant trajectories for primitive actions

ACM Transactions on Graphics

We present an interactive design system to create functional mechanical objects. Our computational approach allows novice users to retarget an existing mechanical template to a user-specified input shape. Our proposed representation for a mechanical template encodes a parameterized mechanism, mechanical constraints that ensure a physically valid configuration, spatial relationships of mechanical parts to the user-provided shape, and functional constraints that specify an intended functionality. We provide an intuitive interface and optimization-in-the-loop approach for finding a valid configuration of the mechanism and the shape to ensure that higher-level functional goals are met. Our algorithm interactively optimizes the mechanism while the user manipulates the placement of mechanical components and the shape. Our system allows users to efficiently explore various design choices and to synthesize customized mechanical objects that can be fabricated with rapid prototyping technologies. We demonstrate the efficacy of our approach by retargeting various mechanical templates to different shapes and fabricating the resulting functional mechanical objects

SUPPORTING MISSION PLANNING WITH A PERSISTENT AUGMENTED ENVIRONMENT

Includes supplementary materialIncludes Supplementary MaterialThe Department of the Navy relies on current naval practices such as briefs, chat, and voice reports to provide an overall operational assessment of the fleet. That includes the cyber domain, or battlespace, depicting a single snapshot of a ship’s network equipment and service statuses. However, the information can be outdated and inaccurate, creating confusion among decision-makers in understanding the service and availability of equipment in the cyber domain. We examine the ability of a persistent augmented environment (PAE) and 3D visualization to support communications and cyber network operations, reporting, and resource management decision-making. We designed and developed a PAE prototype and tested the usability of its interface. Our study examined users’ comprehension of 3D visualization of the naval cyber battlespace onboard multiple ships and evaluated the PAE’s ability to assist in effective mission planning at the tactical level. The results are highly encouraging: the participants were able to complete their tasks successfully. They found the interface easy to understand and operate, and the prototype was characterized as a valuable alternative to their current practices. Our research provides close insights into the feasibility and effectiveness of the novel form of data representation and its capability to support faster and improved situational awareness and decision-making in a complex operational technology (OT) environment between diverse communities.Lieutenant, United States NavyLieutenant, United States NavyApproved for public release. Distribution is unlimited

SMP: A solid modeling program version 2.0

The Solid Modeling Program (SMP) provides the capability to model complex solid objects through the composition of primitive geometric entities. In addition to the construction of solid models, SMP has extensive facilities for model editing, display, and analysis. The geometric model produced by the software system can be output in a format compatible with existing analysis programs such as PATRAN-G. The present version of the SMP software supports six primitives: boxes, cones, spheres, paraboloids, tori, and trusses. The details for creating each of the major primitive types is presented. The analysis capabilities of SMP, including interfaces to existing analysis programs, are discussed

Multiple-view product representation and development using augmented reality technology

Ph.DDOCTOR OF PHILOSOPH

On the Statics, Dynamics, and Stability of Continuum Robots: Model Formulations and Efficient Computational Schemes

This dissertation presents advances in continuum-robotic mathematical-modeling techniques. Specifically, problems of statics, dynamics, and stability are studied for robots with slender elastic links. The general procedure within each topic is to develop a continuous theory describing robot behavior, develop a discretization strategy to enable simulation and control, and to validate simulation predictions against experimental results.Chapter 1 introduces the basic concept of continuum robotics and reviews progress in the field. It also introduces the mathematical modeling used to describe continuum robots and explains some notation used throughout the dissertation.The derivation of Cosserat rod statics, the coupling of rods to form a parallel continuum robot (PCR), and solution of the kinematics problem are reviewed in Chapter 2. With this foundation, soft real-time teleoperation of a PCR is demonstrated and a miniature prototype robot with a grasper is controlled.Chapter 3 reviews the derivation of Cosserat rod dynamics and presents a discretization strategy having several desirable features, such as generality, accuracy, and potential for good computational efficiency. The discretized rod model is validated experimentally using high speed camera footage of a cantilevered rod. The discretization strategy is then applied to simulate continuum robot dynamics for several classes of robot, including PCRs, tendon-driven robots, fluidic actuators, and concentric tube robots.In Chapter 4, the stability of a PCR is analyzed using optimal control theory. Conditions of stability are gradually developed starting from a single planar rod and finally arriving at a stability test for parallel continuum robots. The approach is experimentally validated using a camera tracking system.Chapter 5 provides closing discussion and proposes potential future work