319 research outputs found

    Superquadric representation of scenes from multi-view range data

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    Object representation denotes representing three-dimensional (3D) real-world objects with known graphic or mathematic primitives recognizable to computers. This research has numerous applications for object-related tasks in areas including computer vision, computer graphics, reverse engineering, etc. Superquadrics, as volumetric and parametric models, have been selected to be the representation primitives throughout this research. Superquadrics are able to represent a large family of solid shapes by a single equation with only a few parameters. This dissertation addresses superquadric representation of multi-part objects and multiobject scenes. Two issues motivate this research. First, superquadric representation of multipart objects or multi-object scenes has been an unsolved problem due to the complex geometry of objects. Second, superquadrics recovered from single-view range data tend to have low confidence and accuracy due to partially scanned object surfaces caused by inherent occlusions. To address these two problems, this dissertation proposes a multi-view superquadric representation algorithm. By incorporating both part decomposition and multi-view range data, the proposed algorithm is able to not only represent multi-part objects or multi-object scenes, but also achieve high confidence and accuracy of recovered superquadrics. The multi-view superquadric representation algorithm consists of (i) initial superquadric model recovery from single-view range data, (ii) pairwise view registration based on recovered superquadric models, (iii) view integration, (iv) part decomposition, and (v) final superquadric fitting for each decomposed part. Within the multi-view superquadric representation framework, this dissertation proposes a 3D part decomposition algorithm to automatically decompose multi-part objects or multiobject scenes into their constituent single parts consistent with human visual perception. Superquadrics can then be recovered for each decomposed single-part object. The proposed part decomposition algorithm is based on curvature analysis, and includes (i) Gaussian curvature estimation, (ii) boundary labeling, (iii) part growing and labeling, and (iv) post-processing. In addition, this dissertation proposes an extended view registration algorithm based on superquadrics. The proposed view registration algorithm is able to handle deformable superquadrics as well as 3D unstructured data sets. For superquadric fitting, two objective functions primarily used in the literature have been comprehensively investigated with respect to noise, viewpoints, sample resolutions, etc. The objective function proved to have better performance has been used throughout this dissertation. In summary, the three algorithms (contributions) proposed in this dissertation are generic and flexible in the sense of handling triangle meshes, which are standard surface primitives in computer vision and graphics. For each proposed algorithm, the dissertation presents both theory and experimental results. The results demonstrate the efficiency of the algorithms using both synthetic and real range data of a large variety of objects and scenes. In addition, the experimental results include comparisons with previous methods from the literature. Finally, the dissertation concludes with a summary of the contributions to the state of the art in superquadric representation, and presents possible future extensions to this research

    Flexible Object Manipulation

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    Flexible objects are a challenge to manipulate. Their motions are hard to predict, and the high number of degrees of freedom makes sensing, control, and planning difficult. Additionally, they have more complex friction and contact issues than rigid bodies, and they may stretch and compress. In this thesis, I explore two major types of flexible materials: cloth and string. For rigid bodies, one of the most basic problems in manipulation is the development of immobilizing grasps. The same problem exists for flexible objects. I have shown that a simple polygonal piece of cloth can be fully immobilized by grasping all convex vertices and no more than one third of the concave vertices. I also explored simple manipulation methods that make use of gravity to reduce the number of fingers necessary for grasping. I have built a system for folding a T-shirt using a 4 DOF arm and a fixed-length iron bar which simulates two fingers. The main goal with string manipulation has been to tie knots without the use of any sensing. I have developed single-piece fixtures capable of tying knots in fishing line, solder, and wire, along with a more complex track-based system for autonomously tying a knot in steel wire. I have also developed a series of different fixtures that use compressed air to tie knots in string. Additionally, I have designed four-piece fixtures, which demonstrate a way to fully enclose a knot during the insertion process, while guaranteeing that extraction will always succeed

    Computing gripping points in 2D parallel surfaces via polygon clipping

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    Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2021

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    This Open Access proceedings presents a good overview of the current research landscape of assembly, handling and industrial robotics. The objective of MHI Colloquium is the successful networking at both academic and management level. Thereby, the colloquium focuses an academic exchange at a high level in order to distribute the obtained research results, to determine synergy effects and trends, to connect the actors in person and in conclusion, to strengthen the research field as well as the MHI community. In addition, there is the possibility to become acquatined with the organizing institute. Primary audience is formed by members of the scientific society for assembly, handling and industrial robotics (WGMHI)

    Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2021

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    This Open Access proceedings presents a good overview of the current research landscape of assembly, handling and industrial robotics. The objective of MHI Colloquium is the successful networking at both academic and management level. Thereby, the colloquium focuses an academic exchange at a high level in order to distribute the obtained research results, to determine synergy effects and trends, to connect the actors in person and in conclusion, to strengthen the research field as well as the MHI community. In addition, there is the possibility to become acquatined with the organizing institute. Primary audience is formed by members of the scientific society for assembly, handling and industrial robotics (WGMHI)

    Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2021

    Get PDF
    This Open Access proceedings presents a good overview of the current research landscape of assembly, handling and industrial robotics. The objective of MHI Colloquium is the successful networking at both academic and management level. Thereby, the colloquium focuses an academic exchange at a high level in order to distribute the obtained research results, to determine synergy effects and trends, to connect the actors in person and in conclusion, to strengthen the research field as well as the MHI community. In addition, there is the possibility to become acquatined with the organizing institute. Primary audience is formed by members of the scientific society for assembly, handling and industrial robotics (WGMHI)

    Proceedings of the International Workshop "Innovation Information Technologies: Theory and Practice": Dresden, Germany, September 06-10.2010

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    This International Workshop is a high quality seminar providing a forum for the exchange of scientific achievements between research communities of different universities and research institutes in the area of innovation information technologies. It is a continuation of the Russian-German Workshops that have been organized by the universities in Dresden, Karlsruhe and Ufa before. The workshop was arranged in 9 sessions covering the major topics: Modern Trends in Information Technology, Knowledge Based Systems and Semantic Modelling, Software Technology and High Performance Computing, Geo-Information Systems and Virtual Reality, System and Process Engineering, Process Control and Management and Corporate Information Systems

    Recent Advances in Theoretical and Computational Modeling of Composite Materials and Structures

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    The advancement in manufacturing technology and scientific research has improved the development of enhanced composite materials with tailored properties depending on their design requirements in many engineering fields, as well as in thermal and energy management. Some representative examples of advanced materials in many smart applications and complex structures rely on laminated composites, functionally graded materials (FGMs), and carbon-based constituents, primarily carbon nanotubes (CNTs), and graphene sheets or nanoplatelets, because of their remarkable mechanical properties, electrical conductivity and high permeability. For such materials, experimental tests usually require a large economical effort because of the complex nature of each constituent, together with many environmental, geometrical and or mechanical uncertainties of non-conventional specimens. At the same time, the theoretical and/or computational approaches represent a valid alternative for designing complex manufacts with more flexibility. In such a context, the development of advanced theoretical and computational models for composite materials and structures is a subject of active research, as explored here for a large variety of structural members, involving the static, dynamic, buckling, and damage/fracturing problems at different scales

    I Am Error

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    I Am Error is a platform study of the Nintendo Family Computer (or Famicom), a videogame console first released in Japan in July 1983 and later exported to the rest of the world as the Nintendo Entertainment System (or NES). The book investigates the underlying computational architecture of the console and its effects on the creative works (e.g. videogames) produced for the platform. I Am Error advances the concept of platform as a shifting configuration of hardware and software that extends even beyond its ‘native’ material construction. The book provides a deep technical understanding of how the platform was programmed and engineered, from code to silicon, including the design decisions that shaped both the expressive capabilities of the machine and the perception of videogames in general. The book also considers the platform beyond the console proper, including cartridges, controllers, peripherals, packaging, marketing, licensing, and play environments. Likewise, it analyzes the NES’s extension and afterlife in emulation and hacking, birthing new genres of creative expression such as ROM hacks and tool-assisted speed runs. I Am Error considers videogames and their platforms to be important objects of cultural expression, alongside cinema, dance, painting, theater and other media. It joins the discussion taking place in similar burgeoning disciplines—code studies, game studies, computational theory—that engage digital media with critical rigor and descriptive depth. But platform studies is not simply a technical discussion—it also keeps a keen eye on the cultural, social, and economic forces that influence videogames. No platform exists in a vacuum: circuits, code, and console alike are shaped by the currents of history, politics, economics, and culture—just as those currents are shaped in kind
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