15,613 research outputs found
Finding antipodal point grasps on irregularly shaped objects
Two-finger antipodal point grasping of arbitrarily shaped smooth 2-D and 3-D objects is considered. An object function is introduced that maps a finger contact space to the object surface. Conditions are developed to identify the feasible grasping region, F, in the finger contact space. A āgrasping energy functionā, E , is introduced which is proportional to the distance between two grasping points. The antipodal points correspond to critical points of E in F. Optimization and/or continuation techniques are used to find these critical points. In particular, global optimization techniques are applied to find the āmaximalā or āminimalā grasp. Further, modeling techniques are introduced for representing 2-D and 3-D objects using B-spline curves and spherical product surfaces
Optimized normal and distance matching for heterogeneous object modeling
This paper presents a new optimization methodology of material blending for heterogeneous object modeling by matching the material governing features for designing a heterogeneous object. The proposed method establishes point-to-point correspondence represented by a set of connecting lines between two material directrices. To blend the material features between the directrices, a heuristic optimization method developed with the objective is to maximize the sum of the inner products of the unit normals at the end points of the connecting lines and minimize the sum of the lengths of connecting lines. The geometric features with material information are matched to generate non-self-intersecting and non-twisted connecting surfaces. By subdividing the connecting lines into equal number of segments, a series of intermediate piecewise curves are generated to represent the material metamorphosis between the governing material features. Alternatively, a dynamic programming approach developed in our earlier work is presented for comparison purposes. Result and computational efficiency of the proposed heuristic method is also compared with earlier techniques in the literature. Computer interface implementation and illustrative examples are also presented in this paper
Fast B-spline Curve Fitting by L-BFGS
We propose a novel method for fitting planar B-spline curves to unorganized
data points. In traditional methods, optimization of control points and foot
points are performed in two very time-consuming steps in each iteration: 1)
control points are updated by setting up and solving a linear system of
equations; and 2) foot points are computed by projecting each data point onto a
B-spline curve. Our method uses the L-BFGS optimization method to optimize
control points and foot points simultaneously and therefore it does not need to
perform either matrix computation or foot point projection in every iteration.
As a result, our method is much faster than existing methods
TiGL - An Open Source Computational Geometry Library for Parametric Aircraft Design
This paper introduces the software TiGL: TiGL is an open source high-fidelity
geometry modeler that is used in the conceptual and preliminary aircraft and
helicopter design phase. It creates full three-dimensional models of aircraft
from their parametric CPACS description. Due to its parametric nature, it is
typically used for aircraft design analysis and optimization. First, we present
the use-case and architecture of TiGL. Then, we discuss it's geometry module,
which is used to generate the B-spline based surfaces of the aircraft. The
backbone of TiGL is its surface generator for curve network interpolation,
based on Gordon surfaces. One major part of this paper explains the
mathematical foundation of Gordon surfaces on B-splines and how we achieve the
required curve network compatibility. Finally, TiGL's aircraft component module
is introduced, which is used to create the external and internal parts of
aircraft, such as wings, flaps, fuselages, engines or structural elements
Constructing IGA-suitable planar parameterization from complex CAD boundary by domain partition and global/local optimization
In this paper, we propose a general framework for constructing IGA-suitable
planar B-spline parameterizations from given complex CAD boundaries consisting
of a set of B-spline curves. Instead of forming the computational domain by a
simple boundary, planar domains with high genus and more complex boundary
curves are considered. Firstly, some pre-processing operations including
B\'ezier extraction and subdivision are performed on each boundary curve in
order to generate a high-quality planar parameterization; then a robust planar
domain partition framework is proposed to construct high-quality patch-meshing
results with few singularities from the discrete boundary formed by connecting
the end points of the resulting boundary segments. After the topology
information generation of quadrilateral decomposition, the optimal placement of
interior B\'ezier curves corresponding to the interior edges of the
quadrangulation is constructed by a global optimization method to achieve a
patch-partition with high quality. Finally, after the imposition of
C1=G1-continuity constraints on the interface of neighboring B\'ezier patches
with respect to each quad in the quadrangulation, the high-quality B\'ezier
patch parameterization is obtained by a C1-constrained local optimization
method to achieve uniform and orthogonal iso-parametric structures while
keeping the continuity conditions between patches. The efficiency and
robustness of the proposed method are demonstrated by several examples which
are compared to results obtained by the skeleton-based parameterization
approach
Numerical product design: Springback prediction, compensation and optimization
Numerical simulations are being deployed widely for product design. However, the accuracy of the numerical tools is not yet always sufficiently accurate and reliable. This article focuses on the current state and recent developments in different stages of product design: springback prediction, springback compensation and optimization by finite element (FE) analysis. To improve the springback prediction by FE analysis, guidelines regarding the mesh discretization are provided and a new through-thickness integration scheme for shell elements is launched. In the next stage of virtual product design the product is compensated for springback. Currently, deformations due to springback are manually compensated in the industry. Here, a procedure to automatically compensate the tool geometry, including the CAD description, is presented and it is successfully applied to an industrial automotive part. The last stage in virtual product design comprises optimization. This article presents an optimization scheme which is capable of designing optimal and robust metal forming processes efficiently
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