690 research outputs found
Ellipse-preserving Hermite interpolation and subdivision
We introduce a family of piecewise-exponential functions that have the
Hermite interpolation property. Our design is motivated by the search for an
effective scheme for the joint interpolation of points and associated tangents
on a curve with the ability to perfectly reproduce ellipses. We prove that the
proposed Hermite functions form a Riesz basis and that they reproduce
prescribed exponential polynomials. We present a method based on Green's
functions to unravel their multi-resolution and approximation-theoretic
properties. Finally, we derive the corresponding vector and scalar subdivision
schemes, which lend themselves to a fast implementation. The proposed vector
scheme is interpolatory and level-dependent, but its asymptotic behaviour is
the same as the classical cubic Hermite spline algorithm. The same convergence
properties---i.e., fourth order of approximation---are hence ensured
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
Fast and accurate clothoid fitting
An effective solution to the problem of Hermite interpolation with a
clothoid curve is provided. At the beginning the problem is naturally
formulated as a system of nonlinear equations with multiple solutions that is
generally difficult to solve numerically. All the solutions of this nonlinear
system are reduced to the computation of the zeros of a single nonlinear
equation. A simple strategy, together with the use of a good and simple guess
function, permits to solve the single nonlinear equation with a few iterations
of the Newton--Raphson method.
The computation of the clothoid curve requires the computation of Fresnel and
Fresnel related integrals. Such integrals need asymptotic expansions near
critical values to avoid loss of precision. This is necessary when, for
example, the solution of interpolation problem is close to a straight line or
an arc of circle. Moreover, some special recurrences are deduced for the
efficient computation of asymptotic expansion.
The reduction of the problem to a single nonlinear function in one variable
and the use of asymptotic expansions make the solution algorithm fast and
robust.Comment: 14 pages, 3 figures, 9 Algorithm Table
A univariate rational quadratic trigonometric interpolating spline to visualize shaped data
This study was concerned with shape preserving interpolation of 2D data. A piecewise C1 univariate rational quadratic trigonometric spline including three positive parameters was devised to produce a shaped interpolant for given shaped data. Positive and monotone curve interpolation schemes were presented to sustain the respective shape features of data. Each scheme was tested for plentiful shaped data sets to substantiate the assertion made in their construction. Moreover, these schemes were compared with conventional shape preserving rational quadratic splines to demonstrate the usefulness of their construction
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