Domain Specific Language for Geometric Relations between Rigid Bodies targeted to robotic applications

This paper presents a DSL for geometric relations between rigid bodies such as relative position, orientation, pose, linear velocity, angular velocity, and twist. The DSL is the formal model of the recently proposed semantics for the standardization of geometric relations between rigid bodies, referred to as `geometric semantics'. This semantics explicitly states the coordinate-invariant properties and operations, and, more importantly, all the choices that are made in coordinate representations of these geometric relations. This results in a set of concrete suggestions for standardizing terminology and notation, allowing programmers to write fully unambiguous software interfaces, including automatic checks for semantic correctness of all geometric operations on rigid-body coordinate representations. The DSL is implemented in two different ways: an external DSL in Xcore and an internal DSL in Prolog. Besides defining a grammar and operations, the DSL also implements constraints. In the Xcore model, the Object Constraint Language language is used, while in the Prolog model, the constraint are natively modelled in Prolog. This paper discusses the implemented DSL and the tools developed on top of this DSL. In particular an editor, checking the semantic constraints and providing semantic meaningful errors during editing is proposed.Comment: Presented at DSLRob 2012 (arXiv:cs/1302.5082

Efficient generation of the voxel description of textile geometries for the computation of the permeability

For the accurate simulation of Liquid Composite Moulding processes, the input of the permeability of the preform is required. The permeability of a textile can be obtained experimentally, or can be computed. To compute the permeability, the software FlowTex was developed at the KU Leuven, as part of the textile modelling software package WiseTex. FlowTex transforms the vector description of the textile models into a voxel description, which is input for the finite difference flow solver. In this paper we present the implementation of the flooding algorithm to make this transformation more efficient. Validation and convergence studies, both for the voxelisation as for the permeability computation are presented.status: publishe