scholarly journals Fast collision detection scheme by recursive decomposition of a manipulator workspace

2005 ◽  
Author(s):  
V. Hayward
Keyword(s):  
Collision Detection ◽  
Detection Scheme ◽  
Recursive Decomposition ◽  
Fast Collision

Interactive Haptic Refinement of a Five-Axis Finishing Cut

2008 ◽  
Vol 8 (4) ◽  
Author(s):  
Kun Chen ◽  
Kai Tang
Keyword(s):  
Collision Detection ◽  
Force Feedback ◽  
Haptic Guidance ◽  
Detection Scheme ◽  
Cutter Path ◽  
Cutter Orientation ◽  
Three Degree Of Freedom ◽  
Five Axis ◽  
Cutter Path Generation ◽  
Fast Collision

This paper describes the design of a haptic system that allows the interactive modification of cutter orientation during five-axis finishing cuts with the aim of improving the surface finish quality and collision avoidance strategies. The system supports two haptic models that provide three degree of freedom (DOF) force feedback and 6DOF posture sensing. Details of five key functions of the system are given: (1) a rendering conversion that uses 3DOF (instead of five) force feedback haptic representation, (2) an efficient force feedback design that allows accurate results to be obtained from the user’s manipulation, (3) a fast collision detection scheme that achieves real-time feedback, (4) use of active haptic guidance to assist cutter-path generation, and (5) a design that supports both ball-end and flat-end tools with partial optimization.

Fast collision detection methods for joint surfaces

2009 ◽  
Vol 42 (2) ◽  
pp. 91-99 ◽  
Author(s):  
Ehsan Arbabi ◽  
Ronan Boulic ◽  
Daniel Thalmann
Keyword(s):  
Collision Detection ◽  
Detection Methods ◽  
Joint Surfaces ◽  
Fast Collision

Haptic Rendering: Practical Modeling and Collision Detection

1999 ◽  
Author(s):  
ZhuLiang Cai ◽  
John Dill ◽  
Shahram Payandeh
Keyword(s):  
Surgical Training ◽  
Collision Detection ◽  
Object Representation ◽  
Virtual Assembly ◽  
Detection Algorithm ◽  
Haptic Rendering ◽  
3D Object ◽  
Modeling Techniques ◽  
Simulation Results ◽  
Fast Collision

Abstract 3D collision detection and modeling techniques can be used in the development of haptic rendering schemes which can be used, for example, in surgical training, virtual assembly, or games. Based on a fast collision detection algorithm (RAPID) and 3D object representation, a practical haptic rendering system has been developed. A sub-system determines detailed collision information. Simulation results are presented to demonstrate the practicality of our results.

GPU-BASED FLUID SIMULATION WITH FAST COLLISION DETECTION ON BOUNDARIES

2012 ◽  
Vol 03 (01) ◽  
pp. 1240003 ◽  
Author(s):  
JIAWEN WU ◽  
FENGQUAN ZHANG ◽  
XUKUN SHEN
Keyword(s):  
Collision Detection ◽  
Fluid Simulation ◽  
Sph Method ◽  
Neighbor Search ◽  
Fine Detail ◽  
Simulation Based ◽  
Smoothed Particle ◽  
Sph Simulation ◽  
Smoothed Particle Hydrodynamic ◽  
Fast Collision

In this paper, we present a method for fluid simulation based on smoothed particle hydrodynamic (SPH) with fast collision detection on boundaries on GPU. The major goal of our algorithm is to get a fast SPH simulation and rendering on GPU. Additionally, our algorithm has the following three features: At first, to make the SPH method GPU-friendly, we introduce a spatial hash method for neighbor search. After sorting the particles based on their grid index, neighbor search can be done quickly on GPU. Second, we propose a fast particle-boundary collision detection method. By precomputing the distance field of scene boundaries, collision detection's computing cost arrived as O(n), which is much faster than the traditional way. Third, we propose a pipeline with fine-detail surface reconstruction, and progressive photon mapping working on GPU. We experiment our algorithm on different situations and particle numbers of scenes, and find out that our method gets good results. Our experimental data shows that we can simulate 100K particles, and up to 1000K particles scene at a rate of approximately 2 times per second.

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