An Octree Algorithm for Dynamic Interference Detection Using Space Partitioning

1996 ◽  
Author(s):  
Yongxiang Yu ◽  
Minghua Wu ◽  
Ji Zhou
Keyword(s):  
Collision Detection ◽  
Computation Time ◽  
Interference Detection ◽  
Space Partitioning ◽  
Time Consumption ◽  
Dynamic Interference ◽  
Partitioning Technique

Abstract This paper presents an octree algorithm for collision and interference detection using space partitioning technique. The technique greatly reduces the computation time consumed in dynamic collision detection during simulation progress. The simulated objects are represented in hierarchically decomposed octrees. Under this technique, the checking space can be partitioned according to the geometric dependence of two octrees, so that the relations (overlap or separate) among the nodes in the octrees can be determined directly. Since heuristic calculation is excluded from the algorithm, the time consumption for collision detection is greatly reduced.

Dynamic Collision Detection Using Space Partitioning

1990 ◽  
Author(s):  
M. A. Ganter ◽  
B. P. Isarankura
Keyword(s):  
Collision Detection ◽  
Computation Time ◽  
Local Region ◽  
Detection Time ◽  
Space Partitioning ◽  
Worst Case ◽  
Simulated Environment ◽  
Time Required ◽  
Six Degree Of Freedom ◽  
Partitioning Technique

Abstract A technique termed space partitioning is employed which dramatically reduces the computation time required to detect dynamic collision during computer simulation. The simulated environment is composed of two nonconvex polyhedra traversing two general six degree of freedom trajectories. This space partitioning technique reduces collision detection time by subdividing the space containing a given object into a set of linear partitions. Using these partitions, all testing can be confined to the local region of overlap between the two objects. Further, all entities contained in the partitions inside the region of overlap are ordered based on their respective minimums and maximums to further reduce testing. Experimental results indicate a worst-case collision detection time for two one thousand faced objects is approximately three seconds per trajectory step.

Dynamic Collision Detection Using Space Partitioning

1993 ◽  
Vol 115 (1) ◽  
pp. 150-155 ◽  
Author(s):  
M. A. Ganter ◽  
B. P. Isarankura
Keyword(s):  
Computer Simulation ◽  
Collision Detection ◽  
Computation Time ◽  
Local Region ◽  
Detection Time ◽  
Space Partitioning ◽  
Simulated Environment ◽  
Time Required ◽  
Six Degree Of Freedom ◽  
Partitioning Technique

A technique termed space partitioning is employed which dramatically reduces the computation time required to detect dynamic collision during computer simulation. The simulated environment is composed of two nonconvex polyhedra traversing two general six-degree-of-freedom trajectories. This space partitioning technique reduces collision detection time by subdividing the space containing a given object into a set of partitions. Using these partitions, all testing can be confined to the local region of overlap between the two objects. Further, all entities contained in the partitions inside the region of overlap are ordered based on their respective minimums and maximums to further reduce testing.

Tool workspace consideration for assembly plan generation

2021 ◽  
Vol 41 (5) ◽  
pp. 612-625
Author(s):  
Akram Bedeoui ◽  
Riadh Ben Hadj ◽  
Moncef Hammadi ◽  
Nizar Aifaoui
Keyword(s):  
Collision Detection ◽  
New Product ◽  
Production Costs ◽  
Assembly Sequence ◽  
Content Type ◽  
Plan Generation ◽  
Assembly Sequences ◽  
Dynamic Interference ◽  
Time Decrease

Purpose During the design of a new product, the generation of assembly sequences plans (ASPs) has become one of the most important problems taken into account by researchers. In fact, a good mounting order allows the time decrease of the assembly process which leads to the reduction of production costs. In this context, researchers developed several methods to generate and optimize ASP based on various criteria. Although this paper aims to improve the quality of ASP it is necessary to increase the number of criteria which must be taken into account when generating ASPs. Design/methodology/approach In this paper, an ASP generation approach, which is based on three main algorithms, is proposed. The first one generates a set of assembly sequences based on stability criteria. The obtained results are treated by the second algorithm which is based on assembly tools (ATs) workspace criterion. An illustrative example is used to explain the different steps of this proposed approach. Moreover, a comparative study is done to highlight its advantages. Findings The proposed algorithm verifies, for each assembly sequence, the minimal required workspace of used AT and eliminates the ASPs non-respecting this criterion. Finally, the remaining assembly sequences are treated by the third algorithm to reduce the AT change during the mounting operation. Originality/value The proposed approach introduces the concept of AT workspace to simulate and select ASPs that respect this criterion. The dynamic interference process allows the eventual collision detection between tool and component and avoids it. The proposed approach reduces the AT change during the mounting operations.

A Hierarchy of Oct-Sphere Model and its Application in Collision Detection

1994 ◽  
Author(s):  
Heming Yang ◽  
Xinfang Zhang ◽  
Ji Zhou ◽  
Jun Yu
Keyword(s):  
Collision Detection ◽  
Moving Objects ◽  
Interference Detection ◽  
Effective Algorithm ◽  
Sphere Model ◽  
Spherical Region ◽  
New Model

Abstract Collision and interference detection among 3-D moving objects is an important issue in the simulation of their behavior. This paper presents a new model for representing 3-D objects and a corresponding effective algorithm for detecting collisions and interferences among moving objects. Objects can be represented for efficient collision and interference detection by a hierarchy of oct - sphere model (HOSM). Algorithms are given for building the HOSM and for detecting collisions and interferences between moving objects. On the basis of HOSM, the algorithm checks only intersections between the nodes of the models which are on the surfaces of the objects. Furthermore, because a node of HOSM represents a spherical region, the collision between the two nodes can be easily found just by calculating the distance between the centers of the two spheres corresponding to them no matter how the objects move. Finally, we discuss the efficiency of the algorithm through an example.

Sparse Extended Information Filter for AUV SLAM: Insights into the Optimal Sparse Time

2013 ◽  
Vol 427-429 ◽  
pp. 1670-1673 ◽  
Author(s):  
Hao Zhang ◽  
Bo He ◽  
Ning Luan
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Computation Time ◽  
Underwater Vehicle ◽  
Information Loss ◽  
Sea Trial ◽  
Time Consumption ◽  
Localization And Mapping ◽  
Information Filter ◽  
Slam Algorithm ◽  
And Storage

Sparse extended information filter-based simultaneous localization and mapping (SEIF-based SLAM) algorithm can reflect significant advantages in terms of computation time and storage memories. However, SEIF-SLAM is easily prone to overconfidence due to sparsification strategy. In this paper we will consider the time consumption and information loss of sparse operation, and get the optimal sparse time. In order to verify the feasibility of sparsification, a sea trial for autonomous underwater vehicle (AUV) C-Ranger was conducted in Tuandao Bay. The experimental results will show the improved algorithm is much more effective and accurate comparedwithothermethods.

A fast procedure for computing incremental growth distances

Robotica ◽  
2000 ◽  
Vol 18 (4) ◽  
pp. 429-441 ◽  
Author(s):  
Sun-Mog Hong ◽  
Joon-Hyuek Yeo ◽  
Hae-Wook Park
Keyword(s):  
Dimensional Space ◽  
Three Dimensional ◽  
Numerical Procedure ◽  
Computation Time ◽  
Interference Detection ◽  
Geometric Complexity ◽  
Numerical Example ◽  
Incremental Growth ◽  
Fast Procedure ◽  
Three Dimensional Space

A fast numerical procedure is presented for computing growth distances between a pair of polytopes in three dimensional space that move incrementally along specified smooth paths. The procedure carrys out the growth distance evaluations efficiently by predicting and verifying contact configurations between a pair of grown polytopes. In the prediction and verification the procedure uses vertex and facial characterizations of polytopes and exploits their geometric adjacency information. The computation time, in average, is very small and does not depend significantly on the geometric complexity of two polytopes. A numerical example is presented to demonstrate the applicability of the procedure to interference detection in robotic simulations.

Real-time motion planning for robot manipulators in unknown environments using infrared sensors

Robotica ◽  
2007 ◽  
Vol 25 (2) ◽  
pp. 201-211 ◽  
Author(s):  
Shuguo Wang ◽  
Jin Bao ◽  
Yili Fu
Keyword(s):  
Motion Planning ◽  
Real Time ◽  
Collision Detection ◽  
Detection Method ◽  
Computation Time ◽  
Robot Arm ◽  
Infrared Sensors ◽  
Geometry Model ◽  
Time Motion ◽  
Series Of Experiments

SUMMARYThis paper deals with sensor-based motion planning method for a robot arm manipulator operating among unknown obstacles of arbitrary shape. It can be applied to online collision avoidance with no prior knowledge of the obstacles. Infrared sensors are used to build a description of the robot's surroundings. This approach is based on the configuration space but the construction of the C-obstacle surface is avoided. The point automation is confined on some planes with square grids in the C-space. A path-searching algorithm based on square grids is used to guide the automation maneuvering around the C-obstacles on the selected planes. To avoid the construction of the C-obstacle surface, the robot geometry model is expanded, and the static collision detection method is used. Hence, the computation time is reduced and the algorithm can work in real time. The effectiveness of the proposed method is verified by a series of experiments.

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