Kinematic Modeling and Simulation of Two Robots Coordinated Manipulation

2011 ◽  
Vol 121-126 ◽  
pp. 2067-2070
Author(s):  
Lei Shi ◽  
Cheng Quan Shi ◽  
Yi Chun Jiang
Keyword(s):  
Modeling And Simulation ◽  
Convenient Method ◽  
3D Visualization ◽  
3D Models ◽  
Kinematic Modeling ◽  
Coordinated Motion

This paper carried out a method of transferring PUMA560 models in Pro/E to MATLAB . And then it rebuilds two robots 3D models in MATLAB by using the 3D Visualization in it .In addition , this thesis plans the trails of the two robots coordinated motion which satisfied the need of position and posture of the two robots coordinated work in the situation of non-collision . This paper also provides a secure and convenient method for the development and application of two robots .

scholarly journals Virtual Archaeology of Death and Burial: A Procedure for Integrating 3D Visualization and Analysis in Archaeothanatology

2021 ◽  
Vol 7 (1) ◽  
pp. 540-555
Author(s):  
Hayley L. Mickleburgh ◽  
Liv Nilsson Stutz ◽  
Harry Fokkens
Keyword(s):  
Spatial Information ◽  
3D Visualization ◽  
Rapid Development ◽  
Three Dimensional ◽  
3D Models ◽  
The Body ◽  
Test Case ◽  
Archaeology Of Death ◽  
Human Burials ◽  
3D Information

Abstract The reconstruction of past mortuary rituals and practices increasingly incorporates analysis of the taphonomic history of the grave and buried body, using the framework provided by archaeothanatology. Archaeothanatological analysis relies on interpretation of the three-dimensional (3D) relationship of bones within the grave and traditionally depends on elaborate written descriptions and two-dimensional (2D) images of the remains during excavation to capture this spatial information. With the rapid development of inexpensive 3D tools, digital replicas (3D models) are now commonly available to preserve 3D information on human burials during excavation. A procedure developed using a test case to enhance archaeothanatological analysis and improve post-excavation analysis of human burials is described. Beyond preservation of static spatial information, 3D visualization techniques can be used in archaeothanatology to reconstruct the spatial displacement of bones over time, from deposition of the body to excavation of the skeletonized remains. The purpose of the procedure is to produce 3D simulations to visualize and test archaeothanatological hypotheses, thereby augmenting traditional archaeothanatological analysis. We illustrate our approach with the reconstruction of mortuary practices and burial taphonomy of a Bell Beaker burial from the site of Oostwoud-Tuithoorn, West-Frisia, the Netherlands. This case study was selected as the test case because of its relatively complete context information. The test case shows the potential for application of the procedure to older 2D field documentation, even when the amount and detail of documentation is less than ideal.

scholarly journals Olomouc - Possibilities of Geovisualization of the Historical City

2011 ◽  
Vol 6 ◽  
pp. 267-274
Author(s):  
Stanislav Popelka ◽  
Alžběta Brychtová
Keyword(s):  
Spatial Data ◽  
Large Scale ◽  
18Th Century ◽  
3D Visualization ◽  
3D Models ◽  
Google Earth ◽  
Point Of View ◽  
World Heritage Site ◽  
Historical Maps ◽  
The City

Olomouc, nowadays a city with 100,000 inhabitants, has always been considered as one of the most prominent Czech cities. It is a social and economical centre, which history started just about the 11th century. The present appearance of the city has its roots in the 18th century, when the city was almost razed to the ground after the Thirty years’ war and a great fire in 1709. After that, the city was rebuilt to a baroque military fortress against Prussia army. At the beginning of the 20th century the majority of the fortress was demolished. Character of the town is dominated by the large number of churches, burgher’s houses and other architecturally significant buildings, like a Holy Trinity Column, a UNESCO World Heritage Site. Aim of this project was to state the most suitable methods of visualization of spatial-temporal change in historical build-up area from the tourist’s point of view, and to design and evaluate possibilities of spatial data acquisition. There are many methods of 2D and 3D visualization which are suitable for depiction of historical and contemporary situation. In the article four approaches are discussed comparison of historical and recent pictures or photos, overlaying historical maps over the orthophoto, enhanced visualization of historical map in large scale using the third dimension and photorealistic 3D models of the same area in different ages. All mentioned methods were geolocalizated using the Google Earth environment and multimedia features were added to enhance the impression of perception. Possibilities of visualization, which were outlined above, were realized on a case study of the Olomouc city. As a source of historical data were used rapport plans of the bastion fortress from the 17th century. The accuracy of historical maps was confirmed by cartometric methods with use of the MapAnalyst software. Registration of the spatial-temporal changes information has a great potential in urban planning or realization of reconstruction and particularly in the propagation of the region and increasing the knowledge of citizens about the history of Olomouc.

scholarly journals The Natural Historian's Guide to the CT Galaxy: Step-by-Step Instructions for Preparing and Analyzing Computed Tomographic (CT) Data Using Cross-Platform, Open Access Software

2020 ◽  
Vol 2 (1) ◽  
Author(s):  
T J Buser ◽  
O F Boyd ◽  
Á Cortés ◽  
C M Donatelli ◽  
M A Kolmann ◽  
...  
Keyword(s):  
Open Access ◽  
3D Printing ◽  
3D Visualization ◽  
3D Models ◽  
Digital Data ◽  
Anatomical Structures ◽  
Computed Tomographic ◽  
Biomechanical Models ◽  
Cross Platform ◽  
Ct Data

Synopsis The decreasing cost of acquiring computed tomographic (CT) data has fueled a global effort to digitize the anatomy of museum specimens. This effort has produced a wealth of open access digital three-dimensional (3D) models of anatomy available to anyone with access to the Internet. The potential applications of these data are broad, ranging from 3D printing for purely educational purposes to the development of highly advanced biomechanical models of anatomical structures. However, while virtually anyone can access these digital data, relatively few have the training to easily derive a desirable product (e.g., a 3D visualization of an anatomical structure) from them. Here, we present a workflow based on free, open source, cross-platform software for processing CT data. We provide step-by-step instructions that start with acquiring CT data from a new reconstruction or an open access repository, and progress through visualizing, measuring, landmarking, and constructing digital 3D models of anatomical structures. We also include instructions for digital dissection, data reduction, and exporting data for use in downstream applications such as 3D printing. Finally, we provide Supplementary Videos and workflows that demonstrate how the workflow facilitates five specific applications: measuring functional traits associated with feeding, digitally isolating anatomical structures, isolating regions of interest using semi-automated segmentation, collecting data with simple visual tools, and reducing file size and converting file type of a 3D model.

3D Visualization for Hydrocarbon Project Design

2008 ◽  
Author(s):  
Scott Neurauter ◽  
Sabrina Szeto ◽  
Matt Tindall ◽  
Yan Wong ◽  
Chris Wright
Keyword(s):  
Spatial Data ◽  
3D Visualization ◽  
Dimensional Space ◽  
Three Dimensional ◽  
3D Models ◽  
3D Analysis ◽  
Cost Efficient ◽  
Ground Truthing ◽  
Elevation Model ◽  
Visualization Techniques

3D visualization is the process of displaying spatial data to simulate and model a real three dimensional space. Using 3D visualization, Geomatic professionals are enabling pipeline engineers to make better decisions by providing an increased understanding of potential costs earlier in the design process. This paper will focus on the value of visualizing Digital Elevation Model (DEM) data through the use of hillshades and imagery-draped 3D models. From free online DEM data to high resolution Light Detection and Ranging (LiDAR) derived DEM data, the increased availability allows for a broader use of 3D visualization techniques beyond 3D analysis. Of the numerous sources available, two DEM sources will be discussed in this paper, the free low resolution DEM (CDED Level 1) and the more costly but higher resolution LiDAR based DEM. Traditional methods of evaluating potential locations for route and facilities involved a significant cost for ground truthing. Through the use of 3D visualization products, multiple potential locations can be examined for suitability without the expense of field visits for every candidate site. By focusing on the selected candidate locations using a visual desktop study, the time and expense of ground truthing all of the potential sites can be reduced significantly. Exploiting the visual value of DEM permits a productive and cost efficient methodology for initial route and facility placement on hydrocarbon projects.

Three Dimensional Modeling of Buildings Using Three Dimensional Laser Scanning Data

2012 ◽  
Vol 594-597 ◽  
pp. 2398-2401
Author(s):  
Dong Ling Ma ◽  
Jian Cui ◽  
Fei Cai
Keyword(s):  
Point Cloud ◽  
Laser Scanning ◽  
3D Visualization ◽  
Cloud Model ◽  
Three Dimensional ◽  
3D Models ◽  
Three Dimensional Modeling ◽  
Dimensional Modeling ◽  
Feature Lines ◽  
Point Cloud Model

This paper provides a scheme to construct three dimensional (3D) model fast using laser scanning data. In the approach, firstly, laser point cloud are scanned from different scan positions and the point cloud coming from neighbor scan stations are spliced automatically to combine a uniform point cloud model, and then feature lines are extracted through the point cloud, and the framework of the building are extracted to generate 3D models. At last, a conclusion can be drawn that 3D visualization model can be generated quickly using 3D laser scanning technology. The experiment result shows that it will bring the application model and technical advantage which traditional mapping way can not have.

scholarly journals TOWARDS 3D SMART CAMPUS VIA 3D CITY MODELLING

2019 ◽  
Vol XLII-4/W16 ◽  
pp. 523-526
Author(s):  
S. S. S. Ramlee ◽  
N. Abd Razak ◽  
U. Ujang ◽  
S. Mohd Salleh ◽  
S. Azri ◽  
...  
Keyword(s):  
3D Visualization ◽  
Smart Cities ◽  
3D Models ◽  
City Management ◽  
University Campus ◽  
Spatial Query ◽  
Web Browser ◽  
Smart Campus ◽  
The City ◽  
3D City Modelling

Abstract. The smart city concept may aid in improving the city management, enhance the efficiency and thus increase the effectiveness of the city, where it is mainly focused on both information and technologies. This concept appears to be applicable for a smaller area such as university campus. Based on this idea, this research tries to implement the 3D smart campus for Universiti Teknologi Malaysia (UTM). This is an initial research towards a real implementation of 3D smart campus and conceivably 3D smart cities. This research focuses on the development of UTM smart campus by using 3D city modelling. The QGIS software was used to develop the 3D models. Then, the 3D model is viewed in a web browser for better 3D visualization and navigation. Furthermore, the results show that the 3D developed models for UTM smart campus can be a reliable platform to manage the spatial query and viewing the attributes of UTM campus buildings and facilities. This can be seen beneficial to the physical future development of the UTM campus area.

scholarly journals HELIOS: A MULTI-PURPOSE LIDAR SIMULATION FRAMEWORK FOR RESEARCH, PLANNING AND TRAINING OF LASER SCANNING OPERATIONS WITH AIRBORNE, GROUND-BASED MOBILE AND STATIONARY PLATFORMS

2016 ◽  
Vol III-3 ◽  
pp. 161-168 ◽  
Author(s):  
S. Bechtold ◽  
B. Höfle
Keyword(s):  
Laser Scanning ◽  
3D Visualization ◽  
Laser Scanner ◽  
Modern Society ◽  
3D Models ◽  
Full Potential ◽  
Simulation Framework ◽  
Planning Algorithm ◽  
Survey Planning ◽  
And Training

In many technical domains of modern society, there is a growing demand for fast, precise and automatic acquisition of digital 3D models of a wide variety of physical objects and environments. Laser scanning is a popular and widely used technology to cover this demand, but it is also expensive and complex to use to its full potential. However, there might exist scenarios where the operation of a <i>real</i> laser scanner could be replaced by a computer simulation, in order to save time and costs. This includes scenarios like teaching and training of laser scanning, development of new scanner hardware and scanning methods, or generation of artificial scan data sets to support the development of point cloud processing and analysis algorithms. To test the feasibility of this idea, we have developed a highly flexible laser scanning simulation framework named <i>Heidelberg LiDAR Operations Simulator (HELIOS)</i>. HELIOS is implemented as a Java library and split up into a core component and multiple extension modules. Extensible Markup Language (XML) is used to define scanner, platform and scene models and to configure the behaviour of modules. Modules were developed and implemented for (1) loading of simulation assets and configuration (i.e. 3D scene models, scanner definitions, survey descriptions etc.), (2) playback of XML survey descriptions, (3) TLS survey planning (i.e. automatic computation of recommended scanning positions) and (4) interactive real-time 3D visualization of simulated surveys. As a proof of concept, we show the results of two experiments: First, a survey planning test in a scene that was specifically created to evaluate the quality of the survey planning algorithm. Second, a simulated TLS scan of a crop field in a precision farming scenario. The results show that HELIOS fulfills its design goals.

scholarly journals Visualizing Votive Practice: Exploring Limestone and Terracotta Sculpture from Athienou-Malloura through 3D Models

2020 ◽  
Author(s):  
Derek B. Counts ◽  
Erik Walcek Averett ◽  
Kevin Garstki ◽  
Michael K. Toumazou
Keyword(s):  
High Resolution ◽  
Open Access ◽  
3D Visualization ◽  
Contextual Information ◽  
3D Models ◽  
Data Publishing ◽  
Archaeological Data ◽  
Archaeological Project ◽  
High Resolution Models ◽  
Visualization Techniques

Visualizing Votive Practice is an innovative, open-access, digital monograph that explores the limestone and terracotta sculptures excavated from a rural sanctuary at the site of Athienou-Malloura (Cyprus) by the Athienou Archaeological Project. Chapters on the archaeology of the site, the historiography of Cypriot sculpture, and perspectives on archaeological visualization provide context for the catalogue of 50 representative examples of votive sculpture from the sanctuary. The catalogue not only includes formal and contextual information for each object, but also embeds 3D models directly onto the page. Readers can not only view, but also manipulate, measure, zoom, and rotate each model. Additionally, links at the bottom of each entry unleash high-resolution models with accompanying metadata on the Open Context archaeological data publishing platform and on via the Sketchfab 3D viewing platform as well. This innovative monograph is aimed at a variety of audiences, from Mediterranean archaeologists and students to specialists interested in 3D visualization techniques.

scholarly journals 3D MODELLING AND INTERACTIVE WEB-BASED VISUALIZATION OF CULTURAL HERITAGE OBJECTS

2016 ◽  
Vol XLI-B5 ◽  
pp. 297-303
Author(s):  
M. N. Koeva
Keyword(s):  
Cultural Heritage ◽  
Laser Scanning ◽  
3D Visualization ◽  
3D Models ◽  
3D Modelling ◽  
Specific Information ◽  
Web Based ◽  
Additional Information ◽  
Advantages And Disadvantages ◽  
Panoramic Images

Nowadays, there are rapid developments in the fields of photogrammetry, laser scanning, computer vision and robotics, together aiming to provide highly accurate 3D data that is useful for various applications. In recent years, various LiDAR and image-based techniques have been investigated for 3D modelling because of their opportunities for fast and accurate model generation. For cultural heritage preservation and the representation of objects that are important for tourism and their interactive visualization, 3D models are highly effective and intuitive for present-day users who have stringent requirements and high expectations. Depending on the complexity of the objects for the specific case, various technological methods can be applied. The selected objects in this particular research are located in Bulgaria – a country with thousands of years of history and cultural heritage dating back to ancient civilizations. \this motivates the preservation, visualisation and recreation of undoubtedly valuable historical and architectural objects and places, which has always been a serious challenge for specialists in the field of cultural heritage. <br><br> In the present research, comparative analyses regarding principles and technological processes needed for 3D modelling and visualization are presented. The recent problems, efforts and developments in interactive representation of precious objects and places in Bulgaria are presented. Three technologies based on real projects are described: (1) image-based modelling using a non-metric hand-held camera; (2) 3D visualization based on spherical panoramic images; (3) and 3D geometric and photorealistic modelling based on architectural CAD drawings. Their suitability for web-based visualization are demonstrated and compared. Moreover the possibilities for integration with additional information such as interactive maps, satellite imagery, sound, video and specific information for the objects are described. This comparative study discusses the advantages and disadvantages of these three approaches and their integration in multiple domains, such as web-based 3D city modelling, tourism and architectural 3D visualization. It was concluded that image-based modelling and panoramic visualisation are simple, fast and effective techniques suitable for simultaneous virtual representation of many objects. However, additional measurements or CAD information will be beneficial for obtaining higher accuracy.

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