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32
Computing Minimum Length Paths of a Given Homotopy Class
 Comput. Geom. Theory Appl
, 1991
"... In this paper, we show that the universal covering space of a surface can be used to unify previous results on computing paths in a simple polygon. We optimize a given path among obstacles in the plane under the Euclidean and link metrics and under polygonal convex distance functions. Besides reveal ..."
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Cited by 74 (7 self)
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In this paper, we show that the universal covering space of a surface can be used to unify previous results on computing paths in a simple polygon. We optimize a given path among obstacles in the plane under the Euclidean and link metrics and under polygonal convex distance functions. Besides revealing connections between the minimum paths under these three distance functions, the framework provided by the universal cover leads to simplified lineartime algorithms for shortest path trees, for minimumlink paths in simple polygons, and for paths restricted to c given orientations. 1 Introduction If a wire, a pipe, or a robot must traverse a path among obstacles in the plane, then one might ask what is the best route to take. For the wire, perhaps the shortest distance is best; for the pipe, perhaps the fewest straightline segments. For the robot, either might be best depending on the relative costs of turning and moving. In this paper, we find shortest paths and shortest closed curve...
On Geometric Assembly Planning
, 1992
"... This dissertation addresses the problem of generating feasible assembly sequences for a mechanical product from a geometric model of the product. An operation specifies a motion to bring two subassemblies together to make a larger subassembly. An assembly sequence is a sequence of operations that co ..."
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Cited by 71 (12 self)
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This dissertation addresses the problem of generating feasible assembly sequences for a mechanical product from a geometric model of the product. An operation specifies a motion to bring two subassemblies together to make a larger subassembly. An assembly sequence is a sequence of operations that construct the product from the individual parts. I introduce the nondirectional blocking graph, a succinct characterization of the blocking relationships between parts in an assembly. I describe efficient algorithms to identify removable subassemblies by constructing and analyzing the NDBG. For an assembly A of n parts and m partpart contacts equivalent to k contact points, a subassembly that can translate a small distance from the rest of A can be identified in O(mk 2 ) time. When rotations are allowed as well, the time bound is O(mk 5 ). Both algorithms are extended to find connected subassemblies in the same time bounds. All free subassemblies can be identified in outputdependent ...
Geometric Reasoning about Mechanical Assembly
 Artificial Intelligence
, 1994
"... In which order can a product be assembled or disassembled? How many hands are required? How many degrees of freedom? What parts should be withdrawn to allow the removal of a specified subassembly? To answer such questions automatically, important theoretical issues in geometric reasoning must be ..."
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Cited by 66 (18 self)
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In which order can a product be assembled or disassembled? How many hands are required? How many degrees of freedom? What parts should be withdrawn to allow the removal of a specified subassembly? To answer such questions automatically, important theoretical issues in geometric reasoning must be addressed. This paper investigates the planning of assembly algorithms specifying (dis)assembly operations on the components of a product and the ordering of these operations. It also presents measures to evaluate the complexity of these algorithms and techniques to estimate the inherent complexity of a product. The central concept underlying these planning and complexity evaluation techniques is that of a "nondirectional blocking graph," a qualitative representation of the internal structure of an assembly product. This representation describes the combinatorial set of parts interactions in polynomial space. It is obtained by identifying physical criticalities where geometric int...
Computing the Width of a Set
 IEEE Trans. Pattern Anal. Mach. Intell
, 1988
"... Given a set of points P = {p 1 , p 2 ,..., p n } in three dimensions, the width of P, W(P), is defined as the minimum distance between parallel planes of support of P. It is shown that W(P) can be computed in O(n log n + I) time and O(n) space, where I is the number of antipodal pairs of edges ..."
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Cited by 62 (3 self)
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Given a set of points P = {p 1 , p 2 ,..., p n } in three dimensions, the width of P, W(P), is defined as the minimum distance between parallel planes of support of P. It is shown that W(P) can be computed in O(n log n + I) time and O(n) space, where I is the number of antipodal pairs of edges of the convex hull of P, and in the worst case I = W(n 2 ). For convex polyhedra, the time complexity becomes O(n + I). If P is a set of points in the plane, the complexity can be reduced to O(n log n). Finally, for simple polygons linear time suffices. Index Terms  Algorithms, antipodal pairs, artificial intelligence, computational geometry, convex hull, geometric complexity, geometric transforms, image processing, minimax approximating line, minimax approximating plane, pattern recognition, rotating calipers, width. 1. Introduction The width of a set of points P (or a simple polygon P) in two dimensions is the minimum distance between parallel lines of support of P (or P). In three d...
Assembly Sequencing with Toleranced Parts
, 1995
"... The goal of assembly sequencing is to plan a feasible series of operations to construct a product from its individual parts. Previous research has investigated assembly sequencing under the assumption that parts have nominal geometry. This paper considers the case where parts have toleranced geom ..."
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Cited by 23 (4 self)
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The goal of assembly sequencing is to plan a feasible series of operations to construct a product from its individual parts. Previous research has investigated assembly sequencing under the assumption that parts have nominal geometry. This paper considers the case where parts have toleranced geometry. Its main contribution is an efficient procedure that decides if a product admits an assembly sequence with infinite translations (i.e., translations that can be extended arbitrarily far along a fixed direction) that is feasible for all possible instances of the components within the specified tolerances. If the product admits one such sequence, the procedure can also generate it. For the cases where there exists no such assembly sequence, another procedure is proposed which generates assembly sequences that are feasible only for some values of the toleranced dimensions. If this procedure produces no such sequence, then no instance of the product is assemblable. These two proced...
Separating an Object from its Cast
"... In casting, liquid is poured into a cast that has a cavity with the shape of the object to be manufactured. The liquid then hardens, after which the cast is removed. We consider the case where the cast consists of two parts and address the following problems: (1) Given a cast for an object and a di ..."
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Cited by 22 (10 self)
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In casting, liquid is poured into a cast that has a cavity with the shape of the object to be manufactured. The liquid then hardens, after which the cast is removed. We consider the case where the cast consists of two parts and address the following problems: (1) Given a cast for an object and a direction ~d, can the cast be partitioned into two parts such that the parts can be removed in directions ~d and \Gamma ~d, respectively, without colliding with the object or the other cast part? (2) How can one find a direction ~d such that the above cast partitioning can be done? We give necessary and sufficient conditions for both problems, as well as algorithms to decide them for polyhedral objects. We also give some evidence that the case where the cast parts need not be removed in opposite directions is considerably harder.
Drawing Nice Projections of Objects in Space
, 1995
"... Given a polygonal object (simple polygon, geometric graph, wireframe, skeleton or more generally a set of line segments) in three dimensional Euclidean space, we consider the problem of computing a variety of "nice" parallel (orthographic) projections of the object. We show that given a general pol ..."
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Cited by 20 (8 self)
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Given a polygonal object (simple polygon, geometric graph, wireframe, skeleton or more generally a set of line segments) in three dimensional Euclidean space, we consider the problem of computing a variety of "nice" parallel (orthographic) projections of the object. We show that given a general polygonal object consisting of n line segments in space, deciding whether it admits a crossingfree projection can be done in O(n 2 log n+k) time and O(n 2 +k) space, where k is the number of edge intersections of forbidden quadrilaterals (i.e. set of directions that admits a crossing) and varies from zero to O(n 4 ). This implies for example that given a simple polygon in 3space we can determine if there exists a plane on which the projection is a simple polygon, within the same complexity. Furthermore, if such a projection does not exist, a minimumcrossing projection can be found in O(n 4 ) time and space. We show that an object always admits a regular projection (of interest to k...
Filling Polyhedral Molds
, 1993
"... In the manufacturing industry, finding an orientation for a mold that eliminates surface defects and ensures a complete fill after termination of the gravity casting process, is an important and difficult problem. We study the problem of determining a favorable position of a mold (modeled as a po ..."
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Cited by 20 (6 self)
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In the manufacturing industry, finding an orientation for a mold that eliminates surface defects and ensures a complete fill after termination of the gravity casting process, is an important and difficult problem. We study the problem of determining a favorable position of a mold (modeled as a polyhedron), such that when it is filled, no air pockets and ensuing surface defects arise. Given a polyhedron in a fixed orientation, we present a linear time algorithm that determines whether the mold can be filled from that orientation without forming air pockets.
Geometric And Computational Aspects Of Manufacturing Processes
 Comput. & Graphics
, 1994
"... Two of the fundamental questions that arise in the manufacturing industry concerning every type of manufacturing process are: 1. Given an object, can it be built using a particular process? 2. Given that an object can be built using a particular process, what is the best way to construct the objec ..."
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Cited by 18 (7 self)
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Two of the fundamental questions that arise in the manufacturing industry concerning every type of manufacturing process are: 1. Given an object, can it be built using a particular process? 2. Given that an object can be built using a particular process, what is the best way to construct the object? The latter question gives rise to many different problems depending on how best is qualified. We address these problems for two complimentary categories of manufacturing processes: rapid prototyping systems and casting processes. The method we use to address these problems is to first define a geometric model of the process in question and then answer the questions on that model. In the category of rapid prototyping systems, we concentrate on stereolithography, which is emerging as one of the most popular rapid prototyping systems. We model stereolithography geometrically and then study the class of objects that admit a construction in this model. For the objects that admit a constructio...
Efficient Generation of kDirectional Assembly Sequences
, 1996
"... Let S be a collection of n rigid bodies in 3space, and let D be a set of k directions in 3space, where k is a small constant. A kdirectional assembly sequence for S, with respect to D, is a linear ordering hs1 ; : : : ; sni of the bodies in S, such that each s i can be moved to infinity by tran ..."
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Cited by 13 (4 self)
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Let S be a collection of n rigid bodies in 3space, and let D be a set of k directions in 3space, where k is a small constant. A kdirectional assembly sequence for S, with respect to D, is a linear ordering hs1 ; : : : ; sni of the bodies in S, such that each s i can be moved to infinity by translating it in one of the directions of D and without intersecting any s j , for j ? i. We present an algorithm that computes a kdirectional assembly sequence, or decides that no such sequence exists, for a set of polyhedra. The algorithm runs in O(km 4=3+" ) time, where m is the total number of vertices of the polyhedra. We also give an algorithm for `kdirectional' rotational motions.