Geometric reasoning about translational motions:
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Buch |
| Sprache: | English |
| Veröffentlicht: |
2000
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| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | München, Techn. Univ., Diss., 2000 |
| Beschreibung: | XVI, 126 S. Ill., graph. Darst. |
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Datensatz im Suchindex
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CONTENTS
ABSTRACT
ZUSAMMENFASSUNG
ACKNOWLEDGEMENTS -
1 INTRODUCTION
1.1 APPLICATIONS AND COMPLEXITY OF GEOMETRIC REASONING .
1.1.1 ROBOT MOTION PLANNING.
1.1.2 GEOMETRIC ASSEMBLY PLANNING / SEPARABILITY.
1.2 RELATED WORK.
1.3 CONTRIBUTION AND THESIS OVERVIEW.
2 ONE-SHOT TRANSLATIONAL SEPARABILITY
2.1 OVERVIEW AND CLASSIFICATION .
2.2 M-HANDED SEPARABILITY OF POLYGONS .
2.2.1 CONSTRAINTS FOR PAIRS OF PARTS.
2.2.2 EMBEDDING PAIRWISE CONSTRAINTS.
2.2.3 SUBDIVISION AND EFFICIENT ALGORITHMS.
2.2.4 REDUCTION HEURISTICS FOR THE GENERAL CASE.
2.2.5 HEURISTIC ALGORITHM FOR THE GENERAL CASE./
2.2.6 M-HANDED SEPARABILITY IS NP-COMPLETE.
2.2.7 POLYHEDRAL PARTS .
2.3 C-HANDED SEPARABILITY .
2.3.1 PARTITIONING SUBASSEMBLY VELOCITY SPACE.
2.3.2 TWO-HANDED SEPARABILITY IS NP-COMPLETE.
3 GENERAL TRANSLATIONAL SEPARABILITY
3.1 PROBLEM DEFINITION AND COMPUTATIONAL COMPLEXITY.
3.2 COMPOSITE CONFIGURATION SPACE .
VII
I
III
V
1
3
3
4
5
6
9
10
11
12
14
17
17
20
24
29
30
31
31
39
40
43
BIBLIOGRAFISCHE INFORMATIONEN
HTTP://D-NB.INFO/960524649
VU1
3.2.1 GLOBAL COMPLEXITY PROBLEM.
45
3.2.2 LOCAL COMPLEXITY PROBLEMS.
45
3.2.3 TOWARDS A PRACTICAL ALGORITHM: C-SPACE EXPANSION. 48
3.3 C-SPACE EXPANSION: FLOORGRAPHS AND D-GRAPH.
49
3.3.1 FLOORGRAPHS.
49
3.3.2 D-GRAPH AND BASIC INCREMENTAL ALGORITHM. 50
3.3.3 ANALYSIS .
53
3.4 C-SPACE EXPANSION: FURTHER CELL DEFRAGMENTATION.
55
3.4.1 REDUCED D-NODES: IMPROVED DECOMPOSITION.
55
3.4.2 IMPROVED INCREMENTAL ALGORITHM .
59
3.4.3 PROBLEMS OF D-NODE REDUCTION. 61
3.4.3
.1
OPTIMAL DEFRAGMENTATION IS INTRACTABLE. 61
3.4.3.2 VERIFICATION OF REDUCED D-NODES IS COSTLY. 62
3.4.4 PRACTICAL APPROACHES FOR REDUCTION AND VERIFICATION. 64
3.4.4
.1
SIMPLE AND FAST D-NODE REDUCTION BASED ON TRIPLES. 64
3.4.4.2 ADVANCED ELIMINATION BY D-NODE CONSTRUCTION .
66
3.5 C-SPACE EXPANSION: EXTENSIONS AND OPEN PROBLEMS. 67
3.5.1 ACCELERATION OF SEARCH. 67
3.5.2 APPLICATION-SPECIFIC EXTENSIONS. 69
3.5.3 OPEN PROBLEMS. 70
4 LINEAR UNBOUNDEDNESS TESTING
73
4.1 CONJUNCTIONS OF CONSTRAINTS .
73
4.1.1 PROBLEM DEFINITION.
74
4.1.2 BASICS AND A DIRECT APPROACH.
74
4.1.3 AN EFFICIENT ALGORITHM.
75
4.1.4 COMPLEXITY ANALYSIS.
77
4.2 AND/OR CONSTRAINT SETS.
79
5 IMPLEMENTATION
83
5.1 COMPUTATION OF CONFIGURATION SPACES FOR PAIRS OF PARTS. 83
5.2 BOOK-KEEPING OF VISITED D-NODES . 85
5.3 LINEAR PROGRAMMING IN A COMPOSITE CONFIGURATION SPACE. 87
6
EXAMPLES AND EXPERIMENTAL RESULTS 89
6.1 LINEAR UNBOUNDEDNESS TESTING. 89
6.2 M-HANDED ONE-SHOT TRANSLATIONAL SEPARABILITY OF POLYGONS. 91
6.2.1 EXAMPLES WITH NO INITIALLY SEPARATED PAIR OF PARTS. 91
IX
6.2.2 EXAMPLES WITH INITIALLY SEPARATED AND NON-SEPARATED PAIRS OF
PARTS. 93
6.3 CONFIGURATION SPACE EXPANSION FOR POLYGONS . 93
6.3.1 SIMPLE EXPERIMENTS . 94
6.3.2 EXPERIMENTS WITH COMBINATORIAL C-SPACE BOUNDARIES . 97
6.3.3 EXPERIMENTS WITH COMBINATORIAL EXAMPLES. 98
6.3.4 HEURISTIC INCREMENTAL CELL CONSTRUQTION. 99
6.4 SPATIAL EXAMPLES FOR GENERAL TRANSLATIONAL SEPARABILITY.103
6.4.1 LOCK AND BOLT.104
6.4.2 WOODEN CUBE PUZZLE.104
6.4.3 BOOK-CASE.106
6.4.4 DESK .106
7 CONCLUSION _ 109
7.1 ONE-SHOT TRANSLATIONAL SEPARABILITY .109
7.2 GENERAL TRANSLATIONAL SEPARABILITY.110
7.3 EFFICIENT LINEAR UNBOUNDEDNESS TESTING.ILL
7.4 IMPLEMENTATION.ILL
7.5 EXPERIMENTS AND EVALUATION .112
A CELL PROJECTION 113
A.L CONVEX HULL METHOD.113
A.2 BASE CELL PROJECTION .116
B BOUNDS ON VERTEX COORDINATES 119
BIBLIOGRAPHY
120 |
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| spelling | Schwarzer, Fabian 1972- Verfasser (DE-588)123093260 aut Geometric reasoning about translational motions Fabian Schwarzer 2000 XVI, 126 S. Ill., graph. Darst. txt rdacontent n rdamedia nc rdacarrier München, Techn. Univ., Diss., 2000 Planung (DE-588)4046235-3 gnd rswk-swf Montageplanung (DE-588)4120760-9 gnd rswk-swf Bewegungsablauf (DE-588)4145130-2 gnd rswk-swf Konfigurationsraum (DE-588)4199256-8 gnd rswk-swf NP-hartes Problem (DE-588)4621705-8 gnd rswk-swf Räumliches Schließen (DE-588)4312147-0 gnd rswk-swf Translationsbewegung (DE-588)4268491-2 gnd rswk-swf Bahnplanung (DE-588)4267628-9 gnd rswk-swf Montage (DE-588)4040126-1 gnd rswk-swf Algorithmus (DE-588)4001183-5 gnd rswk-swf (DE-588)4113937-9 Hochschulschrift gnd-content Montage (DE-588)4040126-1 s Planung (DE-588)4046235-3 s Bewegungsablauf (DE-588)4145130-2 s Algorithmus (DE-588)4001183-5 s DE-604 Montageplanung (DE-588)4120760-9 s Konfigurationsraum (DE-588)4199256-8 s Translationsbewegung (DE-588)4268491-2 s Räumliches Schließen (DE-588)4312147-0 s NP-hartes Problem (DE-588)4621705-8 s Bahnplanung (DE-588)4267628-9 s DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=009175274&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Schwarzer, Fabian 1972- Geometric reasoning about translational motions Planung (DE-588)4046235-3 gnd Montageplanung (DE-588)4120760-9 gnd Bewegungsablauf (DE-588)4145130-2 gnd Konfigurationsraum (DE-588)4199256-8 gnd NP-hartes Problem (DE-588)4621705-8 gnd Räumliches Schließen (DE-588)4312147-0 gnd Translationsbewegung (DE-588)4268491-2 gnd Bahnplanung (DE-588)4267628-9 gnd Montage (DE-588)4040126-1 gnd Algorithmus (DE-588)4001183-5 gnd |
| subject_GND | (DE-588)4046235-3 (DE-588)4120760-9 (DE-588)4145130-2 (DE-588)4199256-8 (DE-588)4621705-8 (DE-588)4312147-0 (DE-588)4268491-2 (DE-588)4267628-9 (DE-588)4040126-1 (DE-588)4001183-5 (DE-588)4113937-9 |
| title | Geometric reasoning about translational motions |
| title_auth | Geometric reasoning about translational motions |
| title_exact_search | Geometric reasoning about translational motions |
| title_full | Geometric reasoning about translational motions Fabian Schwarzer |
| title_fullStr | Geometric reasoning about translational motions Fabian Schwarzer |
| title_full_unstemmed | Geometric reasoning about translational motions Fabian Schwarzer |
| title_short | Geometric reasoning about translational motions |
| title_sort | geometric reasoning about translational motions |
| topic | Planung (DE-588)4046235-3 gnd Montageplanung (DE-588)4120760-9 gnd Bewegungsablauf (DE-588)4145130-2 gnd Konfigurationsraum (DE-588)4199256-8 gnd NP-hartes Problem (DE-588)4621705-8 gnd Räumliches Schließen (DE-588)4312147-0 gnd Translationsbewegung (DE-588)4268491-2 gnd Bahnplanung (DE-588)4267628-9 gnd Montage (DE-588)4040126-1 gnd Algorithmus (DE-588)4001183-5 gnd |
| topic_facet | Planung Montageplanung Bewegungsablauf Konfigurationsraum NP-hartes Problem Räumliches Schließen Translationsbewegung Bahnplanung Montage Algorithmus Hochschulschrift |
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