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Acceleration of real-time Proximity Query for dynamic active constraints

Thomas C.P. Chau, Ka-Wai Kwok, Gary C.T. Chow, Kuen Hung Tsoi, Kit-Hang Lee, Zion Tse, Peter Y. K. Cheung, Wayne Luk
2013 2013 International Conference on Field-Programmable Technology (FPT)  
Proximity Query (PQ) is a process to calculate the relative placement of objects.  ...  Run-time reconfiguration is adopted for dynamic precision optimisation.  ...  Real-time performance is the pre-requisite to enable Dynamic Active Constraints, which has drawn increasing attention for effective human-robot collaborative control.  ... 
doi:10.1109/fpt.2013.6718355 dblp:conf/fpt/ChauKCTLTCL13 fatcat:zelw6lklqfbgtavhhbzdkmg32m

Accurate Contact Modeling for Multi-rate Single-point Haptic Rendering of Static and Deformable Environments [article]

Thomas C. Knott, Torsten W. Kuhlen
2015 Workshop on Virtual Reality Interactions and Physical Simulations  
Our approach can be combined with standard methods for the modeling of deformable objects or constraint-based approaches for the modeling of, for instance, friction or joints.  ...  reflects the dynamic behavior of the simulated objects.  ...  Furthermore, we thank AIM@SHAPE for providing the data sets used in the evaluation.  ... 
doi:10.2312/vriphys.20151336 dblp:conf/vriphys/KnottK15 fatcat:vu72fdtllrbtve2otk5jykrjy4

CLODs: Dual Hierarchies for Multiresolution Collision Detection [article]

Miguel A. Otaduy, Ming C. Lin
2003 Symposium on geometry processing : [proceedings]. Symposium on Geometry Processing  
Given a polyhedral model, our algorithm automatically builds a "dual hierarchy", both a multiresolution representation of the original model and its bounding volume hierarchy for accelerating collision  ...  We present "contact levels of detail" (CLOD), a novel concept for multiresolution collision detection.  ...  We are also grateful to Dinesh Manocha, Jack Snoeyink, Mark Foskey, and the anonymous reviewers for their feedback on the earlier drafts of this paper.  ... 
doi:10.2312/sgp/sgp03/094-101 fatcat:q5e7sv4xl5aftc6z6vw547l4ly

Efficient Configuration Space Construction and Optimization for Motion Planning

Jia Pan, Dinesh Manocha
2015 Engineering  
spaces; and ② how to efficiently perform geometric proximity and motion planning queries in high-dimensional configuration spaces.  ...  The collision query results are used to compute an approximate representation for the configuration space, which quickly converges to the exact configuration space.  ...  Acknowledgements This research was partially supported by the Army Research Office, the National Science Foundation, Willow Garage, and the Seed Funding Programme for Basic Research at the University of  ... 
doi:10.15302/j-eng-2015009 fatcat:ueyolkdm6nalpe5qmf4wa4lr4u

Haptic rendering of interacting dynamic deformable objects simulated in real-time at different frequencies

Francois Dervaux, Igor Peterlik, Jeremie Dequidt, Stephane Cotin, Christian Duriez
2013 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems  
phenomena such as vibrations, much lower frequencies are sufficient for capturing the dynamic response of an object composed of a soft tissue.  ...  Yet, when simulating mechanical interactions between soft and stiff deformable models, a single time-step in the time integration is usually employed to compute the dynamics of both objects.  ...  However, we assume that the directions of constraints in J stiff can be provided by the low rate loop in order to avoid an update of the proximity queries algorithm.  ... 
doi:10.1109/iros.2013.6696624 dblp:conf/iros/DervauxPDCD13 fatcat:rkfmvrx7xndpfcszsfwd6rwbci

Adaptive torsion-angle quasi-statics: a general simulation method with applications to protein structure analysis and design

Romain Rossi, Mathieu Isorce, Sandy Morin, Julien Flocard, Karthik Arumugam, Serge Crouzy, Michel Vivaudou, Stephane Redon
2007 Computer applications in the biosciences : CABIOS  
algorithms for adaptive update of molecular forces and energies.  ...  constraints.  ...  ACKNOWLEDGEMENTS This research was funded by the AMUSIBIO contract (project MDMS_NV_2) with the French National Agency of Research in the 'Masse de donne´es' program.  ... 
doi:10.1093/bioinformatics/btm191 pmid:17646324 fatcat:cygehqdax5b4fornuuqqmqvida

Control of Articulated Snake Robot under Dynamic Active Constraints [chapter]

Ka-Wai Kwok, Valentina Vitiello, Guang-Zhong Yang
2010 Lecture Notes in Computer Science  
In this paper, kinematic control of a snake robot for motion stabilisation under dynamic active constraints is addressed.  ...  Flexible, ergonomically enhanced surgical robots have important applications to transluminal endoscopic surgery, for which path-following and dynamic shape conformance are essential.  ...  The time for proximity queries on 767 vertices of a 5-link robot is below 15ms.  ... 
doi:10.1007/978-3-642-15711-0_29 fatcat:kdqyid6vc5ddbjvjhaqnvuyi5q

A real-time proximity querying algorithm for haptic-based molecular docking

Georgios Iakovou, Steven Hayward, Stephen Laycock
2014 Faraday discussions  
Here we propose an efficient proximity querying method for computing intermolecular forces in real time.  ...  Crucial for interactive docking is the real-time calculation of interaction forces.  ...  Benchmarking Performance Real-time Rigid-Docking Simulation In addition to our benchmarking experiments we measured the performance of our proximity querying method in real-time, rigid-docking simulations  ... 
doi:10.1039/c3fd00123g pmid:25341122 fatcat:x4oc3sxvvnht5nffxlcymyq5be

Solving Large-Scale Linear Multicommodity Flow Problems with an Active Set Strategy and Proximal-ACCPM

F. Babonneau, O. du Merle, J.-P. Vial
2006 Operations Research  
The partial Lagrangian dual is solved with Proximal-ACCPM, a variant of the analytic center cutting plane method.  ...  The relaxation is restricted to the set of arcs that are likely to be saturated at the optimum. This set is itself approximated by an active set strategy.  ...  In the last column of the table, we give the improvement ratio of the CPU time of Proximal-ACCPM without using active set strategy (see Table 2 ), and with the active set strategy (see Table 3 ).  ... 
doi:10.1287/opre.1050.0262 fatcat:wvfow4ldzrftzcktgsdv3i56sa

Mobile Web and Location-Based Services [chapter]

Ling Liu
2006 Lecture Notes in Computer Science  
At the intersection of 10 th street and Peachtree Rd.  ...  Geometric Surface a set of coordinates determining an area's bounding geometric shape. 25 Symbolic Model -Types of Location Location Name Address (road networks, buildings, etc.  ...  --Find the location of nearest gas station? destination information Accepts real-time information (traffic, reverse lanes, event & direction affected, etc.)  ... 
doi:10.1007/11610113_3 fatcat:5mkditurs5htjoqllp7ut3dtzm

Simulation and scenario support for virtual environments

James Cremer, Joseph Kearney, Hyeongseok Ko
1996 Computers & graphics  
In this paper, we outline three aspects of our effort: simulation support, scenario authoring, and real-time animation of human locomotion.  ...  Our work on real-time animation of human locomotion concentrates on methods to generate realistic human walking motions from simple positional control parameters.  ...  In our locomotion method, real-time plex, we expect the demand for tools for modeling inverse dynamics, balance and comfort control are and authoring scenarios and for controlling the performed so that  ... 
doi:10.1016/0097-8493(95)00126-3 fatcat:62zyehfmvrb2djkjqziorz5ere

Isaac: Building Simulations for Virtual Environments [chapter]

James F. Cremer, George Vaněček
1995 IFIP Advances in Information and Communication Technology  
The Isaac system is a distributed simulation server that integrates multibody dynamics, geometry, and control and is designed to support the needs of virtual environments.  ...  This paper describes the architecture and initial implementation of the Isaac system. Our general research goal is to develop simulation support for virtual environments.  ...  ACKNOWLEDGEMENTS This work is supported by Office of Naval Research grant N00014-94-1-0576. Iowa's Michael Booth and Paul Henning developed much of the first Isaac implementation.  ... 
doi:10.1007/978-0-387-34904-6_17 fatcat:ifkbv45uyffyrlwxoepajqnyfu

Gander: Mobile, Pervasive Search of the Here and Now in the Here and Now

Jonas Michel, Christine Julien, Jamie Payton
2014 IEEE Internet of Things Journal  
Gander is founded on a novel conceptual model of search that resolves queries about a user's here and now by leveraging proximally-available resources in the here and now.  ...  This paper presents Gander, a search engine for these pervasive computing spaces enabled by the Internet of Things and characterized by large volumes of highly transient data.  ...  ACKNOWLEDGMENT The authors would like to thank Gruia-Catalin Roman for all of his support, guidance, and collaboration on the Gander project.  ... 
doi:10.1109/jiot.2014.2347132 fatcat:c7535brl65gvfjqqgajpwx3tk4

Efficient Proximity Queries for Continuum Robots on Parallel Computing Hardware

Konrad Leibrandt, Guang-Zhong Yang
2017 IEEE Robotics and Automation Letters  
which show improved performance suitable for real-time robotic applications.  ...  Finally, an outlook of future improvements for dense dynamic anatomies is presented.  ...  Pierre Dupont from the Paediatric Cardiac Bioengineering Lab of Boston Children's Hospital, Harvard Medical School for providing the anatomical data used in this paper, and Dr.  ... 
doi:10.1109/lra.2017.2668466 dblp:journals/ral/LeibrandtY17 fatcat:phm32yksdvbtxjvwyryf3yo2sm

From Data Acquisition to Data Fusion: A Comprehensive Review and a Roadmap for the Identification of Activities of Daily Living Using Mobile Devices

Ivan Pires, Nuno Garcia, Nuno Pombo, Francisco Flórez-Revuelta
2016 Sensors  
to identify activities of daily living (ADLs).  ...  Sensor data fusion techniques are used to consolidate the data collected from several sensors, increasing the reliability of the algorithms for the identification of the different activities.  ...  The authors would also like to acknowledge the contribution of the COST Action IC1303-AAPELE -Architectures, Algorithms and Protocols for Enhanced Living Environments.  ... 
doi:10.3390/s16020184 pmid:26848664 pmcid:PMC4801561 fatcat:ushwthv6xrcgbi7lc2sejwgtje
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