Proximity query based on second order cone programming using convex superquadrics: a static collision detection algorithm for narrow-phase
Purpose – This paper aims to find an objects representation scheme with high precision and to compute the objects’ separation distance effectively in final analysis. Proximity queries have been used widely in robot trajectory planning, automatic assembly planning, virtual surgery and many other appl...
Ausführliche Beschreibung
Autor*in: |
Chen, Lin [verfasserIn] |
---|
Format: |
Artikel |
---|---|
Sprache: |
Englisch |
Erschienen: |
2015 |
---|
Rechteinformationen: |
Nutzungsrecht: © Emerald Group Publishing Limited |
---|
Schlagwörter: |
---|
Übergeordnetes Werk: |
Enthalten in: Assembly automation - Bradford : MCB Univ. Press, 1980, 35(2015), 4, Seite 367-375 |
---|---|
Übergeordnetes Werk: |
volume:35 ; year:2015 ; number:4 ; pages:367-375 |
Links: |
---|
DOI / URN: |
10.1108/AA-03-2015-018 |
---|
Katalog-ID: |
OLC1968654194 |
---|
LEADER | 01000caa a2200265 4500 | ||
---|---|---|---|
001 | OLC1968654194 | ||
003 | DE-627 | ||
005 | 20220215205737.0 | ||
007 | tu | ||
008 | 160206s2015 xx ||||| 00| ||eng c | ||
024 | 7 | |a 10.1108/AA-03-2015-018 |2 doi | |
028 | 5 | 2 | |a PQ20160617 |
035 | |a (DE-627)OLC1968654194 | ||
035 | |a (DE-599)GBVOLC1968654194 | ||
035 | |a (PRQ)c1528-3a830c1d6673eb0cc01e5ef50329b88f9aa375e38ae9ee14fb9c24104e529a400 | ||
035 | |a (KEY)0106502520150000035000400367proximityquerybasedonsecondorderconeprogrammingusi | ||
040 | |a DE-627 |b ger |c DE-627 |e rakwb | ||
041 | |a eng | ||
082 | 0 | 4 | |a 620 |q DNB |
084 | |a 52.80 |2 bkl | ||
100 | 1 | |a Chen, Lin |e verfasserin |4 aut | |
245 | 1 | 0 | |a Proximity query based on second order cone programming using convex superquadrics: a static collision detection algorithm for narrow-phase |
264 | 1 | |c 2015 | |
336 | |a Text |b txt |2 rdacontent | ||
337 | |a ohne Hilfsmittel zu benutzen |b n |2 rdamedia | ||
338 | |a Band |b nc |2 rdacarrier | ||
520 | |a Purpose – This paper aims to find an objects representation scheme with high precision and to compute the objects’ separation distance effectively in final analysis. Proximity queries have been used widely in robot trajectory planning, automatic assembly planning, virtual surgery and many other applications. The core of proximity query is the precise computation of (minimum) separation distance in narrow phase, and specific object representation scheme corresponds to different methods of separation distance computation. Design/methodology/approach – In this paper, a second-order cone programming (SOCP)-based (minimum) separation distance computation algorithm was proposed. It treats convex superquadrics, descriptive primitives of complex object as the study objects. The separation distance between two convex superquadrics was written as a general nonlinear programming (NLP) problem with superquadric constraints and then transformed into an SOCP problem with the method of conic formulation of superquadric constraints. Finally, a primal-dual interior point method embedded in MOSEK was used for solving the SOCP problem. Findings – The proposed algorithm achieved exact separation distance computation between convex superquadrics, with a relative error of 10-6. It is particularly suitable for proximity queries in narrow phase of static collision detection algorithms. Further, the proposed algorithm achieved continuous collision detection between rectilinear translation superquadrics. Originality/value – The proposed algorithm in narrow phase of static collision detection algorithms makes objects’ separation distance effectively computed. Proximity queries are easy and more accurate to perform in this way. | ||
540 | |a Nutzungsrecht: © Emerald Group Publishing Limited | ||
650 | 4 | |a Engineering | |
650 | 4 | |a Industrial engineering, design & manufacturing | |
650 | 4 | |a Surgery | |
650 | 4 | |a Outdoor air quality | |
650 | 4 | |a Algorithms | |
650 | 4 | |a Queries | |
650 | 4 | |a Accuracy | |
650 | 4 | |a Odors | |
650 | 4 | |a Typhoons | |
650 | 4 | |a Robots | |
700 | 1 | |a Ni, Chongqi |4 oth | |
700 | 1 | |a Feng, Junjie |4 oth | |
700 | 1 | |a Dai, Jun |4 oth | |
700 | 1 | |a Huang, Bingqiong |4 oth | |
700 | 1 | |a Liu, Huaping |4 oth | |
700 | 1 | |a Pan, Haihong |4 oth | |
773 | 0 | 8 | |i Enthalten in |t Assembly automation |d Bradford : MCB Univ. Press, 1980 |g 35(2015), 4, Seite 367-375 |w (DE-627)129345407 |w (DE-600)153736-2 |w (DE-576)014726025 |x 0144-5154 |7 nnns |
773 | 1 | 8 | |g volume:35 |g year:2015 |g number:4 |g pages:367-375 |
856 | 4 | 1 | |u http://dx.doi.org/10.1108/AA-03-2015-018 |3 Volltext |
856 | 4 | 2 | |u http://search.proquest.com/docview/1732312882 |
912 | |a GBV_USEFLAG_A | ||
912 | |a SYSFLAG_A | ||
912 | |a GBV_OLC | ||
912 | |a SSG-OLC-TEC | ||
912 | |a GBV_ILN_70 | ||
912 | |a GBV_ILN_2006 | ||
936 | b | k | |a 52.80 |q AVZ |
951 | |a AR | ||
952 | |d 35 |j 2015 |e 4 |h 367-375 |
author_variant |
l c lc |
---|---|
matchkey_str |
article:01445154:2015----::rxmtqeyaeoscnodroergamnuigovxueqarcattcolso |
hierarchy_sort_str |
2015 |
bklnumber |
52.80 |
publishDate |
2015 |
allfields |
10.1108/AA-03-2015-018 doi PQ20160617 (DE-627)OLC1968654194 (DE-599)GBVOLC1968654194 (PRQ)c1528-3a830c1d6673eb0cc01e5ef50329b88f9aa375e38ae9ee14fb9c24104e529a400 (KEY)0106502520150000035000400367proximityquerybasedonsecondorderconeprogrammingusi DE-627 ger DE-627 rakwb eng 620 DNB 52.80 bkl Chen, Lin verfasserin aut Proximity query based on second order cone programming using convex superquadrics: a static collision detection algorithm for narrow-phase 2015 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier Purpose – This paper aims to find an objects representation scheme with high precision and to compute the objects’ separation distance effectively in final analysis. Proximity queries have been used widely in robot trajectory planning, automatic assembly planning, virtual surgery and many other applications. The core of proximity query is the precise computation of (minimum) separation distance in narrow phase, and specific object representation scheme corresponds to different methods of separation distance computation. Design/methodology/approach – In this paper, a second-order cone programming (SOCP)-based (minimum) separation distance computation algorithm was proposed. It treats convex superquadrics, descriptive primitives of complex object as the study objects. The separation distance between two convex superquadrics was written as a general nonlinear programming (NLP) problem with superquadric constraints and then transformed into an SOCP problem with the method of conic formulation of superquadric constraints. Finally, a primal-dual interior point method embedded in MOSEK was used for solving the SOCP problem. Findings – The proposed algorithm achieved exact separation distance computation between convex superquadrics, with a relative error of 10-6. It is particularly suitable for proximity queries in narrow phase of static collision detection algorithms. Further, the proposed algorithm achieved continuous collision detection between rectilinear translation superquadrics. Originality/value – The proposed algorithm in narrow phase of static collision detection algorithms makes objects’ separation distance effectively computed. Proximity queries are easy and more accurate to perform in this way. Nutzungsrecht: © Emerald Group Publishing Limited Engineering Industrial engineering, design & manufacturing Surgery Outdoor air quality Algorithms Queries Accuracy Odors Typhoons Robots Ni, Chongqi oth Feng, Junjie oth Dai, Jun oth Huang, Bingqiong oth Liu, Huaping oth Pan, Haihong oth Enthalten in Assembly automation Bradford : MCB Univ. Press, 1980 35(2015), 4, Seite 367-375 (DE-627)129345407 (DE-600)153736-2 (DE-576)014726025 0144-5154 nnns volume:35 year:2015 number:4 pages:367-375 http://dx.doi.org/10.1108/AA-03-2015-018 Volltext http://search.proquest.com/docview/1732312882 GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-TEC GBV_ILN_70 GBV_ILN_2006 52.80 AVZ AR 35 2015 4 367-375 |
spelling |
10.1108/AA-03-2015-018 doi PQ20160617 (DE-627)OLC1968654194 (DE-599)GBVOLC1968654194 (PRQ)c1528-3a830c1d6673eb0cc01e5ef50329b88f9aa375e38ae9ee14fb9c24104e529a400 (KEY)0106502520150000035000400367proximityquerybasedonsecondorderconeprogrammingusi DE-627 ger DE-627 rakwb eng 620 DNB 52.80 bkl Chen, Lin verfasserin aut Proximity query based on second order cone programming using convex superquadrics: a static collision detection algorithm for narrow-phase 2015 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier Purpose – This paper aims to find an objects representation scheme with high precision and to compute the objects’ separation distance effectively in final analysis. Proximity queries have been used widely in robot trajectory planning, automatic assembly planning, virtual surgery and many other applications. The core of proximity query is the precise computation of (minimum) separation distance in narrow phase, and specific object representation scheme corresponds to different methods of separation distance computation. Design/methodology/approach – In this paper, a second-order cone programming (SOCP)-based (minimum) separation distance computation algorithm was proposed. It treats convex superquadrics, descriptive primitives of complex object as the study objects. The separation distance between two convex superquadrics was written as a general nonlinear programming (NLP) problem with superquadric constraints and then transformed into an SOCP problem with the method of conic formulation of superquadric constraints. Finally, a primal-dual interior point method embedded in MOSEK was used for solving the SOCP problem. Findings – The proposed algorithm achieved exact separation distance computation between convex superquadrics, with a relative error of 10-6. It is particularly suitable for proximity queries in narrow phase of static collision detection algorithms. Further, the proposed algorithm achieved continuous collision detection between rectilinear translation superquadrics. Originality/value – The proposed algorithm in narrow phase of static collision detection algorithms makes objects’ separation distance effectively computed. Proximity queries are easy and more accurate to perform in this way. Nutzungsrecht: © Emerald Group Publishing Limited Engineering Industrial engineering, design & manufacturing Surgery Outdoor air quality Algorithms Queries Accuracy Odors Typhoons Robots Ni, Chongqi oth Feng, Junjie oth Dai, Jun oth Huang, Bingqiong oth Liu, Huaping oth Pan, Haihong oth Enthalten in Assembly automation Bradford : MCB Univ. Press, 1980 35(2015), 4, Seite 367-375 (DE-627)129345407 (DE-600)153736-2 (DE-576)014726025 0144-5154 nnns volume:35 year:2015 number:4 pages:367-375 http://dx.doi.org/10.1108/AA-03-2015-018 Volltext http://search.proquest.com/docview/1732312882 GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-TEC GBV_ILN_70 GBV_ILN_2006 52.80 AVZ AR 35 2015 4 367-375 |
allfields_unstemmed |
10.1108/AA-03-2015-018 doi PQ20160617 (DE-627)OLC1968654194 (DE-599)GBVOLC1968654194 (PRQ)c1528-3a830c1d6673eb0cc01e5ef50329b88f9aa375e38ae9ee14fb9c24104e529a400 (KEY)0106502520150000035000400367proximityquerybasedonsecondorderconeprogrammingusi DE-627 ger DE-627 rakwb eng 620 DNB 52.80 bkl Chen, Lin verfasserin aut Proximity query based on second order cone programming using convex superquadrics: a static collision detection algorithm for narrow-phase 2015 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier Purpose – This paper aims to find an objects representation scheme with high precision and to compute the objects’ separation distance effectively in final analysis. Proximity queries have been used widely in robot trajectory planning, automatic assembly planning, virtual surgery and many other applications. The core of proximity query is the precise computation of (minimum) separation distance in narrow phase, and specific object representation scheme corresponds to different methods of separation distance computation. Design/methodology/approach – In this paper, a second-order cone programming (SOCP)-based (minimum) separation distance computation algorithm was proposed. It treats convex superquadrics, descriptive primitives of complex object as the study objects. The separation distance between two convex superquadrics was written as a general nonlinear programming (NLP) problem with superquadric constraints and then transformed into an SOCP problem with the method of conic formulation of superquadric constraints. Finally, a primal-dual interior point method embedded in MOSEK was used for solving the SOCP problem. Findings – The proposed algorithm achieved exact separation distance computation between convex superquadrics, with a relative error of 10-6. It is particularly suitable for proximity queries in narrow phase of static collision detection algorithms. Further, the proposed algorithm achieved continuous collision detection between rectilinear translation superquadrics. Originality/value – The proposed algorithm in narrow phase of static collision detection algorithms makes objects’ separation distance effectively computed. Proximity queries are easy and more accurate to perform in this way. Nutzungsrecht: © Emerald Group Publishing Limited Engineering Industrial engineering, design & manufacturing Surgery Outdoor air quality Algorithms Queries Accuracy Odors Typhoons Robots Ni, Chongqi oth Feng, Junjie oth Dai, Jun oth Huang, Bingqiong oth Liu, Huaping oth Pan, Haihong oth Enthalten in Assembly automation Bradford : MCB Univ. Press, 1980 35(2015), 4, Seite 367-375 (DE-627)129345407 (DE-600)153736-2 (DE-576)014726025 0144-5154 nnns volume:35 year:2015 number:4 pages:367-375 http://dx.doi.org/10.1108/AA-03-2015-018 Volltext http://search.proquest.com/docview/1732312882 GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-TEC GBV_ILN_70 GBV_ILN_2006 52.80 AVZ AR 35 2015 4 367-375 |
allfieldsGer |
10.1108/AA-03-2015-018 doi PQ20160617 (DE-627)OLC1968654194 (DE-599)GBVOLC1968654194 (PRQ)c1528-3a830c1d6673eb0cc01e5ef50329b88f9aa375e38ae9ee14fb9c24104e529a400 (KEY)0106502520150000035000400367proximityquerybasedonsecondorderconeprogrammingusi DE-627 ger DE-627 rakwb eng 620 DNB 52.80 bkl Chen, Lin verfasserin aut Proximity query based on second order cone programming using convex superquadrics: a static collision detection algorithm for narrow-phase 2015 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier Purpose – This paper aims to find an objects representation scheme with high precision and to compute the objects’ separation distance effectively in final analysis. Proximity queries have been used widely in robot trajectory planning, automatic assembly planning, virtual surgery and many other applications. The core of proximity query is the precise computation of (minimum) separation distance in narrow phase, and specific object representation scheme corresponds to different methods of separation distance computation. Design/methodology/approach – In this paper, a second-order cone programming (SOCP)-based (minimum) separation distance computation algorithm was proposed. It treats convex superquadrics, descriptive primitives of complex object as the study objects. The separation distance between two convex superquadrics was written as a general nonlinear programming (NLP) problem with superquadric constraints and then transformed into an SOCP problem with the method of conic formulation of superquadric constraints. Finally, a primal-dual interior point method embedded in MOSEK was used for solving the SOCP problem. Findings – The proposed algorithm achieved exact separation distance computation between convex superquadrics, with a relative error of 10-6. It is particularly suitable for proximity queries in narrow phase of static collision detection algorithms. Further, the proposed algorithm achieved continuous collision detection between rectilinear translation superquadrics. Originality/value – The proposed algorithm in narrow phase of static collision detection algorithms makes objects’ separation distance effectively computed. Proximity queries are easy and more accurate to perform in this way. Nutzungsrecht: © Emerald Group Publishing Limited Engineering Industrial engineering, design & manufacturing Surgery Outdoor air quality Algorithms Queries Accuracy Odors Typhoons Robots Ni, Chongqi oth Feng, Junjie oth Dai, Jun oth Huang, Bingqiong oth Liu, Huaping oth Pan, Haihong oth Enthalten in Assembly automation Bradford : MCB Univ. Press, 1980 35(2015), 4, Seite 367-375 (DE-627)129345407 (DE-600)153736-2 (DE-576)014726025 0144-5154 nnns volume:35 year:2015 number:4 pages:367-375 http://dx.doi.org/10.1108/AA-03-2015-018 Volltext http://search.proquest.com/docview/1732312882 GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-TEC GBV_ILN_70 GBV_ILN_2006 52.80 AVZ AR 35 2015 4 367-375 |
allfieldsSound |
10.1108/AA-03-2015-018 doi PQ20160617 (DE-627)OLC1968654194 (DE-599)GBVOLC1968654194 (PRQ)c1528-3a830c1d6673eb0cc01e5ef50329b88f9aa375e38ae9ee14fb9c24104e529a400 (KEY)0106502520150000035000400367proximityquerybasedonsecondorderconeprogrammingusi DE-627 ger DE-627 rakwb eng 620 DNB 52.80 bkl Chen, Lin verfasserin aut Proximity query based on second order cone programming using convex superquadrics: a static collision detection algorithm for narrow-phase 2015 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier Purpose – This paper aims to find an objects representation scheme with high precision and to compute the objects’ separation distance effectively in final analysis. Proximity queries have been used widely in robot trajectory planning, automatic assembly planning, virtual surgery and many other applications. The core of proximity query is the precise computation of (minimum) separation distance in narrow phase, and specific object representation scheme corresponds to different methods of separation distance computation. Design/methodology/approach – In this paper, a second-order cone programming (SOCP)-based (minimum) separation distance computation algorithm was proposed. It treats convex superquadrics, descriptive primitives of complex object as the study objects. The separation distance between two convex superquadrics was written as a general nonlinear programming (NLP) problem with superquadric constraints and then transformed into an SOCP problem with the method of conic formulation of superquadric constraints. Finally, a primal-dual interior point method embedded in MOSEK was used for solving the SOCP problem. Findings – The proposed algorithm achieved exact separation distance computation between convex superquadrics, with a relative error of 10-6. It is particularly suitable for proximity queries in narrow phase of static collision detection algorithms. Further, the proposed algorithm achieved continuous collision detection between rectilinear translation superquadrics. Originality/value – The proposed algorithm in narrow phase of static collision detection algorithms makes objects’ separation distance effectively computed. Proximity queries are easy and more accurate to perform in this way. Nutzungsrecht: © Emerald Group Publishing Limited Engineering Industrial engineering, design & manufacturing Surgery Outdoor air quality Algorithms Queries Accuracy Odors Typhoons Robots Ni, Chongqi oth Feng, Junjie oth Dai, Jun oth Huang, Bingqiong oth Liu, Huaping oth Pan, Haihong oth Enthalten in Assembly automation Bradford : MCB Univ. Press, 1980 35(2015), 4, Seite 367-375 (DE-627)129345407 (DE-600)153736-2 (DE-576)014726025 0144-5154 nnns volume:35 year:2015 number:4 pages:367-375 http://dx.doi.org/10.1108/AA-03-2015-018 Volltext http://search.proquest.com/docview/1732312882 GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-TEC GBV_ILN_70 GBV_ILN_2006 52.80 AVZ AR 35 2015 4 367-375 |
language |
English |
source |
Enthalten in Assembly automation 35(2015), 4, Seite 367-375 volume:35 year:2015 number:4 pages:367-375 |
sourceStr |
Enthalten in Assembly automation 35(2015), 4, Seite 367-375 volume:35 year:2015 number:4 pages:367-375 |
format_phy_str_mv |
Article |
institution |
findex.gbv.de |
topic_facet |
Engineering Industrial engineering, design & manufacturing Surgery Outdoor air quality Algorithms Queries Accuracy Odors Typhoons Robots |
dewey-raw |
620 |
isfreeaccess_bool |
false |
container_title |
Assembly automation |
authorswithroles_txt_mv |
Chen, Lin @@aut@@ Ni, Chongqi @@oth@@ Feng, Junjie @@oth@@ Dai, Jun @@oth@@ Huang, Bingqiong @@oth@@ Liu, Huaping @@oth@@ Pan, Haihong @@oth@@ |
publishDateDaySort_date |
2015-01-01T00:00:00Z |
hierarchy_top_id |
129345407 |
dewey-sort |
3620 |
id |
OLC1968654194 |
language_de |
englisch |
fullrecord |
<?xml version="1.0" encoding="UTF-8"?><collection xmlns="http://www.loc.gov/MARC21/slim"><record><leader>01000caa a2200265 4500</leader><controlfield tag="001">OLC1968654194</controlfield><controlfield tag="003">DE-627</controlfield><controlfield tag="005">20220215205737.0</controlfield><controlfield tag="007">tu</controlfield><controlfield tag="008">160206s2015 xx ||||| 00| ||eng c</controlfield><datafield tag="024" ind1="7" ind2=" "><subfield code="a">10.1108/AA-03-2015-018</subfield><subfield code="2">doi</subfield></datafield><datafield tag="028" ind1="5" ind2="2"><subfield code="a">PQ20160617</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-627)OLC1968654194</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-599)GBVOLC1968654194</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(PRQ)c1528-3a830c1d6673eb0cc01e5ef50329b88f9aa375e38ae9ee14fb9c24104e529a400</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(KEY)0106502520150000035000400367proximityquerybasedonsecondorderconeprogrammingusi</subfield></datafield><datafield tag="040" ind1=" " ind2=" "><subfield code="a">DE-627</subfield><subfield code="b">ger</subfield><subfield code="c">DE-627</subfield><subfield code="e">rakwb</subfield></datafield><datafield tag="041" ind1=" " ind2=" "><subfield code="a">eng</subfield></datafield><datafield tag="082" ind1="0" ind2="4"><subfield code="a">620</subfield><subfield code="q">DNB</subfield></datafield><datafield tag="084" ind1=" " ind2=" "><subfield code="a">52.80</subfield><subfield code="2">bkl</subfield></datafield><datafield tag="100" ind1="1" ind2=" "><subfield code="a">Chen, Lin</subfield><subfield code="e">verfasserin</subfield><subfield code="4">aut</subfield></datafield><datafield tag="245" ind1="1" ind2="0"><subfield code="a">Proximity query based on second order cone programming using convex superquadrics: a static collision detection algorithm for narrow-phase</subfield></datafield><datafield tag="264" ind1=" " ind2="1"><subfield code="c">2015</subfield></datafield><datafield tag="336" ind1=" " ind2=" "><subfield code="a">Text</subfield><subfield code="b">txt</subfield><subfield code="2">rdacontent</subfield></datafield><datafield tag="337" ind1=" " ind2=" "><subfield code="a">ohne Hilfsmittel zu benutzen</subfield><subfield code="b">n</subfield><subfield code="2">rdamedia</subfield></datafield><datafield tag="338" ind1=" " ind2=" "><subfield code="a">Band</subfield><subfield code="b">nc</subfield><subfield code="2">rdacarrier</subfield></datafield><datafield tag="520" ind1=" " ind2=" "><subfield code="a">Purpose – This paper aims to find an objects representation scheme with high precision and to compute the objects’ separation distance effectively in final analysis. Proximity queries have been used widely in robot trajectory planning, automatic assembly planning, virtual surgery and many other applications. The core of proximity query is the precise computation of (minimum) separation distance in narrow phase, and specific object representation scheme corresponds to different methods of separation distance computation. Design/methodology/approach – In this paper, a second-order cone programming (SOCP)-based (minimum) separation distance computation algorithm was proposed. It treats convex superquadrics, descriptive primitives of complex object as the study objects. The separation distance between two convex superquadrics was written as a general nonlinear programming (NLP) problem with superquadric constraints and then transformed into an SOCP problem with the method of conic formulation of superquadric constraints. Finally, a primal-dual interior point method embedded in MOSEK was used for solving the SOCP problem. Findings – The proposed algorithm achieved exact separation distance computation between convex superquadrics, with a relative error of 10-6. It is particularly suitable for proximity queries in narrow phase of static collision detection algorithms. Further, the proposed algorithm achieved continuous collision detection between rectilinear translation superquadrics. Originality/value – The proposed algorithm in narrow phase of static collision detection algorithms makes objects’ separation distance effectively computed. Proximity queries are easy and more accurate to perform in this way.</subfield></datafield><datafield tag="540" ind1=" " ind2=" "><subfield code="a">Nutzungsrecht: © Emerald Group Publishing Limited</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Engineering</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Industrial engineering, design & manufacturing</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Surgery</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Outdoor air quality</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Algorithms</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Queries</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Accuracy</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Odors</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Typhoons</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Robots</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">Ni, Chongqi</subfield><subfield code="4">oth</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">Feng, Junjie</subfield><subfield code="4">oth</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">Dai, Jun</subfield><subfield code="4">oth</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">Huang, Bingqiong</subfield><subfield code="4">oth</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">Liu, Huaping</subfield><subfield code="4">oth</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">Pan, Haihong</subfield><subfield code="4">oth</subfield></datafield><datafield tag="773" ind1="0" ind2="8"><subfield code="i">Enthalten in</subfield><subfield code="t">Assembly automation</subfield><subfield code="d">Bradford : MCB Univ. Press, 1980</subfield><subfield code="g">35(2015), 4, Seite 367-375</subfield><subfield code="w">(DE-627)129345407</subfield><subfield code="w">(DE-600)153736-2</subfield><subfield code="w">(DE-576)014726025</subfield><subfield code="x">0144-5154</subfield><subfield code="7">nnns</subfield></datafield><datafield tag="773" ind1="1" ind2="8"><subfield code="g">volume:35</subfield><subfield code="g">year:2015</subfield><subfield code="g">number:4</subfield><subfield code="g">pages:367-375</subfield></datafield><datafield tag="856" ind1="4" ind2="1"><subfield code="u">http://dx.doi.org/10.1108/AA-03-2015-018</subfield><subfield code="3">Volltext</subfield></datafield><datafield tag="856" ind1="4" ind2="2"><subfield code="u">http://search.proquest.com/docview/1732312882</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_USEFLAG_A</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">SYSFLAG_A</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_OLC</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">SSG-OLC-TEC</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_70</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_2006</subfield></datafield><datafield tag="936" ind1="b" ind2="k"><subfield code="a">52.80</subfield><subfield code="q">AVZ</subfield></datafield><datafield tag="951" ind1=" " ind2=" "><subfield code="a">AR</subfield></datafield><datafield tag="952" ind1=" " ind2=" "><subfield code="d">35</subfield><subfield code="j">2015</subfield><subfield code="e">4</subfield><subfield code="h">367-375</subfield></datafield></record></collection>
|
author |
Chen, Lin |
spellingShingle |
Chen, Lin ddc 620 bkl 52.80 misc Engineering misc Industrial engineering, design & manufacturing misc Surgery misc Outdoor air quality misc Algorithms misc Queries misc Accuracy misc Odors misc Typhoons misc Robots Proximity query based on second order cone programming using convex superquadrics: a static collision detection algorithm for narrow-phase |
authorStr |
Chen, Lin |
ppnlink_with_tag_str_mv |
@@773@@(DE-627)129345407 |
format |
Article |
dewey-ones |
620 - Engineering & allied operations |
delete_txt_mv |
keep |
author_role |
aut |
collection |
OLC |
remote_str |
false |
illustrated |
Not Illustrated |
issn |
0144-5154 |
topic_title |
620 DNB 52.80 bkl Proximity query based on second order cone programming using convex superquadrics: a static collision detection algorithm for narrow-phase Engineering Industrial engineering, design & manufacturing Surgery Outdoor air quality Algorithms Queries Accuracy Odors Typhoons Robots |
topic |
ddc 620 bkl 52.80 misc Engineering misc Industrial engineering, design & manufacturing misc Surgery misc Outdoor air quality misc Algorithms misc Queries misc Accuracy misc Odors misc Typhoons misc Robots |
topic_unstemmed |
ddc 620 bkl 52.80 misc Engineering misc Industrial engineering, design & manufacturing misc Surgery misc Outdoor air quality misc Algorithms misc Queries misc Accuracy misc Odors misc Typhoons misc Robots |
topic_browse |
ddc 620 bkl 52.80 misc Engineering misc Industrial engineering, design & manufacturing misc Surgery misc Outdoor air quality misc Algorithms misc Queries misc Accuracy misc Odors misc Typhoons misc Robots |
format_facet |
Aufsätze Gedruckte Aufsätze |
format_main_str_mv |
Text Zeitschrift/Artikel |
carriertype_str_mv |
nc |
author2_variant |
c n cn j f jf j d jd b h bh h l hl h p hp |
hierarchy_parent_title |
Assembly automation |
hierarchy_parent_id |
129345407 |
dewey-tens |
620 - Engineering |
hierarchy_top_title |
Assembly automation |
isfreeaccess_txt |
false |
familylinks_str_mv |
(DE-627)129345407 (DE-600)153736-2 (DE-576)014726025 |
title |
Proximity query based on second order cone programming using convex superquadrics: a static collision detection algorithm for narrow-phase |
ctrlnum |
(DE-627)OLC1968654194 (DE-599)GBVOLC1968654194 (PRQ)c1528-3a830c1d6673eb0cc01e5ef50329b88f9aa375e38ae9ee14fb9c24104e529a400 (KEY)0106502520150000035000400367proximityquerybasedonsecondorderconeprogrammingusi |
title_full |
Proximity query based on second order cone programming using convex superquadrics: a static collision detection algorithm for narrow-phase |
author_sort |
Chen, Lin |
journal |
Assembly automation |
journalStr |
Assembly automation |
lang_code |
eng |
isOA_bool |
false |
dewey-hundreds |
600 - Technology |
recordtype |
marc |
publishDateSort |
2015 |
contenttype_str_mv |
txt |
container_start_page |
367 |
author_browse |
Chen, Lin |
container_volume |
35 |
class |
620 DNB 52.80 bkl |
format_se |
Aufsätze |
author-letter |
Chen, Lin |
doi_str_mv |
10.1108/AA-03-2015-018 |
dewey-full |
620 |
title_sort |
proximity query based on second order cone programming using convex superquadrics: a static collision detection algorithm for narrow-phase |
title_auth |
Proximity query based on second order cone programming using convex superquadrics: a static collision detection algorithm for narrow-phase |
abstract |
Purpose – This paper aims to find an objects representation scheme with high precision and to compute the objects’ separation distance effectively in final analysis. Proximity queries have been used widely in robot trajectory planning, automatic assembly planning, virtual surgery and many other applications. The core of proximity query is the precise computation of (minimum) separation distance in narrow phase, and specific object representation scheme corresponds to different methods of separation distance computation. Design/methodology/approach – In this paper, a second-order cone programming (SOCP)-based (minimum) separation distance computation algorithm was proposed. It treats convex superquadrics, descriptive primitives of complex object as the study objects. The separation distance between two convex superquadrics was written as a general nonlinear programming (NLP) problem with superquadric constraints and then transformed into an SOCP problem with the method of conic formulation of superquadric constraints. Finally, a primal-dual interior point method embedded in MOSEK was used for solving the SOCP problem. Findings – The proposed algorithm achieved exact separation distance computation between convex superquadrics, with a relative error of 10-6. It is particularly suitable for proximity queries in narrow phase of static collision detection algorithms. Further, the proposed algorithm achieved continuous collision detection between rectilinear translation superquadrics. Originality/value – The proposed algorithm in narrow phase of static collision detection algorithms makes objects’ separation distance effectively computed. Proximity queries are easy and more accurate to perform in this way. |
abstractGer |
Purpose – This paper aims to find an objects representation scheme with high precision and to compute the objects’ separation distance effectively in final analysis. Proximity queries have been used widely in robot trajectory planning, automatic assembly planning, virtual surgery and many other applications. The core of proximity query is the precise computation of (minimum) separation distance in narrow phase, and specific object representation scheme corresponds to different methods of separation distance computation. Design/methodology/approach – In this paper, a second-order cone programming (SOCP)-based (minimum) separation distance computation algorithm was proposed. It treats convex superquadrics, descriptive primitives of complex object as the study objects. The separation distance between two convex superquadrics was written as a general nonlinear programming (NLP) problem with superquadric constraints and then transformed into an SOCP problem with the method of conic formulation of superquadric constraints. Finally, a primal-dual interior point method embedded in MOSEK was used for solving the SOCP problem. Findings – The proposed algorithm achieved exact separation distance computation between convex superquadrics, with a relative error of 10-6. It is particularly suitable for proximity queries in narrow phase of static collision detection algorithms. Further, the proposed algorithm achieved continuous collision detection between rectilinear translation superquadrics. Originality/value – The proposed algorithm in narrow phase of static collision detection algorithms makes objects’ separation distance effectively computed. Proximity queries are easy and more accurate to perform in this way. |
abstract_unstemmed |
Purpose – This paper aims to find an objects representation scheme with high precision and to compute the objects’ separation distance effectively in final analysis. Proximity queries have been used widely in robot trajectory planning, automatic assembly planning, virtual surgery and many other applications. The core of proximity query is the precise computation of (minimum) separation distance in narrow phase, and specific object representation scheme corresponds to different methods of separation distance computation. Design/methodology/approach – In this paper, a second-order cone programming (SOCP)-based (minimum) separation distance computation algorithm was proposed. It treats convex superquadrics, descriptive primitives of complex object as the study objects. The separation distance between two convex superquadrics was written as a general nonlinear programming (NLP) problem with superquadric constraints and then transformed into an SOCP problem with the method of conic formulation of superquadric constraints. Finally, a primal-dual interior point method embedded in MOSEK was used for solving the SOCP problem. Findings – The proposed algorithm achieved exact separation distance computation between convex superquadrics, with a relative error of 10-6. It is particularly suitable for proximity queries in narrow phase of static collision detection algorithms. Further, the proposed algorithm achieved continuous collision detection between rectilinear translation superquadrics. Originality/value – The proposed algorithm in narrow phase of static collision detection algorithms makes objects’ separation distance effectively computed. Proximity queries are easy and more accurate to perform in this way. |
collection_details |
GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-TEC GBV_ILN_70 GBV_ILN_2006 |
container_issue |
4 |
title_short |
Proximity query based on second order cone programming using convex superquadrics: a static collision detection algorithm for narrow-phase |
url |
http://dx.doi.org/10.1108/AA-03-2015-018 http://search.proquest.com/docview/1732312882 |
remote_bool |
false |
author2 |
Ni, Chongqi Feng, Junjie Dai, Jun Huang, Bingqiong Liu, Huaping Pan, Haihong |
author2Str |
Ni, Chongqi Feng, Junjie Dai, Jun Huang, Bingqiong Liu, Huaping Pan, Haihong |
ppnlink |
129345407 |
mediatype_str_mv |
n |
isOA_txt |
false |
hochschulschrift_bool |
false |
author2_role |
oth oth oth oth oth oth |
doi_str |
10.1108/AA-03-2015-018 |
up_date |
2024-07-04T03:51:22.220Z |
_version_ |
1803618963663355904 |
fullrecord_marcxml |
<?xml version="1.0" encoding="UTF-8"?><collection xmlns="http://www.loc.gov/MARC21/slim"><record><leader>01000caa a2200265 4500</leader><controlfield tag="001">OLC1968654194</controlfield><controlfield tag="003">DE-627</controlfield><controlfield tag="005">20220215205737.0</controlfield><controlfield tag="007">tu</controlfield><controlfield tag="008">160206s2015 xx ||||| 00| ||eng c</controlfield><datafield tag="024" ind1="7" ind2=" "><subfield code="a">10.1108/AA-03-2015-018</subfield><subfield code="2">doi</subfield></datafield><datafield tag="028" ind1="5" ind2="2"><subfield code="a">PQ20160617</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-627)OLC1968654194</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-599)GBVOLC1968654194</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(PRQ)c1528-3a830c1d6673eb0cc01e5ef50329b88f9aa375e38ae9ee14fb9c24104e529a400</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(KEY)0106502520150000035000400367proximityquerybasedonsecondorderconeprogrammingusi</subfield></datafield><datafield tag="040" ind1=" " ind2=" "><subfield code="a">DE-627</subfield><subfield code="b">ger</subfield><subfield code="c">DE-627</subfield><subfield code="e">rakwb</subfield></datafield><datafield tag="041" ind1=" " ind2=" "><subfield code="a">eng</subfield></datafield><datafield tag="082" ind1="0" ind2="4"><subfield code="a">620</subfield><subfield code="q">DNB</subfield></datafield><datafield tag="084" ind1=" " ind2=" "><subfield code="a">52.80</subfield><subfield code="2">bkl</subfield></datafield><datafield tag="100" ind1="1" ind2=" "><subfield code="a">Chen, Lin</subfield><subfield code="e">verfasserin</subfield><subfield code="4">aut</subfield></datafield><datafield tag="245" ind1="1" ind2="0"><subfield code="a">Proximity query based on second order cone programming using convex superquadrics: a static collision detection algorithm for narrow-phase</subfield></datafield><datafield tag="264" ind1=" " ind2="1"><subfield code="c">2015</subfield></datafield><datafield tag="336" ind1=" " ind2=" "><subfield code="a">Text</subfield><subfield code="b">txt</subfield><subfield code="2">rdacontent</subfield></datafield><datafield tag="337" ind1=" " ind2=" "><subfield code="a">ohne Hilfsmittel zu benutzen</subfield><subfield code="b">n</subfield><subfield code="2">rdamedia</subfield></datafield><datafield tag="338" ind1=" " ind2=" "><subfield code="a">Band</subfield><subfield code="b">nc</subfield><subfield code="2">rdacarrier</subfield></datafield><datafield tag="520" ind1=" " ind2=" "><subfield code="a">Purpose – This paper aims to find an objects representation scheme with high precision and to compute the objects’ separation distance effectively in final analysis. Proximity queries have been used widely in robot trajectory planning, automatic assembly planning, virtual surgery and many other applications. The core of proximity query is the precise computation of (minimum) separation distance in narrow phase, and specific object representation scheme corresponds to different methods of separation distance computation. Design/methodology/approach – In this paper, a second-order cone programming (SOCP)-based (minimum) separation distance computation algorithm was proposed. It treats convex superquadrics, descriptive primitives of complex object as the study objects. The separation distance between two convex superquadrics was written as a general nonlinear programming (NLP) problem with superquadric constraints and then transformed into an SOCP problem with the method of conic formulation of superquadric constraints. Finally, a primal-dual interior point method embedded in MOSEK was used for solving the SOCP problem. Findings – The proposed algorithm achieved exact separation distance computation between convex superquadrics, with a relative error of 10-6. It is particularly suitable for proximity queries in narrow phase of static collision detection algorithms. Further, the proposed algorithm achieved continuous collision detection between rectilinear translation superquadrics. Originality/value – The proposed algorithm in narrow phase of static collision detection algorithms makes objects’ separation distance effectively computed. Proximity queries are easy and more accurate to perform in this way.</subfield></datafield><datafield tag="540" ind1=" " ind2=" "><subfield code="a">Nutzungsrecht: © Emerald Group Publishing Limited</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Engineering</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Industrial engineering, design & manufacturing</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Surgery</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Outdoor air quality</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Algorithms</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Queries</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Accuracy</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Odors</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Typhoons</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Robots</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">Ni, Chongqi</subfield><subfield code="4">oth</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">Feng, Junjie</subfield><subfield code="4">oth</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">Dai, Jun</subfield><subfield code="4">oth</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">Huang, Bingqiong</subfield><subfield code="4">oth</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">Liu, Huaping</subfield><subfield code="4">oth</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">Pan, Haihong</subfield><subfield code="4">oth</subfield></datafield><datafield tag="773" ind1="0" ind2="8"><subfield code="i">Enthalten in</subfield><subfield code="t">Assembly automation</subfield><subfield code="d">Bradford : MCB Univ. Press, 1980</subfield><subfield code="g">35(2015), 4, Seite 367-375</subfield><subfield code="w">(DE-627)129345407</subfield><subfield code="w">(DE-600)153736-2</subfield><subfield code="w">(DE-576)014726025</subfield><subfield code="x">0144-5154</subfield><subfield code="7">nnns</subfield></datafield><datafield tag="773" ind1="1" ind2="8"><subfield code="g">volume:35</subfield><subfield code="g">year:2015</subfield><subfield code="g">number:4</subfield><subfield code="g">pages:367-375</subfield></datafield><datafield tag="856" ind1="4" ind2="1"><subfield code="u">http://dx.doi.org/10.1108/AA-03-2015-018</subfield><subfield code="3">Volltext</subfield></datafield><datafield tag="856" ind1="4" ind2="2"><subfield code="u">http://search.proquest.com/docview/1732312882</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_USEFLAG_A</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">SYSFLAG_A</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_OLC</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">SSG-OLC-TEC</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_70</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_ILN_2006</subfield></datafield><datafield tag="936" ind1="b" ind2="k"><subfield code="a">52.80</subfield><subfield code="q">AVZ</subfield></datafield><datafield tag="951" ind1=" " ind2=" "><subfield code="a">AR</subfield></datafield><datafield tag="952" ind1=" " ind2=" "><subfield code="d">35</subfield><subfield code="j">2015</subfield><subfield code="e">4</subfield><subfield code="h">367-375</subfield></datafield></record></collection>
|
score |
7.3996534 |