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
Gespeichert in:
| Autor*in: |
Chen, Lin [verfasserIn] |
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| Format: |
Artikel |
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| Sprache: |
Englisch |
| Erschienen: |
2015 |
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| Rechteinformationen: |
Nutzungsrecht: © Emerald Group Publishing Limited |
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| Schlagwörter: |
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| Übergeordnetes Werk: |
Enthalten in: Assembly automation - Bradford : MCB Univ. Press, 1980, 35(2015), 4, Seite 367-375 |
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| Übergeordnetes Werk: |
volume:35 ; year:2015 ; number:4 ; pages:367-375 |
| Links: |
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| DOI / URN: |
10.1108/AA-03-2015-018 |
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| Katalog-ID: |
OLC1968654194 |
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| 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. | ||
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| 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 | |
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| 700 | 1 | |a Pan, Haihong |4 oth | |
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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 |
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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 |
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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 |
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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 |
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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 |
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Chen, Lin @@aut@@ Ni, Chongqi @@oth@@ Feng, Junjie @@oth@@ Dai, Jun @@oth@@ Huang, Bingqiong @@oth@@ Liu, Huaping @@oth@@ Pan, Haihong @@oth@@ |
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Proximity query based on second order cone programming using convex superquadrics: a static collision detection algorithm for narrow-phase |
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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. |
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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. |
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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. |
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Ni, Chongqi Feng, Junjie Dai, Jun Huang, Bingqiong Liu, Huaping Pan, Haihong |
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