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Reconfigurable Soft Robots based on Modular Design 基于模块化设计的可重构软机器人
Pub Date : 2022-06-08 DOI: 10.14733/cadconfp.2022.324-328
Zhongyuan Liao, Junjian Chen, Y. Cai
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引用次数: 0
Proceedings of CAD’22, Beijing, China, July11-13, 2022, 267-270 © 2022 CAD Solutions, LLC, http://www.cad-conference.net Title: An Efficient Feature Point Extraction Algorithm for Noisy Point Cloud ©2022 CAD Solutions, LLC, http://www.cad-conference.net标题:一种高效的噪声点云特征点提取算法
Pub Date : 2022-06-08 DOI: 10.14733/cadconfp.2022.267-270
Nanhua Huang, Ming Chen, Zhengqing Zhang, Shenglian Lu
Introduction Point cloud data is more and more widely used in reverse engineering, cultural relic restoration, architecture and many other fields. . In practice, the obtained data is often non-uniformly sampled and of noises. Feature exaction is a key step for the subsequent processing of point clouds such as matching, segmentation and recognition. How to identify point features for noisy point cloud and improve the efficiency are challenging at present. In previous studies, Nieet al. [2] used a surface smooth shrinkage index (SSI) to measure the degree of surface change, and judged feature points according to the absolute value of SSI of each point. This method has a good anti-noise ability and can extract sharp feature points, but it cannot work for smooth features. In practical applications, we find that the regions of smooth features (such as fillets) have a higher density than other non-featured places, as these interested regions are usually scanned multiple times or the scanning orientation is adjusted to obtain a relatively larger scanning point density at these places. Considering this fact, a combined index of density and SSI is proposed so as to recognize smooth features, and the recognition is also accelerated through octree data structure.
点云数据越来越广泛地应用于逆向工程、文物修复、建筑等诸多领域。在实际应用中,所获得的数据往往是非均匀采样的,并且含有噪声。特征提取是点云匹配、分割、识别等后续处理的关键步骤。如何识别噪声点云的点特征,提高点云的识别效率是当前的一个难题。在以往的研究中,Nieet等[2]使用表面平滑收缩指数(surface smooth shrinkage index, SSI)来衡量表面变化的程度,并根据每个点的SSI绝对值来判断特征点。该方法具有较好的抗噪能力,可以提取尖锐的特征点,但不能提取光滑的特征点。在实际应用中,我们发现光滑特征(如圆角)的区域比其他非特征区域具有更高的密度,因为这些感兴趣的区域通常被扫描多次或调整扫描方向以在这些地方获得相对较大的扫描点密度。考虑到这一点,提出了密度和SSI的联合指标来识别平滑特征,并通过八叉树数据结构来加速识别。
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引用次数: 0
Higher Order Algebraic Signed Distance Fields 高阶代数符号距离域
Pub Date : 2022-06-08 DOI: 10.14733/cadconfp.2022.287-291
Gábor Valasek, Róbert Bán
Introduction: Signed distance functions (SDFs) are powerful implicit representations of curves and surfaces. Beyond encoding volume boundaries as their zero level-set, they also convey global geometric information about the scene as they map signed distances to all points in space. In real-time applications, their most common numerical representation is a regular grid of two or three dimensions. In conjunction with an interpolation method to infer a continuous approximation de ned on all points of space, these can be e ciently evaluated on the GPU such that even the most demanding applications can utilize them [4, 5]. Several authors proposed to use rst order approximations to the SDF at the samples, e.g. gradients [3] or plane equations [1]. In this paper, we present a straightforward generalization of this approach to higher orders and discuss various alternatives to the appropriate ltering of samples such that the inferred SDF reconstructs the given higher order derivatives at the samples. Our focus is on applications in high performance visualizations, as such, we prioritize run-time performance over optimal storage and restrict sampling topologies in our measurements to regular grids. We also discuss the shortcomings of this approach as means to decrease storage for complex shapes.
有符号距离函数(sdf)是曲线和曲面的强大隐式表示。除了将体边界编码为零水平集之外,当它们将带符号的距离映射到空间中的所有点时,它们还传达了关于场景的全局几何信息。在实时应用中,它们最常见的数值表示是二维或三维的规则网格。结合插值方法来推断空间中所有点所需的连续近似值,这些可以在GPU上有效地评估,这样即使是最苛刻的应用程序也可以利用它们[4,5]。一些作者提出对样本的SDF使用一阶近似,例如梯度[3]或平面方程[1]。在本文中,我们将这种方法直接推广到高阶,并讨论了对样本进行适当过滤的各种替代方法,以便推断出的SDF在样本处重建给定的高阶导数。我们的重点是高性能可视化应用程序,因此,我们优先考虑运行时性能而不是最佳存储,并将我们的测量中的采样拓扑限制为规则网格。我们还讨论了这种方法作为减少复杂形状存储的手段的缺点。
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引用次数: 1
Topology Optimization for Design of Hybrid Lattice Structures with Multiple Functional Microstructure Configurations 具有多种功能微结构的杂化晶格结构拓扑优化设计
Pub Date : 2022-06-08 DOI: 10.14733/cadconfp.2022.271-276
Yifan Guo, Yongsheng Ma, Rafiq Ahmad
Introduction: Lattice structures (LSs) have been an emerging solution toward lightweight and mechanically efficient structures [2-3]. However, while the lattice structure presents a vast design space and advantage, it also poses a challenge to existing design methods. Existing LSs design methods rarely consider microstructures with functionalities, like negative Poisson's ratio [8] and extreme thermal expansion [5]; Therefore, this work proposes a method based on topology optimization and homogenization theory to design hybrid lattice structures with multiple functional microstructure configurations to fill the gap in the design approach for multi-functional lattice structures. The flow chart of the proposed method is shown in Fig 1. There are two steps in this method. At first, multiple functional microstructure lattice units are obtained through topology optimization and homogenization theory. Then, the microstructures are treated as homogeneous materials with effectively homogenized properties for macroscopic analysis, and the ordered SIMP (Solid isotropic material with penalization) interpolation method [7] is applied to achieve the interpolation of multiple microstructures. Finally, the obtained hybrid lattice structure theoretically has both the properties of macroscopic optimization and the functionalities of microstructure units. Both the microstructure and macrostructure design variables are updated by the Method of Moving Asymptote (MMA) algorithm [4]. To verify this proposed method, an optimization model that the functional microstructure is set to be zero thermal expansion coefficient, and a standard minimized compliance problem is considered in macroscale is created. Numerical examples and data comparisons are presented.
简介:晶格结构(LSs)已经成为一种新兴的轻量化和机械高效结构解决方案[2-3]。然而,在点阵结构呈现出广阔的设计空间和优势的同时,也对现有的设计方法提出了挑战。现有的LSs设计方法很少考虑具有功能的微观结构,如负泊松比[8]和极端热膨胀[5];因此,本工作提出了一种基于拓扑优化和均质化理论的多功能微结构混合晶格结构设计方法,以填补多功能晶格结构设计方法的空白。所提出方法的流程图如图1所示。这个方法有两个步骤。首先,通过拓扑优化和均匀化理论得到了多个功能微结构晶格单元。然后,将微结构作为具有有效均质特性的均质材料进行宏观分析,采用有序SIMP (Solid isotropic material with penization)插值方法[7]实现多个微结构的插值。最后,得到的杂化晶格结构在理论上既具有宏观优化的性质,又具有微观结构单元的功能。通过移动渐近线法(MMA)算法更新微观结构和宏观结构设计变量[4]。为验证该方法的有效性,建立了将功能微观结构设置为零热膨胀系数的优化模型,并在宏观尺度上考虑了标准的最小柔度问题。给出了数值算例和数据比较。
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引用次数: 0
A Simple Interactive Tool for the CAD Modelling of Surgical Guides for Autologous Ear Reconstruction 自体耳部再造术导板CAD建模的简单交互式工具
Pub Date : 2022-06-07 DOI: 10.14733/cadconfp.2022.1-5
E. Mussi, Michaela Servi, Y. Volpe, F. Facchini
The advent and consolidation of Reverse Engineering (RE) and Additive Manufacturing (AM) techniques in the medical field has significantly revolutionized the surgical approach, pushing towards a new perspective of treatment based on the respect of interindividual anatomical variability [3]. These technologies have also been exploited in the surgical treatment of microtia, a congenital malformation characterized by partial or complete lack of the external ear architecture. [5]. Such a surgical procedure involves the removal of a portion of the patient's costal cartilage, the manual modeling of the cartilage tissue in order to obtain a geometry that resembles the healthy auricular anatomy and the insertion of the cartilage framework thus obtained in a subcutaneous pocket in the malformed area [2].
逆向工程(RE)和增材制造(AM)技术在医学领域的出现和巩固,极大地改变了手术方法,推动了基于个体间解剖变异的治疗新视角[3]。这些技术也被用于手术治疗小耳畸形,这是一种先天性畸形,其特征是部分或完全缺乏外耳结构。[5]. 这种外科手术包括切除患者肋软骨的一部分,手工建模软骨组织以获得类似于健康耳廓解剖结构的几何形状,并将软骨框架插入畸形区域的皮下口袋中[2]。
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引用次数: 1
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