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This paper develops model-based grasp planning algorithms for assembly tasks. It focuses on industrial end-effectors like grippers and suction cups, and plans grasp configurations considering CAD models of target objects. The developed…
The problem of decomposing an arbitrary Clifford element into a sequence of Clifford gates is known as Clifford synthesis. Drawing inspiration from similarities between this and the famous Rubik's Cube problem, we develop a machine learning…
Geometry processing presents a variety of difficult numerical problems, each seeming to require its own tailored solution. This breadth is largely due to the expansive list of geometric primitives, e.g., splines, triangles, and hexahedra,…
Aerodynamic shape optimization has many industrial applications. Existing methods, however, are so computationally demanding that typical engineering practices are to either simply try a limited number of hand-designed shapes or restrict…
In this paper, we have examined the problem of embedding a cycle of n vertices onto a given set of n points inside a simple polygon. The goal of the problem is that the cycle must be embedded without bends and does not intersect itself and…
We present a geometric algorithm to compute the geometric kernel of a generic polyhedron. The geometric kernel (or simply kernel) is definedas the set of points from which the whole polyhedron is visible. Whilst the computation of the…
Successive quadratic approximations, or second-order proximal methods, are useful for minimizing functions that are a sum of a smooth part and a convex, possibly nonsmooth part that promotes regularization. Most analyses of iteration…
Two vertex-labelled polygons are \emph{compatible} if they have the same clockwise cyclic ordering of vertices. The definition extends to polygonal regions (polygons with holes) and to triangulations---for every face, the clockwise cyclic…
Accurate geometric modeling of the aortic valve from 3D CT images is essential for biomechanical analysis and patient-specific simulations to assess valve health or make a preoperative plan. However, it remains challenging to generate…
Generating graphs that are similar to real ones is an open problem, while the similarity notion is quite elusive and hard to formalize. In this paper, we focus on sparse digraphs and propose SDG, an algorithm that aims at generating graphs…
In this paper a new algorithm has been proposed which can fix the problem of Weiler Atherton algorithm. The problem of Weiler Atherton algorithm lies in clipping self intersecting polygon. Clipping self intersecting polygon is not…
We advertise the use of tetrahedral grids constructed via the longest edge bisection algorithm for rendering volumetric data with path tracing. The key benefits of such grids is two-fold. First, they provide a highly adaptive…
Orthogonal surfaces are nice mathematical objects which have interesting connections to various fields, e.g., integer programming, monomial ideals and order dimension. While orthogonal surfaces in one or two dimensions are rather trivial…
The double-direction orthogonalization algorithm is applied to construct sequences of polynomials, which are orthogonal over the interval [0,1]with the weighting function 1. Functional and recurrent relations are derived for the sequences…
This chapter deals with the exact enumeration of certain classes of self-avoiding polygons and polyominoes on the square lattice. We present three general approaches that apply to many classes of polyominoes. The common principle to all of…
In this article we present theoretical and computational results on the existence of polyhedral embeddings of graphs. The emphasis is on cubic graphs. We also describe an efficient algorithm to compute all polyhedral embeddings of a given…
Automatic mesh-based shape generation is of great interest across a wide range of disciplines, from industrial design to gaming, computer graphics and various other forms of digital art. While most traditional methods focus on primitive…
High-order quadrilateral meshes offer superior accuracy and computational efficiency in numerical simulations. However, existing methods struggle to simultaneously preserve boundary/interface features, ensure high quality, and achieve…
In this paper, in order to pursue high-efficiency robotic arc welding tasks, we propose a method based on point cloud acquired by an RGB-D sensor. The method consists of two parts: welding groove detection and 3D welding trajectory…
Humans intuitively perceive object shape and orientation from a single image, guided by strong priors about canonical poses. However, existing 3D generative models often produce misaligned results due to inconsistent training data, limiting…