Discrete Critical Values: a General Framework for Silhouettes Computation

Many shapes resulting from important geometric operations in industrial applications such as Minkowski sums or volume swept by a moving object can be seen as the projection of higher dimensional objects. When such a higher dimensional object is a smooth manifold, the boundary of the projected shape can be computed from the critical points of the projection. In this paper, using the notion of polyhedral chains introduced by Whitney, we introduce a new general framework to define an analogous of the set of critical points of piecewise linear maps defined over discrete objects that can be easily computed. We illustrate our results by showing how they can be used to compute Minkowski sums of polyhedra and volumes swept by moving polyhedra.     

Swept Volume Approximation of Polygon Soups

We present a fast algorithm to approximate the swept volume (SV) boundary of arbitrary polygon soup models. Despite the extensive research on calculating the volume swept by an object along a trajectory, the efficient algorithms described have imposed constraints on both the trajectories and geometric models. By proposing a general algorithm that handles flat surfaces as well as volumes and disconnected objects, we allow SV calculation without resorting to preprocessing mesh repair nor deforming offsets. This is of particular interest in the domain of product lifecycle management (PLM), which deals with industrial computer aided design (CAD) models that are malformed more often than not. We incorporate the bounded distance operator used in path planning to efficiently sample the trajectory while controlling the total error. We develop a triangulation scheme that draws on the unique data set created by an advancing front level-set method to tessellate the SV boundary in linear time. We analyze its performance, and demonstrate its effectiveness both theoretically and on real cases taken from PLM.     

Sweeping of an object held by a robotic end-effector

A broadly applicable formulation for calculating the swept volume generated by an object held by a manipulator's end-effector is presented. While the problem of determining the workspace of a robot arm has been extensively addressed in the literature, this rarely addressed problem is of significance to path planning, collision detection, plant layout, and robot design. The totality of points touched by a geometric entity moved in space using a number of joints is defined as the swept volume. The formulation and accompanying experimental code are presented and are aimed at providing the reader with a replicable computer algorithm. Calculating the swept volume is based on The Implicit Function theorem and is shown to be any number of degrees of freedom yielding the exact representation of the swept volume. By considering the sweep equation as a vector function defined on a manifold (possibly with boundaries), it is shown that stratification of the various sub-manifolds yields varieties that can be depicted in R³. A measure of the computational complexity is presented to give the reader a sense of the robustness of this method as well as its difficulties. An experimental computer code is developed using a symbolic manipulator that performs the automated calculations necessary to calculate the varieties and to visualize the manifold.     

Representing dimensions, tolerances, and features in MCAE systems

A method is presented for explicitly representing dimensions, tolerances, and geometric features in solid models. The method combines CSG and boundary representations in a graph structure called an object graph. Dimensions are represented by a relative position operator. The method can automatically translate changes in dimensional values into corresponding changes in geometry and topology. The representation provides an important foundation for higher-level application programs to automate tolerance analysis and synthesis. The implementation of a prototype interactive polyhedral modeler based on this representation is presented     

Digitization scheme that assures faithful reconstruction of plane figures

In the present extensive work, we propose a digitization scheme for a broad class of plane figures. It includes arbitrary polygons (possibly, non-convex and with holes) and plane sets whose boundary consists of smooth curves or straight segments. Our approach is based on an appropriate scaling of the original continuous real object so that the obtained magnified object and its (appropriately constructed) digitization feature analogous geometric properties. As a bi-product of the presented theory we prove the strong NP-hardness of the problem of obtaining an optimal (i.e., with a minimal number of facets) polyhedral reconstruction in which the facets are trapezoids or triangles. This result implies the strong NP-hardness of the general polyhedral reconstruction problem, which was a long-standing open problem. As another major result, we show that the proposed digitization scheme allows faithful reconstruction of plane figures from the considered general class. The reconstructed set features the basic properties of the original object, such as location of curve and straight segments and inflection points of its boundary.     

Boundary of the volume swept by a free-form solid in screw motion

The swept volume of a moving solid is a powerful computational and visualization concept. It provides an excellent aid for path and accessibility planning in robotics and for simulating various manufacturing operations. It has proven difficult to evaluate the boundary of the volume swept by a solid bounded by trimmed parametric surfaces undergoing an arbitrary analytic motion. Hence, prior solutions use one or several of the following simplifications: (1) approximate the volume by the union of a finite set of solid instances sampled along the motion; (2) approximate the curved solid by a polyhedron; and (3) approximate the motion by a sequence of simpler motions. The approach proposed here is based on the third type of simplification: it uses a polyscrew (continuous, piecewise-helical) approximation of the motion. This approach leads to a simple algorithm that generates candidate faces, computes the two-cells of their arrangement, and uses a new point-in-sweep test to select the correct cells whose union forms the boundary of the swept volume.     

Complete swept volume generation — Part II: NC simulation of self-penetration via comprehensive analysis of envelope profiles

In this paper the swept volume with self-penetration (or self-intersection) of the cutter is presented. The complete swept volume (SV), which describes the side and bottom shape of a milling cutter undergoing self-penetration, is generated by using the Gauss map method proposed in the authors’ previous paper [Lee SW, Nestler A. Complete swept volume generation—part I: swept volume of a piecewise C¹-continuous cutter at five-axis milling via Gauss map. Computer-Aided Design 2011; 43(4): 427–41]. Based on the Gauss map method, the comprehensive analysis of envelope profiles of the tool is accomplished. Through the analysis the necessary condition of the self-penetration of the cutter at five-axis movement is identified. After having classified movement types of the milling cutter in an in-depth manner, the topologically consistent boundary of SV is generated by trimming the invalid facets interior to the SV. To demonstrate the validity of the proposed method, a cutting simulation kernel for five-axis machining has been implemented and applied to cavity machining examples such as intake ports of automobile engines and so forth where the self-penetration occurs. The proposed method is proved to be robust and amenable for the practical purpose of the NC simulation.     

Perspective silhouette of a general swept volume

We present an efficient and robust algorithm for computing the perspective silhouette of the boundary of a general swept volume. We also construct the topology of connected components of the silhouette. At each instant t, a three-dimensional object moving along a trajectory touches the envelope surface of its swept volume along a characteristic curve K^t. The same instance of the moving object has a silhouette curve L^t on its own boundary. The intersection K^t∩L^t contributes to the silhouette of the general swept volume. We reformulate this problem as a system of two polynomial equations in three variables. The connected components of the resulting silhouette curves are constructed by detecting the instances where the two curves K^t and L^t intersect each other tangentially on the surface of the moving object. We also consider a general case where the eye position changes while moving along a predefined path. The problem is reformulated as a system of two polynomial equations in four variables, where the zero-set is a two-manifold. By analyzing the topology of the zero-set, we achieve an efficient algorithm for generating a continuous animation of perspective silhouettes of a general swept volume.     

A comparison of sampling strategies for computing general sweeps

Sweeping moving objects has become one of the basic geometric operations used in engineering design, analysis and physical simulation. Despite its relevance, computing the boundary of the set swept by a non-polyhedral moving object is largely an open problem due to well-known theoretical and computational difficulties of the envelopes.We have recently introduced a generic point membership classification (PMC) test for general solid sweeping. Importantly, this PMC test provides complete geometric information about the set swept by the moving object, including the ability to compute the self-intersections of the sweep itself. In this paper, we compare two recursive strategies for sampling points of the space in which the object moves, and show that the sampling based on a fast marching cubes algorithm possesses the best combination of features in terms of performance and accuracy for the boundary evaluation of general sweeps. Furthermore, we show that the PMC test can be used as the foundation of a generic sweep boundary evaluator in conjunction with efficient space sampling strategies for solids of arbitrary complexity undergoing affine motions.     

Precise algebraic-based swept volumes for arbitrary free-form shaped tools towards multi-axis CNC machining verification

This paper presents an algebraic based approach and a computational framework for the simulation of multi-axis CNC machining of general freeform tools. The boundary of the swept volume of the tool is precisely modeled by a system of algebraic constraints, using B-spline basis functions. Subdivision-based solvers are then employed to solve these equations, resulting in a topologically guaranteed construction of the swept volume. The presented algebraic-based method readily generalizes to accept tools of arbitrary free-form shape as input, and at the same time, delivers high degree of precision.Being a common representation in CNC simulations, the computed swept volume can be reduced to a dexels’ representation. Several multi-axis test cases are exhibited using an implementation of our algorithm, demonstrating the robustness and efficacy of our approach.     

Boundary Constrained Swept Surfaces for Modelling and Animation

Due to their simplicity and intuitiveness, swept surfaces are widely used in many surface modelling applications. In this paper, we present a versatile swept surface technique called the boundary constrained swept surfaces. The most distinct feature is its ability to satisfy boundary constraints, including the shape and tangent conditions at the boundaries of a swept surface. This permits significantly varying surfaces to be both modelled and smoothly assembled, leading to the construction of complex objects. The representation, similar to an ordinary swept surface, is analytical in nature and thus it is light in storage cost and numerically very stable to compute. We also introduce a number of useful shape manipulation tools, such as sculpting forces, to deform a surface both locally and globally. In addition to being a complementary method to the mainstream surface modelling and deformation techniques, we have found it very effective in automatically rebuilding existing complex models. Model reconstruction is arguably one of the most laborious and expensive tasks in modelling complex animated characters. We demonstrate how our technique can be used to automate this process.     

Fast inverse offset computation using polygon rendering hardware

Mold and die parts are usually fabricated using 3-axis numerically controlled milling machines with ball-end, flat-end or round-end cutters. The cutter location (CL) surface representing a trajectory surface of the cutter's reference point when the cutter is slid over a part is important for preventing the gouging problem. This surface is equivalent to the inverse offset shape of the part, which is the top surface of the swept volume of the inverse cutter moving around the part surface. The author proposes a fast computation method of the inverse offset shape of a polyhedral part using the hidden-surface elimination mechanism of the polygon rendering hardware. In this method, the CL surface is obtained by simply rendering the component objects of the swept volume. An experimental program is implemented and demonstrated.     

Finite element analysis on implicitly defined domains: An accurate representation based on arbitrary parametric surfaces

In this paper, we present some novel results and ideas for robust and accurate implicit representation of geometric surfaces in finite element analysis. The novel contributions of this paper are threefold: (1) describe and validate a method to represent arbitrary parametric surfaces implicitly; (2) represent arbitrary solids implicitly, including sharp features using level sets and boolean operations; (3) impose arbitrary Dirichlet and Neumann boundary conditions on the resulting implicitly defined boundaries. The methods proposed do not require local refinement of the finite element mesh in regions of high curvature, ensure the independence of the domain’s volume on the mesh, do not rely on boundary regularization, and are well suited to methods based on fixed grids such as the extended finite element method (XFEM). Numerical examples are presented to demonstrate the robustness and effectiveness of the proposed approach and show that it is possible to achieve optimal convergence rates using a fully implicit representation of object boundaries. This approach is one step in the desired direction of tying numerical simulations to computer aided design (CAD), similarly to the isogeometric analysis paradigm.     

Detail feature recognition and decomposition in solid model

A methodology for abstracting features from a 3D solid model based on a new detail-level metric method is proposed. Filleting the whole boundary of an object with constant fillet radius has the effect of low-pass filtering. Taking advantage of the effect, detail-level of boundary entities can be rated. This paper investigates an approach to fillet polyhedral model and then develops a simple way to detect detailed boundary elements. Taking detailed entities as the indicators, detail features are recognized and extracted. In the detailed entities detection and decomposition cycle of the corresponding detail features, detail features are decomposed from the model one by one in terms of their locality. Detail feature decomposition directly results in geometric simplification of a 3D object. The method proposed in this paper can be applied in efficient modeling for CAE from CAD models.     

Polygonal extrusion

A sweeping operation called polygonal extrusion is defined to improve the modeling power of CSG-based modeling. It is assumed that a 2D cross-sectional polygon (sweeping polygon) moves in space while its containing plane is kept orthogonal to the tangent direction of the trajectory curve, a planar polygonal chain having no self-intersections. The objective of the paper is to compute the boundary of the swept volume of the sweeping polygon as a set of polygons (or triangles). The most significant challenge to accomplishing this objective is the problem of trimming the swept volume. To solve the trimming problem, 2D-curve offsetting methods are employed. Two algorithms are presented for polygonal extrusion that are based on different offsetting methods, the Voronoi diagram and PWID offset. The proposed algorithms have been implemented and tested with various examples. Published online: 28 January 2003     

An algorithm for the medial axis transform of 3D polyhedral solids

The medial axis transform (MAT) is a representation of an object which has been shown to be useful in design, interrogation, animation, finite element mesh generation, performance analysis, manufacturing simulation, path planning and tolerance specification. In this paper, an algorithm for determining the MAT is developed for general 3D polyhedral solids of arbitrary genus without cavities, with nonconvex vertices and edges. The algorithm is based on a classification scheme which relates different pieces of the medial axis (MA) to one another, even in the presence of degenerate MA points. Vertices of the MA are connected to one another by tracing along adjacent edges, and finally the faces of the axis are found by traversing closed loops of vertices and edges. Representation of the MA and its associated radius function is addressed, and pseudocode for the algorithm is given along with recommended optimizations. A connectivity theorem is proven to show the completeness of the algorithm. Complexity estimates and stability analysis for the algorithms are presented. Finally, examples illustrate the computational properties of the algorithm for convex and nonconvex 3D polyhedral solids with polyhedral holes     

Accurate solid modeling using polyhedral approximations

Although curved-surface solid modeling systems achieve a higher level of accuracy than faceted systems, they also introduce a host of topological, geometric, and numerical complications. A method for calculating accurate boundary representations of solid models is introduced that reduces the impact of these complications. The method uses a pair of bounding polyhedral approximations to enclose the boundary of each object. A structural analysis automatically determines where to make adaptive refinements to the polyhedrons to assure the topological validity of the results. Potential singularities are localized. The implementation is an experimental extension to the Geometric Design Processor (GDP) solid modeling system     

An algorithm for converting the boundary representation of a CAD model to its octree representation

Present CAD systems store the solid model of an object using a convenient representation. Boundary models and CSG (Constructive Solid Geometry) models are the most frequently used representations. Based on recent research findings, octree representation of an object presents a promising approach in solving problems in the areas of Computer Graphics, Manufacturing and Robotics. The most notable use of octree representations is in CAD-based robotic path planning problems. Octree models have also been used in fast rendering of 3-D solid models using ray tracing methods. This paper presents an algorithm for converting the boundary representation of polyhedral models to its octree representation. Such an algorithm would provide the link between an object generated using a solid modelling system and the application involving an octree representation of an object. The algorithm is demonstrated by converting a polyhedral boundary model of a sample object to its octree representation.     

Virtual viewpoints reconstruction via Fourier slice transformation

We propose a new method of calculating the arbitrary viewpoints for auto‐stereoscopic display. The three‐dimensional (3D) object is first virtually reconstructed in 3D spaces by mapping each pixel with a depth according to the depth mapping. We then calculate the Fourier spectrum of the 3D object by the fast Fourier transformation. The arbitrary viewpoints are reconstructed by “slicing” the 3D Fourier spectrum. To repair “black hole” artifacts, the regions in the background are calculated by advanced boundary in‐painting. Experimental results show the effectiveness and accuracy of the proposed algorithm to calculate viewpoints with arbitrary viewing angles. A comparison is also presented, which indicates that the proposed algorithm is more accurate than conventional method, and the advanced boundary in‐painting can save three quarters of time than the conventional in‐painting method.