One-sided offset approximation of freeform curves for interference-free NURBS machining

Generating valid tool path curves in NURBS form is important in realizing an efficient NURBS machining. In this paper, a method for computing one-sided offset approximations of freeform curves with NURBS format as tool paths is presented. The approach first uses line segments to approximate the progenitor curve with one-sided deviations. Based on the obtained line approximating curve and its offsets, a unilateral tolerance zone (UTZ) is constructed subsequently. Finally, a C¹-continuous and completely interference-free NURBS offset curve is generated within the UTZ to satisfy the required tolerance globally. Since all of the geometric computations involved are linear, the proposed method is efficient and robust. Interference-free tool path generation thus can be achieved in NURBS based NC machining.     

Minimum distance between a canal surface and a simple surface

The computation of the minimum distance between two objects is an important problem in the applications such as haptic rendering, CAD/CAM, NC verification, robotics and computer graphics. This paper presents a method to compute the minimum distance between a canal surface and a simple surface (i.e. a plane, a natural quadric, or a torus) by finding roots of a function of a single parameter. We utilize the fact that the normals at the closest points between two surfaces are collinear. Given the spine curve C(t), t_min≤t≤t_max, and the radius function r(t) for a canal surface, a point on the spine curve uniquely determines a characteristic circle on the surface. Normals to the canal surface at points on form a cone with a vertex and an axis which is parallel to Then we construct a function of t which expresses the condition that the perpendicular from C(t) to a given simple surface is embedded in the cone of normals to the canal surface at points on K(t). By solving this equation, we find characteristic circles which contain the points of locally minimum distance from the simple surface. Based on these circles, we can compute the minimum distance between given surfaces.     

平面NURBS曲线及其Offset的双圆弧逼近

除直线、圆弧、速端曲线等少数几种曲线外,平面参数曲线的offset曲线通常不能表示成有 理参数形式,因此在实际应用中,为了方便造型系统中数据结构和几何算法的统一表示,offse t曲线通常用低次曲线逼近来表示.通过用双圆弧逼近表示NURBS(non-uniform rational B -spline)曲线及其offset,并利用双圆弧逼近的特有性质,把offset的双圆弧逼近转化为原 曲线的双圆弧逼近,简化了问题的求解.同时考虑了双圆弧逼近算法中分割点的选取、公切点 的确定以及误差估计等主要问题.具体算     

Möbius变换下四次有理抛物-PH曲线的C2 Hermite插值

目的 曲线插值问题在机器人设计、机械工业、航天工业等诸多现代工业领域都有广泛的应用，而已知端点数据的Hermite插值是计算机辅助几何设计中一种常用的曲线构造方法，本文讨论了一种偶数次有理等距曲线，即四次抛物-PH曲线的C² Hermite插值问题。方法 基于M bius变换引入参数，利用复分析的方法构造了四次有理抛物-PH曲线的C² Hermite插值，给出了具体插值算法及相应的Bézier曲线表示和控制顶点的表达式。结果 通过给出"合理"的端点插值数据，以数值实例表明了该算法的有效性，所得12条插值曲线中，结合最小绝对旋转数和弹性弯曲能量最小化两种准则给出了判定满足插值条件最优曲线的选择方法，并以具体实例说明了与其他插值方法的对比分析结果。结论 本文构造了M bius变换下的四次有理抛物-PH曲线的C² Hermite插值，在保证曲线次数较低的情况下，达到了连续性更高的插值条件，计算更为简单，插值效果明显，较之传统奇数次PH曲线具有更加自然的几何形状，对偶数次PH曲线的相关研究具有一定意义。     

A new approach to z-level contour machining of triangulated surface models using fillet endmills

Precision z-level contour machining is important for various computer-aided manufacturing (CAM) applications such as pocket machining and high-speed machining (HSM). This paper presents a new z-level contour tool-path generation algorithm for NC machining of triangulated surface models. Traditional approaches of z-level machining rely on the creation of accurate CL (cutter location) surfaces by surface offsetting or high-density z-map generation, which is computationally expensive and memory demanding. In contrast, this paper presents a novel approach to the generation of CL data directly from the section polygon of a triangulated surface model. For each polygon vertex of the contour, the offset direction is determined by the normal to the edge, while the offset distance is not fixed but is determined from the cutter shape and the part surface. An interference-free tool-path computation algorithm using fillet endmills is developed. Since there is no need to create a complete CL surface or high-density z-map grids, this proposed method is highly efficient and more flexible, and can be directly applied to triangulated surfaces either tessellated from CAD models, or reconstructed from 3D scanned data for reverse engineering (RE) applications.     

Self-intersection elimination in metamorphosis of two-dimensional curves

H :[0, 1]× ³→ ³, where H(t, r) for t=0 and t=1 are two given planar curves C ₁(r) and C ₂(r). The first t parameter defines the time of fixing the intermediate metamorphosis curve. The locus of H(t, r) coincides with the ruled surface between C ₁(r) and C ₂(r), but each isoparametric curve of H(t, r) is self-intersection free. The second algorithm suits morphing operations of planar curves. First, it constructs the best correspondence of the relative parameterizations of the initial and final curves. Then it eliminates the remaining self-intersections and flips back the domains that self-intersect.     

Computing non-self-intersecting offsets of NURBS surfaces

A new approach for the computation of non-self-intersecting offset surface of a single G₁ continuous NURBS surface has been presented. The approach recognizes special surfaces, i.e. planes, spheres, cones and cylinders, and offsets them precisely. An approximate offset surface within the specified tolerance is computed for a general free form surface. The method for a general free form surface consists of (1) sample offset surface based on second derivatives; (2) eliminate sample points which can give self-intersections; (3) surface fitting through the remaining sample points; and (4) removal of all the removable knots of the surface. The approach checks for self-intersections in the offset surface and removes the same automatically, if any. The non-self-intersecting offsets for surface of extrusion and surface of revolution are obtained by removing the self-intersections in the offset generator and profile curves respectively using point sampling, cleaning of sampled points, curve fitting and knot removal. The approach has better control on error. It generates offset surface with less number of control points and degree. The methodology works only for a class of problems where in the offset of a single G₁ surface is still a single connected surface without having any holes. The offset methodology has been demonstrated through three types of surfaces namely surface of revolution, surface of extrusion and a general free form surface. This approach has been extensively used in creation of offset surfaces of composite laminate components. The presented approach can also be used to check for self-intersections in any general surface and to remove the same, if any, with little modifications, as long as the cleaned surface is a single connected surface.     

Robust uniform triangulation algorithm for computer aided design

This paper presents a new robust uniform triangulation algorithm that can be used in CAD/CAM systems to generate and visualize geometry of 3D models. Typically, in CAD/CAM systems 3D geometry consists of 3D surfaces presented by the parametric equations (e.g. surface of revolution, NURBS surfaces) which are defined on a two dimensional domain. Conventional triangulation algorithms (e.g. ear clipping, Voronoi-Delaunay triangulation) do not provide desired quality and high level of accuracy (challenging tasks) for 3D geometry. The approach developed in this paper combines lattice tessellation and conventional triangulation techniques and allows CAD/CAM systems to obtain the required surface quality and accuracy. The algorithm uses a Cartesian lattice to divide the parametric domain into adjacent rectangular cells. These cells are used to generate polygons that are further triangulated to obtain accurate surface representation. The algorithm allows users to control the triangle distribution intensity by adjusting the lattice density. Once triangulated, the 3D model can be used not only for rendering but also in various manufacturing and design applications. The approach presented in this paper can be used to triangulate any parametric surface given in S(u,v) form, e.g. NURBS surfaces, surfaces of revolution, and produces good quality triangulation which can be used in CAD/CAM and computer graphics applications.     

平面NURBS曲线的等距线算法：圆弧法矢近似法

本文根据产生曲线的特征点与它的等距线的特征点的对应关系,给出了一种平面NURBS曲线的等距线表示方法——圆弧法矢近似法。这种方法的特点是:(1)等距线与产生曲线具有统一的NURBS表示;(2)计算简单、几何意义明确、近似精度高。     

Uniqueness Results for Image Reconstruction from Features on Curves in α-Scale Spaces

A sufficient condition is presented for two-dimensional images on a finite rectangular domain Ω=(?A,A)×(?B,B) to be completely determined by features on curves t?(ξ(t),t) in the three-dimensional domain Ω×(0,∞) of an α-scale space. For any fixed finite set of points in the image, the values of the α-scale space at these points at all scales together do not provide sufficient information to reconstruct the image, even if spatial derivatives up to any order are included as well. On the other hand, the image is completely fixed by the values of the scale space and its derivative along any straight line in Ω×(0,∞) for which ξ:(0,∞)→Ω is linear but not constant. A similar result holds for curves for which ξ is of the form ξ(t)=(ξ ₁(t),0) with ξ ₁ periodic and not constant. If the locations at which the scale space is evaluated form a curve on a cylinder in Ω×(0,∞) with some periodic structure, like a helix, then it is sufficient to evaluate the α-scale space without spatial derivatives.     

Modifying free-formed NURBS curves and surfaces for offsetting without local self-intersection

This paper presents an algorithm of modifying free-formed NURBS curve/surface for offsetting without local self-intersecting. The method consists of (1) sampling a number of points from a progenitor curve/surface based on second derivatives; (2) checking the curvature or maximum curvature of the progenitor curve/surface at the sampled points; (3) inserting corresponding knots of sampled points; (4) repositioning control points till the curvature/maximum curvature of the curve/surface everywhere are less than the reciprocal of offset distance. The method is efficient and is able to obtain better offsetting results.     

Hermite Interpolation of Solid Orientations with Circular Blending Quaternion Curves

Construction methods are presented that generate Hermite interpolation quaternion curves on SO(3). Two circular curves C₁(t) and C₂(t), 0 ≤ t ≤ 1, are generated that interpolate two orientations q₁ and q₂, and have boundary angular velocities: C₁′(0) = ω₁ and C₂′(1) = ω₂, respectively. They are smoothly blended together on SO(3) to generate a Hermite quaternion curve Q(t) ∈ SO(3), 0 ≤ t ≤ 1, which satisfies the boundary conditions: Q(0) = q₁, Q(1) = ₂, Q′(0) = ω₁, and Q′ (1) = ω₂.     

An approximation approach of the clothoid curve defined in the interval [0, π/2] and its offset by free-form curves

We propose an algorithm to approximate the clothoid curve defined in the interval [0, π/2] and its offset curves with Bézier curves and the approximation errors converge to zero as the degree of the Bézier curves is increased. Secondly, we discuss how to approximate the clothoid curve by B-spline curves of low degrees. By employing our method, the clothoid curve and its offset can be efficiently incorporated into CAD/CAM systems, which are important for the development of 3D civil engineering CAD systems, especially for 3D highway road design systems. The proposed method has been implemented on AutoCAD R14.     

平面NURBS曲线的导矢及其等距线

本文首先给出了计算NURBS曲线导矢的递推公式,在此基础上,给出了生成平面NURBS曲线等距线的算法。     

New explicit filters and smoothers for diffusions with nonlinear drift and measurements

The optimal least-squares filtering of a diffusion x(t) from its noisy measurements {y(τ); 0 τ t} is given by the conditional mean E[x(t)|y(τ); 0 τ t]. When x(t) satisfies the stochastic diffusion equation dx(t) = f(x(t)) dt + dw(t) and y(t) = ∫₀^tx(s) ds + b(t), where f(·) is a global solution of the Riccati equation /xf(x) + f(x)² = f(x)² = αx² + βx + γ, for some , and w(·), b(·) are independent Brownian motions, Benes gave an explicit formula for computing the conditional mean. This paper extends Benes results to measurements y(t) = ∫₀^tx(s) ds + ∫₀^t dx(s) + b(t) (and its multidimensional version) without imposing additional conditions on f(·). Analogous results are also derived for the optimal least-squares smoothed estimate E[x(s)|y(τ); 0 τ t], s < t. The methodology relies on Girsanov's measure transformations, gauge transformations, function space integrations, Lie algebras, and the Duncan-Mortensen-Zakai equation.     

Tool-path generation from measured data

Presented in the paper is a procedure through which 3-axis NC tool-paths (for roughing and finishing) can be directly generated from measured data (a set of point sequence curves). The rough machining is performed by machining volumes of material in a slice-by-slice manner. To generate the roughing tool-path, it is essential to extract the machining regions (contour curves and their inclusion relationships) from each slice. For the machining region extraction, we employ the boundary extraction algorithm suggested by Park and Choi (Comput.-Aided Des. 33 (2001) 571). By making use of the boundary extraction algorithm, it is possible to extract the machining regions with O(n) time complexity, where n is the number of runs. The finishing tool-path can be obtained by defining a series of curves on the CL (cutter location) surface. However, calculating the CL-surface of the measured data involves time-consuming computations, such as swept volume modeling of an inverse tool and Boolean operations between polygonal volumes. To avoid these computational difficulties, we develop an algorithm to calculate the finishing tool-path based on well-known 2D geometric algorithms, such as 2D curve offsetting and polygonal chain intersection algorithms.     

Modifying CAD/CAM surfaces according to displacements prescribed at a finite set of points

This article presents a method for modifying CAD/CAM surfaces automatically in accordance with displacements prescribed at a finite set of points in R³, such as node displacements predicted by finite-element analysis. The method is based on the ‘morphing’ approach introduced by Sederberg and Parry in 1986. The input to the process consists of (a) a CAD/CAM model containing trimmed polynomial B-spline surfaces and (b) a set of points and associated displacement vectors in R³. These points are assumed to be close to, but not necessarily on, the objects of the CAD/CAM model. A rectangular volume, enclosing the CAD/CAM model and the input points in R³, is represented as a volume spline, i.e. a trivariate tensor-product spline. A modified volume spline is computed using (a) a least-squares fit based on the given point displacements, and (b) a smoothing functional. The modified CAD/CAM objects are defined as compositions of the original parametric functions and the modified volume spline (i.e. a morphing). In order to ensure compatibility with standard commercial CAD/CAM systems, the modified surfaces are fitted with appropriate splines using any standard, reasonably shape-preserving, fitting procedure applied in the parameter domains of the original surfaces.     

Weighted mean of a pair of clusterings

In this paper, we introduce the weighted mean of a pair of clusterings. Given two clusterings C ₁ and C ₂, the weighted mean of C ₁ and C ₂ is a clustering C _w that has distances d(C ₁, C _w ) and d(C _w , C ₂) to C ₁ and C ₂, respectively, such that d(C ₁, C _w ) + d(C _w , C ₂) = d(C ₁, C ₂) holds for some clustering distance function d. C _w is defined such that the sum of the distances d(C ₁, C _w ) and d(C _w , C ₂) is equal to the distance between C ₁ and C ₂. An algorithm for its computation will be presented. Experimental results on both synthetic and real data will be shown to illustrate the usefulness of the weighted mean concept. In particular, it gives a tool for the cluster ensemble techniques.     

A practical approach to generating steepest ascent tool-paths for three-axis finish milling of compound NURBS surfaces

NURBS surfaces are commonly used in CAD/CAM software systems to represent the complex shapes of mechanical parts. Well-planned tool paths for machining the surfaces can significantly increase cutting efficiency and improve part quality. The steepest ascent tool-path pattern has been proposed for making sculptured surfaces in a 3-axis finish milling operation, and it has been proven that a steepest ascent tool-path is inherently more efficient in removing material to make these surfaces within tolerances than a tool path of any other type. However, the mathematical representation of steepest ascent paths on NURBS surfaces has not been addressed. In our work, simplified formulae of these paths are derived, and a comprehensive, efficient algorithm to plan steepest ascent tool-paths on compound NURBS surfaces is developed. To verify its validity and efficiency, this innovative approach is applied to a complicated compound surface. Furthermore, a comparison between the steepest ascent and CATIA tool-paths on two NURBS surfaces is conducted to demonstrate the advantages of the steepest ascent tool-paths for NURBS surface part production.