• 로봇학회논문지
• /
• 제6권2호
• /
• pp.189-196
• /
• 2011

This paper presents a method of topological modeling using only low-cost sonar sensors. The proposed method constructs a topological model by extracting sub-regions from the local grid map. The extracted sub-regions are considered as nodes in the topological model, and the corresponding edges are generated according to the connectivity between two sub-regions. A grid confidence for each occupied grid is evaluated to obtain reliable regions in the local grid map by filtering out noisy data. Moreover, a convexity measure is used to extract sub-regions automatically. Through these processes, the topological model is constructed without predefining the number of sub-regions in advance and the proposed method guarantees the convexity of extracted sub-regions. Unlike previous topological modeling methods which are appropriate to the corridor-like environment, the proposed method can give a reliable topological modeling in a home environment even under the noisy sonar data. The performance of the proposed method is verified by experimental results in a real home environment.

• 한국정밀공학회지
• /
• 제13권7호
• /
• pp.100-114
• /
• 1996

In order to create a solid model more efficiently for a plastic or sheet metal product with a thin and constant thickness, various methods have been proposed up to now. One of the most typical approaches is to create a sheet model initially and then transform it into a solid model automatically for a given thickness. The sheet model as well as the transitive model in sheet modeling procedure is a non-manifold model. However, the previous methods adopted the boundary representations for a solid model as their topological framework. Thus, it is difficult to represent the exact adjacency relationship between topological entities and to implement the topological operations for sheet modeling and the transformation procedure of a sheet into a solid. In this paper, we proposed a sheet modeling system based on a non-manifold topological representation which can represent solids, sheets, wireframes, and their mixture. A set of generalized Euler operators for non-manifold topology as well as the sheet modeling capabilities including adding, bending, and punching functions are provided for easy modeling of sheet objects, and they are perfomed interactively with a two dimensional curve editor. Once a sheet model is completed, it can be transformed into a solid automatically. The transformation procedure is composed of the offset functions and the Boolean operations of sheet models, and it is even more comprehensive and easier to be implemented than the precious methods.

• 한국CDE학회논문집
• /
• 제2권4호
• /
• pp.222-236
• /
• 1997

Conventional solid or surface modeling systems cannot represent both the complete solid model and the abstract model in a unified framework. Recently, non-manifold modeling systems are proposed to solve this problem. This paper describes FlexDesigner, an open kernel system for modeling non-manifold models. It summarizes the data structure for non-manifold models, system design methodology, system modularization, and the typical characteristics of each module in the system. A data structure based on partial-topological elements is adopted to represent the relationship among topological elements. It is efficient in the usage of memory and has topological completeness compared with other published data structures. It can handle many non-manifold situations such as isolate vertices, dangling edges, dangling faces, a mixed dimensional model, and a cellular model. FlexDesigner is modularized hierarchically and designed by the object-oriented methodology for reusability. FlexDesigner is developed using the C++ and OpenGL on both SGI workstation and IBM PC.

• 한국정밀공학회지
• /
• 제14권2호
• /
• pp.136-144
• /
• 1997

Usually triangular patches are used to transfer geometric shape in Rapid Prototyping CAM system. STL, a list of triangles, is de facto standard in RP industry. Because STL does not have topological infoma- tion, it can cause errornous results. So STL should be verified before using. After adding support structures to anchor the part to the platform and to prevent sagging or distortion, slicing and layer by layer manufactur- ing process are done. But triangular patch is surface model and cannot provide sufficient information on geometry in the above processes. So, geometric modeling is necessary in verifying STL, adding support structures and slicing. It is natural that triangle based modeling is the best when tringular patches are used as input. Considering support structures, solid and faces coexist in RP process. Therefore non-manifold modeler is required. In this study, triangle based non-manifold geometric modeling is proposed for RP sys- tem consistent with STL input.

• 한국CDE학회논문집
• /
• 제5권3호
• /
• pp.242-254
• /
• 2000

This paper describes an efficient solid modeling method for thin-walled plastic or sheet metal parts, based on the non-manifold offsetting operations. Since the previous methods for modeling and converting a sheet into a solid have adopted the boundary representations for solid object as their topological framework, it is difficult to represent the exact adjacency relationship between topological entities of a sheet model and a mixture of wireframe and sheet models that can appear in the meantime of modeling procedure, and it is hard to implement topological operations for sheet modeling and transformation of a sheet into a solid. To solve these problems, we introduce a non-manifold B-rep and propose a sheet conversion method based on a non-manifold offset algorithm. Because the non-manifold offset aigorithm based on mathematical definitions results in an offset solid with tubular and spherical thickness-faces we modify it to generate the ruled or planar thickness-faces that are mostly shown in actual plastic or sheet metal parts. In addition, in order to accelerate the Boolean operations used the offset algorithm, we also develope an efficient face-face intersection algorithm using topological adjacency information.

• 한국CDE학회논문집
• /
• 제12권5호
• /
• pp.344-353
• /
• 2007

In this paper, we address the problem of robust geometric modeling with emphasis on surface to surface intersections. We consider the topology and the numerical accuracy of an intersection curve to find the best approximation to the exact one. First, we perform the topological configuration of intersection curves, from which we determine the starting and ending points of each monotonic intersection curve segment along with its topological structure. Next, we trace each monotonic intersection curve segment using a validated ODE solver, which provides the error bounds containing the topological structure of the intersection curve and enclosing the exact root without a numerical instance. Then, we choose one approximation curve and adjust it within the bounds by minimizing an objective function measuring the errors from the exact one. Using this process, we can obtain an approximate intersection curve which considers the topology and the numerical accuracy for robust geometric modeling.

• 한국CDE학회논문집
• /
• 제14권4호
• /
• pp.261-270
• /
• 2009

We can save a lot of efforts and time to perform various kinds of multibody system dynamics simulations if the equations of motion of the multibody system can be formulated automatically. In general, the equations of motion are formulated based on Newton's $2^{nd}$law. And they can be transformed into the equations composed of independent variables by using velocity transformation matrix. In this paper the velocity transformation matrix is derived based on a topological modeling approach which considers the topology and the joint property of the multibody system. This approach is, then, used to formulate the equations of motion automatically and to implement a multibody system dynamics simulation program. To verify the the efficiency and convenience of the program, it is applied to the lifting simulation of a floating crane.

• 한국CDE학회논문집
• /
• 제5권4호
• /
• pp.293-300
• /
• 2000

The non-manifold geometric modeling technique is to improve design process and to Integrate design, analysis, and manufacturing by handling mixture of wireframe model, surface model, and solid model in a single data structure. For the non-manifold geometric modeling, Euler operators and other high level modeling methods are necessary. Boolean operation is one of the representative modeling method for the non-manifold geometric modeling. This thesis studies Boolean operations of non-manifold model with the data structure of selective storage. The data structure of selective storage is improved non-manifold data structure in that existing non-manifold data structures using ordered topological representation method always store non-manifold information even if edges and vortices are in the manifold situation. To implement Boolean operations for non-manifold model, intersection algorithm for topological cells of three different dimensions, merging and selection algorithm for three dimensional model, and Open Inventor(tm), a 3D toolkit from SGI, are used.

• 대한지리학회지
• /
• 제41권2호
• /
• pp.188-194
• /
• 2006

3차원 위상 자료는 응급상황 처리와 3차원 네트워크 분석 등의 3차원 공간분석에 필수적으로 요구된다. 이 연구에서는 현재까지의 3차원 위상 데이터 모델에 대해 살펴보고, 건물을 설계하기 위해 사용되는 2차원 CAD 도면 데이터로 부터 3차원 위상적 노드-관계 데이터를 추출하는 방법을 개발하였다. 이 방법은 중심축 변환과 위상적 노드-관계 알고리듬들을 이용한 두 단계로 이루어진다. 첫번째 단계는 중심축 변환 알고리듬을 이용하여 CAD 데이터에서 폴리곤이나 이중 선으로 표현되는 벽으로부터 그 중심선을 생성하여 벽의 골격을 추출하는 것이다. 두번째 단계는 추출된 벽의 골격 자료를 이용하여 방을 3차원 노드로하고 방들간의 연결을 관계로하는 위상적 노드-관계 구조를 생성하는 것이다. 따라서, 그러한 연결들은 노드들간의 이웃성 또는 연결성을 표현하게 된다. 결론적으로, 이러한 변환방법으로 미시적 수준의 개별 건물들의 내부구조를 표현하는 3차원 위상구조 데이터는 건물의 도면 작성에 자주 사용되는 CAD 데이터로 부터 쉽게 생성될 수 있을 것이다.

• 한국컴퓨터그래픽스학회논문지
• /
• 제4권1호
• /
• pp.11-19
• /
• 1998

오일러 연산과 집합 연산과 같은 비다양체 위상 연산은 모델링의 다양한 환경을 제공한다. 이들 연산들은 주어진 모델의 위상 정보를 적합하게 유지하도록 하기 위하여 기하학적인 문제를 발생시킨다. 꼭지점, 모서리와 면과 같은 요소들이 서로 접촉할 때 이들 연산의 내부에서 수행되는 접합 연산은 비다양체 모델의 위상을 수정하는 기본적인 방법이다. 비다양체 모델을 접합할 때는 위상 관계를 추론하여야 한다. 위상 관계의 추론 방법은 위상학적인 방법과 기하학적인 방법의 2 가지 경우로 분류할 수 있다. 위상학적인 방법은 저장되어 있는 위상 정보만을 이용하여 위상 관계를 추론한다. 반면에, 기하학적인 방법은 접합이 일어나는 부분적인 영역에서 기하학적인 형상을 고려하여 위상의 관계를 찾아내는 방법이다. 본 연구에서는 이들 중에서 기하학적인 방법에 관하여 기술한다.