{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,3,14]],"date-time":"2024-03-14T01:23:46Z","timestamp":1710379426001},"reference-count":29,"publisher":"Cambridge University Press (CUP)","issue":"1","license":[{"start":{"date-parts":[[2014,8,8]],"date-time":"2014-08-08T00:00:00Z","timestamp":1407456000000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2016,1]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>Based on the results of the study of convex object motion<jats:sup>1<\/jats:sup> (J. Hopcroft and G. Wilfong, \u201cMotion of objects in contact,\u201d <jats:italic>Int. J. Robot. Res.<\/jats:italic>, <jats:bold>4<\/jats:bold>(4), 32\u201346 (1986)), this paper addresses the problem of exact collision detection of a pair of scaled convex polyhedra in relative motion, and determines the contact conditions of tangential contact features, arbitrary relative motion involving translation and rotation, and uniform scaling of the objects about a fixed point. We propose a new concept of the decision curve based on analytical contact equations that characterize a continuum of scaling factors (or a single scaling factor), which ensures that a pair of objects undergoing a scaling transformation will maintain the same tangential contact feature pair (or make instantaneous tangential contact feature transitions). We propose a reliable simulation-based approach to construct the decision curve by hybridizing analytical contact equations and conventional collision detection method, called the Fast Collision Detection Method (FCDM). This method can determine whether two scaled objects will make contact at specific tangential contact features (vertices, edges, or faces) under particular uniform scaling factors and after distinctive relative motion with better accuracy and less computational time than the existing collision detection methods. Finally, we demonstrate our approach for solving motion design in simple assembly\/disassembly problems.<\/jats:p>","DOI":"10.1017\/s0263574714000939","type":"journal-article","created":{"date-parts":[[2014,8,10]],"date-time":"2014-08-10T23:54:46Z","timestamp":1407714886000},"page":"118-134","source":"Crossref","is-referenced-by-count":5,"title":["Simulation-based fast collision detection for scaled polyhedral objects in motion by exploiting analytical contact equations"],"prefix":"10.1017","volume":"34","author":[{"given":"Jing-Sin","family":"Liu","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wen-Hua","family":"Pan","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wen-Yang","family":"Ku","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Y.-H.","family":"Tsao","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Y.-Z.","family":"Chang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2014,8,8]]},"reference":[{"key":"S0263574714000939_ref12","doi-asserted-by":"publisher","DOI":"10.1016\/S0097-8493(00)00130-8"},{"key":"S0263574714000939_ref16","doi-asserted-by":"crossref","first-page":"888","DOI":"10.1109\/70.544772","article-title":"Growth distances: New measures for object separation and penetration","volume":"12","author":"Ong","year":"1996","journal-title":"IEEE Trans. Robot. Autom."},{"key":"S0263574714000939_ref22","doi-asserted-by":"crossref","unstructured":"W.-H. Pan , J.-S. Liu and W.-Y. Ku , \u201cFast collision detection method for the scaled convex polyhedral objects with relative motion,\u201d Proceedings of the IEEE International Symposium on Assembly and Manufacturing, Ann Arbor, Michigan (2007) pp. 184\u2013190.","DOI":"10.1109\/ISAM.2007.4288470"},{"key":"S0263574714000939_ref20","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511546877"},{"key":"S0263574714000939_ref13","unstructured":"C. Fares and Y. Hamam , \u201cCollision Detection for Rigid Bodies: A State of the Art Review,\u201d 15th International Conference on Computer Graphics and Applications (GraphiCon'2005), Russia (2005)."},{"key":"S0263574714000939_ref29","doi-asserted-by":"publisher","DOI":"10.1145\/2077341.2077346"},{"key":"S0263574714000939_ref28","doi-asserted-by":"publisher","DOI":"10.1016\/j.cad.2008.11.010"},{"key":"S0263574714000939_ref19","first-page":"119","volume-title":"Nihon Kikai Gakkai Kanto Shibu. Seimitsu Kogakkai Ibaragi Koenkai Koen Ronbunshu","author":"Inui","year":"1999"},{"key":"S0263574714000939_ref25","doi-asserted-by":"crossref","unstructured":"B. B. Goeree , E. D. Fasse and M. M. Marefat , \u201cDetermining feasible contact state of pairs of spatial polyhedra,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (2000) pp. 1396\u20131401.","DOI":"10.1109\/ROBOT.2000.844793"},{"key":"S0263574714000939_ref9","doi-asserted-by":"publisher","DOI":"10.1007\/s00607-003-0060-0"},{"key":"S0263574714000939_ref7","doi-asserted-by":"publisher","DOI":"10.1162\/105474698565514"},{"key":"S0263574714000939_ref17","doi-asserted-by":"publisher","DOI":"10.1109\/56.2083"},{"key":"S0263574714000939_ref4","unstructured":"M. Lin and S. Gottschalk , \u201cCollision detection between geometric models: A survey,\u201d Proceedings of the IMA Conference on Mathematics of Surfaces, Vol. 1 (1998) pp. 602\u2013608."},{"key":"S0263574714000939_ref1","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600400403"},{"key":"S0263574714000939_ref2","volume-title":"Collision Detection in Interactive 3D Environments","author":"van den Bergen","year":"2004"},{"key":"S0263574714000939_ref6","doi-asserted-by":"publisher","DOI":"10.1115\/1.1846053"},{"key":"S0263574714000939_ref18","doi-asserted-by":"crossref","unstructured":"M. Inui , M. Miura and F. Kimura , \u201cPositioning conditions of parts with tolerance in an assembly,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (1996) pp. 2202\u20132207.","DOI":"10.1109\/ROBOT.1996.506195"},{"key":"S0263574714000939_ref24","volume-title":"Robot Analysis","author":"Tsai","year":"1999"},{"key":"S0263574714000939_ref5","doi-asserted-by":"crossref","unstructured":"S. Cameron , \u201cEnhancing GJK: Computing Minimum and Penetration Distance Between Convex Polyhedra,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (1997) pp. 3112\u20133117.","DOI":"10.1109\/ROBOT.1997.606761"},{"key":"S0263574714000939_ref23","doi-asserted-by":"crossref","unstructured":"F. Yang and M. M. Marefat , \u201cAchieving desired contact state transitions of polyhedral objects with compliant motions,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (2005) pp. 4206\u20134211.","DOI":"10.1109\/ROBOT.2005.1570766"},{"key":"S0263574714000939_ref8","doi-asserted-by":"publisher","DOI":"10.1007\/BFb0036075"},{"key":"S0263574714000939_ref11","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574700003295"},{"key":"S0263574714000939_ref26","doi-asserted-by":"publisher","DOI":"10.1016\/S0736-5845(00)00053-3"},{"key":"S0263574714000939_ref14","unstructured":"M. C. Lin , \u201cEfficient Collision Detection for Animation and Robotics,\u201d PhD Thesis (University of California, Berkeley, 1993)."},{"key":"S0263574714000939_ref21","doi-asserted-by":"publisher","DOI":"10.1177\/02783640122067552"},{"key":"S0263574714000939_ref10","doi-asserted-by":"publisher","DOI":"10.1023\/A:1007960531949"},{"key":"S0263574714000939_ref27","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574799001939"},{"key":"S0263574714000939_ref3","volume-title":"Real-Time Collision Detection","author":"Ericson","year":"2005"},{"key":"S0263574714000939_ref15","unstructured":"K. Forbes , \u201cMotion Curves: A Versatile Representation for Motion Data,\u201d MS Thesis (Graduate Department of Computer Science, University of Toronto, Crescent Toronto, Ontario, Canada, 2005)."}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574714000939","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,19]],"date-time":"2019-04-19T19:23:03Z","timestamp":1555701783000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574714000939\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2014,8,8]]},"references-count":29,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2016,1]]}},"alternative-id":["S0263574714000939"],"URL":"https:\/\/doi.org\/10.1017\/s0263574714000939","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2014,8,8]]}}}