The configuration space is a fundamental concept that is widely used in algorithmic robotics. Many applications in robotics, computer-aided design, and related areas can be reduced to computational problems in terms o...The configuration space is a fundamental concept that is widely used in algorithmic robotics. Many applications in robotics, computer-aided design, and related areas can be reduced to computational problems in terms of configuration spaces. In this paper, we survey some of our recent work on solving two important challenges related to configuration spaces： ~ how to efficiently compute an approximate representation of high-dimensional configuration spaces; and how to efficiently perform geometric proximity and motion planning queries （n high-dimensional configuration spaces. We present new configuration space construction algorithms based on machine learning and geometric approximation techniques. These algorithms perform collision queries on many configuration samples. The collision query results are used to compute an approximate representation for the configuration space, which quickly converges to the exact configuration space. We also present parallel GPU-based algorithms to accelerate the performance of optimization and search computations in configuration spaces. In particular, we design efficient GPU-based parallel k-nearest neighbor and parallel collision detection algorithms and use these algorithms to accelerate motion planning.展开更多
Due to the interrelationship between the base placement of the manipulator and its operation object,it is significant to analyze the accessibility and workspace of manipulators for the optimization of their base locat...Due to the interrelationship between the base placement of the manipulator and its operation object,it is significant to analyze the accessibility and workspace of manipulators for the optimization of their base location.A new method is presented to optimize the base placement of manipulators through motion planning optimization and location optimization in the feasible area for manipulators.Firstly,research problems and contents are outlined.And then the feasible area for the manipulator base installation is discussed.Next,index depended on the joint movements and used to evaluate the kinematic performance of manipulators is defined.Although the mentioned indices in last section are regarded as the cost function of the latter,rapidly-exploring random tree(RRT) and rapidly-exploring random tree*(RRT*) algorithms are analyzed.And then,the proposed optimization method of manipulator base placement is studied by means of simulation research based on kinematic performance criteria.Finally,the conclusions could be proved effective from the simulation results.展开更多
Purpose： The globalisation of artificial turf and the increase in player participation has driven the need to examine injury risk in the sport of football. The purpose of this study was to investigate the surface--pl...Purpose： The globalisation of artificial turf and the increase in player participation has driven the need to examine injury risk in the sport of football. The purpose of this study was to investigate the surface--player interaction in female football players between natural and artificial turf. Methods： Eight university level female football players performed an unanticipated cutting manoeuvre at an angle of 30° and 60°, on a regulation natural grass pitch （NT） and a 3G artificial turf pitch （AT）. An automated active maker system （CodaSport CXS System, 200 Hz） quantified 3D joint angles at the ankle and knee during the early deceleration phase of the cutting, defined from foot strike to weight acceptance at 20% of the stance phase. Differences were statistically examined using a two-way （cutting angle, surface） ANOVA, with an α level of p 〈 0.05 and Cohen＇s d effect size reported. Results： A trend was observed on the AT, with a reduction in knee valgus and internal rotation, suggesting a reduced risk of knee injury. This findings highlight that AT is no worse than NT and may have the potential to reduce the risk of knee injury. The ankle joint during foot strike showed large effects for an increase dorsiflexion and inversion on AT. A large effect for an increase during weight acceptance was observed for ankle inversion and external rotation on AT. Conclusion： These findings provide some support for the use of AT in female football, with no evidence to suggests that there is an increased risk of injury when performing on an artificial turf. The ankle response was less clear and further research is warranted. This initial study provides a platform for more detailed analysis, and highlights the importance of exploring the biomechanical changes in performance and injury risk with the introduction of AT.展开更多
基金partially supported by the Army Research Office,the National Science Foundation,Willow Garagethe Seed Funding Programme for Basic Research at the University of Hong Kong
文摘The configuration space is a fundamental concept that is widely used in algorithmic robotics. Many applications in robotics, computer-aided design, and related areas can be reduced to computational problems in terms of configuration spaces. In this paper, we survey some of our recent work on solving two important challenges related to configuration spaces： ~ how to efficiently compute an approximate representation of high-dimensional configuration spaces; and how to efficiently perform geometric proximity and motion planning queries （n high-dimensional configuration spaces. We present new configuration space construction algorithms based on machine learning and geometric approximation techniques. These algorithms perform collision queries on many configuration samples. The collision query results are used to compute an approximate representation for the configuration space, which quickly converges to the exact configuration space. We also present parallel GPU-based algorithms to accelerate the performance of optimization and search computations in configuration spaces. In particular, we design efficient GPU-based parallel k-nearest neighbor and parallel collision detection algorithms and use these algorithms to accelerate motion planning.
基金Supported by the National Science and Technology Support Program of China(No.2013BAK03B01)
文摘Due to the interrelationship between the base placement of the manipulator and its operation object,it is significant to analyze the accessibility and workspace of manipulators for the optimization of their base location.A new method is presented to optimize the base placement of manipulators through motion planning optimization and location optimization in the feasible area for manipulators.Firstly,research problems and contents are outlined.And then the feasible area for the manipulator base installation is discussed.Next,index depended on the joint movements and used to evaluate the kinematic performance of manipulators is defined.Although the mentioned indices in last section are regarded as the cost function of the latter,rapidly-exploring random tree(RRT) and rapidly-exploring random tree*(RRT*) algorithms are analyzed.And then,the proposed optimization method of manipulator base placement is studied by means of simulation research based on kinematic performance criteria.Finally,the conclusions could be proved effective from the simulation results.
文摘Purpose： The globalisation of artificial turf and the increase in player participation has driven the need to examine injury risk in the sport of football. The purpose of this study was to investigate the surface--player interaction in female football players between natural and artificial turf. Methods： Eight university level female football players performed an unanticipated cutting manoeuvre at an angle of 30° and 60°, on a regulation natural grass pitch （NT） and a 3G artificial turf pitch （AT）. An automated active maker system （CodaSport CXS System, 200 Hz） quantified 3D joint angles at the ankle and knee during the early deceleration phase of the cutting, defined from foot strike to weight acceptance at 20% of the stance phase. Differences were statistically examined using a two-way （cutting angle, surface） ANOVA, with an α level of p 〈 0.05 and Cohen＇s d effect size reported. Results： A trend was observed on the AT, with a reduction in knee valgus and internal rotation, suggesting a reduced risk of knee injury. This findings highlight that AT is no worse than NT and may have the potential to reduce the risk of knee injury. The ankle joint during foot strike showed large effects for an increase dorsiflexion and inversion on AT. A large effect for an increase during weight acceptance was observed for ankle inversion and external rotation on AT. Conclusion： These findings provide some support for the use of AT in female football, with no evidence to suggests that there is an increased risk of injury when performing on an artificial turf. The ankle response was less clear and further research is warranted. This initial study provides a platform for more detailed analysis, and highlights the importance of exploring the biomechanical changes in performance and injury risk with the introduction of AT.
