Contact State Estimation Based on Surface-matching in Virtual Assembly

Contact problems are one of the most challenging fields in virtual assembly. Information of contact states could be utilized to realize compliant motion of work pieces, to analyze the contact stress, to assist positioning parts and so on. Some methods have already been proposed to estimate contact states between objects and in most of these methods contact states between objects are simplified in order to realize real-time visual reality animation. While in virtual assembly contact states between parts are required to analyze contact stress, deformation and quality. Besides the contact state estimation method for virtual assembly should be able to handle a number of complex parts in real time. There are rarely known methods which could meet this requirement till now. In this study a contact state estimation algorithm based on surface-matching for virtual assembly is proposed. Contacts between parts are categorized into six basic types according to contact region of surfaces. Based on continuous collision detection of polyhedral models a novel contact state identification algorithm which is based on surface matching is proposed. Then contact evolution algorithm, which utilizes the extern force and contact information, is implemented to handle evolution of contact state. Finally a prototype system is developed to verify the above technologies. Experiment results reveal that contact state between parts could be estimated correctly in real time virtual assembly. The proposed contact state estimation algorithm provides a complete solution to obtain the contact state between parts in virtual assembly. Information of contact state between parts could be utilized to realize contact dynamic, contact stress analysis, assembly quality analysis, and so on.

A Line-Surface Integrated Algorithm for Underwater Terrain Matching

The current underwater terrain surface matching algorithm,which uses Hu moment as the similarity index,cannot gain accurate location due to the algorithm’s disadvantage in detecting slight differences.To solve this problem,a line-surface integrated terrain matching algorithm is presented.First,the similarity evaluation method of the traditional Terrain Contour Matching(TERCOM)algorithm is improved,and the strategy used to select the matching regions is developed.Then,a surface matching algorithm based on the geometric similarity is established to determine the optimum match between the reference maps and the actual measured terrains.Finally,a means of“line matching algorithm”and“surface matching algorithm”integration is proposed based on a fixed threshold.The experimental results show that the proposed algorithm can obtain a more accurate location and has greater robustness than that of the surface underwater matching algorithm based on Hu moment.

An Approach to the Maximum Independent Set for Surface Matching

In order to resolve the problem of surface match in the process of surface detection for aircraft thin-walled and composite parts, an efficient approach of 3D surface matching was proposed which is based on the Maximum Independent Set （MIS） algorithm of free surface matching. First, to introduce the MIS, this paper described the approach in detail. The MIS of matching points was finally solved by converting the surface matching into a sur- face matching of discrete points, establishing the distance matrix of discrete points, and constructing a 0-1 matrix using the error radius. Second, a validation case was used to show that the algorithm demonstrates good overall local and global surface matching efficiency.

Robustness and precision evaluation of the form error of micro-structured surfaces using real coded genetic algorithm

To obtain the form error of micro-structured surfaces robustly and accurately, a form er- ror evaluation method was developed based on the real coded genetic algorithm （RCGA）. The meth- od employed the average squared distance as the matching criterion. The point to surface distance was achieved by use of iterative method and the modeling of RCGA for the surface matching was also presented in detail. Parameter selection for RCGA including the crossover rate and population size was discussed. Evaluation results of series simulated surfaces without form error show that this method can achieve the accuracy of root mean square deviation （ Sq ） less than 1 nm and surface pro- file error （ St ） less than 4 nm. Evaluation of the surfaces with different simulated errors illustrates that the proposed method can also robustly obtain the form error with nano-meter precision. The e- valuation of actual measured surfaces further indicates that the proposed method is capable of pre- cisely evaluating micro-structured surfaces.

Outboard abnormal noise source localization method with curved surface projection based on time delay matching and weighting criterion

An improved localization method consisting of ＂filtering-time delay estimationhyperbolic localization＂ is proposed. Combining the empirical mode decomposition（EMD）and time delay estimation method based on generalized average magnitude difference function,the original signals are decomposed into intrinsic mode function（IMF） components. The energy distribution criterion and spectrum consistency criterion are used to select the IMFs, which can represent the physical characteristics of the source signal. Several sets of signals are applied to estimate the time delay, and then a vector matching criterion is proposed to select the correct time delay estimation. Considering the hydrophones location, a shell model is established and projected to a plane according to the quadrant before the hyperbolic localization. Results of mooring and sailing tests show that the proposed method improves the localization accuracy,and reduces the error caused by time delay estimation.