CEIG2022

Permanent URI for this collection

https://diglib.eg.org/handle/10.2312/2633203

Browse

Browsing CEIG2022 by Subject "Computer graphics"

Now showing 1 - 2 of 2
  • No Thumbnail Available
    Item
    Simulation Based Initial Feasibility Analysis Pipeline for Small-sized Part Picking
    (The Eurographics Association, 2022) Mendizabal-Arrieta, IƱigo; Tammaro, Antonio; Ojer, Marco; Lin, Xiao; Posada, Jorge; Serrano, Ana
    Random bin picking is still one of the main tasks for robotics in the current days. When the environment is very cluttered, the calculation of grasping positions can be highly demanding in terms of time and computing power. To ease the computation load, some parts arranging operations can be performed before the segmentation stage. For instance, for small and light parts, a feeder-vibrating table system can be used to separate the components, allowing them to be easily grasped, and increasing the overall performance of the solution. However, as the geometry and requirements for piece type are different, one or more feasibility tests need to be done for each case. These analyses are usually very time and cost intensive and require the use of expensive hardware such as robots, grippers, and prototype cells. The use of virtual reproductions of the environment like digital twins or physical-based simulations could help reduce the time and effort spent on designing the settings, nevertheless, their correct configuration is not trivial. This paper presents a simulation based analysis method for picking small-sized parts. It aims to supply the tools and define a streamlined procedure for efficient feasibility testing. Those concepts are applied in a specific bin picking scenario of multiple small electronic components. For each part type, a set of case-specific initial and boundary conditions are taken into account, then a series of performance metrics for both bin and vibrating table part picking are computed. The obtained information is decisive to make strategic decisions regarding the hardware requirements, the profitability, and the success probability of the project.
  • No Thumbnail Available
    Item
    Synthesis of Reeb Graph and Morse Operators from Level Sets of a Boundary Representation
    (The Eurographics Association, 2022) Pareja-Corcho, Juan; Montoya-Zapata, Diego; Cadavid, Carlos; Moreno, Aitor; Posada, Jorge; Arenas-Tobon, Ketzare; Ruiz-Salguero, Oscar; Posada, Jorge; Serrano, Ana
    In the context of Industrie 4.0, it is necessary for several applications, to encode characteristics of a Boundary Representation of a manifold M in an economical manner. Two related characterizations of closed B-Reps (and the solid they represent) are (1) medial axis and (2) Reeb Graph. The medial axis of a solid region is a non-manifold mixture of 1-simplices and 2- simplices and it is expensive to extract. Because of this reason, this manuscript concentrates in the work-flow necessary to extract the Reeb Graph of the B-Rep. The extraction relies on (a) tests of geometric similarities among slices of M and (b) characterization of the topological transitions in the slice sequence of M. The process roughly includes: (1) tilt of the B-Rep to obtain an unambiguous representation of the level sets ofM,(2) identification and classification of the topological transitions that arise between consecutive level sets, (3) sample of Reeb graph vertices inside the material regions defined by the level sets, (4) creation of Reeb graph edges based on the type of topological transition and the 2D similarity among material regions of consecutive levels. Although the Reeb Graph is a topological construct, geometrical processing is central in its synthesis and compliance with the Nyquist-Shannon sampling interval is crucial for its construction. Future work is needed on the extension of our methodology to account for manifolds with internal voids or nested solids.