An object oriented multi robotic graphic simulation environment is described in this paper. Object oriented programming is used to model the physical objects of the robotic workcell in the form of software objects ...An object oriented multi robotic graphic simulation environment is described in this paper. Object oriented programming is used to model the physical objects of the robotic workcell in the form of software objects or classes. The virtual objects are defined to provide the user with a user friendly interface including realistic graphic simulation and clarify the software architecture. The programming method of associating the task object with active object effectively increases the software reusability, maintainability and modifiability. Task level programming is also demonstrated through a multi robot welding task that allows the user to concentrate on the most important aspects of the tasks. The multi thread programming technique is used to simulate the interaction of multiple tasks. Finally, a virtual test is carried out in the graphic simulation environment to observe design and program errors and fix them before downloading the software to the real workcell.展开更多
The shadow of a circle casting on a unparallel plane is an ellipse, the shadow algorithm involves a perspective affine transformation. Under commonly used light, the transformation matrix for parallel circles of diffe...The shadow of a circle casting on a unparallel plane is an ellipse, the shadow algorithm involves a perspective affine transformation. Under commonly used light, the transformation matrix for parallel circles of different diameters casting shadows onto the same plane is identical. Using AutoCAD to get the shadow of a general object of revolution, it only needs to take a series of circles along the axis of symmetry and get their corresponding shadows of ellipses, drawing an envelope to cover all these silhouettes results in the required overall shadow. Then the discrete points of shadow contour line are projected back onto the original object surface, shadow on the object is obtained altogether.展开更多
Two multi-objective programming models are built to describe Pilots’ full flight simulator (FFS) recurrent training (PFRT) problem. There are two objectives for them. One is the best matching of captains and copilots...Two multi-objective programming models are built to describe Pilots’ full flight simulator (FFS) recurrent training (PFRT) problem. There are two objectives for them. One is the best matching of captains and copilots in the same aircraft type. The other is that pilots could attend his training courses at proper month. Usually the two objectives are conflicting because there are copilots who will promote to captains or transfer to other aircraft type and new trainees will enter the company every year. The main theme in the research is to find the final non-inferior solutions of PFRT problem. Graph models are built to help to analyze the problem and we convert the original problem into a longest-route problem with weighted paths. An algorithm is designed with which we can obtain all the non-inferior solutions by a graphic method. A case study is present to demonstrate the effectiveness of the algorithm as well.展开更多
A scheme for general purposed FDTD visual scientific computing software is introduced in this paper using object-oriented design (OOD) method. By abstracting the parameters of FDTD grids to an individual class and sep...A scheme for general purposed FDTD visual scientific computing software is introduced in this paper using object-oriented design (OOD) method. By abstracting the parameters of FDTD grids to an individual class and separating from the iteration procedure, the visual software can be adapted to more comprehensive computing problems. Real-time gray degree graphic and wave curve of the results can be achieved using DirectX technique. The special difference equation and data structure in dispersive medium are considered, and the peculiarity of parameters in perfectly matched layer are also discussed.展开更多
文摘An object oriented multi robotic graphic simulation environment is described in this paper. Object oriented programming is used to model the physical objects of the robotic workcell in the form of software objects or classes. The virtual objects are defined to provide the user with a user friendly interface including realistic graphic simulation and clarify the software architecture. The programming method of associating the task object with active object effectively increases the software reusability, maintainability and modifiability. Task level programming is also demonstrated through a multi robot welding task that allows the user to concentrate on the most important aspects of the tasks. The multi thread programming technique is used to simulate the interaction of multiple tasks. Finally, a virtual test is carried out in the graphic simulation environment to observe design and program errors and fix them before downloading the software to the real workcell.
文摘The shadow of a circle casting on a unparallel plane is an ellipse, the shadow algorithm involves a perspective affine transformation. Under commonly used light, the transformation matrix for parallel circles of different diameters casting shadows onto the same plane is identical. Using AutoCAD to get the shadow of a general object of revolution, it only needs to take a series of circles along the axis of symmetry and get their corresponding shadows of ellipses, drawing an envelope to cover all these silhouettes results in the required overall shadow. Then the discrete points of shadow contour line are projected back onto the original object surface, shadow on the object is obtained altogether.
文摘Two multi-objective programming models are built to describe Pilots’ full flight simulator (FFS) recurrent training (PFRT) problem. There are two objectives for them. One is the best matching of captains and copilots in the same aircraft type. The other is that pilots could attend his training courses at proper month. Usually the two objectives are conflicting because there are copilots who will promote to captains or transfer to other aircraft type and new trainees will enter the company every year. The main theme in the research is to find the final non-inferior solutions of PFRT problem. Graph models are built to help to analyze the problem and we convert the original problem into a longest-route problem with weighted paths. An algorithm is designed with which we can obtain all the non-inferior solutions by a graphic method. A case study is present to demonstrate the effectiveness of the algorithm as well.
基金This project was supported by the National Natural Science Foundation (No. 69831020).
文摘A scheme for general purposed FDTD visual scientific computing software is introduced in this paper using object-oriented design (OOD) method. By abstracting the parameters of FDTD grids to an individual class and separating from the iteration procedure, the visual software can be adapted to more comprehensive computing problems. Real-time gray degree graphic and wave curve of the results can be achieved using DirectX technique. The special difference equation and data structure in dispersive medium are considered, and the peculiarity of parameters in perfectly matched layer are also discussed.
