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Real-time trajectory generation for mobile robots
, Article 10th Congress of the Italian Association for Artificial Intelligence, AI IA 2007, Rome, 10 September 2007 through 13 September 2007 ; Volume 4733 LNAI , 2007 , Pages 459-470 ; 03029743 (ISSN); 9783540747819 (ISBN) ; Manzuri, M. T ; Razvan, M. R ; Tajfard, M ; Khoshbakht, S ; Sharif University of Technology
Springer Verlag
2007
Abstract
This paper presents a computationally effective trajectory generation algorithm for omni-directional mobile robots. This method uses the Voronoi diagram to find a sketchy path that keeps away from obstacles and then smooths this path with a novel use of Bezier curves. This method determines velocity magnitude of a robot along the curved path to meet optimality conditions and dynamic constrains using Newton method. The proposed algorithm has been implemented on real robots, and experimental results in different environments are presented. © Springer-Verlag Berlin Heidelberg 2007
Prediction of Microstructure Evolution of Severely Deformed Pure Aluminum during Annealing
, M.Sc. Thesis Sharif University of Technology ; Kazeminezhad, Mohsen (Supervisor)
Abstract
Severe Plastic Deformation (SPD) Processes have drawn lots of attention due to their ability to refine grain size and develop some properties of bulk metals and alloys. After deformation, however, ductility and formability of metals are reduced. Annealing has been used as a solution for improvement of these characteristics after deformations even after SPD processes. On the other hand, there is a possibility that during annealing grains could grow, therefore it can neutralize the effect of SPD process. Consequently, predicting behavior and evolution of microstructure during annealing finds an important role. In this research, accordingly, vertex model have been used in order to predict...
Local Homogenization of 2D Foams with Circle-Based Voronoi Structures
, M.Sc. Thesis Sharif University of Technology ; Vafai, Abolhassan (Supervisor) ; Shahbeyk, Sharif (Co-Advisor)
Abstract
The unique characteristics of solid foams make them ideal for both natural and man-made structures. The cellular structure of these materials allows for the construction of natural structures such as bone and wood that have high strength and use minimal primary materials. Their unique structure has inspired studies in the automotive and aerospace industries, leading to a new generation of lightweight materials. The focus of this study was the effects of the microstructure of foams on the macro mechanical response of specific structures. Homogenization methods are well suited for the study of these effects due to the random nature of the microstructures. One major problem in using numerical...
Parallelizing Voronoi Diagrams and Polygon Overlaying Algorithms for Multi-core Systems
,
M.Sc. Thesis
Sharif University of Technology
;
Ghodsi, Mohammad
(Supervisor)
Abstract
Todays we do not have the traditional hardware speed acceleration anymore. We have reached to the highest possible speed of single core processors. Thus, in order to run an algorithm faster we need either to improve the algorithm and make it more efficient, or to use a more powerful hardware to run it. For algorithms which we have reached to their lower bounds, we can not improve their efficiency. Furthermore, we can not have any faster traditional processor, so the only way is to use the power of parallel computation. With the advent of multicore processors the software industry has faced a new challenge, to adapt the softwares to use the power of these new processors. There are a lot of...
A voronoi-based reactive approach for mobile robot navigation
, Article 13th International Computer Society of Iran Computer Conference on Advances in Computer Science and Engineering, CSICC 2008, Kish Island, 9 March 2008 through 11 March 2008 ; Volume 6 CCIS , 2008 , Pages 901-904 ; 18650929 (ISSN); 3540899847 (ISBN); 9783540899846 (ISBN) ; Hazar, N ; Sharif University of Technology
2008
Abstract
Robot navigation is a challenging problem in robotics, which involves determining of robot positioning relative to objects in the environment, and also the mobility of robot through obstacles without colliding into them. The former is known as localization, while the latter is called motion planning. This paper introduces a roadmap method for solving motion planning problem in a dynamic environment based on Generalized Voronoi Diagram (GVD). The efficiency of the proceeding work is verified by examining it in a sample home environment. © 2008 Springer-Verlag
A delaunay triangulation architecture supporting churn and user mobility in MMVEs
, Article Proceedings of the International Workshop on Network and Operating System Support for Digital Audio and Video, 3 June 2009 through 5 June 2009, Williamsburg, VA ; 2009 , Pages 61-66 ; 9781605584331 (ISBN) ; Hariri, B ; Shirmohammadi, S ; ACM SIGMM ; Sharif University of Technology
2009
Abstract
This article proposes a new distributed architecture for update message exchange inmassively multi-user virtual environments (MMVE) MMVE applications require delivery of updates among various locations in the virtual environment. The proposed architecture here exploits the location addressing of geometrical routing in order to alleviate the need for IP-specific queries. However, the use of geometrical routing requires careful choice of overlay to achieve high performance in terms of minimizing the delay. At the same time, the MMVE is dynamic, in sense that users are constantly moving in the 3D virtual space. As such, our architecture uses a distributed topology control scheme that aims at...
Microstructure generation of severely deformed materials using Voronoi diagram in Laguerre geometry: Full algorithm
, Article Computational Materials Science ; Volume 50, Issue 9 , July , 2011 , Pages 2698-2705 ; 09270256 (ISSN) ; Kazeminezhad, M ; Sharif University of Technology
2011
Abstract
A new Voronoi diagram in Laguerre geometry based on closed-pack non-overlapping circles was proposed. This diagram was used to simulate microstructure of severely deformed materials at different applied strains. Grains size and their fractions were introduced by controlling the size and distribution of nuclei. Edge number distribution and neighboring cells edge number along with area distribution of the simulated Voronoi cells were determined. The edge number distribution was observed to fit gamma distribution more accurately. However, due to high inhomogeneity in the microstructure of the deformed samples at low strains, edge number distribution could not be matched by any distribution...