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21 results on '"Tao, Songqiao"'

7. Recognising tangent directions of the freedom for the joint with multi-point quadric contacts.

Author

Tao, Songqiao, Tao, Huajin, and Kang, Weirui

Subjects
*THEORY of screws, *VECTOR spaces, *CONFIGURATION space, *LIBERTY, *QUADRICS
Abstract

Tracking the trajectory of a moving body is one of key issues for a multiple freedom motion joint with multi-point surface contacts. In general, the tangent space of the motion can be determined by using the contact relation of the screw theory, but it is difficult to determine which vector in the tangent space represents the tangent vector of motion joint's freedom. This is because the tangent space is a linear space generated by the tangent vector of the motion joint, which includes more elements than actual tangent vectors. Then, a second-order interference detection approach is presented to identify the tangent vector of the freedom in the motion tangent space. And recognised tangent directions can be introduced to track adjacent contact states in 3D assembly models, which support the direct creation of the configuration space of a 3D assembly model. [ABSTRACT FROM AUTHOR]

Published
2022
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11. iShare: Balancing I/O performance isolation and disk I/O efficiency in virtualized environments

Author

Wu, Song, Tao, Songqiao, Ling, Xiao, Fan, Hao, Jin, Hai, Ibrahim, Shadi, School of Computer Science and Technology [Wuhan], Huazhong University of Science and Technology [Wuhan] (HUST), Scalable Storage for Clouds and Beyond (KerData), Inria Rennes – Bretagne Atlantique, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-SYSTÈMES LARGE ÉCHELLE (IRISA-D1), Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), CentraleSupélec-Télécom Bretagne-Université de Rennes 1 (UR1), Université de Rennes (UNIV-RENNES)-Université de Rennes (UNIV-RENNES)-Institut National de Recherche en Informatique et en Automatique (Inria)-École normale supérieure - Rennes (ENS Rennes)-Université de Bretagne Sud (UBS)-Centre National de la Recherche Scientifique (CNRS)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées (INSA)-CentraleSupélec-Télécom Bretagne-Université de Rennes 1 (UR1), Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées (INSA)-Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Université de Rennes (UNIV-RENNES)-Université de Rennes (UNIV-RENNES)-École normale supérieure - Rennes (ENS Rennes)-Université de Bretagne Sud (UBS)-Centre National de la Recherche Scientifique (CNRS)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées (INSA), Université de Rennes 1 (UR1), Université de Rennes (UNIV-RENNES)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-Institut National de Recherche en Informatique et en Automatique (Inria)-Télécom Bretagne-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-Université de Rennes 1 (UR1), Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-Institut National de Recherche en Informatique et en Automatique (Inria)-Télécom Bretagne-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-Télécom Bretagne-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS), Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-Institut National de Recherche en Informatique et en Automatique (Inria)-Télécom Bretagne-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-Institut National de Recherche en Informatique et en Automatique (Inria)-Télécom Bretagne-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), and Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-Télécom Bretagne-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)

Subjects
I/O performance isolation, Virtualization, I/O scheduling, [SCCO.COMP]Cognitive science/Computer science, [INFO.INFO-OS]Computer Science [cs]/Operating Systems [cs.OS], disk I/O efficiency, ComputingMilieux_MISCELLANEOUS
Abstract

International audience

Published
2016

17. Collision-free motion planning of a virtual arm based on the FABRIK algorithm.

Author

Tao, Songqiao and Yang, Yumeng

Subjects
*ROBOT motion, *ROBOTIC path planning, *OBSTACLE avoidance (Robotics), *COMPUTER algorithms, *ROBOT kinematics
Abstract

Collision-free motion planning of a virtual arm is an intractable task in high-interference environments. In this paper, an approach for collision-free motion planning of a virtual arm based on the forward and backward reaching inverse kinematics (FABRIK) algorithm is proposed. First, a random rotation strategy and local optimum-seeking technology are introduced to improve the FABRIK algorithm in order to avoid obstacles. The improvement FABRIK algorithm is used to design the final grasping posture of a virtual arm according the target position. Then, a bidirectional rapidly exploring random tree (Bi-RRT) algorithm is adopted to explore the process postures from a given initial posture to the final grasping posture. Different from the existing method, the proposed Bi-RRT algorithm in this paper plans the motions of a virtual arm in a seven-dimensional angle space, and the final grasping posture is automatically designed using the obstacle-avoidance FABRIK algorithm instead of the manual design. Finally, the post-processing technique is introduced to remove redundant nodes from the planned motions. This procedure has resolved the problem that the Bi-RRT algorithm is a random algorithm. The experimental results show the proposed method for collision-free motion planning of a virtual arm is feasible. [ABSTRACT FROM AUTHOR]

Published
2017
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18. 3D CAD solid model retrieval based on region segmentation.

Author

Tao, Songqiao, Wang, Shuting, and Chen, Anhui

Subjects
IMAGE segmentation, DIGITAL image processing, IMAGE analysis, COMPLEXITY (Philosophy), DATA modeling
Abstract

3D shape retrieval may find the existing models as reference for design reuse. 3D segmentation decomposes models into new elements with large granularity and salient shapes to replace the faces in a solid model. In this way, it may reduce the complexity of a CAD model and make a local salient shape more prominent. Therefore, a retrieval method for 3D CAD solid models based on region segmentation is proposed in this paper. To deal with the problems of poor efficiency and uncertain results, a three-step segmentation method for CAD solid models is introduced. First, face adjacency graph (FAG) descriptions for query models and data models are created from their B-rep models. Second, the FAGs are segmented into a set of convex, concave and planar regions, and the relations among the regions are represented with a region graph. Finally, the sub-graphs are combined recursively to form optimal region sub-graphs with respect to an objective function through an optimal procedure. To avoid using complex graph matching or sub-graph matching for model shape comparison, region property codes are introduced to represent face regions in a CAD model. The similarity between the two compared models is evaluated by comparing their region property codes. The experiments show that the proposed method supports 3D CAD solid model retrieval. [ABSTRACT FROM AUTHOR]

Published
2017
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