Local primitives and their spatial relationships are useful in the analysis, recognition and retrieval of document and patent binary images. In this paper, a morphology based approach is proposed to establish the connections between the local primitives found at the optimally detected junction points and end points. The grayscale geodesic dilation is employed as the basic technique by taking a ...

Abshurct-Th-ihger antipodal point grasping of arbitrarily shaped smooth 2-D and 3-D objects is considered. An object function is introduced that maps a 6nger contact space to the object surface. Conditions are developed to identity the feasible grasping region, F, in the m e r contact space. A “grasping energy hction,” E, is introduced that which is proportional to the distance between two gras...

In this presentation, we discuss an intuitive model of the kinematics and dynamics of spatial compliant contact. The kinematic model gives a relation between the relative velocity of two rigid bodies and the velocities of two points on their surfaces that have smallest distance. The dynamic model uses a 6D spatial spring element to model the elastic forces between the bodies resulting from the ...

This article introduces an iterative constraint solver for rigid body dynamics with contact. Our algorithm requires linear time and space and is easily expressed in vector form for fast execution on vector processors. The use of an iterative algorithm opens up the possibility for exploiting temporal coherence. A method for caching contact forces is presented that allows contact points to move f...

Static friction in shearing mode can be expressed as the product of the shear strength of the interface and the real contact area. The influence of roughness on friction in elastic adhesive contact is analyzed. Special attention is paid to low loading conditions, in which the number of contact points is small. The models are used to analyze a friction experiment in a MEMS friction meter.