This paper presents a treatment of first–order discontinuities (D1) that arise in discontinuitymeshes. An algorithm is described that, given a planar D1 discontinuity surface in a polyhedral scene, computes the corresponding discontinuity curves on the faces of the scene. A method is described to efficiently update the backprojection across a D1 discontinuity curve. An alternative update method...

This paper deals with the handling of deformable linear objects (DLOs), such as hoses, wires or leaf springs, bases on force/torque sensing. First, we describe the characteristic change of force and moment for all single-contact transitions which may occur between DLO and a rigid polyhedron obstacle. Second, we present data processing algorithms for the automated detection of state transitions ...

A new automatic method for discontinuity traces mapping and sampling on a rock mass digital model is described in this work. The implemented procedure allows one to automatically identify discontinuity traces on a Digital Surface Model: traces are detected directly as surface breaklines, by means of maximum and minimum principal curvature values of the vertices that constitute the model surface...

In this paper we present the results of experiments that explore the ability of the human fingertip to detect haptically simulated first-order and second-order surface discontinuities. A single finger, planar motion fingertip haptic display (FHD) developed at the University of Washington (UW) was used by multiple test operators under a variety of treatment conditions. Experiment variables inclu...

We propose a new primal-dual framework for representation, capture, processing, and display of piecewise smooth surfaces, where the dual space is the space of oriented 3D lines, or rays, as opposed to the traditional dual space of planes. An image capture process detects points on a depth discontinuity sweep from a camera moving with respect to an object, or from a static camera and a moving ob...

This paper shows the advantages of the material failure process simulation by improve finite elements with embedded discontinuities, using a new definition of traction vector, dependent on the discontinuity length and the angle. Particularly, two families of this kind of elements are compared: kinematically optimal symmetric and statically and kinematically optimal non-symmetric. The constituti...