This paper presents a new velocity blending approach to the problem of task space trajectory generation. To compare this technique with others, a generalized formulation for task space trajectory blending is also developed. It is shown that task space velocity blending provides a substantial simpliication in both representation and computational complexity over previously proposed methods. Whil...

This paper presents a new velocity blending approach to the problem of task space trajectory generation To com pare this technique with others a generalized formulation for task space trajectory blending is also developed It is shown that task space velocity blending provides a substan tial simpli cation in both representation and computational complexity over previously proposed methods While ...

We discuss new analytical formulations for localized and controllable blending operations in the functionbased solid modeling. The blending set operations are defined using R-functions and displacement functions with the localized area of influence. The shape and location of the blend are controlled by an additional bounding solid thus turning the operation into a ternary one. We also describe ...

Dupin cyclides are algebraic surfaces introduced for the first time in 1822 by the French mathematician Pierre-Charles Dupin. They have a low algebraic degree and have been proposed as a solution to a variety of geometric modeling problems. The circular curvature line’s property facilitates the construction of the cyclide (or the portion of a cyclide) that blends two circular quadric primitives...

This paper studies the induced L2-norm problem for switched linear parameter varying (LPV) systems using a blending method. For a switched LPV system where the parameters are grouped into slow-varying and fast-varying parameters, the blending method is used to construct blended Lyapunov functions based on the multiple Lyapunov functions conditions in terms of linear matrix inequalities (LMIs). ...

This paper reviews the development of fuzzy systems and the problem of time delay control in nonlinear systems. Based on this review, a fuzzy Lyapunov method defined in fuzzy blending quadratic Lyapunov functions is proposed from which to derive stability conditions. In the controller procedure, a parallel distributed compensation (PDC) scheme is utilized to construct a global fuzzy logic contr...

A common method for constructing blending Dupin cyclides for two cones having a common inscribed sphere of radius r > 0 involves three steps: (1) computing the (−r)-offsets of the cones so that they share a common vertex, (2) constructing a blending cyclide for the offset cones, and (3) computing the r-offset of the cyclide. Unfortunately, this process does not always work properly. Worse, for ...

Blobtrees are volume representations particularly useful for models which require smooth blending. When blending is applied to two or more Blobtree models, extra volume will be created in between the two surfaces to form a smooth connection. Although it is easy to apply blending, it is hard to accurately control the resulting shape. More complications arise when the blended objects have large s...