Aiming at developing a simple and efficient collision detection method to support the wandering in equipment deploy scene in land reclamation area of mining dump. This paper presents an efficient algorithm for collision detection in the waste dump land reclamation equipment deploy scene using a bounding volume nestification which consists of an oriented bounding boxes (OBBs) enhanced with axial...

This thesis explores the kinematics and control issues associated with an approach to manipulation that employs all of the available surfaces of a robot to interact with the workspace. This thesis explores manipulations of this type which we term whole-arm manipulation (Wi\.LVI). A classification of WAM tasks into pushing, searching, enclosure, and exclusion is presented and examples of each ar...

We present a novel six-degree-of-freedom haptic rendering algorithm using incremental and localized contact computations. It uses an incremental approach for contact and force computations and takes advantage of spatial and temporal coherence between successive frames. As part of a preprocess, we decompose the surface of each polyhedron into convex pieces and construct bounding volume hierarchi...

Hierarchical data structures have been widely used to design e cient algorithms for interference detection for robot motion planning and physically-based modeling applications. Most of the hierarchies involve use of bounding volumes which enclose the underlying geometry. These bounding volumes are used to test for interference or compute distance bounds between the underlying geometry. The e ci...

This study analyses some political factors determining budget deficit in Pakistan. It examines the short and long-run relationship between the Budget deficit, democracy and cabinet size for Pakistan’s economy. The bounds testing approach to co-integration and (ECM) error-correction models, developed within an autoregressive distributed lag (ARDL) framework is applied to annual data for the peri...

The single machine total weighted tardiness with release dates problem is known to be strongly NP-hard. With a new lower bounding scheme and a new upper bounding scheme, we get an efficient branch and bound algorithm. In the paper, we first introduce the history of the problem and its computational complexity. Second, the lower bounding schemes and the upper bounding schemes are described in de...