Abstract: A computer-assisted method (and a computer system implementing a design tool and skin fabricated according to these designs) for designing elastomeric skin for robots and robotic devices. The skin design tool is configured to facilitate the optimal navigation of the design space spanned by an animatronic or robotic device skin. The skin design tool includes a soft body simulator that is differentiable with respect to control and design parameters, which enables the skin design tool to provide one or more of the following applications: (1) automated identification of an optimal neutral pose for the skin that minimizes peak stresses when the skin is brought into extreme poses; (2) automated optimization of the skin thickness and shape of a skin to meet a time-varying artistic target; and (3) automated optimization of a skin to achieve a desired behavior if the skin is allowed to slide along an underlying rigid shell.

Abstract: A system and methods for weak spot analysis. A mesh shape is preprocessed to approximate an input model for an object. The mesh shape is analyzed with modal analysis to identify weak regions. A method and system for determining weak spots in an object. The method and system uses an optimization problem which is solved to determine a pressure distribution on the object maximizing maximal principal stress by solving a set of optimization problems maximizing stress for each point of the object.

Abstract: A system and methods for weak spot analysis. A mesh shape is preprocessed to approximate an input model for an object. The mesh shape is analyzed with modal analysis to identify weak regions. A method and system for determining weak spots in an object. The method and system uses an optimization problem which is solved to determine a pressure distribution on the object maximizing maximal principal stress by solving a set of optimization problems maximizing stress for each point of the object.

Abstract: A system, method, and program product for re-parameterizing one or more three-dimensional Catmull-Clark models is disclosed. Each of the models has one or more surfaces and one or more extraordinary vertices. One or more adjacent iso-parameter lines of the model have a spacing between them that increases as the iso-parameter lines approach the extraordinary vertex. A re-parameterization process that re-parameterizes the model so that one or more of the extraordinary vertices have adjacent iso-parameter lines with spacing that does not increase as the lines approach the extraordinary vertex.

Abstract: A system, method, and program product for re-parameterizing one or more three-dimensional Catmull-Clark models is disclosed. Each of the models has one or more surfaces and one or more extraordinary vertices. One or more adjacent iso-parameter lines of the model have a spacing between them that increases as the iso-parameter lines approach the extraordinary vertex. A re-parameterization process that re-parameterizes the model so that one or more of the extraordinary vertices have adjacent iso-parameter lines with spacing that does not increase as the lines approach the extraordinary vertex.

Abstract: A system, method, and program product for re-parameterizing one or more three-dimensional Catmull-Clark models is disclosed. Each of the models has one or more surfaces and one or more extraordinary vertices. One or more adjacent iso-parameter lines of the model have a spacing between them that increases as the iso-parameter lines approach the extraordinary vertex. A re-parameterization process that re-parameterizes the model so that one or more of the extraordinary vertices have adjacent iso-parameter lines with spacing that does not increase as the lines approach the extraordinary vertex.

Abstract: In this invention there are described a set of algorithms based on multiresolution subdivision surfaces that perform at interactive rates and enable intuitive surface cut-and-paste operations. The method includes separating a source region of interest of a source surface into a source base surface and a source detail surface; separating a target region of interest of a target surface into a target base surface and a target detail surface; and pasting the source detail surface onto the target base surface in accordance with a mapping. The step of pasting includes parameterizing and mapping the parameterized regions of interest of the source and target surfaces into an intermediate plane, and aligning the parameterizations using a linear transformation that compensates for first order distortions.

Abstract: A system, method, and program product for re-parameterizing one or more three-dimensional Catmull-Clark models is disclosed. Each of the models has one or more surfaces and one or more extraordinary vertices. One or more adjacent iso-parameter lines of the model have a spacing between them that increases as the iso-parameter lines approach the extraordinary vertex. A re-parameterization process that re-parameterizes the model so that one or more of the extraordinary vertices have adjacent iso-parameter lines with spacing that does not increase as the lines approach the extraordinary vertex.

Abstract: A method for representing a sharp feature on a surface of a model comprises the steps of defining at least one feature curve on the surface; reparameterizing the surface; and creating the feature on the reparameterized surface so as to be generally coincident with the feature curve, where the feature lies along boundaries between piecewise-smooth patch surfaces where patch surfaces with distinct tangent planes are joined. The surface is reparameterized by moving a control mesh relative to the surface to sample the feature curve with vertices of the control mesh, and creating the feature includes a subdivision step where edges and diagonals are treated as creases in the control mesh, and piecewise-smooth subdivision rules are applied to obtain a sharp feature on the surface. The surface may be defined in a Catmull-Clark multiresolution subdivision surface representation.

Abstract: A method for representing a sharp feature on a surface of a model comprises the steps of defining at least one feature curve on the surface; reparameterizing the surface; and creating the feature on the reparameterized surface so as to be generally coincident with the feature curve, where the feature lies along boundaries between piecewise-smooth patch surfaces where patch surfaces with distinct tangent planes are joined. The surface is reparameterized by moving a control mesh relative to the surface to sample the feature curve with vertices of the control mesh, and creating the feature includes a subdivision step where edges and diagonals are treated as creases in the control mesh, and piecewise-smooth subdivision rules are applied to obtain a sharp feature on the surface. The surface may be defined in a Catmull-Clark multiresolution subdivision surface representation.

Abstract: In this invention there are described a set of algorithms based on multiresolution subdivision surfaces that perform at interactive rates and enable intuitive surface cut-and-paste operations. The method includes separating a source region of interest of a source surface into a source base surface and a source detail surface; separating a target region of interest of a target surface into a target base surface and a target detail surface; and pasting the source detail surface onto the target base surface in accordance with a mapping. The step of pasting includes parameterizing and mapping the parameterized regions of interest of the source and target surfaces into an intermediate plane, and aligning the parameterizations using a linear transformation that compensates for first order distortions.

Abstract: An imaging system which corrects perceptual distortion in wide angle picture balances between direct view distortion and linear perspective distortion. The two kinds of distortion are balanced according to a transformation ratio. The balancing can be expressed as: and .phi.=.o slashed.where .rho. and .phi. are the transformed polar coordinates corresponding to the original polar coordinates r and .o slashed., .lambda. is the transformation ratio defining the amount of each transform to be used, and R is the size of the new image. This can also be effected by a lens having the transfer characteristic whereby B=tan .beta./K; where K is between 1 and 2.