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Farouk I
Farouk I
Farouk I
Rida T. Farouki
ξk
|r0(ξ)| dξ
Z
= k∆t , k = 1, 2, . . .
0 v
12 p1
25 segments
ε = 0.0105
p5
8 50 segments
ε = 0.0025
p0
p4
4 100 segments
ε = 0.0006
0 4 8 12 16
100
50
0
0 1 2 3 4 5 6 7 8 0 1 2 3 4 5 6 7 8
400
200
0
0 1 2 0 1 2
time (seconds) time (seconds)
Both G code and PH curve interpolators give excellent performance at 100 ipm — the
“staircase” nature of the x and y feedrate components (red and green) for the G codes
indicate faithful reproduction of the piecewise-linear path, while the PH curve yields
smooth variations. At 800 ipm, the PH curve interpolator gives impeccable performance,
but the performance of the G code interpolator is severely degraded by “aliasing” between
the finite sampling frequency and discrete nature of the path description.
optimal section-plane orientation
for contour machining of free-form surfaces
parabolic lines on free-form surfaces
Gauss map computation for free-form surfaces
medial axis transform for complement of Gauss map
fundamentals of quaternion algebra
quaternions are four-dimensional numbers of the form
A = a + ax i + ay j + az k and B = b + b x i + by j + bz k
A B = (ab − axbx − ay by − az bz )
+ (abx + bax + ay bz − az by ) i
+ (aby + bay + az bx − axbz ) j
+ (abz + baz + axby − ay bx) k
A + B = (a + b, a + b)
A B = ( ab − a · b , a b + b a + a × b)
v0 = U v U ∗
set U1 = (cos 12 θ1, sin 12 θ1n1) and U2 = (cos 12 θ2, sin 12 θ2n2)
z z
β
β
y α y
x x
blue vector is obtained from red vector by the concatenation of two spatial
rotations — left: Ry (α) Rz (β), right: Rz (β) Ry (α) — the end results differ
i×v i+v
e⊥ = and e0 =
|i × v| |i + v|
for any θ ∈ (α, 2π − α) there are two axes n — in the plane of e⊥, e0 with
equal inclinations to e⊥ — about which a rotation by angle θ maps i → v
◦ when θ = α or 2π − α, we have n = e⊥ or −e⊥, and rotation is
along great circle between i and v;
◦ when θ = π, we have n = ± e0, so i executes either a clockwise
or anti–clockwise half-rotation about e0 onto v;
e⊥ e⊥ n v
v
n
e0
i
i
(a) (b)
(c) (d)
Z 1
• closed-form evaluation of energy integral E = κ2 ds
0
0 2 2
x (t) = u (t) − v (t)
x02(t) + y 02(t) = σ 2(t) ⇐⇒ y 0(t) = 2 u(t)v(t)
σ(t) = u2(t) + v 2(t)
3, 31, 49 → 3 × (60)2 + 31 × 60 + 49
48 54 1 40
1; 48, 54, 1, 40 → 1 + + + +
60 (60)2 (60)3 (60)4
2 2
" #
2
p +q 2 2 2 2
f = , s = p −q , d = p +q
2pq
d=
s = p2 − q 2
s = p2 – q2
p2
+q 2
s2 + l2 = d2 ⇐⇒ l = 2pq
d = p2 + q 2
θ
l=2pq
significance of Plimpton 322
R. C. Buck (1980), Sherlock Holmes in Babylon, Amer. Math. Monthly 87, 335-345
h/2
1/x + h/2
1/x
2 2
1 h h
“cut-and-paste geometry” problem : 1 = + −
x 2 2
p 1 q 1 h 1 p q h 1 p q
writing x = , = gives + = + , = −
q x p x 2 2 q p 2 2 q p
w w2
1 1
ũ(t) cos 2θ − sin 2θ u(t)
in other words, = 1 1
ṽ(t) sin 2θ cos 2θ v(t)
Bezier curve 2
PH cubic iff L2 = L1L3 & θ1 = θ2 (1990)
P. de Casteljau (Citroen) – P. Bezier (Renault)
p4 L2 θ2
L3
convex hull
p5 θ1
p3 subdivision L1
unique curve !
p2 variation diminishing
p0
numerical stability Farouki’s Tschirnhausen’s (1690) cubic
p1 caustic for
reflection
by parabola
n
n
r(t) = ∑ pk (1–t)n–ktk
k=0 k
trisectrix of Catalan
Bernstein basis on [0,1] : l’Hospital’s cubic
[ (1–t) + t ]n = (1–t)n + n(1–t)n–1t + ... + tn
Ehrenfried Walther von Tschirnhaus 1651–1708
t3 + a2t2 + a1t + a0 = 0
2qa − 3r + 3aτ
and defines transformation t → τ by t = 2
,
q − 3a − 3τ
2 3 2
(27r − 4q )(2q − 9ra)
simplification gives τ 3 =
27q 2
1
Tschirnhausen’s cubic = trisectrix of Catalan — ∠ P F Q = ∠ OF Q
3
P
Q
O F
Pythagorean quartuples of polynomials
x0(t) = u2(t) + v 2(t) − p2(t) − q 2(t)
0
y (t) = 2 [ u(t)q(t) + v(t)p(t) ]
x02(t) + y 02(t) + z 02(t) = σ 2(t) ⇐⇒ 0
z (t) = 2 [ v(t)q(t) − u(t)p(t) ]
σ(t) = u2(t) + v 2(t) + p2(t) + q 2(t)
R. Dietz, J. Hoschek, and B. Jüttler, An algebraic approach to curves and surfaces on the sphere
and on other quadrics, Computer Aided Geometric Design 10, 211–229 (1993)
H. I. Choi, D. S. Lee, and H. P. Moon, Clifford algebra, spin representation, and rational
parameterization of curves and surfaces, Advances in Computational Mathematics 17, 5-48 (2002)
1 1 1 1
ũ cos 2θ −nx sin 2θ −ny sin 2θ −nz sin 2θ u
1 1 1 1
ṽ nx sin
2θ cos 2θ −nz sin 2θ ny sin 2θ
v
=
1 1 1 1
−nx sin
p̃ ny sin 2θ nz sin 2θ cos 2θ 2θ
p
1 1 1 1
q̃ nz sin 2θ −ny sin 2θ nx sin 2θ cos 2θ q
matrix ∈ SO(4)
◦ an elastic sphere can be turned inside out without tearing the material !
◦ a prisoner may escape from a locked room without penetrating its walls !
◦ a knot in a length of string can be untied without ever moving its ends !
the stationary set of such a double rotation is the single common point
of Π1, Π2 — i.e., the origin
of the six parameters describing a general rotation in R4, four define the
absolutely orthogonal planes Π1, Π2 and two specify the rotation angles
θ1, θ2 associated with them
∗
+ 1
10 (A 1 i A 2 + A2 i A∗1 ) + 1
5 A2 i A∗2 = pf − pi
solution of fundamental equation
A i A∗ = c
dt dn db
= d × t, = d × n, = d × b,
ds ds ds
e2 cos θ sin θ n
new basis in normal plane =
e3 − sin θ cos θ b
Z
where θ = − τ ds : cancels “unnecessary rotation” in normal plane
3
rate of rotation Frenet frame rotation minimizing
0
0.0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1.0
t
compared with the rotation-minimizing frame (t, e2, e3), the Frenet frame
(t, n, b) exhibits a lot of “unnecessary” rotation (in the curve normal plane)
closure