CAREER: Building and Searching Data Structures for Spatial Environments

近年来，几何建模和仿真技术已成为涉及物理对象的应用程序的基本工具。尽管已经取得了很大的进展，但仍有一些重要的应用是现有技术无法实现的。例子包括控制在动态情况下操作的自主机器人，在虚拟现实环境中培训员工完成危险任务，以及帮助工程师使用复杂产品的三维模型交互式分析设计选择。本研究的总体目标是为此类应用设计和实现实用的算法。为了实现这一目标，将研究计算几何领域中开发的技术在以下目标应用中的适用性：执行机器人路径规划和带接触的规划操作任务，以及分析产品设计的可制造性，装配和拆卸性。该研究将与德克萨斯农工大学正在进行的灵巧操作研究合作，并与通用电气研发公司的研究人员合作，分析产品设计和可维护性。将进行两项教育活动。首先，将为德州农工大学计算机科学系的本科生和研究生女性提供指导和一般支持计划。这些项目的目标是鼓励更多的女性攻读计算机科学和工程方面的研究生和职业。第二，将小组学习方法纳入理论计算机科学的本科和研究生课程。研究表明，小组学习可以提高学生的兴趣，帮助他们更全面地理解概念，这促使了对标准讲座形式的改变。* * *

In recent years geometric modeling and simulation techniques have become essential tools for applications involving physical objects. Although much progress has been made, there are important applications that cannot be realized with current technology. Examples include controlling autonomous robots operating in dynamic situations, training an employee for a dangerous task in a virtual reality environment, and helping an engineer interactively analyze design choices using a threedimensional model of a complex product. The general objective of this research is to design and implement practical algorithms for such applications. Toward this goal, the applicability of techniques developed in the field of computational geometry to the following target applications will be studied: performing robotic path planning and planning manipulation tasks with contact, and analyzing product designs for manufacturability, assembly, and disassembly. The research will be performed in collaboration with an ongoing research effort at Texas A&M in dextrous manipulation and with researchers at GE R&D analyzing product designs for and maintainability. Two educational activities will be undertaken. First, mentoring and general support programs will be initiated for undergraduate and graduate women in the Computer Science Department at Texas A&M. The goal of these programs is to encourage more women to pursue graduate studies and careers in computer science and engineering. Second, group learning methods will be incorporated into undergraduate and graduate courses in theoretical computer science. The change from the standard lecture format is motivated by research that has shown that group learning can increase student interest and help them to understand concepts more fully. ***