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Let S be a set of points in IR d , each with a weight that is not known precisely, only known to fall within some range. What is the locus of the centroid of S? We prove that this locus is a convex polytope, the projection of a zonotope in IR d+1. We derive complexity bounds and algorithms for the construction of these \centroid polytopes".

This paper describes and analyzes the most commonly used form of constraint languages for assembly planning: mating constraint languages. These constraints are typically composed of relations asserting that a certain pair of parts must be mated before some other pair of parts may be mated. However, there are many signiicant diierences between the forms of… (More)

An assembly sequence planner is a system which, given a description of an assembly to be manufactured , identiies subassemblies and generates high-level plans for the construction of the each subassembly, including the nal assembly. Previous research has shown that feasible plans can be eeciently produced for large assemblies, but the generation of good… (More)

Pure geometric modeling systems are effective as drafting tools, but of limited utility in conceptual design. A design system which explicitly represents functional requirements and ties this to a geometric model could more effectively support the design process and provide a richer database to be used by production planning and design optimization tools.… (More)

- Jan Wolter, Ehud Kroll
- ICRA
- 1996

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