D. D. Nelson and E. Cohen. User interaction with cad models with nonholonomic parametric surface constraints. International Mechanical Engineering Congress and Exposition, November 1998. Haptic Symposium.

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Fast Contact Evolution for Piecewise Smooth Surfaces - Kry (2000)   (Correct)

....surfaces. Their approach is based on a lower upper bound tree which allows them to quickly prune bounding volumes which are not involved in the minimum distance. They also show that their solution converges relatively quickly which is useful for time critical applications. In Nelson and Cohen s [34], constraints in Cartesian coordinates are used for interaction with smooth surfaced mechanical assemblies. They report that their approach has a compact implementation due to the re use of constraints. They demonstrate their system for several small assemblies including a Stewart platform. 12 ....

D. D. Nelson and E. Cohen. User interaction with cad models with nonholonomic parametric surface constraints. International Mechanical Engineering Congress and Exposition, November 1998. Haptic Symposium.

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