x LIST OF FIGURES
2.39 Sliding distance without overlapping . . . . . . . . . . . . . . . . . . . . . . . . 56
2.40 Search method for piece placement in hole . . . . . . . . . . . . . . . . . . . . . 56
2.41 NFP between two convex polygons . . . . . . . . . . . . . . . . . . . . . . . . . 57
2.42 NFP computation through convex decomposition . . . . . . . . . . . . . . . . . 59
2.43 Polygonal Boolean operations for collision free region . . . . . . . . . . . . . . 61
2.44 Thinning algorithm for skeleton generation . . . . . . . . . . . . . . . . . . . . 63
2.45 Distance fields to approximate the Medial Axis . . . . . . . . . . . . . . . . . . 63
2.46 Iterative construction of a Medial Axis . . . . . . . . . . . . . . . . . . . . . . . 65
2.47 Surface sampling to approximate the Medial Axis . . . . . . . . . . . . . . . . . 66
3.1 Types of Circle Covering. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
3.2 Convex decomposition with Minimum Enclosing Circles. . . . . . . . . . . . . . 71
3.3 Medial Axis of an Irregular Piece. . . . . . . . . . . . . . . . . . . . . . . . . . 73
3.4 A bone of the skeleton (dashed line) and part of the outline of the piece. . . . . . 73
3.5 Circle placement positions, with T hreshold = Excess distance.. . . . . . . . . . 74
3.6 CCC-MA pseudocode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
3.7 Complete Circle Covering of a piece. . . . . . . . . . . . . . . . . . . . . . . . . 75
3.8 CCC-MA results for pieces P1, P2, P3 and P4 with 0.01 units for threshold. . . . 76
3.9 Trade-off between the number of circles and the additional area. . . . . . . . . . 77
3.10 CCC-MA results evolution for piece P3...................... 77
3.11 Circle covering of a rectangle, with 19 circles. . . . . . . . . . . . . . . . . . . . 77
3.12 Circle covering of a triangle, with 7 circles. . . . . . . . . . . . . . . . . . . . . 78
3.13 CCC vs ICC..................................... 79
3.14 Inner and Partial Covering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
3.15 ICC placement positions, with T hreshold = PenetrationDepth.......... 80
3.16 PCC placement positions, with T hreshold = ExcessDistance + PenetrationDepth . 80
3.17 Coverings simplifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
3.18 Overlapping between pieces due to uncovered tips. . . . . . . . . . . . . . . . . 82
3.19 Correction of covering for acute angles for ICC................... 82
3.20 Piece 10 from instance swim............................. 84
3.21 Three regions of the trade-off between the quality of the CC representation and
the total number of produced circles. . . . . . . . . . . . . . . . . . . . . . . . . 87
4.1 Mathematical Model based on Circles (M1) . . . . . . . . . . . . . . . . . . . . 93
4.2 Mathematical Model based on Pieces (M2) . . . . . . . . . . . . . . . . . . . . 95
4.3 Hierarchical Overlap example. . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
4.4 Example of the creation of infeasibilities, considering a feasible circle covering. . 102
4.5 Detection of infeasibilities. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
4.6 Scaling of CCC resolutions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
4.7 Initial solution example for instance poly5b..................... 107
4.8 Comparison of model variants, using instance poly3a with LR and CCC...... 110
4.9 Comparison between different covering resolutions (LR and HR), using instance
poly3a with CCC..................................113
4.10 Layouts obtained for instance jakobs1 with HR and LR coverings. . . . . . . . . 115
4.11 Example considering ICC-LR during the normal optimization phase and CCC-
VHR durign the Post-Optimization phase . . . . . . . . . . . . . . . . . . . . . . 119
4.12 Instance jakobs1 with CCC, PCC and ICC.....................124
4.13 Example of Swim compaction, HR, CCC......................126