50,964 research outputs found
Automated sequence and motion planning for robotic spatial extrusion of 3D trusses
While robotic spatial extrusion has demonstrated a new and efficient means to
fabricate 3D truss structures in architectural scale, a major challenge remains
in automatically planning extrusion sequence and robotic motion for trusses
with unconstrained topologies. This paper presents the first attempt in the
field to rigorously formulate the extrusion sequence and motion planning (SAMP)
problem, using a CSP encoding. Furthermore, this research proposes a new
hierarchical planning framework to solve the extrusion SAMP problems that
usually have a long planning horizon and 3D configuration complexity. By
decoupling sequence and motion planning, the planning framework is able to
efficiently solve the extrusion sequence, end-effector poses, joint
configurations, and transition trajectories for spatial trusses with
nonstandard topologies. This paper also presents the first detailed computation
data to reveal the runtime bottleneck on solving SAMP problems, which provides
insight and comparing baseline for future algorithmic development. Together
with the algorithmic results, this paper also presents an open-source and
modularized software implementation called Choreo that is machine-agnostic. To
demonstrate the power of this algorithmic framework, three case studies,
including real fabrication and simulation results, are presented.Comment: 24 pages, 16 figure
Intelligent computational sketching support for conceptual design
Sketches, with their flexibility and suggestiveness, are in many ways ideal for expressing emerging design concepts. This can be seen from the fact that the process of representing early designs by free-hand drawings was used as far back as in the early 15th century [1]. On the other hand, CAD systems have become widely accepted as an essential design tool in recent years, not least because they provide a base on which design analysis can be carried out. Efficient transfer of sketches into a CAD representation, therefore, is a powerful addition to the designers' armoury.It has been pointed out by many that a pen-on-paper system is the best tool for sketching. One of the crucial requirements of a computer aided sketching system is its ability to recognise and interpret the elements of sketches. 'Sketch recognition', as it has come to be known, has been widely studied by people working in such fields: as artificial intelligence to human-computer interaction and robotic vision. Despite the continuing efforts to solve the problem of appropriate conceptual design modelling, it is difficult to achieve completely accurate recognition of sketches because usually sketches implicate vague information, and the idiosyncratic expression and understanding differ from each designer
A semantic-based platform for the digital analysis of architectural heritage
This essay focuses on the fields of architectural documentation and digital representation. We present a research paper concerning the development of an information system at the scale of architecture, taking into account the relationships that can be established between the representation of buildings (shape, dimension, state of conservation, hypothetical restitution) and heterogeneous information about various fields (such as the technical, the documentary or still the historical one). The proposed approach aims to organize multiple representations (and associated information) around a semantic description model with the goal of defining a system for the multi-field analysis of buildings
Data-Driven Shape Analysis and Processing
Data-driven methods play an increasingly important role in discovering
geometric, structural, and semantic relationships between 3D shapes in
collections, and applying this analysis to support intelligent modeling,
editing, and visualization of geometric data. In contrast to traditional
approaches, a key feature of data-driven approaches is that they aggregate
information from a collection of shapes to improve the analysis and processing
of individual shapes. In addition, they are able to learn models that reason
about properties and relationships of shapes without relying on hard-coded
rules or explicitly programmed instructions. We provide an overview of the main
concepts and components of these techniques, and discuss their application to
shape classification, segmentation, matching, reconstruction, modeling and
exploration, as well as scene analysis and synthesis, through reviewing the
literature and relating the existing works with both qualitative and numerical
comparisons. We conclude our report with ideas that can inspire future research
in data-driven shape analysis and processing.Comment: 10 pages, 19 figure
A Unified Approach for Representing Structurally-Complex Models in SBML Level 3
The aim of this document is to explore a unified approach to handling several of the proposed extensions to the SBML Level 3 Core specification. The approach is illustrated with reference to Simile, a modelling environment which appears to have most of the capabilities of the various SBML Level 3 package proposals which deal with model structure. Simile (http://www.simulistics.com) is a visual modelling environment for continuous systems modelling which includes the ability to handle complex disaggregation of model structure, by allowing the modeller to specify classes of object and the relationships between them.

The note is organised around the 6 packages listed on the SBML Level 3 Proposals web page (http://sbml.org/Community/Wiki/SBML_Level_3_Proposals) which deal with model structure, namely comp, arrays, spatial, geom, dyn and multi. For each one, I consider how the requirements which motivated the package can be handled using Simile's unified approach. Although Simile has a declarative model-representation language (in both Prolog and XML syntax), I use Simile diagrams and equation syntax throughout, since this is more compact and readable than large chunks of XML.

The conclusion is that Simile can indeed meet most of the requirements of these various packages, using a generic set of constructs - basically, the multiple-instance submodel, the concept of a relationship (association) between submodels, and array variables. This suggests the possibility of having a single SBML Level 3 extension package similar to the Simile data model, rather than a series of separate packages. Such an approach has a number of potential advantages and disadvantages compared with having the current set of discrete packages: these are discussed in this paper
A convolutional autoencoder approach for mining features in cellular electron cryo-tomograms and weakly supervised coarse segmentation
Cellular electron cryo-tomography enables the 3D visualization of cellular
organization in the near-native state and at submolecular resolution. However,
the contents of cellular tomograms are often complex, making it difficult to
automatically isolate different in situ cellular components. In this paper, we
propose a convolutional autoencoder-based unsupervised approach to provide a
coarse grouping of 3D small subvolumes extracted from tomograms. We demonstrate
that the autoencoder can be used for efficient and coarse characterization of
features of macromolecular complexes and surfaces, such as membranes. In
addition, the autoencoder can be used to detect non-cellular features related
to sample preparation and data collection, such as carbon edges from the grid
and tomogram boundaries. The autoencoder is also able to detect patterns that
may indicate spatial interactions between cellular components. Furthermore, we
demonstrate that our autoencoder can be used for weakly supervised semantic
segmentation of cellular components, requiring a very small amount of manual
annotation.Comment: Accepted by Journal of Structural Biolog
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