10,654 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
A scalable parallel finite element framework for growing geometries. Application to metal additive manufacturing
This work introduces an innovative parallel, fully-distributed finite element
framework for growing geometries and its application to metal additive
manufacturing. It is well-known that virtual part design and qualification in
additive manufacturing requires highly-accurate multiscale and multiphysics
analyses. Only high performance computing tools are able to handle such
complexity in time frames compatible with time-to-market. However, efficiency,
without loss of accuracy, has rarely held the centre stage in the numerical
community. Here, in contrast, the framework is designed to adequately exploit
the resources of high-end distributed-memory machines. It is grounded on three
building blocks: (1) Hierarchical adaptive mesh refinement with octree-based
meshes; (2) a parallel strategy to model the growth of the geometry; (3)
state-of-the-art parallel iterative linear solvers. Computational experiments
consider the heat transfer analysis at the part scale of the printing process
by powder-bed technologies. After verification against a 3D benchmark, a
strong-scaling analysis assesses performance and identifies major sources of
parallel overhead. A third numerical example examines the efficiency and
robustness of (2) in a curved 3D shape. Unprecedented parallelism and
scalability were achieved in this work. Hence, this framework contributes to
take on higher complexity and/or accuracy, not only of part-scale simulations
of metal or polymer additive manufacturing, but also in welding, sedimentation,
atherosclerosis, or any other physical problem where the physical domain of
interest grows in time
A General Spatio-Temporal Clustering-Based Non-local Formulation for Multiscale Modeling of Compartmentalized Reservoirs
Representing the reservoir as a network of discrete compartments with
neighbor and non-neighbor connections is a fast, yet accurate method for
analyzing oil and gas reservoirs. Automatic and rapid detection of coarse-scale
compartments with distinct static and dynamic properties is an integral part of
such high-level reservoir analysis. In this work, we present a hybrid framework
specific to reservoir analysis for an automatic detection of clusters in space
using spatial and temporal field data, coupled with a physics-based multiscale
modeling approach. In this work a novel hybrid approach is presented in which
we couple a physics-based non-local modeling framework with data-driven
clustering techniques to provide a fast and accurate multiscale modeling of
compartmentalized reservoirs. This research also adds to the literature by
presenting a comprehensive work on spatio-temporal clustering for reservoir
studies applications that well considers the clustering complexities, the
intrinsic sparse and noisy nature of the data, and the interpretability of the
outcome.
Keywords: Artificial Intelligence; Machine Learning; Spatio-Temporal
Clustering; Physics-Based Data-Driven Formulation; Multiscale Modelin
Workstation Configuration and Process Planning for RLW Operations
The application of Remote Laser Welding (RLW) has become an attractive assembly technology in various branches of industry, as it offers higher efficiency at lower costs compared to traditional Resistance Spot Welding (RSW) when high volumes of sheet metal assemblies are to be produced. However, the introduction of RLW technology raises multiple new issues in designing the configuration, the layout, and the behavior of the assembly system. Since configuring an RLW workstation and planning the welding process are closely interrelated problems, a hierarchical decision process must be applied where configuration and planning go hand in hand. The paper presents a hierarchical workflow forworkstation configuration and process planning for RLW operations, and proposes methods for solving the decision problems related to each step of this workflow. A software toolbox is introduced that has been developed to facilitate a semi-Automatic, mixed-initiative workstation design and t o guide the expert user throughout the configuration, planning, programming, evaluation, and simulation of the RLW workstation. A case study from the automotive industry is presented, where the software tools developed are applied to configuring and planning the behavior of an RLW workstation that replaces RSW technology in assembling a car door
A Two Phase Verification Algorithm for Cyclic Workflow Graphs
The widespread automation of e-business processes has made workflow analysis and design an integral part of information management. Graph-based workflow models enables depicting complex processes in a fairly compact form. This free form, on the other hand, can yield models that may fail depending on the judgment of the modeler and create modeling situations that cannot be executed or will behave in a manner not expected by the modeler. Further, cycles in workflow models needed for purposes of rework and information feedback increase the complexity of workflow analysis. This paper presents a novel method of partitioning a cyclic workflow process, represented in a directed graph, into a set of acyclic subgraphs. This allows a cyclic workflow model to be analyzed further with several smaller subflows, which are all acyclic. As a convincing example, we present two-phased verification of structural conflicts in workflow models for those incurred from the inappropriate composition of partitioned flows and the others within each acyclic subgraph, which is much easier to comprehend and verify individually than the whole workflow model, in general
Toward Process Modeling in Creative Domains
Process modeling has emerged as a widely accepted approach in order to reduce organizational complexity in organizations. Process models are used for different purposes, including process analysis and redesign, risk management, and the implementation of software systems. However, the majority of existent approaches is restricted to processes that are wellstructured and predictable. Highly creative environments, such as the film industry or R&D departments, however, are characterized by high levels of flexibility. As existent approaches do not provide ample means to model such processes, this paper discusses the capabilities that a conceptual process modeling grammar for processes in creative environments must provide. Furthermore, we suggest an approach to process analysis that aims at the identification and specification of creativity in business processes. The study belongs to the design science paradigm; the discussion is grounded in a theory that explains the nature of processes that rely on creativity
Status and Future Perspectives for Lattice Gauge Theory Calculations to the Exascale and Beyond
In this and a set of companion whitepapers, the USQCD Collaboration lays out
a program of science and computing for lattice gauge theory. These whitepapers
describe how calculation using lattice QCD (and other gauge theories) can aid
the interpretation of ongoing and upcoming experiments in particle and nuclear
physics, as well as inspire new ones.Comment: 44 pages. 1 of USQCD whitepapers
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