Stable bin packing of non-convex 3D objects with a robot manipulator

Recent progress in the field of robotic manipulation has generated interest in fully automatic object packing in warehouses. This paper proposes a formulation of the packing problem that is tailored to the automated warehousing domain. Besides minimizing waste space inside a container, the problem requires stability of the object pile during packing and the feasibility of the robot motion executing the placement plans. To address this problem, a set of constraints are formulated, and a constructive packing pipeline is proposed to solve for these constraints. The pipeline is able to pack geometrically complex, non-convex objects with stability while satisfying robot constraints. In particular, a new 3D positioning heuristic called Heightmap-Minimization heuristic is proposed, and heightmaps are used to speed up the search. Experimental evaluation of the method is conducted with a realistic physical simulator on a dataset of scanned real-world items, demonstrating stable and high-quality packing plans compared with other 3D packing methods

Fast Isogeometric Boundary Element Method based on Independent Field Approximation

An isogeometric boundary element method for problems in elasticity is presented, which is based on an independent approximation for the geometry, traction and displacement field. This enables a flexible choice of refinement strategies, permits an efficient evaluation of geometry related information, a mixed collocation scheme which deals with discontinuous tractions along non-smooth boundaries and a significant reduction of the right hand side of the system of equations for common boundary conditions. All these benefits are achieved without any loss of accuracy compared to conventional isogeometric formulations. The system matrices are approximated by means of hierarchical matrices to reduce the computational complexity for large scale analysis. For the required geometrical bisection of the domain, a strategy for the evaluation of bounding boxes containing the supports of NURBS basis functions is presented. The versatility and accuracy of the proposed methodology is demonstrated by convergence studies showing optimal rates and real world examples in two and three dimensions.Comment: 32 pages, 27 figure

Techniques for Large Data Visualization

pages 315-32

Robustness maximization of parallel multichannel systems

Bit error rate (BER) minimization and SNR-gap maximization, two robustness optimization problems, are solved, under average power and bit-rate constraints, according to the waterfilling policy. Under peak-power constraint the solutions differ and this paper gives bit-loading solutions of both robustness optimization problems over independent parallel channels. The study is based on analytical approach with generalized Lagrangian relaxation tool and on greedy-type algorithm approach. Tight BER expressions are used for square and rectangular quadrature amplitude modulations. Integer bit solution of analytical continuous bit-rates is performed with a new generalized secant method. The asymptotic convergence of both robustness optimizations is proved for both analytical and algorithmic approaches. We also prove that, in conventional margin maximization problem, the equivalence between SNR-gap maximization and power minimization does not hold with peak-power limitation. Based on a defined dissimilarity measure, bit-loading solutions are compared over power line communication channel for multicarrier systems. Simulation results confirm the asymptotic convergence of both allocation policies. In non asymptotic regime the allocation policies can be interchanged depending on the robustness measure and the operating point of the communication system. The low computational effort of the suboptimal solution based on analytical approach leads to a good trade-off between performance and complexity.Comment: 27 pages, 8 figures, submitted to IEEE Trans. Inform. Theor