Automatic generation of robot and manual assembly plans using octrees

This paper aims to investigate automatic assembly planning for robot and manual assembly. The octree decomposition technique is applied to approximate CAD models with an octree representation which are then used to generate robot and manual assembly plans. An assembly planning system able to generate assembly plans was developed to build these prototype models. Octree decomposition is an effective assembly planning tool. Assembly plans can automatically be generated for robot and manual assembly using octree models. Research limitations/implications - One disadvantage of the octree decomposition technique is that it approximates a part model with cubes instead of using the actual model. This limits its use and applications when complex assemblies must be planned, but in the context of prototyping can allow a rough component to be formed which can later be finished by hand. Assembly plans can be generated using octree decomposition, however, new algorithms must be developed to overcome its limitations

Scaling metagenome sequence assembly with probabilistic de Bruijn graphs

Deep sequencing has enabled the investigation of a wide range of environmental microbial ecosystems, but the high memory requirements for {\em de novo} assembly of short-read shotgun sequencing data from these complex populations are an increasingly large practical barrier. Here we introduce a memory-efficient graph representation with which we can analyze the k-mer connectivity of metagenomic samples. The graph representation is based on a probabilistic data structure, a Bloom filter, that allows us to efficiently store assembly graphs in as little as 4 bits per k-mer, albeit inexactly. We show that this data structure accurately represents DNA assembly graphs in low memory. We apply this data structure to the problem of partitioning assembly graphs into components as a prelude to assembly, and show that this reduces the overall memory requirements for {\em de novo} assembly of metagenomes. On one soil metagenome assembly, this approach achieves a nearly 40-fold decrease in the maximum memory requirements for assembly. This probabilistic graph representation is a significant theoretical advance in storing assembly graphs and also yields immediate leverage on metagenomic assembly

Folding Assembly by Means of Dual-Arm Robotic Manipulation

In this paper, we consider folding assembly as an assembly primitive suitable for dual-arm robotic assembly, that can be integrated in a higher level assembly strategy. The system composed by two pieces in contact is modelled as an articulated object, connected by a prismatic-revolute joint. Different grasping scenarios were considered in order to model the system, and a simple controller based on feedback linearisation is proposed, using force torque measurements to compute the contact point kinematics. The folding assembly controller has been experimentally tested with two sample parts, in order to showcase folding assembly as a viable assembly primitive.Comment: 7 pages, accepted for ICRA 201

Intrinsic Universality in Self-Assembly

We show that the Tile Assembly Model exhibits a strong notion of universality where the goal is to give a single tile assembly system that simulates the behavior of any other tile assembly system. We give a tile assembly system that is capable of simulating a very wide class of tile systems, including itself. Specifically, we give a tile set that simulates the assembly of any tile assembly system in a class of systems that we call \emph{locally consistent}: each tile binds with exactly the strength needed to stay attached, and that there are no glue mismatches between tiles in any produced assembly. Our construction is reminiscent of the studies of \emph{intrinsic universality} of cellular automata by Ollinger and others, in the sense that our simulation of a tile system $T$ by a tile system $U$ represents each tile in an assembly produced by $T$ by a $c \times c$ block of tiles in $U$, where $c$ is a constant depending on $T$ but not on the size of the assembly $T$ produces (which may in fact be infinite). Also, our construction improves on earlier simulations of tile assembly systems by other tile assembly systems (in particular, those of Soloveichik and Winfree, and of Demaine et al.) in that we simulate the actual process of self-assembly, not just the end result, as in Soloveichik and Winfree's construction, and we do not discriminate against infinite structures. Both previous results simulate only temperature 1 systems, whereas our construction simulates tile assembly systems operating at temperature 2

Dynamic Pathways for Viral Capsid Assembly

We develop a class of models with which we simulate the assembly of particles into T1 capsid-like objects using Newtonian dynamics. By simulating assembly for many different values of system parameters, we vary the forces that drive assembly. For some ranges of parameters, assembly is facile, while for others, assembly is dynamically frustrated by kinetic traps corresponding to malformed or incompletely formed capsids. Our simulations sample many independent trajectories at various capsomer concentrations, allowing for statistically meaningful conclusions. Depending on subunit (i.e., capsomer) geometries, successful assembly proceeds by several mechanisms involving binding of intermediates of various sizes. We discuss the relationship between these mechanisms and experimental evaluations of capsid assembly processes.Comment: 13 pages, 13 figures. Submitted to Biophys.

Incremental simulation modelling for Internet collaborative design

In order to support Web-based collaborative design in terms of transferring or updating models dynamically and efficiently, new incremental modelling and local updating strategies have been developed for simulation modelling application since simulation is more focused on visualisation effects than on geometry details. Based on an assembly connection concept, a drag-and-drop assembly method has also been proposed in simulation assembly. An assembly connection is defined as a group of assembly constraints and it makes assembly easier. A case study example is given to show the content of the proposed research