66,899 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 Structured Systems Approach for Optimal Actuator-Sensor Placement in Linear Time-Invariant Systems
In this paper we address the actuator/sensor allocation problem for linear
time invariant (LTI) systems. Given the structure of an autonomous linear
dynamical system, the goal is to design the structure of the input matrix
(commonly denoted by ) such that the system is structurally controllable
with the restriction that each input be dedicated, i.e., it can only control
directly a single state variable. We provide a methodology that addresses this
design question: specifically, we determine the minimum number of dedicated
inputs required to ensure such structural controllability, and characterize,
and characterizes all (when not unique) possible configurations of the
\emph{minimal} input matrix . Furthermore, we show that the proposed
solution methodology incurs \emph{polynomial complexity} in the number of state
variables. By duality, the solution methodology may be readily extended to the
structural design of the corresponding minimal output matrix (commonly denoted
by ) that ensures structural observability.Comment: 8 pages, submitted for publicatio
Progressive construction of a parametric reduced-order model for PDE-constrained optimization
An adaptive approach to using reduced-order models as surrogates in
PDE-constrained optimization is introduced that breaks the traditional
offline-online framework of model order reduction. A sequence of optimization
problems constrained by a given Reduced-Order Model (ROM) is defined with the
goal of converging to the solution of a given PDE-constrained optimization
problem. For each reduced optimization problem, the constraining ROM is trained
from sampling the High-Dimensional Model (HDM) at the solution of some of the
previous problems in the sequence. The reduced optimization problems are
equipped with a nonlinear trust-region based on a residual error indicator to
keep the optimization trajectory in a region of the parameter space where the
ROM is accurate. A technique for incorporating sensitivities into a
Reduced-Order Basis (ROB) is also presented, along with a methodology for
computing sensitivities of the reduced-order model that minimizes the distance
to the corresponding HDM sensitivity, in a suitable norm. The proposed reduced
optimization framework is applied to subsonic aerodynamic shape optimization
and shown to reduce the number of queries to the HDM by a factor of 4-5,
compared to the optimization problem solved using only the HDM, with errors in
the optimal solution far less than 0.1%
Recommended from our members
Insight and search in Katona’s five-square problem
Insights are often productive outcomes of human thinking. We provide a cognitive model that explains insight problem solving by the interplay of problem space search and representational change, whereby the problem space is constrained or relaxed based on the problem representation. By introducing different experimental conditions that either constrained the initial search space or helped solvers to initiate a representational change, we investigated the interplay of problem space search and representational change in Katona’s five-square problem.
Testing 168 participants, we demonstrated that independent hints relating to the initial search space and to representational change had little effect on solution rates. However, providing both hints caused a significant increase in solution rates. Our results show the interplay between problem space search and representational change in insight problem solving: The initial problem space can be so large that people fail to encounter impasse, but even when representational change is achieved the resulting problem space can still provide a major obstacle to finding
the solution
- …