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

Explicitly representing the semantics of composite positional tolerance for patterns of holes

Representing the semantics of the interaction of two or more tolerances (i.e. composite tolerance) explicitly to make them computer-understandable is currently a challenging task in computer-aided tolerancing (CAT). We have proposed a description logic (DL) ontology based approach to complete this task recently. In this paper, the representation of the semantics of the composite positional tolerance (CPT) for patterns of holes (POHs) is used as an example to illustrate the proposed approach. This representation mainly includes: representing the structure knowledge of the CPT for POHs in DL terminological axioms; expressing the constraint knowledge with Horn rules; and describing the individual knowledge using DL assertional axioms. By implementing the representation with the web ontology language (OWL) and the semantic web rule language (SWRL), a CPT ontology is developed. This ontology has explicitly computer-understandable semantics due to the logic-based semantics of OWL and SWRL. As is illustrated by an engineering example, such semantics makes it possible to automatically check the consistency, reason out the new knowledge, and implement the semantic interoperability of CPT information. Benefiting from this, the ontology provides a semantic enrichment model for the CPT information extracted from CAD/CAM systems

LEGaTO: first steps towards energy-efficient toolset for heterogeneous computing

LEGaTO is a three-year EU H2020 project which started in December 2017. The LEGaTO project will leverage task-based programming models to provide a software ecosystem for Made-in-Europe heterogeneous hardware composed of CPUs, GPUs, FPGAs and dataflow engines. The aim is to attain one order of magnitude energy savings from the edge to the converged cloud/HPC.Peer ReviewedPostprint (author's final draft

Functional nucleic acids as substrate for information processing

Information processing applications driven by self-assembly and conformation dynamics of nucleic acids are possible. These underlying paradigms (self-assembly and conformation dynamics) are essential for natural information processors as illustrated by proteins. A key advantage in utilising nucleic acids as information processors is the availability of computational tools to support the design process. This provides us with a platform to develop an integrated environment in which an orchestration of molecular building blocks can be realised. Strict arbitrary control over the design of these computational nucleic acids is not feasible. The microphysical behaviour of these molecular materials must be taken into consideration during the design phase. This thesis investigated, to what extent the construction of molecular building blocks for a particular purpose is possible with the support of a software environment. In this work we developed a computational protocol that functions on a multi-molecular level, which enable us to directly incorporate the dynamic characteristics of nucleic acids molecules. To allow the implementation of this computational protocol, we developed a designer that able to solve the nucleic acids inverse prediction problem, not only in the multi-stable states level, but also include the interactions among molecules that occur in each meta-stable state. The realisation of our computational protocol are evaluated by generating computational nucleic acids units that resembles synthetic RNA devices that have been successfully implemented in the laboratory. Furthermore, we demonstrated the feasibility of the protocol to design various types of computational units. The accuracy and diversity of the generated candidates are significantly better than the best candidates produced by conventional designers. With the computational protocol, the design of nucleic acid information processor using a network of interconnecting nucleic acids is now feasible

Verification of knowledge shared across design and manufacture using a foundation ontology

Seamless computer-based knowledge sharing between departments of a manufacturing enterprise is useful in preventing unnecessary design revisions. A lack of interoperability between independently developed knowledge bases, however, is a major impediment in the development of a seamless knowledge sharing system. Interoperability, being an ability to overcome semantic and syntactic differences during computer-based knowledge sharing can be enhanced through the use of ontologies. Ontologies in computer science terms are hierarchical structures of knowledge stored in a computer-based knowledge base. Ontologies have been accepted by all as an interoperable medium to provide a non-subjective way of storing and sharing knowledge across diverse domains. Some semantic and syntactic differences, however, still crop up when these ontological knowledge bases are developed independently. A case study in an aerospace components manufacturing company suggests that shape features of a component are perceived differently by the designing and manufacturing departments. These differences cause further misunderstanding and misinterpretation when computer-based knowledge sharing systems are used across the two domains. Foundation or core ontologies can be used to overcome these differences and to ensure a seamless sharing of knowledge. This is because these ontologies provide a common grounding for domain ontologies to be used by individual domains or department. This common grounding can be used by the mediation and knowledge verification systems to authenticate the meaning of knowledge understood across different domains. For this reason, this research proposes a knowledge verification framework for developing a system capable of verifying knowledge between those domain ontologies which are developed out of a common core or foundation ontology. This framework makes use of ontology logic to standardize the way concepts from a foundation and core-concepts ontology are used in domain ontologies and then by using the same principles the knowledge being shared is verified. The Knowledge Frame Language which is based on Common Logic is used for formalizing example ontologies. The ontology editor used for browsing and querying ontologies is the Integrated Ontology Development Environment (IODE) by Highfleet Inc. An ontological product modelling technique is also developed in this research, to test the proposed framework in the scenario of manufacturability analysis. The proposed framework is then validated through a Java API specially developed for this purpose. Real industrial examples experienced during the case study are used for validation