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

Location Privacy in Spatial Crowdsourcing

Spatial crowdsourcing (SC) is a new platform that engages individuals in collecting and analyzing environmental, social and other spatiotemporal information. With SC, requesters outsource their spatiotemporal tasks to a set of workers, who will perform the tasks by physically traveling to the tasks' locations. This chapter identifies privacy threats toward both workers and requesters during the two main phases of spatial crowdsourcing, tasking and reporting. Tasking is the process of identifying which tasks should be assigned to which workers. This process is handled by a spatial crowdsourcing server (SC-server). The latter phase is reporting, in which workers travel to the tasks' locations, complete the tasks and upload their reports to the SC-server. The challenge is to enable effective and efficient tasking as well as reporting in SC without disclosing the actual locations of workers (at least until they agree to perform a task) and the tasks themselves (at least to workers who are not assigned to those tasks). This chapter aims to provide an overview of the state-of-the-art in protecting users' location privacy in spatial crowdsourcing. We provide a comparative study of a diverse set of solutions in terms of task publishing modes (push vs. pull), problem focuses (tasking and reporting), threats (server, requester and worker), and underlying technical approaches (from pseudonymity, cloaking, and perturbation to exchange-based and encryption-based techniques). The strengths and drawbacks of the techniques are highlighted, leading to a discussion of open problems and future work

Model-based controller design for a plastic film extrusion process

This paper reports the development and implementation of a model-based cross-directional controller for plastic film extrusion and other web-forming processes. The controller design has a similar structure to that of internal model control (IMC) with the addition of an observer whose gain is designed to minimise process and model mis-match. The observer gain is obtained by solving a multi-objective optimisation through the application of a genetic algorithm and simulation results are presented in this paper demonstrating improvements that can be achieved by the proposed controller over two existing CD controllers

Navigation-by-music for pedestrians: an initial prototype and evaluation

Digital mobile music devices are phenomenally popular. The devices are becoming increasingly powerful with sophisticated interaction controls, powerful processors, vast onboard storage and network connectivity. While there are ‘obvious’ ways to exploit these advanced capabilities (such as wireless music download), here we consider a rather different application—pedestrian navigation. We report on a system (ONTRACK) that aims to guide listeners to their destinations by continuously adapting the spatial qualities of the music they are enjoying. Our field-trials indicate that even with a low-fidelity realisation of the concept, users can quite effectively navigate complicated routes