53,299 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
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 āobviousā ways to exploit these advanced capabilities (such as wireless music download), here we consider a rather different applicationāpedestrian 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
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