413 research outputs found

    Constraint-aware coordinated construction of generic structures

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    This paper presents a constraint-aware decentralized approach to construction with teams of robots. We present an extension to existing work on a distributed controller for robotic construction of simple structures. Our previous work described a set of adaptive algorithms for constructing truss structures given a target geometry using continuous and graph-based equal-mass partitioning [1], [2]. Using this work as a foundation, we present an algorithm which performs construction tasks and conforms to physical constraints while considering those constraints to parallelize tasks. This is accomplished by defining a mass function which reflects the priority of part placement and prevents physically impossible states. This mass function generates a set of pointmasses in ℝn, and we present a novel algorithm for finding a locally optimal, equal-mass, convex tessellation of such a set.Boeing CompanyNational Science Foundation (U.S.).National Science Foundation (U.S.). Office of Emerging Frontiers in Research and Innovation (Grant #0735953)United States. Army Research Office. Multidisciplinary University Research Initiative. Swarms of Autonomous Robots and Mobile Sensors Project (Grant number N0014-09-1051)United States. Army Research Office. Multidisciplinary University Research Initiative. Scalable (Grant number 544252

    Coordinating construction by a distributed multi-robot system

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    Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2010.Cataloged from PDF version of thesis.Includes bibliographical references (p. 147-156).This thesis presents a decentralized algorithm for the coordinated assembly of 3D objects that consist of multiple types of parts, using a networked team of robots. We describe the algorithm and analyze its stability and adaptation properties. We partition construction in two tasks, tool delivery and assembly. Each task is performed by a networked team of specialized robots. We analyze the performance of the algorithms using the balls into bins problem, and show their adaptation to failure of robots, dynamic constraints, multiple types of elements and reconfiguration. We instantiate the algorithm to building truss-like objects using rods and connectors. The algorithm has been implemented in simulation and results for constructing 2D and 3D parts are shown. Finally, we describe hardware implementation of the algorithms where mobile manipulators assemble smarts parts with IR beacons.by Seung-kook Yun.Ph.D

    Constraint-aware coordinated construction of generic structures

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    Coordinated part delivery UDP

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    Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2010.Cataloged from PDF version of thesis.Includes bibliographical references (p. 81-82).In this thesis, we develop a distributed mobile robot platform to deliver parts around a model construction site. The platform's robots, specialized into delivery robots and assembly robots, use a distributed coverage algorithm to determine where parts should be delivered. The robots consist of a mobility platform (iRobot iCreate), a manipulation platform (Crustcrawler arm), and an IR communication system to enable recognition and grasping of parts. To control the robot hardware, we implemented software in Java. The delivery robots use IR communication to find parts at a supply station. After communicating over UDP multicast with assembly station robots, the delivery robots deliver parts to the assembly robots based on their coverage control algorithm. To evaluate the algorithm, we constructed a hardware system of 4 robots, connected to a VICON motion capture system for localization. We discuss the results of successful hardware and software testing of the system as a method of delivering parts around a construction site, and we discuss future plans to use the platform to assemble parts once delivered.by Adrienne Bolger.M.Eng

    Constraint-aware distributed robotic assembly and disassembly

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    Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2012.Cataloged from PDF version of thesis.Includes bibliographical references (p. 83-85).In this work, we present a distributed robotic system capable of the efficient assembly and disassembly of complex three-dimensional structures. We introduce algorithms for equitable partitioning of work across robots and for the efficient ordering of assembly or disassembly tasks while taking physical constraints into consideration. We then extend these algorithms to a variety of real-world situations, including when component parts are unavailable or when the time requirements of assembly tasks are non-uniform. We demonstrate the correctness and efficiency of these algorithms through a multitude of simulations. Finally, we introduce a mobile robotic platform and implement these algorithms on them. We present experimental data from this platform on the effectiveness and applicability of our algorithms.by Timothy Ryan Schoen.M.Eng

    Optimal Partitioning and Coordination Decisions in Decomposition-based Design Optimization.

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    Successful design of complex modern products is a grand challenge for design organizations. The task is becoming increasingly important due to economic competition and concern over safety, reliability, and energy efficiency. Automotive and aerospace products, for example, are composed of numerous interdependent subsystems with a level of complexity that surpasses the capability of a single design group. A common approach is to partition complex design problems into smaller, more manageable design tasks that can be solved by individual design groups. Effective management of interdependency between these subproblems is critical, and a successful design process ultimately must meet the needs of the overall system. Decomposition-based design optimization techniques provide a mathematical foundation and computational tools for developing such design processes. Two tasks must be performed so that decomposition-based design optimization can be used to solve a system design problem: partitioning the system into subproblems, and determining a coordination method for guiding subproblem solutions toward the optimal system design. System partition and coordination strategy have a profound impact on the design process. The effect of partitioning and coordination decisions have been studied independently, while interaction between these decisions has been largely ignored. It is shown here that these two sets of decisions do interact: how a system is partitioned influences appropriate coordination decisions, and vice versa. Consequently, addressing partitioning and coordination decisions simultaneously leads to improved system design processes. The combined partitioning and coordination decision problem is a difficult combinatorial problem. An evolutionary algorithm that solves this decision problem effectively is presented. The set of all partitioning and coordination options for a specific formulation framework, augmented Lagrangian coordination (ALC), is derived, and a method for choosing Pareto-optimal solutions from amongst these options is described. Concepts and techniques are demonstrated using several engineering example problems. A detailed model for an electric vehicle design problem is presented that considers three vehicle systems: powertrain, chassis, and structure, and partitioning and coordination decisions for this problem are analyzed.Ph.D.Mechanical EngineeringUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttp://deepblue.lib.umich.edu/bitstream/2027.42/58449/1/jtalliso_1.pd

    Distributed assembly strategies for teams of autonomous robots

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    The distributed assembly problem involves using a team of robots to assemble a structure autonomously. The goal is to develop a strategy such that the robots assemble the structure correctly and in the most e cient way possible. This thesis outlines di erent single robot assembly strategies, di erent methods for partitioning the building tasks amongst multiple robots, and de ning the complexity of a structure to be assembled. The scope of work includes investigating di erent assembly strategies through design and analysis of di erent assembly algorithms, developing simulations to evaluate and validate the di erent assembly strategies, comparing the proposed methods with existing approaches, and implementing selected assembly strategies on an actual robotic testbed.M.S., Mechanical Engineering -- Drexel University, 201

    The NASA SBIR product catalog

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    The purpose of this catalog is to assist small business firms in making the community aware of products emerging from their efforts in the Small Business Innovation Research (SBIR) program. It contains descriptions of some products that have advanced into Phase 3 and others that are identified as prospective products. Both lists of products in this catalog are based on information supplied by NASA SBIR contractors in responding to an invitation to be represented in this document. Generally, all products suggested by the small firms were included in order to meet the goals of information exchange for SBIR results. Of the 444 SBIR contractors NASA queried, 137 provided information on 219 products. The catalog presents the product information in the technology areas listed in the table of contents. Within each area, the products are listed in alphabetical order by product name and are given identifying numbers. Also included is an alphabetical listing of the companies that have products described. This listing cross-references the product list and provides information on the business activity of each firm. In addition, there are three indexes: one a list of firms by states, one that lists the products according to NASA Centers that managed the SBIR projects, and one that lists the products by the relevant Technical Topics utilized in NASA's annual program solicitation under which each SBIR project was selected

    Bridge Deck Runoff: Water Quality Analysis and BMP Effectiveness

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    INE/AUTC 10.0

    Solar power satellite: Analysis of alternatives for transporting material to geosynchronous orbit

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    A systems design study of the alternative methods and relative merits of various approaches to transporting and assembling a solar power satellite in geosynchronous orbit was conducted. State of the art alternatives for chemical and electrical interorbital propulsion were studied, and several possible scenarios for construction were proposed
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