Dynamic Programming for Optimal Control of Set-Up Scheduling with Neural Network Modifications

This paper demonstrates an optimal control solution to change of machine set-up scheduling based on dynamic programming average cost per stage value iteration as set forth by Cararnanis et. al. [2] for the 2D case. The difficulty with the optimal approach lies in the explosive computational growth of the resulting solution. A method of reducing the computational complexity is developed using ideas from biology and neural networks. A real time controller is described that uses a linear-log representation of state space with neural networks employed to fit cost surfaces.Defense Advanced Research Projects Agency (90-0083

Structure from motion systems for architectural heritage. A survey of the internal loggia courtyard of Palazzo dei Capitani, Ascoli Piceno, Italy

We present the results of a point-cloud-based survey deriving from the use of image-based techniques, in particular with multi-image monoscopic digital photogrammetry systems and software, the so-called “structure-from-motion” technique. The aim is to evaluate the advantages and limitations of such procedures in architectural surveying, particularly in conditions that are “at the limit”. A particular case study was chosen: the courtyard of Palazzo dei Capitani del Popolo in Ascoli Piceno, Italy, which can be considered the ideal example due to its notable vertical, rather than horizontal, layout. In this context, by comparing and evaluating the different results, we present experimentation regarding this single case study with the aim of identifying the best workflow to realise a complex, articulated set of representations—using 3D modelling and 2D processing—necessary to correctly document the particular characteristics of such an architectural object

Autonomous 3D Exploration of Large Structures Using an UAV Equipped with a 2D LIDAR

This paper addressed the challenge of exploring large, unknown, and unstructured industrial environments with an unmanned aerial vehicle (UAV). The resulting system combined well-known components and techniques with a new manoeuvre to use a low-cost 2D laser to measure a 3D structure. Our approach combined frontier-based exploration, the Lazy Theta* path planner, and a flyby sampling manoeuvre to create a 3D map of large scenarios. One of the novelties of our system is that all the algorithms relied on the multi-resolution of the octomap for the world representation. We used a Hardware-in-the-Loop (HitL) simulation environment to collect accurate measurements of the capability of the open-source system to run online and on-board the UAV in real-time. Our approach is compared to different reference heuristics under this simulation environment showing better performance in regards to the amount of explored space. With the proposed approach, the UAV is able to explore 93% of the search space under 30 min, generating a path without repetition that adjusts to the occupied space covering indoor locations, irregular structures, and suspended obstaclesUnión Europea Marie Sklodowska-Curie 64215Unión Europea MULTIDRONE (H2020-ICT-731667)Uniión Europea HYFLIERS (H2020-ICT-779411