A review of geometry representation and processing methods for cartesian and multiaxial robot-based additive manufacturing

Nowadays, robot-based additive manufacturing (RBAM) is emerging as a potential solution to increase manufacturing flexibility. Such technology allows to change the orientation of the material deposition unit during printing, making it possible to fabricate complex parts with optimized material distribution. In this context, the representation of parts geometries and their subsequent processing become aspects of primary importance. In particular, part orientation, multiaxial deposition, slicing, and infill strategies must be properly evaluated so as to obtain satisfactory outputs and avoid printing failures. Some advanced features can be found in commercial slicing software (e.g., adaptive slicing, advanced path strategies, and non-planar slicing), although the procedure may result excessively constrained due to the limited number of available options. Several approaches and algorithms have been proposed for each phase and their combination must be determined accurately to achieve the best results. This paper reviews the state-of-the-art works addressing the primary methods for the representation of geometries and the subsequent geometry processing for RBAM. For each category, tools and software found in the literature and commercially available are discussed. Comparison tables are then reported to assist in the selection of the most appropriate approaches. The presented review can be helpful for designers, researchers and practitioners to identify possible future directions and open issues

Proceedings of the 2021 DigitalFUTURES

This open access book is a compilation of selected papers from 2021 DigitalFUTURES—The 3rd International Conference on Computational Design and Robotic Fabrication (CDRF 2021). The work focuses on novel techniques for computational design and robotic fabrication. The contents make valuable contributions to academic researchers, designers, and engineers in the industry. As well, readers encounter new ideas about understanding material intelligence in architecture

Design of an UAV swarm

This master thesis tries to give an overview on the general aspects involved in the design of an UAV swarm. UAV swarms are continuoulsy gaining popularity amongst researchers and UAV manufacturers, since they allow greater success rates in task accomplishing with reduced times. Appart from this, multiple UAVs cooperating between them opens a new field of missions that can only be carried in this way. All the topics explained within this master thesis will explain all the agents involved in the design of an UAV swarm, from the communication protocols between them, navigation and trajectory analysis and task allocation

Autonomous Navigation for Unmanned Aerial Systems - Visual Perception and Motion Planning

L'abstract è presente nell'allegato / the abstract is in the attachmen

Percepción basada en visión estereoscópica, planificación de trayectorias y estrategias de navegación para exploración robótica autónoma

Tesis inédita de la Universidad Complutense de Madrid, Facultad de Informática, Departamento de Ingeniería del Software e Inteligencia artificial, leída el 13-05-2015En esta tesis se trata el desarrollo de una estrategia de navegación autónoma basada en visión artificial para exploración robótica autónoma de superficies planetarias. Se han desarrollado una serie de subsistemas, módulos y software específicos para la investigación desarrollada en este trabajo, ya que la mayoría de las herramientas existentes para este dominio son propiedad de agencias espaciales nacionales, no accesibles a la comunidad científica. Se ha diseñado una arquitectura software modular multi-capa con varios niveles jerárquicos para albergar el conjunto de algoritmos que implementan la estrategia de navegación autónoma y garantizar la portabilidad del software, su reutilización e independencia del hardware. Se incluye también el diseño de un entorno de trabajo destinado a dar soporte al desarrollo de las estrategias de navegación. Éste se basa parcialmente en herramientas de código abierto al alcance de cualquier investigador o institución, con las necesarias adaptaciones y extensiones, e incluye capacidades de simulación 3D, modelos de vehículos robóticos, sensores, y entornos operacionales, emulando superficies planetarias como Marte, para el análisis y validación a nivel funcional de las estrategias de navegación desarrolladas. Este entorno también ofrece capacidades de depuración y monitorización.La presente tesis se compone de dos partes principales. En la primera se aborda el diseño y desarrollo de las capacidades de autonomía de alto nivel de un rover, centrándose en la navegación autónoma, con el soporte de las capacidades de simulación y monitorización del entorno de trabajo previo. Se han llevado a cabo un conjunto de experimentos de campo, con un robot y hardware real, detallándose resultados, tiempo de procesamiento de algoritmos, así como el comportamiento y rendimiento del sistema en general. Como resultado, se ha identificado al sistema de percepción como un componente crucial dentro de la estrategia de navegación y, por tanto, el foco principal de potenciales optimizaciones y mejoras del sistema. Como consecuencia, en la segunda parte de este trabajo, se afronta el problema de la correspondencia en imágenes estéreo y reconstrucción 3D de entornos naturales no estructurados. Se han analizado una serie de algoritmos de correspondencia, procesos de imagen y filtros. Generalmente se asume que las intensidades de puntos correspondientes en imágenes del mismo par estéreo es la misma. Sin embargo, se ha comprobado que esta suposición es a menudo falsa, a pesar de que ambas se adquieren con un sistema de visión compuesto de dos cámaras idénticas. En consecuencia, se propone un sistema experto para la corrección automática de intensidades en pares de imágenes estéreo y reconstrucción 3D del entorno basado en procesos de imagen no aplicados hasta ahora en el campo de la visión estéreo. Éstos son el filtrado homomórfico y la correspondencia de histogramas, que han sido diseñados para corregir intensidades coordinadamente, ajustando una imagen en función de la otra. Los resultados se han podido optimizar adicionalmente gracias al diseño de un proceso de agrupación basado en el principio de continuidad espacial para eliminar falsos positivos y correspondencias erróneas. Se han estudiado los efectos de la aplicación de dichos filtros, en etapas previas y posteriores al proceso de correspondencia, con eficiencia verificada favorablemente. Su aplicación ha permitido la obtención de un mayor número de correspondencias válidas en comparación con los resultados obtenidos sin la aplicación de los mismos, consiguiendo mejoras significativas en los mapas de disparidad y, por lo tanto, en los procesos globales de percepción y reconstrucción 3D.Depto. de Ingeniería de Software e Inteligencia Artificial (ISIA)Fac. de InformáticaTRUEunpu

Simulation-Based and Data-Driven Approaches to Industrial Digital Twinning Towards Autonomous Smart Manufacturing Systems

A manufacturing paradigm shift from conventional control pyramids to decentralized, service-oriented, and cyber-physical systems (CPSs) is taking place in today’s Industry 4.0 revolution. Generally accepted roles and implementation recipes of cyber systems are expected to be standardized in the future of manufacturing industry. Developing affordable and customizable cyber-physical production system (CPPS) and digital twin implementations infuses new vitality for current Industry 4.0 and Smart Manufacturing initiatives. Specially, Smart Manufacturing systems are currently looking for methods to connect factories to control processes in a more dynamic and open environment by filling the gaps between virtual and physical systems. The work presented in this dissertation first utilizes industrial digital transformation methods for the automation of robotic manufacturing systems, constructing a simulation-based surrogate system as a digital twin to visually represent manufacturing cells, accurately simulate robot behaviors, promptly predict system faults and adaptively control manipulated variables. Then, a CPS-enabled control architecture is presented that accommodates: intelligent information systems involving domain knowledge, empirical model, and simulation; fast and secured industrial communication networks; cognitive automation by rapid signal analytics and machine learning (ML) based feature extraction; and interoperability between machine and human. A successful semantic integration of process indicators is fundamental to future control autonomy. Hence, a product-centered signature mapping approach to automated digital twinning is further presented featuring a hybrid implementation of smart sensing, signature-based 3D shape feature extractor, and knowledge taxonomy. Furthermore, capabilities of members in the family of Deep Reinforcement Learning (DRL) are explored within the context of manufacturing operational control intelligence. Preliminary training results are presented in this work as a trial to incorporate DRL-based Artificial Intelligence (AI) to industrial control processes. The results of this dissertation demonstrate a digital thread of autonomous Smart Manufacturing lifecycle that enables complex signal processing, semantic integration, automatic derivation of manufacturing strategies, intelligent scheduling of operations and virtual verification at a system level. The successful integration of currently available industrial platforms not only provides facile environments for process verification and optimization, but also facilitates derived strategies to be readily deployable to physical shop floor. The dissertation finishes with summary, conclusions, and suggestions for further work

Deep Neuroevolution: Smart City Applications

Particularmente, la contribución de esta tesis se centra en cuatro aspectos: Primero, proponemos la técnica Mean Absolute Error Random Sampling (MRS) para estimar el rendimiento de una RNN, la cual se basa en la distribución del error observado en un muestreo aleatorio. Nuestros resultados muestran que MRS es una estimación fiable y de bajo coste computacional para predecir el rendimiento de una RNN. Segundo, diseñamos un algoritmo evolutivo (RESN) que explota MRS para optimizar la arquitectura de una RNN. RESN muestra resultados competitivos a la vez que reduce significativamente el tiempo. Tercero, en el contexto de la aplicación, proponemos soluciones para problemas de movilidad, electricidad y gestión de residuos inteligente, y hemos revisado el estado del arte de la ciudad inteligente y su relación con la informática. Cuarto, hemos desarrollado la biblioteca de software Deep Learning OPTimization (DLOPT), la cual está disponible bajo la licencia GNU GPL v3. Ésta contiene la mayor parte del trabajo realizado en esta tesis.El interés por desarrollar redes neuronales artificiales ha resurgido de la mano del Aprendizaje Profundo. En términos simples, el aprendizaje profundo consiste en diseñar y entrenar una red neuronal de gran complejidad y tamaño con una inmensa cantidad de datos. Esta creciente complejidad propone nuevos desafíos, siendo de especial relevancia la optimización del diseño dado un problema. Tradicionalmente, este problema ha sido resuelto en una combinación de conocimiento experto (humano) con prueba y error. Sin embargo, conforme la complejidad aumenta, este acercamiento se vuelve ineficiente (e impracticable). Esta tesis doctoral aborda el diseño de redes neuronales recurrentes (RNN), un tipo de red neuronal profunda, desde la neuroevolución. Concretamente, se combinan técnicas de aprendizaje automático con metaheurísticas avanzadas, con el fin de proveer una solución eficaz y eficiente. Por otra parte, se aplican las técnicas desarrolladas a problemas de la ciudad inteligente

Uncertainty Minimization in Robotic 3D Mapping Systems Operating in Dynamic Large-Scale Environments

This dissertation research is motivated by the potential and promise of 3D sensing technologies in safety and security applications. With specific focus on unmanned robotic mapping to aid clean-up of hazardous environments, under-vehicle inspection, automatic runway/pavement inspection and modeling of urban environments, we develop modular, multi-sensor, multi-modality robotic 3D imaging prototypes using localization/navigation hardware, laser range scanners and video cameras. While deploying our multi-modality complementary approach to pose and structure recovery in dynamic real-world operating conditions, we observe several data fusion issues that state-of-the-art methodologies are not able to handle. Different bounds on the noise model of heterogeneous sensors, the dynamism of the operating conditions and the interaction of the sensing mechanisms with the environment introduce situations where sensors can intermittently degenerate to accuracy levels lower than their design specification. This observation necessitates the derivation of methods to integrate multi-sensor data considering sensor conflict, performance degradation and potential failure during operation. Our work in this dissertation contributes the derivation of a fault-diagnosis framework inspired by information complexity theory to the data fusion literature. We implement the framework as opportunistic sensing intelligence that is able to evolve a belief policy on the sensors within the multi-agent 3D mapping systems to survive and counter concerns of failure in challenging operating conditions. The implementation of the information-theoretic framework, in addition to eliminating failed/non-functional sensors and avoiding catastrophic fusion, is able to minimize uncertainty during autonomous operation by adaptively deciding to fuse or choose believable sensors. We demonstrate our framework through experiments in multi-sensor robot state localization in large scale dynamic environments and vision-based 3D inference. Our modular hardware and software design of robotic imaging prototypes along with the opportunistic sensing intelligence provides significant improvements towards autonomous accurate photo-realistic 3D mapping and remote visualization of scenes for the motivating applications

Computational Geometric and Algebraic Topology

Computational topology is a young, emerging field of mathematics that seeks out practical algorithmic methods for solving complex and fundamental problems in geometry and topology. It draws on a wide variety of techniques from across pure mathematics (including topology, differential geometry, combinatorics, algebra, and discrete geometry), as well as applied mathematics and theoretical computer science. In turn, solutions to these problems have a wide-ranging impact: already they have enabled significant progress in the core area of geometric topology, introduced new methods in applied mathematics, and yielded new insights into the role that topology has to play in fundamental problems surrounding computational complexity. At least three significant branches have emerged in computational topology: algorithmic 3-manifold and knot theory, persistent homology and surfaces and graph embeddings. These branches have emerged largely independently. However, it is clear that they have much to offer each other. The goal of this workshop was to be the first significant step to bring these three areas together, to share ideas in depth, and to pool our expertise in approaching some of the major open problems in the field