Efficient Contact State Graph Generation for Assembly Applications

An important aspect in the design of many automated assembly strategies is the ability to automatically generate the set of contact states that may occur during an assembly task. In this paper, we present an efficient means of constructing the set of all geometrically feasible contact states that may occur within a bounded set of misalignments (bounds determined by robot inaccuracy). This set is stored as a graph, referred to as an Assembly Contact State Graph (ACSG), which indicates neighbor relationships between feasible states. An ACSG is constructed without user intervention in two stages. In the first stage, all hypothetical primitive principle contacts (PPCs; all contact states allowing 5 degrees of freedom) are evaluated for geometric feasibility with respect to part-imposed and robot-imposed restrictions on relative positioning (evaluated using optimization). In the second stage, the feasibility of each of the various combinations of PPCs is efficiently evaluated, first using topological existence and uniqueness criteria, then using part-imposed and robot-imposed geometric criteria

Tunable and Growing Network Generation Model with Community Structures

Recent years have seen a growing interest in the modeling and simulation of social networks to understand several social phenomena. Two important classes of networks, small world and scale free networks have gained a lot of research interest. Another important characteristic of social networks is the presence of community structures. Many social processes such as information diffusion and disease epidemics depend on the presence of community structures making it an important property for network generation models to be incorporated. In this paper, we present a tunable and growing network generation model with small world and scale free properties as well as the presence of community structures. The major contribution of this model is that the communities thus created satisfy three important structural properties: connectivity within each community follows power-law, communities have high clustering coefficient and hierarchical community structures are present in the networks generated using the proposed model. Furthermore, the model is highly robust and capable of producing networks with a number of different topological characteristics varying clustering coefficient and inter-cluster edges. Our simulation results show that the model produces small world and scale free networks along with the presence of communities depicting real world societies and social networks.Comment: Social Computing and Its Applications, SCA 13, Karlsruhe : Germany (2013

Quantification and Comparison of Degree Distributions in Complex Networks

The degree distribution is an important characteristic of complex networks. In many applications, quantification of degree distribution in the form of a fixed-length feature vector is a necessary step. On the other hand, we often need to compare the degree distribution of two given networks and extract the amount of similarity between the two distributions. In this paper, we propose a novel method for quantification of the degree distributions in complex networks. Based on this quantification method,a new distance function is also proposed for degree distributions, which captures the differences in the overall structure of the two given distributions. The proposed method is able to effectively compare networks even with different scales, and outperforms the state of the art methods considerably, with respect to the accuracy of the distance function

Efficient Computation of Multiple Density-Based Clustering Hierarchies

HDBSCAN*, a state-of-the-art density-based hierarchical clustering method, produces a hierarchical organization of clusters in a dataset w.r.t. a parameter mpts. While the performance of HDBSCAN* is robust w.r.t. mpts in the sense that a small change in mpts typically leads to only a small or no change in the clustering structure, choosing a "good" mpts value can be challenging: depending on the data distribution, a high or low value for mpts may be more appropriate, and certain data clusters may reveal themselves at different values of mpts. To explore results for a range of mpts values, however, one has to run HDBSCAN* for each value in the range independently, which is computationally inefficient. In this paper, we propose an efficient approach to compute all HDBSCAN* hierarchies for a range of mpts values by replacing the graph used by HDBSCAN* with a much smaller graph that is guaranteed to contain the required information. An extensive experimental evaluation shows that with our approach one can obtain over one hundred hierarchies for the computational cost equivalent to running HDBSCAN* about 2 times.Comment: A short version of this paper appears at IEEE ICDM 2017. Corrected typos. Revised abstrac