23,618 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
Massive MIMO for Next Generation Wireless Systems
Multi-user Multiple-Input Multiple-Output (MIMO) offers big advantages over
conventional point-to-point MIMO: it works with cheap single-antenna terminals,
a rich scattering environment is not required, and resource allocation is
simplified because every active terminal utilizes all of the time-frequency
bins. However, multi-user MIMO, as originally envisioned with roughly equal
numbers of service-antennas and terminals and frequency division duplex
operation, is not a scalable technology. Massive MIMO (also known as
"Large-Scale Antenna Systems", "Very Large MIMO", "Hyper MIMO", "Full-Dimension
MIMO" & "ARGOS") makes a clean break with current practice through the use of a
large excess of service-antennas over active terminals and time division duplex
operation. Extra antennas help by focusing energy into ever-smaller regions of
space to bring huge improvements in throughput and radiated energy efficiency.
Other benefits of massive MIMO include the extensive use of inexpensive
low-power components, reduced latency, simplification of the media access
control (MAC) layer, and robustness to intentional jamming. The anticipated
throughput depend on the propagation environment providing asymptotically
orthogonal channels to the terminals, but so far experiments have not disclosed
any limitations in this regard. While massive MIMO renders many traditional
research problems irrelevant, it uncovers entirely new problems that urgently
need attention: the challenge of making many low-cost low-precision components
that work effectively together, acquisition and synchronization for
newly-joined terminals, the exploitation of extra degrees of freedom provided
by the excess of service-antennas, reducing internal power consumption to
achieve total energy efficiency reductions, and finding new deployment
scenarios. This paper presents an overview of the massive MIMO concept and
contemporary research.Comment: Final manuscript, to appear in IEEE Communications Magazin
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