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

Comparison of Deterministic Heuristics and Simulated Annealing for the Rotational Placement Problem over Containers with Fixed Dimensions

Abstract: Two dimensional packing problem arises in the industry whenever one must place multiple items inside a container such that there is no collision between the items, while either minimizing the size of the container or maximizing the area occupied by the items. High material utilization is of particular interest to mass production industries since small improvements of the layout can result in large savings of material and considerably reduce production cost. In this work the Simulated Annealing is combined with deterministic heuristics (larger first (LF), bottom left (BL) and translations only (Tr)) and compared. The rotational generic approach has discrete (sequence of placement) and continuous (angle and position) parameters. It is very important to notice that the cost function (non occupied space) has only discrete values

Study of the convergence of the Meshless Lattice Boltzmann Method in Taylor-Green and annular channel flows

The Meshless Lattice Boltzmann Method (MLBM) is a numerical tool that relieves the standard Lattice Boltzmann Method (LBM) from regular lattices and, at the same time, decouples space and velocity discretizations. In this study, we investigate the numerical convergence of MLBM in two benchmark tests: the Taylor-Green vortex and annular (bent) channel flow. We compare our MLBM results to LBM and to the analytical solution of the Navier-Stokes equation. We investigate the method's convergence in terms of the discretization parameter, the interpolation order, and the LBM streaming distance refinement. We observe that MLBM outperforms LBM in terms of the error value for the same number of nodes discretizing the domain. We find that LBM errors at a given streaming distance $\delta x$ and timestep length $\delta t$ are the asymptotic lower bounds of MLBM errors with the same streaming distance and timestep length. Finally, we suggest an expression for the MLBM error that consists of the LBM error and other terms related to the semi-Lagrangian nature of the discussed method itself

Topologic Maps for Robotic Exploration of Underground Flooded Mines

The mapping of confined environments in mobile robotics is traditionally tackled in dense occupancy maps, requiring large amounts of storage. For some use cases, such as the exploration of flooded mines, the use of dense maps in processing slow down processes like path generation. I introduce a method of generating topological maps in constrained spaces such as mines. By taking a structure with fewer points, traversal and storage of explored space can be made more efficient, avoiding com plex graphs generated by methods like RRT and it’s variants. It’s simpler structure also allows for more intuitive human-machine interactions with it’s fewer points. I also introduce an autonomous frontier-based exploration approach to generate the topological map during exploration, taking advantage of it’s traversal to navigate through known space. With this work, simulation tests show it is possible to success fully extract a simpler graph structure describing the topology during autonomous exploration and that this structure is robust through explored regionsO mapeamento de ambientes confinados em robótica móvel, é tradicionalmente abordado em mapas densos de ocupação, necessitando de grandes quantidades de armazenamento. Para certos casos, tal como a exploração de minas submersas, o uso de mapas densos no processamento, atrasa processos como geração de caminhos. Utilizando uma estrutura com menos pontos, a travessia e o armazenamento de espaço explorado tornam-se mais eficientes, evitando grafos complexos gerados por métodos como RRT e variantes. A sua estrutura mais simples permite também interações homem-máquina com o seu número reduzido de pontos. Introduzo também uma abordagem autónoma de exploração baseada em fronteiras, para gerar o mapa topo lógico durante a exploração, tirando vantagem da travessia do mesmo para navegar por espaço conhecido. Com este trabalho, testes em simulação mostram ser possível extrair uma estrutura sob forma de grafo, descrevendo a topologia ao longo de explorações autónomas e que esta estrutura é robusta para a travessia em regiões explorada