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

Euclidean distance geometry and applications

Euclidean distance geometry is the study of Euclidean geometry based on the concept of distance. This is useful in several applications where the input data consists of an incomplete set of distances, and the output is a set of points in Euclidean space that realizes the given distances. We survey some of the theory of Euclidean distance geometry and some of the most important applications: molecular conformation, localization of sensor networks and statics.Comment: 64 pages, 21 figure

A note on the data-driven capacity of P2P networks

We consider two capacity problems in P2P networks. In the first one, the nodes have an infinite amount of data to send and the goal is to optimally allocate their uplink bandwidths such that the demands of every peer in terms of receiving data rate are met. We solve this problem through a mapping from a node-weighted graph featuring two labels per node to a max flow problem on an edge-weighted bipartite graph. In the second problem under consideration, the resource allocation is driven by the availability of the data resource that the peers are interested in sharing. That is a node cannot allocate its uplink resources unless it has data to transmit first. The problem of uplink bandwidth allocation is then equivalent to constructing a set of directed trees in the overlay such that the number of nodes receiving the data is maximized while the uplink capacities of the peers are not exceeded. We show that the problem is NP-complete, and provide a linear programming decomposition decoupling it into a master problem and multiple slave subproblems that can be resolved in polynomial time. We also design a heuristic algorithm in order to compute a suboptimal solution in a reasonable time. This algorithm requires only a local knowledge from nodes, so it should support distributed implementations. We analyze both problems through a series of simulation experiments featuring different network sizes and network densities. On large networks, we compare our heuristic and its variants with a genetic algorithm and show that our heuristic computes the better resource allocation. On smaller networks, we contrast these performances to that of the exact algorithm and show that resource allocation fulfilling a large part of the peer can be found, even for hard configuration where no resources are in excess.Comment: 10 pages, technical report assisting a submissio

Quantum Annealing - Foundations and Frontiers

We briefly review various computational methods for the solution of optimization problems. First, several classical methods such as Metropolis algorithm and simulated annealing are discussed. We continue with a description of quantum methods, namely adiabatic quantum computation and quantum annealing. Next, the new D-Wave computer and the recent progress in the field claimed by the D-Wave group are discussed. We present a set of criteria which could help in testing the quantum features of these computers. We conclude with a list of considerations with regard to future research.Comment: 22 pages, 6 figures. EPJ-ST Discussion and Debate Issue: Quantum Annealing: The fastest route to large scale quantum computation?, Eds. A. Das, S. Suzuki (2014