Topological model for machining of parts with complex shapes

Complex shapes are widely used to design products in several industries such as aeronautics, automotive and domestic appliances. Several variations of their curvatures and orientations generate difficulties during their manufacturing or the machining of dies used in moulding, injection and forging. Analysis of several parts highlights two levels of difficulties between three types of shapes: prismatic parts with simple geometrical shapes, aeronautic structure parts composed of several shallow pockets and forging dies composed of several deep cavities which often contain protrusions. This paper mainly concerns High Speed Machining (HSM) of these dies which represent the highest complexity level because of the shapes' geometry and their topology. Five axes HSM is generally required for such complex shaped parts but 3 axes machining can be sufficient for dies. Evolutions in HSM CAM software and machine tools lead to an important increase in time for machining preparation. Analysis stages of the CAD model particularly induce this time increase which is required for a wise choice of cutting tools and machining strategies. Assistance modules for prismatic parts machining features identification in CAD models are widely implemented in CAM software. In spite of the last CAM evolutions, these kinds of CAM modules are undeveloped for aeronautical structure parts and forging dies. Development of new CAM modules for the extraction of relevant machining areas as well as the definition of the topological relations between these areas must make it possible for the machining assistant to reduce the machining preparation time. In this paper, a model developed for the description of complex shape parts topology is presented. It is based on machining areas extracted for the construction of geometrical features starting from CAD models of the parts. As topology is described in order to assist machining assistant during machining process generation, the difficulties associated with tasks he carried out are analyzed at first. The topological model presented after is based on the basic geometrical features extracted. Topological relations which represent the framework of the model are defined between the basic geometrical features which are gathered afterwards in macro-features. Approach used for the identification of these macro-features is also presented in this paper. Detailed application on the construction of the topological model of forging dies is presented in the last part of the paper

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

Soft tissue structure modelling for use in orthopaedic applications and musculoskeletal biomechanics

We present our methodology for the three-dimensional anatomical and geometrical description of soft tissues, relevant for orthopaedic surgical applications and musculoskeletal biomechanics. The technique involves the segmentation and geometrical description of muscles and neurovascular structures from high-resolution computer tomography scanning for the reconstruction of generic anatomical models. These models can be used for quantitative interpretation of anatomical and biomechanical aspects of different soft tissue structures. This approach should allow the use of these data in other application fields, such as musculoskeletal modelling, simulations for radiation therapy, and databases for use in minimally invasive, navigated and robotic surgery

Interactive Camera Network Design using a Virtual Reality Interface

Traditional literature on camera network design focuses on constructing automated algorithms. These require problem specific input from experts in order to produce their output. The nature of the required input is highly unintuitive leading to an unpractical workflow for human operators. In this work we focus on developing a virtual reality user interface allowing human operators to manually design camera networks in an intuitive manner. From real world practical examples we conclude that the camera networks designed using this interface are highly competitive with, or superior to those generated by automated algorithms, but the associated workflow is much more intuitive and simple. The competitiveness of the human-generated camera networks is remarkable because the structure of the optimization problem is a well known combinatorial NP-hard problem. These results indicate that human operators can be used in challenging geometrical combinatorial optimization problems given an intuitive visualization of the problem.Comment: 11 pages, 8 figure

Parallelizing RRT on large-scale distributed-memory architectures

This paper addresses the problem of parallelizing the Rapidly-exploring Random Tree (RRT) algorithm on large-scale distributed-memory architectures, using the Message Passing Interface. We compare three parallel versions of RRT based on classical parallelization schemes. We evaluate them on different motion planning problems and analyze the various factors influencing their performance

VELOS : a VR platform for ship-evacuation analysis

Virtual Environment for Life On Ships (VELOS) is a multi-user Virtual Reality (VR) system that aims to support designers to assess (early in the design process) passenger and crew activities on a ship for both normal and hectic conditions of operations and to improve ship design accordingly. This article focuses on presenting the novel features of VELOS related to both its VR and evacuation-specific functionalities. These features include: (i) capability of multiple users’ immersion and active participation in the evacuation process, (ii) real-time interactivity and capability for making on-the-fly alterations of environment events and crowd-behavior parameters, (iii) capability of agents and avatars to move continuously on decks, (iv) integrated framework for both the simplified and advanced method of analysis according to the IMO/MSC 1033 Circular, (v) enrichment of the ship geometrical model with a topological model suitable for evacuation analysis, (vi) efficient interfaces for the dynamic specification and handling of the required heterogeneous input data, and (vii) post-processing of the calculated agent trajectories for extracting useful information for the evacuation process. VELOS evacuation functionality is illustrated using three evacuation test cases for a ro–ro passenger ship

Studying cities to learn about minds: some possible implications of space syntax for spatial cognition

What can we learn of the human mind by examining its products? The city is a case in point. Since the beginning of cities human ideas about them have been dominated by geometric ideas, and the real history of cities has always oscillated between the geometric and the ‘organic’. Set in the context of the suggestion from cognitive neuroscience that we impose more geometric order on the world than it actually possesses, and intriguing question arises: what is the role of the geometric intuition in how we understand cities and how we create them? Here I argue, drawing on space syntax research which has sought to link the detailed spatial morphology of cities to observable functional regularities, that all cities, the organic as well as the geometric, are pervasively ordered by geometric intuition, so that neither the forms of the cities nor their functioning can be understood without insight into their distinctive and pervasive emergent geometrical forms. The city is often said to be the creation of economic and social processes, but here it is argued that these processes operate within an envelope of geometric possibility defined by the human mind in its interaction with spatial laws that govern the relations between objects and spaces in the ambient world