Automatic generation of robot and manual assembly plans using octrees

This paper aims to investigate automatic assembly planning for robot and manual assembly. The octree decomposition technique is applied to approximate CAD models with an octree representation which are then used to generate robot and manual assembly plans. An assembly planning system able to generate assembly plans was developed to build these prototype models. Octree decomposition is an effective assembly planning tool. Assembly plans can automatically be generated for robot and manual assembly using octree models. Research limitations/implications - One disadvantage of the octree decomposition technique is that it approximates a part model with cubes instead of using the actual model. This limits its use and applications when complex assemblies must be planned, but in the context of prototyping can allow a rough component to be formed which can later be finished by hand. Assembly plans can be generated using octree decomposition, however, new algorithms must be developed to overcome its limitations

The Analysis of design and manufacturing tasks using haptic and immersive VR - Some case studies

The use of virtual reality in interactive design and manufacture has been researched extensively but the practical application of this technology in industry is still very much in its infancy. This is surprising as one would have expected that, after some 30 years of research commercial applications of interactive design or manufacturing planning and analysis would be widespread throughout the product design domain. One of the major but less well known advantages of VR technology is that logging the user gives a great deal of rich data which can be used to automatically generate designs or manufacturing instructions, analyse design and manufacturing tasks, map engineering processes and, tentatively, acquire expert knowledge. The authors feel that the benefits of VR in these areas have not been fully disseminated to the wider industrial community and - with the advent of cheaper PC-based VR solutions - perhaps a wider appreciation of the capabilities of this type of technology may encourage companies to adopt VR solutions for some of their product design processes. With this in mind, this paper will describe in detail applications of haptics in assembly demonstrating how user task logging can lead to the analysis of design and manufacturing tasks at a level of detail not previously possible as well as giving usable engineering outputs. The haptic 3D VR study involves the use of a Phantom and 3D system to analyse and compare this technology against real-world user performance. This work demonstrates that the detailed logging of tasks in a virtual environment gives considerable potential for understanding how virtual tasks can be mapped onto their real world equivalent as well as showing how haptic process plans can be generated in a similar manner to the conduit design and assembly planning HMD VR tool reported in PART A. The paper concludes with a view as to how the authors feel that the use of VR systems in product design and manufacturing should evolve in order to enable the industrial adoption of this technology in the future

Octree-based production of near net shape components

Near net shape (NNS) manufacturing refers to the production of products that require a finishing operation of some kind. NNS manufacturing is important because it enables a significant reduction in: machining work, raw material usage, production time, and energy consumption. This paper presents an integrated system for the production of near net shape components based on the Octree decomposition of 3-D models. The Octree representation is used to automatically decompose and approximate the 3-D models, and to generate the robot instructions required to create assemblies of blocks secured by adhesive. Not only is the system capable of producing shapes of variable precision and complexity (including overhanging or reentrant shapes) from a variety of materials, but it also requires no production tooling (e.g., molds, dies, jigs, or fixtures). This paper details how a number of well-known Octree algorithms for subdivision, neighbor findings, and tree traversal have been modified to support this novel application. This paper ends by reporting the construction of two mechanical components in the prototype cell, and discussing the overall feasibility of the system

Automated knowledge capture in 2D and 3D design environments

In Life Cycle Engineering, it is vital that the engineering knowledge for the product is captured throughout its life cycle in a formal and structured manner. This will allow the information to be referred to in the future by engineers who did not work on the original design but are wanting to understand the reasons that certain design decisions were made. In the past, attempts were made to try to capture this knowledge by having the engineer record the knowledge manually during a design session. However, this is not only time-consuming but is also disruptive to the creative process. Therefore, the research presented in this paper is concerned with capturing design knowledge automatically using a traditional 2D design environment and also an immersive 3D design environment. The design knowledge is captured by continuously and non-intrusively logging the user during a design session and then storing this output in a structured eXtensible Markup Language (XML) format. Next, the XML data is analysed and the design processes that are involved can be visualised by the automatic generation of IDEF0 diagrams. Using this captured knowledge, it forms the basis of an interactive online assistance system to aid future users who are carrying out a similar design task

Correlations of Rydberg excitations in an ultra-cold gas after an echo sequence

We show that Rydberg states in an ultra-cold gas can be excited with strongly preferred nearest-neighbor distance if densities are well below saturation. The scheme makes use of an echo sequence in which the first half of a laser pulse excites Rydberg states while the second half returns atoms to the ground state, as in the experiment of Raitzsch et al. [Phys. Rev. Lett. 100 (2008) 013002]. Near to the end of the echo sequence, almost any remaining Rydberg atom is separated from its next-neighbor Rydberg atom by a distance slightly larger than the instantaneous blockade radius half-way through the pulse. These correlations lead to large deviations of the atom counting statistics from a Poissonian distribution. Our results are based on the exact quantum evolution of samples with small numbers of atoms. We finally demonstrate the utility of the omega-expansion for the approximate description of correlation dynamics through an echo sequence.Comment: 8 pages, 6 figure

A novel haptic model and environment for maxillofacial surgical operation planning and manipulation

This paper presents a practical method and a new haptic model to support manipulations of bones and their segments during the planning of a surgical operation in a virtual environment using a haptic interface. To perform an effective dental surgery it is important to have all the operation related information of the patient available beforehand in order to plan the operation and avoid any complications. A haptic interface with a virtual and accurate patient model to support the planning of bone cuts is therefore critical, useful and necessary for the surgeons. The system proposed uses DICOM images taken from a digital tomography scanner and creates a mesh model of the filtered skull, from which the jaw bone can be isolated for further use. A novel solution for cutting the bones has been developed and it uses the haptic tool to determine and define the bone-cutting plane in the bone, and this new approach creates three new meshes of the original model. Using this approach the computational power is optimized and a real time feedback can be achieved during all bone manipulations. During the movement of the mesh cutting, a novel friction profile is predefined in the haptical system to simulate the force feedback feel of different densities in the bone

Measurement of Linear Stark Interference in 199Hg

We present measurements of Stark interference in the 6$^1S_0$ $\rightarrow$ 6$^3P_1$ transition in $^{199}$Hg, a process whereby a static electric field $E$ mixes magnetic dipole and electric quadrupole couplings into an electric dipole transition, leading to $E$-linear energy shifts similar to those produced by a permanent atomic electric dipole moment (EDM). The measured interference amplitude, $a_{SI}$ = $(a_{M1} + a_{E2})$ = (5.8 $\pm$ 1.5)$\times 10^{-9}$ (kV/cm)$^{-1}$, agrees with relativistic, many-body predictions and confirms that earlier central-field estimates are a factor of 10 too large. More importantly, this study validates the capability of the $^{199}$Hg EDM search apparatus to resolve non-trivial, controlled, and sub-nHz Larmor frequency shifts with EDM-like characteristics.Comment: 4 pages, 4 figures, 1 table; revised in response to reviewer comment

Collisional perturbation of radio-frequency E1 transitions in an atomic beam of dysprosium

We have studied collisional perturbations of radio-frequency (rf) electric-dipole (E1) transitions between the nearly degenerate opposite-parity levels in atomic dysprosium (Dy) in the presence of 10 to 80 $\mu$Torr of H$_\text{2}$, N$_\text{2}$, He, Ar, Ne, Kr, and Xe. Collisional broadening and shift of the resonance, as well as the attenuation of the signal amplitude are observed to be proportional to the foreign-gas density with the exception of H$_2$ and Ne, for which no shifts were observed. Corresponding rates and cross sections are presented. In addition, rates and cross sections for O$_2$ are extracted from measurements using air as foreign gas. The primary motivation for this study is the need for accurate determination of the shift rates, which are needed in a laboratory search for the temporal variation of the fine-structure constant [A. T. Nguyen, D. Budker, S. K. Lamoreaux, and J. R. Torgerson, Phys. Rev. A \textbf{69}, 22105 (2004)].Comment: 11 pages, 8 figure

Quantum dynamics in ultra-cold atomic physics

We review recent developments in the theory of quantum dynamics in ultra-cold atomic physics, including exact techniques, but focusing on methods based on phase-space mappings that are appli- cable when the complexity becomes exponentially large. These phase-space representations include the truncated Wigner, positive-P and general Gaussian operator representations which can treat both bosons and fermions. These phase-space methods include both traditional approaches using a phase-space of classical dimension, and more recent methods that use a non-classical phase-space of increased dimensionality. Examples used include quantum EPR entanglement of a four-mode BEC, time-reversal tests of dephasing in single-mode traps, BEC quantum collisions with up to 106 modes and 105 interacting particles, quantum interferometry in a multi-mode trap with nonlinear absorp- tion, and the theory of quantum entropy in phase-space. We also treat the approach of variational optimization of the sampling error, giving an elementary example of a nonlinear oscillator

Bethe Ansatz solution of the open XXZ chain with nondiagonal boundary terms

We propose a set of conventional Bethe Ansatz equations and a corresponding expression for the eigenvalues of the transfer matrix for the open spin-1/2 XXZ quantum spin chain with nondiagonal boundary terms, provided that the boundary parameters obey a certain linear relation.Comment: 11 pages, LaTeX; amssymb, amsmath, no figures; v2: citation adde