Related papers: 5-axis High Speed Milling Optimisation
We present an optimization-based motion planning algorithm to compute a smooth, collision-free trajectory for a manipulator used to transfer a liquid from a source to a target container. We take into account fluid dynamics constraints as…
The most widely used methods for toolpath planning in fused deposition 3D printing slice the input model into successive 2D layers in order to construct the toolpath. Unfortunately slicing-based methods can incur a substantial amount of…
Trajectory optimization offers mature tools for motion planning in high-dimensional spaces under dynamic constraints. However, when facing complex configuration spaces, cluttered with obstacles, roboticists typically fall back to…
Navigating a collision-free and optimal trajectory for a robot is a challenging task, particularly in environments with moving obstacles such as humans. We formulate this problem as a stochastic optimal control problem. Since solving the…
In this experience report, we apply deep active learning to the field of design optimization to reduce the number of computationally expensive numerical simulations. We are interested in optimizing the design of structural components, where…
A time-optimal problem for redundantly actuated robots moving on a specified path is a challenging problem. Although the problem is well explored and there are proposed solutions based on phase plane analysis, there are still several…
Mobile autonomous robots have the potential to revolutionize manufacturing processes. However, employing large robot fleets in manufacturing requires addressing challenges including collision-free movement in a shared workspace, effective…
In recent decades, global path planning of robot has seen significant advancements. Both heuristic search-based methods and probability sampling-based methods have shown capabilities to find feasible solutions in complex scenarios. However,…
Modelling high temperature superconductor (HTS) motors remains challenging mainly due to the high aspect ratio of these conductors but also because of the properties of the magnetic materials. This paper presents a 2D time dependent model…
Optimization on manifolds is a class of methods for optimization of an objective function, subject to constraints which are smooth, in the sense that the set of points which satisfy the constraints admits the structure of a differentiable…
This paper introduces the Trailer Path Optimization with Schedule Services Problem (TPOSSP) and proposes a column-generation heuristic (CG-heuristic) to find high-quality solutions to large-scale instances. The TPOSSP aims at determining…
This paper proposes a path planning algorithm for autonomous vehicles, evaluating collision severity with respect to both static and dynamic obstacles. A collision severity map is generated from ratings, quantifying the severity of…
The subject of this paper is the optimal design of a parallel mechanism intended for three-axis machining applications. Parallel mechanisms are interesting alternative designs in this context but most of them are designed for three- or…
Sim-to-real transfer remains a significant challenge in soft robotics due to the unpredictability introduced by common manufacturing processes such as 3D printing and molding. These processes often result in deviations from simulated…
To prepare images for better segmentation, we need preprocessing applications, such as smoothing, to reduce noise. In this paper, we present an enhanced computation method for smoothing 2D object in binary case. Unlike existing approaches,…
Path following controllers make the output of a control system approach and traverse a pre-specified path with no apriori time parametrization. In this paper we present a method for path following control design applicable to framed curves…
Diffusion models (DMs) have established themselves as the state-of-the-art generative modeling approach in the visual domain and beyond. A crucial drawback of DMs is their slow sampling speed, relying on many sequential function evaluations…
We present a method for enforcing manufacturability constraints in generated parts such that they will be automatically ready for fabrication using a subtractive approach. We primarily target multi-axis CNC milling approaches but the method…
Laser material processing has emerged as a versatile and indispensable tool in various industries, including manufacturing, healthcare, and materials science. However, the interaction of a lasers with surfaces is highly dependent on a large…
One of the consequences of passing from mass production to mass customization paradigm in the nowadays industrialized world is the need to increase flexibility and responsiveness of manufacturing companies. The high-mix / low-volume…