Related papers: Assembly Planning by Subassembly Decomposition Usi…
Aerospace production volumes have increased over time and robotic solutions have been progressively introduced in the aeronautic assembly lines to achieve high-quality standards, high production rates, flexibility and cost reduction.…
This paper presents PyCAALP (Python-based Computer-Aided Assembly Line Planning), a framework for automated Assembly Sequence Planning (ASP) and Production Line Planning (PLP), employing a graph-based approach to model components and joints…
Planning for multi-robot teams in complex environments is a challenging problem, especially when these teams must coordinate to accomplish a common objective. In general, optimal solutions to these planning problems are computationally…
The assembly index of assembly theory quantifies the minimal number of composition steps required to construct an object from elementary components. The study proves that the decision version of the assembly index problem is NP-complete,…
In modern computer systems, jobs are divided into short tasks and executed in parallel. Empirical observations in practical systems suggest that the task service times are highly random and the job service time is bottlenecked by the…
We present a novel AI-assisted method for decomposing (segmenting) planar CAD (computer-aided design) models into well shaped rectangular blocks as a proof-of-principle of a general decomposition method applicable to complex 2D and 3D CAD…
Fine robotic assembly, in which the parts to be assembled are small and fragile and lie in an unstructured environment, is still out of reach of today's industrial robots. The main difficulties arise in the precise localization of the parts…
Separation logic and its variants can describe various properties on pointer programs. However, when it comes to properties on sequences, one may find it hard to formalize. To deal with properties on variable-length sequences and multilevel…
Trained humans exhibit highly agile spatial skills, enabling them to operate vehicles with complex dynamics in demanding tasks and conditions. Prior work shows that humans achieve this performance by using strategies such as satisficing,…
Object extraction tasks often occur in disassembly problems, where bolts, screws, or pins have to be removed from tight, narrow spaces. In such problems, the distance to the environment is often on the millimeter scale. Sampling-based…
We propose an approach to find low-makespan solutions to multi-robot multi-task planning problems in environments where robots block each other from completing tasks simultaneously. We introduce a formulation of the problem that allows for…
Imagine a robot that can assemble a functional product from the individual parts presented in any configuration to the robot. Designing such a robotic system is a complex problem which presents several open challenges. To bypass these…
Two subsets of a given set are path-disconnected if they lie in different connected components of the larger set. Verification of path-disconnectedness is essential in proving the infeasibility of motion planning and trajectory optimization…
Building structures with hierarchical order through the self-assembly of smaller blocks is not only a prerogative of nature, but also a strategy to design artificial materials with tailored functions. We explore in simulation the…
Rational design strategies for self-assembly require a detailed understanding of both the equilibrium state and the assembly kinetics. While the former is starting to be well understood, the latter remains a major theoretical challenge,…
de Bruijn graph-based algorithms are one of the two most widely used approaches for de novo genome assembly. A major limitation of this approach is the large computational memory space requirement to construct the de Bruijn graph, which…
Priority queues are fundamental abstract data structures, often used to manage limited resources in parallel programming. Several proposed parallel priority queue implementations are based on skiplists, harnessing the potential for…
Machine learning has proved to be a useful tool for extracting knowledge from scientific data in numerous research fields, including astrophysics, genomics, and molecular dynamics. Often, data sets from these research areas need to be…
Classically, planning tasks are studied as a two-step process: plan creation and plan execution. In situations where plan creation is slow (for example, due to expensive information access or complex constraints), a natural speed-up tactic…
We tackle the image reassembly problem with wide space between the fragments, in such a way that the patterns and colors continuity is mostly unusable. The spacing emulates the erosion of which the archaeological fragments suffer. We…