Related papers: A Unified Framework for Automated Assembly Sequenc…
Field-Programmable Gate Arrays (FPGAs) are widely used in the central signal processing design of the Square Kilometre Array (SKA) as acceleration hardware. The frequency domain acceleration search (FDAS) module is an important part of the…
This paper focuses on the generalized grouping problem in the context of cellular manufacturing systems (CMS), where parts may have more than one process route. A process route lists the machines corresponding to each part of the operation.…
Cutting planes (cuts) are crucial for solving Mixed Integer Linear Programming (MILP) problems. Advanced MILP solvers typically rely on manually designed heuristic algorithms for cut selection, which require much expert experience and…
In computer graphics (CG) education, the challenge of finding modern, versatile tools is significant, particularly when integrating both legacy and advanced technologies. Traditional frameworks, often reliant on solid, yet outdated APIs…
Recent years have brought a surge of efforts in rethinking the vehicle's electrical and/or electronic (E/E) architecture as well as the development process to reduce complexity and enable automation, connectivity, and electromobility.…
Assembly line balancing problems consist in partitioning the work necessary to assemble a number of products among different stations of an assembly line. We present a hybrid approach for solving such problems, which combines constraint…
Enabling robot teams to execute natural language commands requires translating high-level instructions into feasible, efficient multi-robot plans. While Large Language Models (LLMs) combined with Planning Domain Description Language (PDDL)…
This paper develops model-based grasp planning algorithms for assembly tasks. It focuses on industrial end-effectors like grippers and suction cups, and plans grasp configurations considering CAD models of target objects. The developed…
The sequence in which a complex product is assembled directly impacts the ease and efficiency of the assembly process, whether executed by a human or a robot. A sequence that gives the assembler the greatest freedom of movement is therefore…
In this paper, we address the problem of synthesizing optimal path plans in a 2D subject to spatio-temporal and thermal constraints. Our solution consists of reducing the path planning problem to a Mixed Integer Linear Programming (MILP)…
Path planning is critical for autonomous driving, generating smooth, collision-free, feasible paths based on perception and localization inputs. However, its computationally intensive nature poses significant challenges for…
Aiming to generate easy-to-handle assembly sequences for robotic assembly, this study tackles assembly sequence generation by considering two tradeoff objectives: (1) insertion conditions and (2) degrees of constraints among assembled…
Solving point-wise feature correspondence in visual data is a fundamental problem in computer vision. A powerful model that addresses this challenge is to formulate it as graph matching, which entails solving a Quadratic Assignment Problem…
We have formulated the problem of generating periodic dense paritcle packings as an optimization problem called the Adaptive Shrinking Cell (ASC) formulation [S. Torquato and Y. Jiao, Phys. Rev. E {\bf 80}, 041104 (2009)]. Because the…
Machine learning components commonly appear in larger decision-making pipelines; however, the model training process typically focuses only on a loss that measures accuracy between predicted values and ground truth values. Decision-focused…
We introduce RAMP, an open-source robotics benchmark inspired by real-world industrial assembly tasks. RAMP consists of beams that a robot must assemble into specified goal configurations using pegs as fasteners. As such, it assesses…
Combinatorial assembly uses standardized unit primitives to build objects that satisfy user specifications. This paper studies assembly sequence planning (ASP) for physical combinatorial assembly. Given the shape of the desired object, the…
The main goal of the Artap project is to provide an extensive infrastructure for robust design optimization, where usually many different numerical solvers have to be used together and the impact of the manufacturing uncertainties have to…
This paper examines scheduling problem denoted as $P|seq, ser|C_{max}$ in Graham's notation; in other words, scheduling of tasks on parallel identical machines ($P$) with sequence-dependent setups ($seq$) each performed by one of the…
Most of the existing work on FPGA acceleration of Convolutional Neural Network (CNN) focus on employing a single strategy (algorithm, dataflow, etc.) across all the layers. Such an approach does not achieve optimal latency on complex and…