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Spray forming is a new manufacturing process. The automated tool planning for this process is a nontrivial problem, especially for geometry-complicated parts consisting of multiple freeform surfaces. We have developed a tool path planning system which can automatically generate optimized tool plans. This paper focuses on the path integration problem, or how to connect the paths from different surface...
In this paper, a peer-to-peer coordination algorithm is developed to provide robustness to multi-robot missions, in the context of exploring unknown environments. The validation, analysis and design of the coordination algorithm require formal modeling methodologies. We propose a stochastic Petri net (SPN) based method to analyze and design efficient peer-to-peer coordination algorithms. By running...
Surface manufacturing is widely used in industry. Automatic CAD-guided tool planning has many applications in surface manufacturing, such as spray painting, spray forming and indirect rapid tooling. Generating tool trajectories for freeform surfaces to satisfy the given requirements is still highly challenging due to the complex geometry of free-form surfaces and the spray gun model. A CAD-guided...
In this paper, a formal hybrid model is used for both the controller design and hardware description. The model can describe the control functions and the high level behavior of the robotic system. The high level structural description of the controller model guarantees the synthesizability of the control system. A hybrid simulation system is proposed to test the hybrid controller design and implementation...
This paper proposes a new robotized mobile sensor network platform to conduct aircraft rivet inspection and addresses the motion planning problem involved. Due to the specific movement characteristics of the mobile robot, the path, or the rivet sequence, should enable each mobile robot to realize the localization-and-reposition process. In this paper, we propose a new algorithm to extend our previous...
In many multi-robot applications, ad hoc networks are formed for data communication, which enables effective decision making and results in significant energy and time saving. However, unnecessary large volumes of communication data may still lead to big time delay and energy waste. This paper addresses the problem of how to reduce the data exchange among multiple robots when they carry out cooperative...
This paper addresses the vision-sensor-planning problem in part-dimensional inspection of automotive parts. First, a CAD-guided camera-planning system is developed, which utilizes the CAD information of inspected parts and a camera model to plan camera viewpoints. A recursive algorithm, which combines two existing vision-sensor-planning approaches, is developed to find feasible viewpoints. Second,...
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