Pub Date : 2019-05-20DOI: 10.1109/ICRA.2019.8794120
Yukihisa Karako, S. Kawakami, Keisuke Koyama, M. Shimojo, T. Senoo, M. Ishikawa
This study proposes a dynamic observable contact (DOC) hand as a new multifingered hand to ensure high- speed insertion in an assembly process with a small clearance between objects. To achieve insertion with a small clearance at high speed, a robot hand must realize both impact reduction and position-error compensation when the two objects contact each other. The DOC hand, with its features of 6-degrees-of- freedom dynamic passivity and object-pose observability, can realize both impact reduction and position-error compensation. To evaluate the effectiveness of the DOC hand, we construct a robot system using the DOC hand. We evaluate the performance of the system in the task of ring insertion with a small clearance (0-36um). The results indicate that the robot system performs with a higher speed than a human. In fact, the average cycle time is 2.42 s for the robot, whereas it is 2.58 s for a human. The DOC hand has opened up the possibility for achieving high-speed precision assembly using robots.
{"title":"High-Speed Ring Insertion by Dynamic Observable Contact Hand","authors":"Yukihisa Karako, S. Kawakami, Keisuke Koyama, M. Shimojo, T. Senoo, M. Ishikawa","doi":"10.1109/ICRA.2019.8794120","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8794120","url":null,"abstract":"This study proposes a dynamic observable contact (DOC) hand as a new multifingered hand to ensure high- speed insertion in an assembly process with a small clearance between objects. To achieve insertion with a small clearance at high speed, a robot hand must realize both impact reduction and position-error compensation when the two objects contact each other. The DOC hand, with its features of 6-degrees-of- freedom dynamic passivity and object-pose observability, can realize both impact reduction and position-error compensation. To evaluate the effectiveness of the DOC hand, we construct a robot system using the DOC hand. We evaluate the performance of the system in the task of ring insertion with a small clearance (0-36um). The results indicate that the robot system performs with a higher speed than a human. In fact, the average cycle time is 2.42 s for the robot, whereas it is 2.58 s for a human. The DOC hand has opened up the possibility for achieving high-speed precision assembly using robots.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84039331","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-05-20DOI: 10.1109/ICRA.2019.8794303
Scott Hamill, J. Whitehead, Peter Ferenz, R. Shepherd, H. Kress-Gazit
Soft robots utilize compliant materials to perform motions and behaviors not typically achievable by rigid bodied systems. These materials and soft actuator fabrication methods have been leveraged to create multigait walking soft robots. However, soft materials are prone to failure, restricting the ability of soft robots to accomplish tasks. In this work we address the problem of generating reactive controllers for multigait walking soft robots that are resilient to actuator failure by applying methods of formal synthesis. We present a sensing-based abstraction for actuator performance, provide a framework for encoding multigait behavior and actuator failure in Linear Temporal Logic (LTL), and demonstrate synthesized controllers on a physical soft robot.
{"title":"Resilient Task Planning and Execution for Reactive Soft Robots","authors":"Scott Hamill, J. Whitehead, Peter Ferenz, R. Shepherd, H. Kress-Gazit","doi":"10.1109/ICRA.2019.8794303","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8794303","url":null,"abstract":"Soft robots utilize compliant materials to perform motions and behaviors not typically achievable by rigid bodied systems. These materials and soft actuator fabrication methods have been leveraged to create multigait walking soft robots. However, soft materials are prone to failure, restricting the ability of soft robots to accomplish tasks. In this work we address the problem of generating reactive controllers for multigait walking soft robots that are resilient to actuator failure by applying methods of formal synthesis. We present a sensing-based abstraction for actuator performance, provide a framework for encoding multigait behavior and actuator failure in Linear Temporal Logic (LTL), and demonstrate synthesized controllers on a physical soft robot.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82325539","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-05-20DOI: 10.1109/ICRA.2019.8794091
Peter A. York, R. Wood
A hybrid manufacturing process combining abrasive jet and laser micromaching enables the creation of living hinges in nitinol that retain the superelastic properties of the bulk material. The former selectively etches through the thickness of a workpiece and the latter defines the part’s final geometry. Because the majority of the material removal is done with the room-temperature mechanical etching procedure, thermal damage to the part is minimized. Processing parameters to achieve desired geometries are described, a bending stiffness model for the living hinges is provided, and validation experiments are presented. Lastly, to demonstrate the usefulness of these components to millimeter-sized robotic systems and medical devices, we show their integration in two prototype devices: an endoscopic camera wrist and a simple laser beam steering system.
{"title":"Nitinol living hinges for millimeter-sized robots and medical devices","authors":"Peter A. York, R. Wood","doi":"10.1109/ICRA.2019.8794091","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8794091","url":null,"abstract":"A hybrid manufacturing process combining abrasive jet and laser micromaching enables the creation of living hinges in nitinol that retain the superelastic properties of the bulk material. The former selectively etches through the thickness of a workpiece and the latter defines the part’s final geometry. Because the majority of the material removal is done with the room-temperature mechanical etching procedure, thermal damage to the part is minimized. Processing parameters to achieve desired geometries are described, a bending stiffness model for the living hinges is provided, and validation experiments are presented. Lastly, to demonstrate the usefulness of these components to millimeter-sized robotic systems and medical devices, we show their integration in two prototype devices: an endoscopic camera wrist and a simple laser beam steering system.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78951939","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-05-20DOI: 10.1109/ICRA.2019.8794109
Tobias Miunske, Christian Holzapfel, Edwin Baumgartner, H. Reuss
In this contribution, a new adaptive motion cueing algorithm for a full motion driving simulator at the University of Stuttgart is presented, which allows kinematic vehicle movements to be taken into account. These are adequately processed via a state-flow chart and transferred to the motion cueing algorithm in such a way that the dynamic of the Stuttgart Driving Simulator can be used much more efficiently. Furthermore, a linear quadratic error minimization of the mentioned algorithm is presented. The primary objective is to provide a more realistic driving experience to the driver.
{"title":"A new Approach for an Adaptive Linear Quadratic Regulated Motion Cueing Algorithm for an 8 DoF Full Motion Driving Simulator","authors":"Tobias Miunske, Christian Holzapfel, Edwin Baumgartner, H. Reuss","doi":"10.1109/ICRA.2019.8794109","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8794109","url":null,"abstract":"In this contribution, a new adaptive motion cueing algorithm for a full motion driving simulator at the University of Stuttgart is presented, which allows kinematic vehicle movements to be taken into account. These are adequately processed via a state-flow chart and transferred to the motion cueing algorithm in such a way that the dynamic of the Stuttgart Driving Simulator can be used much more efficiently. Furthermore, a linear quadratic error minimization of the mentioned algorithm is presented. The primary objective is to provide a more realistic driving experience to the driver.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88221489","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-05-20DOI: 10.1109/ICRA.2019.8793583
Y. Oh, Jaewoong Kim, So Yon Jeong, Da-Young Ju
Older adults are vulnerable to symptoms of depression. The degree of depression is particularly high among older adults who live alone. To address this issue, various companion robots, which are capable of psychologically communicating with users, have been proposed. However, older adults’ preferences on the appearance of these robots have not been systematically investigated; this forms the focus of the present study. We interviewed 191 older adults; investigated their preferences on the design elements of robots including type, weight, and material; and analyzed the data by age, gender, and living arrangement. Our primary goal was to determine how companion robots should be designed, paying special attention to older adults who live alone. Our findings indicated that those living alone prefer a bear-like robot and negative to the heavy robot. Our results suggest that companion robots need to be designed with careful consideration of older adults’ physical and psychological preferences.
{"title":"Investigating Design Elements of Companion Robots for Older Adults","authors":"Y. Oh, Jaewoong Kim, So Yon Jeong, Da-Young Ju","doi":"10.1109/ICRA.2019.8793583","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8793583","url":null,"abstract":"Older adults are vulnerable to symptoms of depression. The degree of depression is particularly high among older adults who live alone. To address this issue, various companion robots, which are capable of psychologically communicating with users, have been proposed. However, older adults’ preferences on the appearance of these robots have not been systematically investigated; this forms the focus of the present study. We interviewed 191 older adults; investigated their preferences on the design elements of robots including type, weight, and material; and analyzed the data by age, gender, and living arrangement. Our primary goal was to determine how companion robots should be designed, paying special attention to older adults who live alone. Our findings indicated that those living alone prefer a bear-like robot and negative to the heavy robot. Our results suggest that companion robots need to be designed with careful consideration of older adults’ physical and psychological preferences.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88408914","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-05-20DOI: 10.1109/ICRA.2019.8794066
Guangshen Ma, Weston A. Ross, Ian Hill, Narendran Narasimhan, P. Codd
Laser scalpels are utilized across a variety of surgical and dermatological procedures due to their precision and non-contact nature. This paper presents a novel laser scalpel system for superficial laser therapy applications. The system integrates a RGB-D camera, a 3D triangulation sensor and a carbon dioxide $( CO _{2})$ laser scalpel for computer-assisted laser surgery. To accurately ablate targets chosen from the color image, a 3D extrinsic calibration method between the RGB-D camera frame and the laser coordinate system is implemented. The accuracy of the calibration method is tested on phantoms with planar and cylindrical surfaces. Positive error and negative error, as defined as undershooting and overshooting over the target area, are reported for each test. For 60 total test cases, the root-mean-square of the positive and negative error in both planar and cylindrical phantoms is less than 1.0 mm, with a maximum absolute error less than 2.0 mm. This work demonstrates the feasibility of automated laser therapy with surgeon oversight via our sensor system.
{"title":"A Novel Laser Scalpel System for Computer-assisted Laser Surgery","authors":"Guangshen Ma, Weston A. Ross, Ian Hill, Narendran Narasimhan, P. Codd","doi":"10.1109/ICRA.2019.8794066","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8794066","url":null,"abstract":"Laser scalpels are utilized across a variety of surgical and dermatological procedures due to their precision and non-contact nature. This paper presents a novel laser scalpel system for superficial laser therapy applications. The system integrates a RGB-D camera, a 3D triangulation sensor and a carbon dioxide $( CO _{2})$ laser scalpel for computer-assisted laser surgery. To accurately ablate targets chosen from the color image, a 3D extrinsic calibration method between the RGB-D camera frame and the laser coordinate system is implemented. The accuracy of the calibration method is tested on phantoms with planar and cylindrical surfaces. Positive error and negative error, as defined as undershooting and overshooting over the target area, are reported for each test. For 60 total test cases, the root-mean-square of the positive and negative error in both planar and cylindrical phantoms is less than 1.0 mm, with a maximum absolute error less than 2.0 mm. This work demonstrates the feasibility of automated laser therapy with surgeon oversight via our sensor system.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84005414","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-05-20DOI: 10.1109/ICRA.2019.8793901
Satoshi Funabashi, Gang Yan, A. Geier, A. Schmitz, T. Ogata, S. Sugano
Distributed tactile sensors on multi-fingered hands can provide high-dimensional information for grasping objects, but it is not clear how to optimally process such abundant tactile information. The current paper explores the possibility of using a morphology-specific convolutional neural network (MS-CNN). uSkin tactile sensors are mounted on an Allegro Hand, which provides 720 force measurements (15 patches of uSkin modules with 16 triaxial force sensors each) in addition to 16 joint angle measurements. Consecutive layers in the CNN get input from parts of one finger segment, one finger, and the whole hand. Since the sensors give 3D (x, y, z) vector tactile information, inputs with 3 channels (x, y and z) are used in the first layer, based on the idea of such inputs for RGB images from cameras. Overall, the layers are combined, resulting in the building of a tactile map based on the relative position of the tactile sensors on the hand. Seven different combination variations were evaluated, and an over-95% object recognition rate with 20 objects was achieved, even though only one random time instance from a repeated squeezing motion of an object in an unknown pose within the hand was used as input.
多指手上的分布式触觉传感器可以为抓取物体提供高维信息，但如何对如此丰富的触觉信息进行优化处理尚不清楚。本文探讨了使用形态特异性卷积神经网络(MS-CNN)的可能性。uSkin触觉传感器安装在Allegro Hand上，除了16个关节角度测量外，还提供720个力测量(15块uSkin模块，每个模块有16个三轴力传感器)。CNN中的连续层从一个手指段、一个手指和整个手的部分中获得输入。由于传感器提供3D (x, y, z)矢量触觉信息，基于来自相机的RGB图像输入的想法，在第一层使用3通道(x, y和z)输入。总的来说，这些层是结合在一起的，从而根据触觉传感器在手上的相对位置构建触觉地图。对7种不同的组合变化进行了评估，即使只使用一个随机时间实例作为输入，也可以实现对20个物体的95%以上的物体识别率。
{"title":"Morphology-Specific Convolutional Neural Networks for Tactile Object Recognition with a Multi-Fingered Hand","authors":"Satoshi Funabashi, Gang Yan, A. Geier, A. Schmitz, T. Ogata, S. Sugano","doi":"10.1109/ICRA.2019.8793901","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8793901","url":null,"abstract":"Distributed tactile sensors on multi-fingered hands can provide high-dimensional information for grasping objects, but it is not clear how to optimally process such abundant tactile information. The current paper explores the possibility of using a morphology-specific convolutional neural network (MS-CNN). uSkin tactile sensors are mounted on an Allegro Hand, which provides 720 force measurements (15 patches of uSkin modules with 16 triaxial force sensors each) in addition to 16 joint angle measurements. Consecutive layers in the CNN get input from parts of one finger segment, one finger, and the whole hand. Since the sensors give 3D (x, y, z) vector tactile information, inputs with 3 channels (x, y and z) are used in the first layer, based on the idea of such inputs for RGB images from cameras. Overall, the layers are combined, resulting in the building of a tactile map based on the relative position of the tactile sensors on the hand. Seven different combination variations were evaluated, and an over-95% object recognition rate with 20 objects was achieved, even though only one random time instance from a repeated squeezing motion of an object in an unknown pose within the hand was used as input.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82811891","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-05-20DOI: 10.1109/ICRA.2019.8794399
B. Gromov, Gabriele Abbate, L. Gambardella, A. Giusti
We present a system for interaction between co-located humans and mobile robots, which uses pointing gestures sensed by a wrist-mounted IMU. The operator begins by pointing, for a short time, at a moving robot. The system thus simultaneously determines: that the operator wants to interact; the robot they want to interact with; and the relative pose among the two. Then, the system can reconstruct pointed locations in the robot’s own reference frame, and provide real-time feedback about them so that the user can adapt to misalignments. We discuss the challenges to be solved to implement such a system and propose practical solutions, including variants for fast flying robots and slow ground robots. We report different experiments with real robots and untrained users, validating the individual components and the system as a whole.
{"title":"Proximity Human-Robot Interaction Using Pointing Gestures and a Wrist-mounted IMU","authors":"B. Gromov, Gabriele Abbate, L. Gambardella, A. Giusti","doi":"10.1109/ICRA.2019.8794399","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8794399","url":null,"abstract":"We present a system for interaction between co-located humans and mobile robots, which uses pointing gestures sensed by a wrist-mounted IMU. The operator begins by pointing, for a short time, at a moving robot. The system thus simultaneously determines: that the operator wants to interact; the robot they want to interact with; and the relative pose among the two. Then, the system can reconstruct pointed locations in the robot’s own reference frame, and provide real-time feedback about them so that the user can adapt to misalignments. We discuss the challenges to be solved to implement such a system and propose practical solutions, including variants for fast flying robots and slow ground robots. We report different experiments with real robots and untrained users, validating the individual components and the system as a whole.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83845346","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-05-20DOI: 10.1109/ICRA.2019.8793928
Fan Zheng, Yunhui Liu
This paper focuses on the localization and mapping problem on ground vehicles using odometric and monocular visual sensors. To improve the accuracy of vision based estimation on ground vehicles, researchers have exploited the constraint of approximately planar motion, and usually implemented it as a stochastic constraint on an SE(3) pose. In this paper, we propose a simpler algorithm that directly parameterizes the ground vehicle poses on SE(2). The out-of SE(2) motion perturbations are not neglected, but incorporated into an integrated noise term of a novel SE(2)-XYZ constraint, which associates an SE(2) pose and a 3D landmark via the image feature measurement. For odometric measurement processing, we also propose an efficient preintegration algorithm on SE(2). Utilizing these constraints, a complete visual-odometric localization and mapping system is developed, in a commonly used graph optimization structure. Its superior performance in accuracy and robustness is validated by real-world experiments in industrial indoor environments.
{"title":"Visual-Odometric Localization and Mapping for Ground Vehicles Using SE(2)-XYZ Constraints","authors":"Fan Zheng, Yunhui Liu","doi":"10.1109/ICRA.2019.8793928","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8793928","url":null,"abstract":"This paper focuses on the localization and mapping problem on ground vehicles using odometric and monocular visual sensors. To improve the accuracy of vision based estimation on ground vehicles, researchers have exploited the constraint of approximately planar motion, and usually implemented it as a stochastic constraint on an SE(3) pose. In this paper, we propose a simpler algorithm that directly parameterizes the ground vehicle poses on SE(2). The out-of SE(2) motion perturbations are not neglected, but incorporated into an integrated noise term of a novel SE(2)-XYZ constraint, which associates an SE(2) pose and a 3D landmark via the image feature measurement. For odometric measurement processing, we also propose an efficient preintegration algorithm on SE(2). Utilizing these constraints, a complete visual-odometric localization and mapping system is developed, in a commonly used graph optimization structure. Its superior performance in accuracy and robustness is validated by real-world experiments in industrial indoor environments.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89517550","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-05-20DOI: 10.1109/ICRA.2019.8793989
Zhishuai Li, Gang Xiong, Xipeng Zhang, Zhen Shen, Can Luo, Xiuqin Shang, Xisong Dong, Guibin Bian, Xiao Wang, Feiyue Wang
The choice of model orientation is a very important issue in Additive Manufacturing (AM). In this paper, the model orientation problem is formulated as a multi-objective optimization problem, aiming at minimizing the building time, the surface quality, and the supporting area. Then we convert the problem into a single-objective optimization in the linear-weighted way. After that, the Genetic Algorithm (GA) is used to solve the optimization problem and the process of GA is parallelized and implemented on GPU. Experimental results show that when dealing with complex models in AM, compared with CPU only implementation, the GPU based GA can speed up the process by about 50 times, which helps to significantly reduce the optimization time and ensure the quality of solutions. The GPU based parallel methods we proposed can help to reduce the execution time and improve the efficiency greatly, making the processes more efficient.
{"title":"A GPU Based Parallel Genetic Algorithm for the Orientation Optimization Problem in 3D Printing*","authors":"Zhishuai Li, Gang Xiong, Xipeng Zhang, Zhen Shen, Can Luo, Xiuqin Shang, Xisong Dong, Guibin Bian, Xiao Wang, Feiyue Wang","doi":"10.1109/ICRA.2019.8793989","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8793989","url":null,"abstract":"The choice of model orientation is a very important issue in Additive Manufacturing (AM). In this paper, the model orientation problem is formulated as a multi-objective optimization problem, aiming at minimizing the building time, the surface quality, and the supporting area. Then we convert the problem into a single-objective optimization in the linear-weighted way. After that, the Genetic Algorithm (GA) is used to solve the optimization problem and the process of GA is parallelized and implemented on GPU. Experimental results show that when dealing with complex models in AM, compared with CPU only implementation, the GPU based GA can speed up the process by about 50 times, which helps to significantly reduce the optimization time and ensure the quality of solutions. The GPU based parallel methods we proposed can help to reduce the execution time and improve the efficiency greatly, making the processes more efficient.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74414028","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：