USC Information Technology Goals • Perform the

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information_technology.ppt

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 USC Information Technology Goals • Perform the fundamental research and develop the software components for USC Information Technology Goals • Perform the fundamental research and develop the software components for automating mega-scale fabrication • Integrate components with each other and with robots from other thrusts

 USC Research Plan USC Research Plan

 USC Layering various geometries (a) (b) (c) (d) (e) USC Layering various geometries (a) (b) (c) (d) (e)

 USC Trowel path planning rotate + move (a) Lift-Rotate-Plunge (b) Drag-and-push gap lift h side USC Trowel path planning rotate + move (a) Lift-Rotate-Plunge (b) Drag-and-push gap lift h side trowel dragging rotating push-inconcave contour layer thickness Trowelpathplanningand nozzlecontrolaround concavecorners Trowelpathplanningand nozzlecontrolaroundsharp convexcorners a) push-in at steady extrusion speed b) push-in at reduced extrusion speed side trowel. Previous deposition current deposition

 USC Nozzle path planning USC Nozzle path planning

Dynamic Control Material Flow Computation Flow Control Law Position Sensors Nozzle Actuator. Nozzle Control Law RobotDynamic Control Material Flow Computation Flow Control Law Position Sensors Nozzle Actuator. Nozzle Control Law Robot Wheel Motors. Flow Sensor Position Sensor Gantry Dynamic Model. Material Flow Dynamics System Dynamics. Desired Material Flow Nozzle Position & Orientation Gantry Position. Wheel Torques. Nozzle Forces. Commanded Position Material Flow+ — Gantry Motion Controller

 USC Visual inspection Contour Crafting Visual Sensing Single/Multiple Cameras CAD Model 3 D Reconstruction USC Visual inspection Contour Crafting Visual Sensing Single/Multiple Cameras CAD Model 3 D Reconstruction Registration with CAD model Feedback to CC process Control Quality Control Texture Analysis CC Process Summarization (Log)

 USC The Integrated IT System USC The Integrated IT System

 USC Interrelationships among the three research thrusts Integrated Software Systems Modular Components  & Assembly USC Interrelationships among the three research thrusts Integrated Software Systems Modular Components & Assembly Extrudable Materials & Fabrication. Architectural Design Logistics plan Predictive performance. Inspection plan. Sensory Data Supply Dispatch Indexed Video Log Structure design & Performance Requirements Performance Restrictions Visual Data CC Hardware. Robot Commands Hardware Feedback. Assembly plans. Nozzle path plan




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