USC Information Technology Goals Perform the fundamental

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

USC Research Plan

USC Layering various geometries

USC Trowel path planning Previous deposition current deposition side trowel Trowel path planning and nozzle control around sharp convex corners a) push-in at steady extrusion speed b) push-in at reduced extrusion speed rotate + move concave contour layer thickness gap lift Trowel path planning and nozzle control around concave corners h side trowel (a) Lift-Rotate-Plunge dragging (b) Drag-and-push rotating push-in

USC Nozzle path planning

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

USC Visual inspection Contour Crafting

USC The Integrated IT System

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