USC Information Technology Goals • Perform the

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 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 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

Dynamic 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 Registration with CAD model Feedback to CC process Control Quality Control Texture Analysis CC Process Summarization (Log)

USC The Integrated IT System

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