Algorithmic Approaches to Reconfigurable Assembly Systems
Algorithmic Approaches to Reconfigurable Assembly Systems
复制标题
可重构装配系统的算法方法
DOI：
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发表时间：
2019
期刊：
影响因子：
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通讯作者：
Kenneth C. Cheung
中科院分区：
文献类型：
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作者：
Allan Costa;Benjamin Jenett;I. Kostitsyna;A. Abdel;N. Gershenfeld;Kenneth C. Cheung
太空中大型结构系统的组装被认为对于服务无法通过单次发射部署的应用至关重要。最近的文献提出使用离散模块化结构进行空间组装以及能够修改和遍历该结构的相对较小规模的机器人技术。本文解决了通过机器人构建构建的缩放可重构空间结构的算法问题，其中重构被定义为将初始结构转换为不同目标配置的问题。我们分析不同的算法范例并提出相应的抽象和图形公式，检查考虑离散空间和时间步骤的专门算法。然后，我们讨论不同计算架构的基本设计交易，例如集中式与分布式，并提出两种代表性算法作为具体示例进行比较。我们分析这些算法如何实现不同的目标函数和目标，例如最小化总行驶距离、最大化容错性或最小化装配总时间。这是为了给人一种算法对相应结构和机器人设计的可扩展性的限制的印象。根据这项研究，针对何时何地使用每种范例以及对物理机器人和结构系统设计的影响提出了一系列建议。
Assembly of large scale structural systems in space is understood as critical to serving applications that cannot be deployed from a single launch. Recent literature proposes the use of discrete modular structures for in-space assembly and relatively small scale robotics that are able to modify and traverse the structure. This paper addresses the algorithmic problems in scaling reconfigurable space structures built through robotic construction, where reconfiguration is defined as the problem of transforming an initial structure into a different goal configuration. We analyze different algorithmic paradigms and present corresponding abstractions and graph formulations, examining specialized algorithms that consider discretized space and time steps. We then discuss fundamental design trades for different computational architectures, such as centralized versus distributed, and present two representative algorithms as concrete examples for comparison. We analyze how those algorithms achieve different objective functions and goals, such as minimization of total distance traveled, maximization of fault-tolerance, or minimization of total time spent in assembly. This is meant to offer an impression of algorithmic constraints on scalability of corresponding structural and robotic design. From this study, a set of recommendations is developed on where and when to use each paradigm, as well as implications for physical robotic and structural system design.