GOALI: Digital Layout and Assembly of Large CAD Structures

这项由北卡罗来纳大学教堂山分校和波音公司共同获得的GOALI奖的研究目标是开发新的机器人算法，以生成大型CAD结构的数字布局和装配，包括零件及其运动。潜在的研究主题是创建新的规划和运动（PLM）仿真算法，该算法可以适应PLM应用中经常使用的大型CAD模型的潜在物理和几何复杂性。该研究将建立在算法机器人、计算几何、动态模拟和并行计算的最新发展上，以创建在大型CAD结构上执行计算的有效方法。这将包括空间利用的新几何、规划和模拟算法、可达性问题、物体的装配和拆卸、人体工程学分析和其他应用。这项研究有望为开发大型CAD结构的数字环境奠定科学基础，这些结构可以在设计和制造工程师之间创建通信“回圈”。此外，它将导致一套新的规划和仿真算法，可以利用多核cpu和多核gpu的计算能力进行快速计算。如果成功，这项研究将产生一套新的算法，用于虚拟样机、动态仿真、机器人和几何计算。提出的工作可以实现复杂机械结构的快速数字化原型，降低物理标记的高成本，并最大限度地减少由于设计决策不佳而造成的时间损失。此外，它可以显著减少生产过程中可能需要的返工。pi计划在WWW上发布新的软件库，并通过组织研讨会和教程将这些想法暴露给更广泛的受众。由模拟和可视化工具生成的逼真动画可能对K-12学生具有广泛的吸引力，并可以吸引其他领域的学生来开发网络基础设施的潜力。

The research objective of this GOALI award between UNC Chapel Hill and Boeing is to develop novel robot algorithms to generate digital layouts and assemblies of large CAD structures, including the parts and their motion. The underlying research theme is to create novel planning and motion (PLM) simulation algorithms that can accomodate the underlying physical and geometric complexity of large CAD models frequently used in PLM applications. The research will build on recent developments in algorithmic robotics, computational geometry, dynamic simulation, and parallel computing to create efficient methods to perform computations on large CAD structures. This will include novel geometric, planning and simulation algorithms for space utilization, accessibility problems, assembly and disassembly of objects, ergnomics analysis, and other applications. This research is expected to lay the scientific foundation for developing digital environments of large CAD structures that can create a communication "loop back" between design and manufacturing engineers. Furthermore, it will lead to a new set of planning and simulation algorithms that can exploit the computational capabilities of multi-core CPUs and many-core GPUs for fast computations.If successful, this research would result in new set of algorithms for virtual prototyping, dynamic simulation, robotics, and geometric computing. The proposed work could enable rapid digital prototyping of complex mechanical structure, lower high costs of physical markups, and minimize time loss due to poor design decisions. Furthermore, it could dramatically reduce the rework that may otherwise be necessary during manufacturing. The PIs plan to release new software libraries over the WWW, and expose these ideas to a broader audience by organizing workshops and tutorials. The plausible animations generated by the simulation and visualization tools could have broad appeal to K-12 students and can attract students from other areas to exploit the potential of cyber-infrastructure.