A systematic overview on the subject of assembly sequencing is presented. Sequencing lies at the core of assembly planning, and variants include finding a feasible sequence –respecting the precedence constraints between the assembly operations–, or determining an optimal one according to one or several operational criteria. The different ways of representing the space of feasible assembly seque...

This paper presents a component of the on-line tasklevel planning system of the mobile, two-arm robot KAMRO, which is being developed at our Institute. This component generates sequences of explicit robot motions for achieving the goals of elementary assembly operations, and supervises their execution by the real-time robot control system, according to implicitly specified pick-and-place operat...

An efficient single-query motion planning approach for non-stationary robots is presented. The approach exploits workspace information to identify highly constrained placements of the robot along a potential solution path. Due to the constraints imposed by the environment at these placements, we view them as an assembly, consisting of the robot and the environment. The original motion planning ...

Research in assembly planning can be categorised into three types of approach: graph-based, knowledgebased and artificial intelligence approaches. The main drawbacks of the above approaches are as follows: the first is time-consuming; in the second approach it is difficult to find the optimal solution; and the third approach requires a high computing efficiency. To tackle these problems, this s...

amyloid-β (aβ) self-assembly into cross-β amyloidfibrils is implicated in a causative role in alzheimer’s disease pathology.uncertainties persist regarding the mechanisms of amyloid self assembly and the role of metastable prefibrillar aggregates. aβ fibrilsfeature a sheet-turn-sheet motif in the constituent β-strands; as such, turn nucleation has been proposed as a rate-limiting step in the se...

This paper describes how to use geometric boundary models of assembly components to find mating features, thereby permitting simpler task specifications to be used. This forms part of our work on a high-level robot assembly task planner. To mitigate the combinatorics of searching for a feasible correspondence between features of different bodies, boundary models produced by PADLS are matched ag...

This paper addresses a multi-robot optimal assembly planning problem which in essence is an augmented Travelling Salesperson Problem (TSP+). In our TSP+, both the “salesperson” (a robot with a tool) as well as the “cities” (another robot with a workpiece) move. Namely, in addition to the sequencing of tasks, further planning is required to choose where the “salesperson” should rendezvous with e...

The industry wants formal methods for dealing with combinatorial dynamical systems that are provably correct and fast. One example of such problems is error recovery in industrial processes. We have used a provably correct, polynomial-time planning algorithm to plan for a miniature assembly line, which assembles toy cars. Although somewhat limited, this process has many similarities with real i...

The industry wants formal methods for dealing with combinatorial dynamical systems that are provably correct and fast. One example of such problems is error recovery in industrial processes. We have used a provably correct, polynomial-time planning algorithm to plan for a miniature assembly line, which assembles toy cars. Although somewhat limited, this process has many similarities with real i...