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Algorithms & Applications Group
Virtual Prototyping
Assembly/Disassembly Sequence Planning
Haptic Interaction in Motion Planning

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Computer-aided design (CAD) and computer-aided modeling (CAM) systems have become ubiquitous in virtually all sectors of science and engineering and are the preferred mode of design in most industries. Thus far, CAD/CAM systems have been viewed primarily as vehicles for constructing models of complex objects, and less as tools for analyzing or manipulating the models once they exist. However, present technology is advanced enough that extremely complex objects can be designed almost entirely within CAD/CAM systems, e.g., the Boeing 777, and it is now time to augment these systems with methods for performing useful operations on the (existing) models. For each of the various application domains that utilize CAD/CAM, there are many geometric operations one might desire to perform on/with the resulting models. There are many geometric problems in manufacturing for which integrated CAD/CAM solutions would be valuable.

The goal is to make virtual prototyping truly possible, that is, to perform all stages of product development within a CAD/CAM system. Although current technology is often sufficient for constructing the geometric models, there are many tasks in the development cycle that still must be performed manually. In particular, products usually have specified maintenance or usage requirements. For example, spark plugs should be easy to remove from an engine and the interior controls of a car should be within reach of the driver, regardless of his/her size. Typically, such requirements are tested after the product is designed (often with a physical model), and if they are not met, a re-design phase is initiated. Clearly, CAD/CAM systems able to verify such properties would decrease both the time and cost associated with product development. Another example is in assembly sequencing - determining if it is possible, and in what order, to assemble a system from its disparate parts or subassemblys. In many cases, the opposite disassembly problem problem is considered instead.

Papers

Assembly/Disassembly Sequence Planning

A General and Flexible Search Framework for Disassembly Planning, Timothy Ebinger, Sascha Kaden, Shawna Thomas, Robert Andre, Nancy M. Amato, Ulrike Thomas, In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), pp. to appear, Brisbane, Australia, May 2018.
Proceedings(pdf, abstract)

Disassembly Sequencing Using a Motion Planning Approach, Sujay Sundaram, Ian Remmler, Nancy M. Amato, In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), pp. 1475-1480, May 2001.
Proceedings(ps, pdf, abstract)

Haptic Interaction in Motion Planning

Enhancing Randomized Motion Planners: Exploring with Haptic Hints, O. Burchan Bayazit, Guang Song, Nancy M. Amato, Autonomous Robots, 10(2):163-174, 2001. Also, In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), pp. 529-536, Apr 2000. Also, Technical Report, TR99-021, Parasol Laboratory, Department of Computer Science, Texas A&M University, Oct 1999.
Proceedings(pdf, abstract)

Ligand Binding with OBPRM and Haptic User Input, O. Burchan Bayazit, Guang Song, Nancy M. Amato, In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), pp. 954-959, May 2001.
Proceedings(ps, pdf, abstract)

Interactive Dynamic Simulation using Haptic Interaction, Wookho Son, Kyunghwan Kim, Nancy M. Amato, Jeffrey C. Trinkle, In Proc. IEEE Int. Conf. Intel. Rob. Syst. (IROS), pp. 145-150, Nov 2000.
Proceedings(ps, pdf, abstract)

Ligand Binding with OBPRM and Haptic User Input: Enhancing Automatic Motion Planning with Virtual Touch, O. Burchan Bayazit, Guang Song, Nancy M. Amato, Technical Report, TR00-025, Department of Computer Science and Engineering, Texas A&M University, Oct 2000.
Technical Report(ps, pdf, abstract)

An Interactive Generalized Motion Simulator (GMS) in an Object-Oriented Framework, Wookho Son, Kyunghwan Kim, Nancy M. Amato, In Proc. of Computer Animation (CA), pp. 176-181, May 2000.
Proceedings(ps, pdf, abstract)

Providing Haptic 'Hints' to Automatic Motion Planners, O. Burchan Bayazit, Guang Song, Nancy M. Amato, In Phantom Users Group Work. (PUG), Oct 1999.
Proceedings(ps, pdf, abstract)

Providing Haptic 'Hints' to Automatic Motion Planners, Nancy M. Amato, O. Burchan Bayazit, Kyunghwan Kim, Wookho Son, Guang Song, Technical Report, TR98-026, Department of Computer Science and Engineering, Texas A&M University, Nov 1998.



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