Algorithmic Approaches to Reconfigurable Assembly Systems
© 2019 IEEE. 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 t...
| Main Authors: | , , , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
2021
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| Online Access: | https://hdl.handle.net/1721.1/137822 |
| _version_ | 1826200328363573248 |
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| author | Costa, Allan Abdel-Rahman, Amira Jenett, Benjamin Gershenfeld, Neil Kostitsyna, Irina Cheung, Kenneth |
| author2 | Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science |
| author_facet | Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science Costa, Allan Abdel-Rahman, Amira Jenett, Benjamin Gershenfeld, Neil Kostitsyna, Irina Cheung, Kenneth |
| author_sort | Costa, Allan |
| collection | MIT |
| description | © 2019 IEEE. 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. |
| first_indexed | 2024-09-23T11:34:46Z |
| format | Article |
| id | mit-1721.1/137822 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T11:34:46Z |
| publishDate | 2021 |
| record_format | dspace |
| spelling | mit-1721.1/1378222022-10-01T04:34:48Z Algorithmic Approaches to Reconfigurable Assembly Systems Costa, Allan Abdel-Rahman, Amira Jenett, Benjamin Gershenfeld, Neil Kostitsyna, Irina Cheung, Kenneth Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology. Center for Bits and Atoms © 2019 IEEE. 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. 2021-11-08T20:40:08Z 2021-11-08T20:40:08Z 2019 2019-07-22T15:02:58Z Article http://purl.org/eprint/type/ConferencePaper https://hdl.handle.net/1721.1/137822 Costa, Allan, Abdel-Rahman, Amira, Jenett, Benjamin, Gershenfeld, Neil, Kostitsyna, Irina et al. 2019. "Algorithmic Approaches to Reconfigurable Assembly Systems." en 10.1109/AERO.2019.8741572 Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Other repository |
| spellingShingle | Costa, Allan Abdel-Rahman, Amira Jenett, Benjamin Gershenfeld, Neil Kostitsyna, Irina Cheung, Kenneth Algorithmic Approaches to Reconfigurable Assembly Systems |
| title | Algorithmic Approaches to Reconfigurable Assembly Systems |
| title_full | Algorithmic Approaches to Reconfigurable Assembly Systems |
| title_fullStr | Algorithmic Approaches to Reconfigurable Assembly Systems |
| title_full_unstemmed | Algorithmic Approaches to Reconfigurable Assembly Systems |
| title_short | Algorithmic Approaches to Reconfigurable Assembly Systems |
| title_sort | algorithmic approaches to reconfigurable assembly systems |
| url | https://hdl.handle.net/1721.1/137822 |
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