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Hierarchical Segmentation of Automotive Surfaces and Fast Marching Methods



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Hierarchical Segmentation of Automotive Surfaces and Fast Marching Methods Prasad N Atkar David C Conner Aaron Greenfield Howie Choset Alfred A Rizzi BioRobotics Lab Microdynamic Systems Laboratory 1 Automated Trajectory Generation Generate trajectories on curved surfaces for material removal deposition Maximize uniformity Minimize cycle time and material waste Spray Painting Complete Coverage Uniform Coverage Cycle time and Paint waste Programming Time Bone Shaving CNC Milling 2 Challenges Deposition Complex deposition patterns Pattern Spray Gun Warping of the Deposition Pattern Non Euclidean surfaces Target Surface High dimensioned searchspace for optimization 35 08 0 Micr 3 Related Research Index Optimization Simplified surface with simplified deposition patterns Suh et al Sheng et al Sahir and Balkan Asakawa and Takeuchi Speed Optimization Global optimization Antonio and Ramabhadran Kim and Sarma 4 Overview of Our Approach Divide the problem into smaller sub problems Understand the relationships between the parameters and output characteristics Develop rules to reduce problem dimensionality Solve each sub problem independently Dimensionality Reduction Constraints Rule Based Planning Model Based Planning Path Variables Simulation Output System Parameters Output Characteristics 5 Our Approach Decomposition Segment surface into cells Topologically simple monotonic Low surface curvature Generate passes in each cell y t x Select start curve Optimize end effector speed Optimize index width and generate offset curve Repeat offsetting and speed optimization 6 Rules for Trajectory generation Avoid painting holes cycle time paint waste Select passes with minimal geodesic curvature uniformity Minimize number of turns cycle time paint waste 7 Choice of Start Curve Select a geodesic curve Select spatial orientation minimizing number of turns Average Normal Select relative position with respect to boundary minimizing geodesic curvature 8 Effect of Surface Curvature Not a



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