The Expanding Space Method in Sphere Packing Problem

Yakovlev, Sergiy

doi:10.1007/978-3-030-54215-3_10

Cited by 4 publications

(1 citation statement)

References 41 publications

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“…An analogous solution can be adopted when two dimensions of an object are dominant; in this case, the object can be approximated with three or more adjacent spheres along a dominant planar or curved surface. Alternatively, sphere packing techniques can be adopted [ 47 ]. If the working area contemplates the presence of only human/robotic grippers and pieces to be assembled or worked, the radii of the associated spheres can be considered as known parameters, reducing, in this way, the computational intensity ( Figure 7 ).…”

Section: The Proposed Approachmentioning

confidence: 99%

Role of Reference Frames for a Safe Human–Robot Interaction

Borboni

Pagani

Sandrini

et al. 2023

Sensors

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Safety plays a key role in human–robot interactions in collaborative robot (cobot) applications. This paper provides a general procedure to guarantee safe workstations allowing human operations, robot contributions, the dynamical environment, and time-variant objects in a set of collaborative robotic tasks. The proposed methodology focuses on the contribution and the mapping of reference frames. Multiple reference frame representation agents are defined at the same time by considering egocentric, allocentric, and route-centric perspectives. The agents are processed to provide a minimal and effective assessment of the ongoing human–robot interactions. The proposed formulation is based on the generalization and proper synthesis of multiple cooperating reference frame agents at the same time. Accordingly, it is possible to achieve a real-time assessment of the safety-related implications through the implementation and fast calculation of proper safety-related quantitative indices. This allows us to define and promptly regulate the controlling parameters of the involved cobot without velocity limitations that are recognized as the main disadvantage. A set of experiments has been realized and investigated to demonstrate the feasibility and effectiveness of the research by using a seven-DOF anthropomorphic arm in combination with a psychometric test. The acquired results agree with the current literature in terms of the kinematic, position, and velocity aspects; use measurement methods based on tests provided to the operator; and introduce novel features of work cell arranging, including the use of virtual instrumentation. Finally, the associated analytical–topological treatments have enabled the development of a safe and comfortable measure to the human–robot relation with satisfactory experimental results compared to previous research. Nevertheless, the robot posture, human perception, and learning technologies would have to apply research from multidisciplinary fields such as psychology, gesture, communication, and social sciences in order to be prepared for positioning in real-world applications that offer new challenges for cobot applications.

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Section: The Proposed Approachmentioning

confidence: 99%

Role of Reference Frames for a Safe Human–Robot Interaction

Borboni

Pagani

Sandrini

et al. 2023

Sensors

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Fast Heuristic for Particle Packing Problem

Romanova,

Stoian,

Chuhai

et al. 2023

Lecture Notes in Networks and Systems

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Modern method of topology optimization of products in additive production

Yaskov¹,

Chugay²,

Romanova³

et al. 2022

Stuc.intelekt

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The article considers the problem of optimizing the topology of products in additive manufacturing due to the optimal placement of circular holes. The task is to pack several circles of variable radii, set within the limits set by 3D printing standards. A two-criteria formulation is proposed, which takes into account the packing factor and the maximum mechanical stress of the products. The method of the main criterion is used to find a compromise solution to the problem. A new approach has been developed, which is based on the modified method of Apollonian packing of circles and nonlinear optimization. Numerical examples and graphical illustration of the results are given.

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The Expanding Space Method in Sphere Packing Problem

Cited by 4 publications

References 41 publications

Role of Reference Frames for a Safe Human–Robot Interaction

Role of Reference Frames for a Safe Human–Robot Interaction

Fast Heuristic for Particle Packing Problem

Modern method of topology optimization of products in additive production

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