Professional Documents
Culture Documents
by
Anthony PANG
IEEM Dept.,
Hong Kong University of Science & Technology
Presentation Outline
1. Problem Description
2. Geometric Algorithm for Solid Level Process Planning
a.
b.
c.
d.
Genetic Algorithm
Genetic Algorithm with 3-opt
ATSP-Assign Iteration (Tuckers formulation)
Problem Description
Build object
Problems:
(a) Wasted effort in cutting hatch grids
(b) Wasted time due to poor path planning
Wmin
Horizontal Orientation
Method:
The minimum projection width algorithm
Algorithm:
Project on XY Plane
Rotating Caliper on CH(projection)
PART
paper advance
pick-up
roll
X-width
Z
feed roll
Y
X
v1
vc2
v7
vc4
v6
v5
v2
v9
v4
v8
vc3
v3
v1
PCu1
P C t2
PCv1
PCu2
v7
v6
v5
v2
v9
v4
y
PCv2
PCw
v8
v3
Octree
Performance Comparison
Surface Area
TestCase
Traditional
CH with Rect
CH with Octree
Toyplane
Traditional
CH with Rect
CH with Octree
Brake
Casing
Traditional
CH with Rect
CH with Octree
Cover
Traditional
CH with Rect
CH with Octree
Cimplex
Traditional
CH with Rect
CH with Octree
Golf Iron
Traditional
CH with Rect
CH with Octree
Part
Convex
Hull
447.92
0
438.84
438.84
29378.3
0
37479
37479
784413
0
0
6755260
6755260
18171
0
14246
14246
52540
0
48041
48041
2834
0
3045
3045
Bounding
Box
Cutting
Plane
Grids
Total
1114.63
0
87.06
87.06
2675.27
317.51
110.29
4237.82
2405.96
2198.74
43.23
48.12
22.15
116749
0
10530.7
10530.7
221805.0
24699.2
12539.7
367932.3
218813.7
206676.7
40.53
43.83
49.72
12200700
0
450001
450001
3136580
0
1726700
0
3598830
5141063
0
4451709
1
3084892
1
13.41
40.00
19.3
25200
0
1451
1451
49887
20208
13391
93258
79276
72459
14.99
22.30
33.5
73094
0
2544
2544
137018
65325
26929
262652
241544
203148
8.04
22.66
21.75
6818
0
760
760
16825
4267
966
26477
17724
14423
33.06
45.53
30.28
Reduction
SL
V
3
8
9
10
5
15
14
11
1
13 12
10 11
6
13
8
7
14
12
4
6
3
2
vj1
vi2
curve j
Xi =
Yij =
curve i
vj2
Y
j 1
1j
aij
[ X j a 0 j (1 X j ) a1 j ] +
vi2
vi1
Y
j 1
nj
[ X j a1 j (1 X j ) a 0 j ] +
n 1 n
Y ( Y
i 1 j 1
ij
t 1
i 1,t
vj1
cij
curve j
bij
curve i
dij
vj2
Z jt )
Z jt X j X t a jt X j (1 X t )b jt (1 X j ) X t c jt (1 X j )(1 X t )d jt
GA Methodology
Two-chromosome organism
X-chromosome and Y-chromosome
Each chromosome has the same number of genes, nArcs.
Input : nArcs arcs, each with two (possibly coincident) vertices, v1 and v2.
Setup of the genes :
X-chromosome : permutation of [1..nArcs]
ith gene = K implies ith curve to be machined by the tool is curve K.
Y-chromosome : array of [0,1]
if Yi = 0, then the i-th curve machined from v1..to..v2
if Yi = 1, then that curve machined from v2..to..v1.
Results :
Naive path (Traditional)
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22
Non-cutting distance
14.7547 units
Iteration Time
0 sec
GA path
1 2 3 4 5 6 7 9 8 11 14 12 13 10 19 16 17 18 15 20 21 22
Non-cutting distance
11.2814 units
Iteration Time
GA +
2-Opt
e2
[current]
pa + bc + dq
e1
a
q
[2-opt options]
pa + bd + cq
pb + ac + dq
pb + ad + cq
pc + ad + bq
pc + bd + aq
pd + bc + aq
pd + ac + bq
GA +
3-Opt
c
e
f
e3
e2
b
e1
The ATSP
n 1
minimize:
Z YijDij
22
i 1 j 1
subject to:
ij
1,
j 1, , n
1,
i 1, , n
11
33
j 1
n
ij
i 1
[Tucker]
ui - uj + pYij p-1,
44
i = 1...n; j = 1n; i j
X
X
P
arct+1
t 1
t+ 1
t 2
t 3
t 4
t+ 1
(D x
s.t.
xt 1 + x t 2 + xt 3 + x t 4 = 1
t 1
t+ 2
t+ 2
t+ 1 3
minimize
t1
t+ 1 1
t+ 1 2
n1
t1
arct+2
+ Dt 2 xt 2 + Dt 3 xt 3 + Dt 4 x t 4 )
xt 1 + x t 3 + xt 11 + xt 1 2 1
xt 2 + x t 4 + x t 1 3 + x t1 4 1
t+ 1 4
Performance comparisons
Traditional method
298625
243589
25.6%
System Architecture
CAD
Solid Model
Surface Model
Tessellation (STL)
Slice data
(uniform)
User
or
APIs
Build direction
Artifacts
Slice data
(adaptive)
System Architecture
Data Flow
Part model
Application Layer
Core Utilities
CAD system
Object Transformations
STL
Design
Tessellation
Slicing
...
Artifact Planning
Geometry Engine
Layer Geometry
Convex Hull
Slice Planning
...
Tool Motion Planning
Optimization Engine
Genetic Algorithm
...
Conclusion
Accomplishments:
Developed an Process Planning, Optimization-Driven,
CAD/CAM support system for Laminated Object Manufacturing
Main Features:
1. Geometric Based
2. Reduced waste cut
3. Optimized laser cutting motion
4. Open-Architecture system
Journal:
Publications
Anthony Pang, Katta G. Murty, Ajay Joneja, Leung Chi Chiu, Tool Path Optimization in Layered
Manufacturing, IIE Transactions, 34(4):335-347, April 2002 .
Anthony Pang, Ajay Joneja, David C.C. Lam, Matthew Yuen, A CAD/CAM system for process
planning and optimization in LOM, IIE Transactions, 33(4): 345-355, April 2001
Ajay Joneja, Anthony Pang, David Lam, Matthew Yuen, A CAD/CAM system for vector-based layered
manufacturing systems, Int. J. of Computer Integrated Manufacturing, 2000, vol. 13, no. 5, 388-400.
Conference:
Ajay Joneja, Anthony Pang, Some geometric techniques to Reduce Build time in LOM, ASME DETC,
DFM conference, Pittsburgh, PA, Sept 7-9, 2001
Ajay Joneja, Anthony Pang, Matthew Yuen, David Lam, A New Architecture for CAD/CAM Systems for
Rapid Prototyping, Proceedings of International CIRP Design Seminar, June 6-8, 2001, Stockholm,
Sweden.
Ajay Joneja, Anthony Pang, Matthew Yuen, David Lam, A Genetic Algorithm for Path planning in
rapid prototyping , Proceedings of DETC98 ASME Conference, September 1316, 1998, Atlanta, GA.
Ajay Joneja, Anthony Pang, Matthew Yuen, David Lam, An Integrated CAD/CAM System for Rapid
Prototyping Applications, Proceedings of the Intl Conference on RP and Mfg, TsingHua Univ, Beijing,
July 21-23, 1998.
Future Work
1. LOM methods improvement: multiple parts
2. Extension to other RP technologies (SLS)
3. Improved disassembly method (Automated Disassembly
Checking)
4. Nonlinear programming optimization for the path planning
problem
http://iesu5.ust.hk/dfaculty/ajay/projects/rp.html
ui - uj + pYij p-1,
i = 1...n; j = 1n; i j
u1 u2 + 3Y12 2
u1 u3 + 3Y13 2
u2 u3 + 3Y23 2
u2 u1 + 3Y21 2
u3 u1 + 3Y31 2
u3 u2 + 3Y32 2
Assume cutting l1 then go to l2
Y12 = 1
u1 u2 -1
Y21 1
u2 u1 -1
u1 u2 -1 & u2 u3 -1
u3 u1 -1
u1 u3
u3 u2 & u2 u1
Contradictory condition