Mitsubishi Electric Research Laboratories, Inc.

Tyler W Garaas

Matthew E Brand

Yuichi Taguchi

Srikumar Ramalingam

Alan Sullivan

Sohrab Haghighat

Esra Ataer-Cansizoglu

Cibulka Josef

A method determines a sequence for drilling holes in a workpiece according to a pattern by first partitioning the holes in the pattern into packets. A global sequence of the packets is determined by solving a global traveling salesman problem (TSP), and a local sequence of the holes in each packet is determined by solving a local TSP for each packet. Then, the local sequences of the holes are joined according to the global sequence of the packets to determine a complete sequence for drilling the holes.

Method for determining a sequence for drilling holes according to a pattern using global and local optimization

A method controls a machine with redundant actuators according to pattern of disconnected contours, wherein the machine includes redundant actuators by first generating a set of initial trajectories from the pattern. Each initial trajectory corresponds to one of the disconnected contours, or a path from an exit point of one contour and an entry point of a next contour. A set of costs for the set of initial trajectories is determined. A sequence of final trajectories is determined based on the set of costs. Then, a set of commands is generated for controlling the machine according to the sequence of final trajectories.

Method for controlling redundantly actuated machines for cutting a pattern of disconnected contours

A method registers data using a set of primitives including points and planes. First, the method selects a first set of primitives from the data in a first coordinate system, wherein the first set of primitives includes at least three primitives and at least one plane. A transformation is predicted from the first coordinate system to a second coordinate system. The first set of primitives is transformed to the second coordinate system using the transformation. A second set of primitives is determined according to the first set of primitives transformed to the second coordinate system. Then, the second coordinate system is registered with the first coordinate system using the first set of primitives in the first coordinate system and the second set of primitives in the second coordinate system. The registration can he used to track a pose of a camera acquiring the data.

Tracking poses of 3D camera using points and planes

Locations in a pattern of a part are evaluated to determine if the locations are interior or exterior to a feature of the pattern. The pattern is used to cut the feature from a material by a laser cutting machine. A location in the feature is rendered into an array stored in a memory so that a value stored at an address in the array corresponding to coordinates of the location is either odd or even as determined by a counting process of the rendering. Then, the location is identified as being interior if the value is odd, and as being exterior if the value is even. The rendering can use modified forms of either rasterization or ray casting.

Method and system for cutting features from sheet materials with a laser cutter according to a pattern

A path of a cutter head of a laser cutting machine is modified to cut features according to a pattern from a material. A no-travel zone that the laser cutter avoids while performing lateral movements between cuts is specified. Locations of the path that cross the no-travel zones are also specified. The path is then modified such that all locations that violate the no-travel zone are removed so that the laser cutter detours around the no-travel zone when performing the lateral movements.

Method and system for detouring around features cut from sheet materials with a laser cutter according to a pattern

Coverage of sensors in a CTV system in a three-dimensional environment are analyzed by partitioning a 3D model of the environment into a set of voxels. A ray is cast from each pixel in each sensor through the 3D model to determine coverage data for each voxel. The coverage data are analyzed to determine a result indicative of an effective arrangement of the set of sensors.

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Tyler W Garaas