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Ken Goldberg, UC Berkeley

Putting the Turing into Manufacturing: Algorithmic Automation and Recent Developments in Feeding and Fixturing. Ken Goldberg, UC Berkeley. The Turing Machine, 1936. Precise vocabulary: 0, 1 Class of primitive operations: Read, Write, Shift Left, Shift Right Well Formed Sequences

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Ken Goldberg, UC Berkeley

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  1. Putting the Turing into Manufacturing: Algorithmic Automation and Recent Developments in Feeding and Fixturing Ken Goldberg, UC Berkeley

  2. The Turing Machine, 1936 • Precise vocabulary: 0, 1 • Class of primitive operations: • Read, Write, Shift Left, Shift Right • Well Formed Sequences • Correctness, Completeness • Equivalence, Complexity

  3. Algorithmic Automation: • Define Admissible Inputs • Define Admissible Operations • Output: all solutions or negative report • Complexity as function of input size

  4. Two Examples • Part Feeding • Part Fixturing and Holding

  5. Putting the Turing into Manufacturing • Automation • Algorithmic Part Feeding • 2D Polygonal Parts • 3D Polyhedral Parts • Traps • Blades • Algorithmic Fixturing • Modular Fixtures • Unilateral Fixtures • D-Space and Deform Closure • Related Work and Open Problems

  6. Solution: Kinematically Yielding Gripper (US Patent 5,098,145)

  7. Example: resulting 3-step plan

  8. Theorem (Completeness): A sensorless plan exists for any polygonal part. • Theorem (Correctness): The algorithm will always find the shortest plan. • Theorem (Complexity): For a polygon of n sides, the algorithm runs in time O(n2) and finds plans of length O(n). • Extensions: • Stochastically Optimal Plans • Extension to Non-Zero Friction • Geometric Eccentricity and constant time result (van der Stappen) • Pulling with point jaws inside concavities, Sorting with wedges

  9. 1770: Interchangeable Parts • 1910: Assembly Lines • 2030:Algorithmic Automation

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