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  • Key words. Assembly planning, Assembly sequencing, Motion space, Nondirectional blocking graph, Manufacturing.  (1)
  • Key words. Dynamic algorithms, Graph algorithms, Lookahead algorithms, Graph certificates, Sparsification, Strong connectivity, Transitive closure.  (1)
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Keywords
  • 1
    Electronic Resource
    Electronic Resource
    Springer
    Algorithmica 21 (1998), S. 377-394 
    ISSN: 1432-0541
    Keywords: Key words. Dynamic algorithms, Graph algorithms, Lookahead algorithms, Graph certificates, Sparsification, Strong connectivity, Transitive closure.
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science , Mathematics
    Notes: Abstract. Recent work in dynamic graph algorithms has led to efficient algorithms for dynamic undirected graph problems such as connectivity. However, no efficient deterministic algorithms are known for the dynamic versions of fundamental directed graph problems like strong connectivity and transitive closure, as well as some undirected graph problems such as maximum matchings and cuts. We provide some explanation for this lack of success by presenting quadratic lower bounds on the certificate complexity of the seemingly difficult problems, in contrast to the known linear certificate complexity for the problems which have efficient dynamic algorithms. In many applications of dynamic (di)graph problems, a certain form of lookahead is available. Specifically, we consider the problems of assembly planning in robotics and the maintenance of relations in databases. These give rise to dynamic strong connectivity and dynamic transitive closure problems, respectively. We explain why it is reasonable, and indeed natural and desirable, to assume that lookahead is available in these two applications. Exploiting lookahead to circumvent their inherent complexity, we obtain efficient dynamic algorithms for strong connectivity and transitive closure.
    Type of Medium: Electronic Resource
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  • 2
    Electronic Resource
    Electronic Resource
    Springer
    Algorithmica 26 (2000), S. 577-601 
    ISSN: 1432-0541
    Keywords: Key words. Assembly planning, Assembly sequencing, Motion space, Nondirectional blocking graph, Manufacturing.
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science , Mathematics
    Notes: Abstract. Assembly planning is the problem of finding a sequence of motions to assemble a product from its parts. We present a general framework for finding assembly motions based on the concept of motion space . Assembly motions are parameterized such that each point in motion space represents a mating motion that is independent of the moving part set. For each motion we derive blocking relations that explicitly state which parts collide with other parts; each subassembly (rigid subset of parts) that does not collide with the rest of the assembly can easily be derived from the blocking relations. Motion space is partitioned into an arrangement of cells such that the blocking relations are fixed within each cell. We apply the approach to assembly motions of several useful types, including one-step translations, multistep translations, and infinitesimal rigid motions. Several efficiency improvements are described, as well as methods to include additional assembly constraints into the framework. The resulting algorithms have been implemented and tested extensively on complex assemblies. We conclude by describing some remaining open problems.
    Type of Medium: Electronic Resource
    Library Location Call Number Volume/Issue/Year Availability
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