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<!DOCTYPE html>
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<head>
<meta charset="utf-8">
<meta
name="description"
content="Refine initial expert plans to generate refined plans for robotic layup of composite sheets that minimize the time taken for the layup operation while improving process accuracy."
>
<meta name="keywords" content="Robotic Layup, Composite Sheets, Manufacturing Automation">
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<title>Plan Refinement</title>
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<div class="container is-max-desktop">
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<h1 class="title is-1 publication-title">Automated Plan Refinement for Improving Efficiency of Robotic Layup of Composite Sheets</h1>
<div class="is-size-4 publication-authors">
<span class="author-block">
<a href="https://github.com/l0g1c-80m8">Rutvik Patel</a><sup>1</sup>,</span>
<span class="author-block">
<a href="https://www.linkedin.com/in/aleckanyuck/">Alec Kanyuck</a><sup>1</sup>,</span>
<span class="author-block">
Zachary McNulty<sup>1</sup>,
</span>
<span class="author-block">
<a href="https://zerenyu.github.io/">Zeren Yu</a><sup>1</sup>,
</span>
<br>
<span class="author-block">
Lisa Carlson<sup>2</sup>,
</span>
<span class="author-block">
Vann Heng<sup>2</sup>,
</span>
<span class="author-block">
Brice Johnson<sup>2</sup>,
</span>
<span class="author-block">
<a href="https://sites.usc.edu/skgupta/">Satyandra K. Gupta</a><sup>1</sup>
</span>
</div>
<div class="is-size-5 publication-authors">
<span class="author-block"><sup>1</sup>Center for Advanced Manufacturing, University of Southern California, </span>
<span class="author-block"><sup>2</sup>Boeing Research and Technology</span>
</div>
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<div class="publication-links">
<!-- PDF Link. -->
<span class="link-block">
<a href="https://www.researchgate.net/publication/385198866_Automated_Plan_Refinement_for_Improving_Efficiency_of_Robotic_Layup_of_Composite_Sheets"
class="external-link button is-normal is-rounded is-dark">
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<span>Paper</span>
</a>
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<span>Video</span>
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</div>
</section>
<section class="hero teaser mt-2">
<div class="container is-max-desktop">
<div class="hero-body">
<img style="display: block; margin: 0 auto;" src="./static/images/composite-sheet-layup-cell.png" alt="Teaser Image" width="50%">
<h2 class="subtitle has-text-centered mt-6">
Composite sheet layup involves multiple operations to be performed. <br>
Some of these operations are sequenced into a draping plan to guide the layup process.
</h2>
</div>
</div>
</section>
<section class="hero is-light is-small">
<div class="hero-body">
<div class="container">
<div id="results-carousel" class="carousel results-carousel">
<div class="item-container">
<div class="item-label has-text-centered">Sheet Placement</div>
<div class="item">
<video poster="" id="sheet-placement" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos/sheet-placement.mp4"
type="video/mp4">
</video>
</div>
</div>
<div class="item-container">
<div class="item-label has-text-centered">Backing Film Peel (Bottom)</div>
<div class="item">
<video poster="" id="bottom-peel" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos/bottom-peel.mp4"
type="video/mp4">
</video>
</div>
</div>
<div class="item-container">
<div class="item-label has-text-centered">Compaction Paths</div>
<div class="item">
<video poster="" id="compaction-paths" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos/compaction-paths.mp4"
type="video/mp4">
</video>
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<div class="item-label has-text-centered">Backing Film Peel (Top)</div>
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<video poster="" id="top-peel" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos/top-peel.mp4"
type="video/mp4">
</video>
</div>
</div>
<div class="item-container">
<div class="item-label has-text-centered">Sheet Inspection</div>
<div class="item">
<video poster="" id="sheet-inspection" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos/sheet-inspection.mp4"
type="video/mp4">
</video>
</div>
</div>
</div>
</div>
</div>
</section>
<section class="section">
<!-- Paper video. -->
<div class="columns is-centered has-text-centered">
<div class="column is-four-fifths">
<h2 class="title is-3">Video</h2>
<div class="publication-video">
<iframe src="https://www.youtube.com/embed/GLq06O_CMF4?rel=0&showinfo=0"
frameborder="0" allow="autoplay; encrypted-media" allowfullscreen></iframe>
</div>
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<div class="container is-max-desktop">
<!-- Abstract. -->
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<h2 class="title is-3">Abstract</h2>
<div class="content has-text-justified">
<p>
The automation of composite sheet layup processes is essential to meet the increasing demand for composite
materials in various industries. However, expert-crafted plans, typically devised in controlled laboratory
conditions, often encounter challenges when implemented in diverse production environments, leading to
suboptimal performance.
</p>
<p>
In this paper, we present a comprehensive framework aimed at refining expert-crafted plans to real-world
production settings. Our framework prioritizes the minimization of uncompacted regions while simultaneously
improving time-efficiency. To achieve this, we integrate human expertise with data-driven decision-making
to refine expert-crafted plans for diverse production environments.
</p>
<p>
We conduct experiments to validate the effectiveness of our approach, revealing significant reductions
in the number of rework paths required compared to initial expert-crafted plans. Through a combination of
empirical data analysis, action-effectiveness modeling, and search-based refinement, our system achieves
superior time-efficiency in robotic layup operations. Experimental results demonstrate the efficacy of our
approach in optimizing the layup process, thereby advancing the state-of-the-art in composite manufacturing
automation.
</p>
</div>
</div>
</div>
<!--/ Abstract. -->
</div>
</section>
<section class="section">
<div class="container is-max-desktop">
<div class="columns is-centered">
<div class="column is-full-width">
<h2 class="title is-3">Generating Draping Plans</h2>
<div class="content has-text-justified">
<p>
In our process, we employ an internally developed geometry-based planner to craft surface paths for the
layup procedure. Our geometry-based planner offers various options to regulate roller interaction on the
surface. These paths serve as the foundation for skilled experts to develop intricate plans to ensure optimal
material distribution for an accurate layup.
</p>
</div>
<h3 class="title is-4">Geometry-based Path Planner</h3>
<div class="has-text-centered">
<video id="replay-video"
controls
muted
preload
playsinline
width="80%">
<source src="./static/videos/full_generation.mp4"
type="video/mp4">
</video>
</div>
<br/>
<h3 class="title is-5">A Step-by-Step Plan Generated on One of the Sheets</h3>
<div class="content has-text-centered">
<div class="columns is-vcentered interpolation-panel">
<div class="column is-3 has-text-centered">
<img src="./static/images/plan_begin.png"
class="interpolation-image"
alt="before planning"/>
<p>Starting Surface</p>
</div>
<div class="column interpolation-video-column">
<div id="interpolation-image-wrapper">
Loading...
</div>
<input class="slider is-fullwidth is-large is-info"
id="interpolation-slider"
step="1" min="0" max="15" value="0" type="range">
</div>
<div class="column is-3 has-text-centered">
<img src="./static/images/plan_end.png"
class="interpolation-image"
alt="after planning"/>
<p class="is-bold">After Generating Paths</p>
</div>
</div>
<br/>
</div>
<h3 class="title is-4">Plan Refinement Approach Overview</h3>
<div class="content has-text-centered">
<img src="./static/images/approach-overview.png" alt="Teaser Image" width="100%">
</div>
</div>
</div>
<div class="columns is-centered">
<div class="column">
<div class="content">
<h2 class="title is-3"><i>Sheet<sub>1</sub></i></h2>
<div id="pc-container-sheet-1"></div>
<iframe width="100%" height="480" src="https://sketchfab.com/models/a4cb1d1f35fe4672822bfe297f50a3af/embed"></iframe>
<p class="has-text-justified">
<i>Sheet<sub>1</sub></i> is a square-shaped sheet positioned within a region characterized by high
curvature extending uniformly from the center in all directions across its entire surface.
</p>
</div>
</div>
<div class="column">
<h2 class="title is-3"><i>Sheet<sub>2</sub></i></h2>
<div class="columns is-centered">
<div class="column content">
<div id="pc-container-sheet-2"></div>
<iframe width="100%" height="480" src="https://sketchfab.com/models/5624ab21b03c4a0eab4c14928300a929/embed"></iframe>
<p class="has-text-justified">
<i>Sheet<sub>2</sub></i> occupies a rectangular shape centered within a region defined by high curvature
stretching along both axes which is particularly notable along its longer dimension.
</p>
</div>
</div>
</div>
</div>
<div class="container is-max-desktop mt-4">
<div class="columns is-centered has-text-centered">
<div class="column is-four-fifths">
<h2 class="title is-5">Paths in Refined Plan</h2>
</div>
</div>
</div>
<div class="columns is-centered mb-6">
<div class="column">
<div class="content">
<video id="dollyzoom" style="display: block; margin: 0 auto;" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos/sheet1_paths.mp4"
type="video/mp4">
</video>
</div>
</div>
<div class="column">
<div class="columns is-centered">
<div class="column content">
<video id="matting-video" style="display: block; margin: 0 auto;" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos/sheet2_paths.mp4"
type="video/mp4">
</video>
</div>
</div>
</div>
</div>
<div class="columns is-centered mt-6">
<div class="column is-full-width">
<h2 class="title is-3">Related Links</h2>
<div class="content has-text-justified">
<p>
Other relevant work around composite sheet layup automation from our lab:
</p>
<div class="columns is-centered">
<div class="column">
<div class="content">
<iframe src="https://www.youtube.com/embed/1Z5GQdfH2S4?si=ADb6JinZxnrpfWt-" frameborder="0" allow="autoplay; encrypted-media" allowfullscreen></iframe>
<iframe src="https://www.youtube.com/embed/8R10-1JZkko?si=gC9B1DxxSk8bt_PO" frameborder="0" allow="autoplay; encrypted-media" allowfullscreen></iframe>
<iframe src="https://www.youtube.com/embed/CYqKoqxBWso?si=gu4b-eYOa2oPnRD4" frameborder="0" allow="autoplay; encrypted-media" allowfullscreen></iframe>
</div>
</div>
<div class="column">
<div class="columns is-centered">
<div class="column content">
<iframe src="https://www.youtube.com/embed/jON2AhwBp5M?si=dWheXR6VkB0So4SM" frameborder="0" allow="autoplay; encrypted-media" allowfullscreen></iframe>
<iframe src="https://www.youtube.com/embed/azvmC1mWrac?si=E2IN34zp_ogB1TVt" frameborder="0" allow="autoplay; encrypted-media" allowfullscreen></iframe>
<iframe src="https://www.youtube.com/embed/Xz93p13JonA?si=bU_REVg5n4QqobYZ" frameborder="0" allow="autoplay; encrypted-media" allowfullscreen></iframe>
</div>
</div>
</div>
</div>
</div>
</div>
</div>
</div>
</section>
<section class="section" id="BibTeX">
<div class="container is-max-desktop content">
<h2 class="title">BibTeX</h2>
<pre><code>@INPROCEEDINGS{10711801,
author={Patel, Rutvik and Kanyuck, Alec and McNulty, Zachary and Yu, Zeren and Carlson, Lisa and Heng, Vann and Johnson, Brice and Gupta, Satyandra K.},
booktitle={{2024 IEEE 20th International Conference on Automation Science and Engineering (CASE)}},
title={{Automated Plan Refinement for Improving Efficiency of Robotic Layup of Composite Sheets}},
year={2024},
pages={3132-3139},
keywords={Sequential analysis;Service robots;Decision making;Refining;Production;Lead;Minimization;Data models;Manufacturing automation;Material properties},
doi={10.1109/CASE59546.2024.10711801}
}
</code></pre>
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