Pipe Routing in Submersible Vehicles by Using Distance Field

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Information

基本資料

Project title

Code/計畫編號

MOST107-2221-E019-041

Translated Name/計畫中文名

水下載具管路佈線自動化之研究

Project Coordinator/計畫主持人

Shyh-Kuang Ueng

Funding Organization/主管機關

National Science and Technology Council

Department/Unit

Department of Computer Science and Engineering

Website

https://www.grb.gov.tw/search/planDetail?id=12675173

Year

2018

Start date/計畫起

01-08-2018

Expected Completion/計畫迄

31-07-2019

Bugetid/研究經費

706千元

ResearchField/研究領域

資訊科學--軟體

在本計畫書中，我們提出一個針對水下載具的管路佈線問題的研究計畫，我們申請此研究計畫的動機包含以下幾點: (一)水下載具在國防、科學研究、水下工程、與觀光具有重要價值。(二)管路是水下載具能夠運作的重要因素，但是水下載具的管路佈線問題，很少有研究報告被提出。(三)水下載具的結構複雜，內部空間狹小，而且管路系統龐大，因此，它們的管路佈線與一般船舶不同，需要重新研發或大幅修改現有方法，才能完成管路佈線工作。我們的研究目標主要含有下列三項:(一)研究水下載具的管路佈線的演算法與關鍵資料結構；(二)研製一套可以用來進行水下載具管路佈線的電腦軟體；(三)培養水下載具布線的專業人才。以上目標如能達成，會對我國的造船工業、國防科技、水下生態的教育研究與觀光事業有實質幫助。我們的水下載具管路佈線方法含下列步驟:首先我們會利用幾何設計軟體建構一個水下載具模型，接著利用自行研發的體素化程式，將水下載具的內部空間方格成小立方格。然後在這些格子上計算出距離場，用來記錄並估算空間中的點到障礙物的距離。接著進行各種管路佈線，為了避免一次規劃所有的管路系統結構，造成計算複雜與記憶體不夠的困難，我們將採階層式方法配合外部計算進行管路佈線。我們先利用水下載具的隔間將其內部分成幾個部分(房間)，然後在這個簡化的結構內，產生粗略的管路架構，這種管路會通過指定的開口，大致上連接出發點與終點。上述的管路骨架完成後，再進行每一個房間內細部的管路佈線，連接目標設備或指定的通道口。我們的路線安排是以A*演算法為骨幹，配合自行設計的成本函數，找尋滿足下列特性的管路路線:(一)能連接目標設備，並避開障礙物；(二)距離短而且彎曲點少；(三)緊鄰隔間牆或支撐架；(四)與障礙物與其他管路之間具有一定的空隙，利於日後保養；(五)管路會遠離危險設備。因此，所建造出來的管路會有功能齊全、成本低、容易建造與維護的優點。本研究計畫的創新亮點至少有下列幾項: (一) 我們建立專為水下載具做管路佈線的幾何設計軟體，(二)將距離場觀念應用於管路佈線，簡化許多核心計算，(三)利用階層式管路佈線與外部計算減少記憶體使用並提高精確度，(四)利用實體成像法顯示管路完成後的距離場，讓使用者可以了解管路與管路、管路與障礙物之間的空隙大小，同時也能顯示管路路徑在三度空間的位置。 In this proposal, we present a research project on the pipe routing problems of submersible vehicles. This project is motivated by the following factors: First, submersible vehicles are important facilities for national security, scientific and engineering applications, and tourism. Secondly, pipe-routing is crucial for submersible vehicle design. However, very few results had been published. Third, the internal space of a submersible vehicle is relatively small and its mechanical structures as well as geometrical features are highly complex. Conventional pipe-routing algorithms, which are dedicated to design pipes for ships, are no longer applicable for this duty. Our research purposes are to achieve the following goals: (1) By studying and conducting researches on the pipe-routing problems of submersible vehicles, we can develop the essential algorithms and data structures which are helpful to this application. (2)In this project, we are going to build computer software for routing pipes in submersible vehicles. (3) Via this project, we can train our students and faculty to become designers or even experts in the design of pipe systems of submersible vehicles. We propose the following procedure to conquer the pipe-routing problem: At first, a submersible vehicle model will be created by using a CAD tool. Then the inner space of the model will be split into voxels by using a voxelization program. The resultant voxels constitute the usable space for routing the pipes. At the following step, a distance field is computed in the voxels. In each voxel, the shortest distance from it to the obstacles is computed and stored there. Then the pipe systems are created by using the voxels to connect the sources and the destinations. Creating pipes in a discretized 3D space requires significant memory space and computing powers. To avoid constructing the entire pipe systems at a single computation, we adopt a hierarchical and out-of-core method to schedule the pipe-routing task. At first, we create a skeleton of pipe which connects the rooms containing the sources and the destination respectively. Besides, this skeleton must be able to pass pre-defined passages and holes in the walls. Then, in the subsequent steps, the detail pipe routes in each room are fabricated. In this work, we propose to utilize the A* shortest path finding algorithm to create pipes because of its efficiency and flexibility. The technological innovation of this proposed research project can be high-lighted as follows: (1) We construct a CAD tool for routing pipes in submersible vehicles. (2) We apply the distance field concept to simplify and speed-up the pipe-routing problem. (3) The hierarchical and out-of-core computation reduces memory usage and alleviates the difficulties of pipe-routing in complex environment. (4) We utilize volume rendering techniques to reveal the spatial gaps among pipes, walls, and other obstacles. Thus users can comprehend the quality of the pipe-design process.

Keyword(s)

管路佈線
水下載具
距離場
實體繪圖
幾何設計

DSpace CRIS

Pipe Routing in Submersible Vehicles by Using Distance Field

基本資料

Description