1. USC Viterbi School of Engineering. Information Technology Goals Perform the fundamental research and develop the software components for automating mega- scale fabrication Integrate components with each other and with robots from other thrusts

2. USC Viterbi School of Engineering. Four Classes of Software Modeling Designing Planning Executing

3. USC Viterbi School of Engineering. Research Plan

4. USC Viterbi School of Engineering. Layering various geometries

5. USC Viterbi School of Engineering. Trowel path planning rotate + move (a) Lift-Rotate-Plunge (b) Drag-and-push gap lift h side trowel draggingrotating push-in concave contour layer thickness Trowel path planning and nozzle control around concave corners Trowel path planning and nozzle control around sharp convex corners a) push-in at steady extrusion speed b) push-in at reduced extrusion speed side trowel Previous depositioncurrent deposition

6. USC Viterbi School of Engineering. Nozzle path planning

7. Dynamic Control Material Flow Computation Flow Control Law Position Sensors Nozzle Actuator Nozzle Control Law Robot Wheel Motors Flow Sensor Position Sensor Gantry Dynamic Model Gantry Dynamic Model Material Flow Dynamics Material Flow Dynamics System Dynamics Desired Material Flow Nozzle Position & Orientation Gantry Position Wheel Torques Nozzle Forces Commanded Position Material Flow + - + - Gantry Motion Controller

8. USC Viterbi School of Engineering. Visual inspection Contour Crafting Figure :

9. USC Viterbi School of Engineering. The Integrated IT System

10. USC Viterbi School of Engineering. Interrelationships among the three research thrusts Integrated Software Systems Modular Components & Assembly Extrudable Materials& Fabrication Architectural Design Logistics plan Predictive performance Inspection plan Sensory Data Supply Dispatch Indexed Video Log Structure design & Performance Requirements Performance Restrictions Visual Data CC Hardware Robot Commands Hardware Feedback Assembly plans Nozzle path plan