An information processing device includes a data processing unit that specifies a void region of a three-dimensional shaped object based on shaping data for shaping the three-dimensional shaped object, the shaping data including path information indicating a movement path of a discharge unit that moves while discharging a shaping material and discharge amount information indicating a discharge amount of the shaping material in the movement path; and a display control unit that display, on a display unit, at least a part of first shape data indicating a shape of the three-dimensional shaped object generated based on the shaping data, in which the display control unit performs, on the display unit, a display that can specify the void region in at least a part of the first shape data.

A method includes determining, for a robotic device that comprises a perception system, a robot planner state representing at least one future path for the robotic device in an environment. The method also includes determining a perception system trajectory by inputting at least the robot planner state into a machine learning model trained based on training data comprising at least a plurality of robot planner states corresponding to a plurality of operator-directed perception system trajectories. The method further includes controlling, by the robotic device, the perception system to move through the determined perception system trajectory.

In an example implementation, a method of processing a 3D object model includes receiving render data of a 2D slice of a 3D object model and generating distance values indicating how far away voxels in the 2D slice are from a nearest edge of the 3D object model. The method also includes detecting a feature of the 3D object model from the distance values, and generating modified render data to be subsequently used in a 3D printing system to produce the feature in a 3D part.

A robot collision avoidance motion optimization technique using a distance field constraint function. CAD or sensor data depicting obstacles in a robot workspace are converted to voxels, and a three-dimensional binary matrix of voxel occupancy is created. A corresponding distance map matrix is then computed, where each cell in the distance map matrix contains a distance to a nearest occupied cell. The distance map matrix is used as a constraint function in a motion planning optimization problem, where the optimization problem is convexified and then iteratively solved to yield a robot motion profile which avoids the obstacles and minimizes an objective function such as distance traveled. The distance field optimization technique is quickly computed and has a computation time which is independent of the number of obstacles. The disclosed optimization technique is easy to set up, as it requires no creation of geometry primitives to approximate robot and obstacle shapes.

A three-dimensional shape data generating apparatus includes: an acquiring section that acquires element data generated by dividing a three-dimensional shape into first elements, the three-dimensional shape being modeled with a plurality of modeling materials having different resolutions, each first element corresponding to a resolution of a first modeling material among the plurality of modeling materials; a dividing section that divides the three-dimensional shape into second elements, each second element corresponding to a second modeling material having a resolution lower than the resolution of the first modeling material and having a size larger than the first element; and a generating section that generates three-dimensional shape data through setting modeling materials for the first and second elements, respectively, according to the number of the first elements covered by the second element.

A robot collision avoidance motion optimization technique using a distance field constraint function. CAD or sensor data depicting obstacles in a robot workspace are converted to voxels, and a three-dimensional binary matrix of voxel occupancy is created. A corresponding distance map matrix is then computed, where each cell in the distance map matrix contains a distance to a nearest occupied cell. The distance map matrix is used as a constraint function in a motion planning optimization problem, where the optimization problem is convexified and then iteratively solved to yield a robot motion profile which avoids the obstacles and minimizes an objective function such as distance traveled. The distance field optimization technique is quickly computed and has a computation time which is independent of the number of obstacles. The disclosed optimization technique is easy to set up, as it requires no creation of geometry primitives to approximate robot and obstacle shapes.

Methods and apparatus for sensor-based part development are disclosed. An example apparatus includes at least one memory, instructions in the apparatus, and processor circuitry to execute the instructions to translate at least one user-defined material property selection into a desired process observable, the desired process observable including a meltpool property, perform voxel-based autozoning of an input part geometry, the input part geometry based on a computer-generated design, and output a voxelized reference map for the input part geometry based on the desired process observable and the voxel-based autozoning.

A three-dimensional shape data generating apparatus includes: an acquiring section that acquires element data generated by dividing a three-dimensional shape into first elements, the three-dimensional shape being modeled with a plurality of modeling materials having different resolutions, each first element corresponding to a resolution of a first modeling material among the plurality of modeling materials; a dividing section that divides the three-dimensional shape into second elements, each second element corresponding to a second modeling material having a resolution lower than the resolution of the first modeling material and having a size larger than the first element; and a generating section that generates three-dimensional shape data through setting modeling materials for the first and second elements, respectively, according to the number of the first elements covered by the second element.

In an example implementation, a method of processing a 3D object model includes receiving render data of a 2D slice of a 3D object model and generating distance values indicating how far away voxels in the 2D slice are from a nearest edge of the 3D object model. The method also includes detecting a feature of the 3D object model from the distance values, and generating modified render data to be subsequently used in a 3D printing system to produce the feature in a 3D part.

An information processing device includes: a storage unit that stores, for each of a formative cell configured as a collection of multiple formative voxels that are a unit of formation of a forming device, specification information enabling a specification of which of multiple materials is used to form each formative voxel included in the formative cell, and physical properties of the formative cell; an acquisition unit that acquires object data expressing a three-dimensional object as a collection of data voxels; and a conversion unit that replaces the data voxels in the object data, or data cells containing multiple data voxels, with the formative cells having physical properties that are substantially the same as physical properties of the data voxels or the data cells, and thereby converts the object data into formable data that is a collection of the formative voxels.