ABSTRACT
This paper presents a set of performance metrics, test methods, and associated artifacts to help progress the development and deployment of robotic assembly systems. The designs for three task board artifacts that replicate small part insertion and fastening operations such as threading, snap fitting, and meshing with standard screws, nuts, washers, gears, electrical connectors, belt drives, and wiring are presented. To support the evaluation of robotic assembly and disassembly operations, benchmarking protocols and performance metrics are presented that leverage these task boards. Finally, robot competitions are discussed as use cases for these task boards.
ABSTRACT
The configuration interaction (CI) is a versatile wave function theory for interacting fermions, but it involves an extremely long CI series. Using a symmetric tensor decomposition method, we convert the CI series into a compact and numerically tractable form. The converted series encompasses the Hartree-Fock state in the first term and rapidly converges to the full-CI state, as numerically tested by using small molecules. Provided that the length of the symmetric tensor decomposition CI series grows only moderately with the increasing complexity of the system, the new method will serve as one of the alternative variational methods to achieve full CI with enhanced practicability.
