designing effective step-by-step assembly instructions maneesh agrawala, doantam phan, julie heiser,...
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Designing Effective Step-By-Step Assembly Instructions
Maneesh Agrawala, Doantam Phan, Julie Heiser, John Haymaker,
Jeff Klingner, Pat Hanrahan and Barbara Tversky
Microsoft Research and Stanford University
1 2 3
4 5 6
Designing Instructions
Planning Choose sequence of assembly
operations Robotics / AI / Mechanical Engineering
[Wolter 89], [de Mello 91], [Wilson 92], [Romney 95]
Presentation Visually convey assembly operations Visualization / Computer Graphics
[Seligmann 91], [Rist 94], [Butz 97], [Strothotte 98]
We jointly optimize plan and presentation
Geometric Analysis [Romney 95]
A
B A blocked by B
B blocked by A
both parts free to move
A B
B A
CA
B
A C
B
A C
B A C
B
Input Parts Blocking Graph
Geometric Assembly Planning
Valid Valid Invalid
Many Geometrically Valid Sequences
Valid Valid ValidValidValid
How do we choose the best sequence?
Our Approach
Identify cognitive design principles How people conceive of 3D assemblies
How people comprehend visual instructions
Encode principles as constraints within automated design system
Identifying Design Principles
Experiment 1: Assemble and draw instructions
Experiment 2: Rate effectiveness
Experiment 3: Validate effectiveness
Sequence the Assembly Operations
Single exploded view diagramStep-by-step diagrams
Step-by-step instructions preferable
Illustrate the Assembly Operations
Action diagrams preferable
Structural diagrams
Action diagrams
Ensure Visibility of Parts
Essential Parts being attached Context (show earlier parts)
Less important All parts in a symmetric group Repetitive operations
Automated Instruction Design
Step-by-Step
Action diagrams
Good visibility
TV stand instructions generated by our system
Input
Geometry Parts in assembled positions
Orientations Default viewpoint / orientation Preferred orientation for each part
Groupings fasteners, significant parts, symmetry,
similar-actions Ordering constraints
Force one part to attach before another
requiredoptional
TV Stand Input
Geometry: Parts in assembled positions
Orientations: Default viewpoint / orientation
Groupings: fasteners, significant parts, symmetry
requiredoptional
Reorientation
Sequence Parts
All parts
Best subset of parts
Leftover parts
Sequence of assembly steps
Search
Action Diagrams
Structural Diagrams
Reorientation
Sequence Parts
All parts
Best subset of parts
Leftover parts
Sequence of assembly steps
Search
All parts
...…
Part subsets
All parts
Best subset of parts
Leftover parts
Search
Reorientation
Sequence Parts
Sequence of assembly steps
All parts
Best subset of parts
Leftover parts
Search
Reorientation
Sequence Parts
Sequence of assembly steps
Interference
Attachment
Ordering
Grouping
Visibility
SearchChoose part subset
Computing Visibility
Area(P) = # red pixels
Vis(P,Q) = Area(P,Q) / Area(P)
Area(P,Q) = # red pixelsArea of top not occluded by sides Area of top alone
% pixels that remain visible
Visibility Constraint
Current parts R min ( Vis(r, R-r) )
Check that each part in current subset is visible
Attached parts A Vis(A, R)
Check that context is visible
Unattached parts U min ( Vis(u, R) )
Check that future parts will be visible
r R
u U
Lego Car
Input model
Bookcase
Input model
Add significant parts one by one
Visibility
Distance to viewer
Add all remaining parts
Omit repetitive operations
Skip if 2 similar-action parts already added
Sequence Parts
Best subset of parts
All parts
Leftover parts
Search
Reorientation
Sequence of assembly steps
Bookcase – After Sequencing
Bookcase – Omitting Repetition
Set preferred orientation for significant parts
If visibility of current parts is low try alternate oblique views
Sequence Parts
Best subset of parts
All parts
Leftover parts
Search
Reorientation
Sequence of assembly steps
Bookcase – With Reorientation
Reorientation
Sequence Parts
All parts
Best subset of parts
Leftover parts
Sequence of assembly steps
Search
Action Diagrams
Choose Direction
Build Stacks
Place Guidelines
Reorientation
Sequence Parts
All parts
Best subset of parts
Leftover parts
Sequence of assembly steps
Search
Sequence of assembly diagrams
Building Stacks
Stack: set of parts that Share separation direction Lie on a stabbing line Are in sequential contact
Base
1st stack part
2nd stack part
3rd stack part
4th stack part
Base
1st stack part
Base
1st stack part
Building Stacks
Stack: set of parts that Share separation direction Lie on a stabbing line Are in sequential contact
Base
1st stack part
Placing Guidelines
Expand stacks Form lines between stack parts
Placing Guidelines
Expand stacks Form lines between stack parts
Bookcase
9 parts Planning: 48s
Table
13 parts Planning: 28s
Test Object
25 parts Planning: 53s
Exploded View
Future Work
Experiment 4: Evaluation Time/errors as they use our instructions
Assemblies with more subparts Take advantage of hierarchy Apply system recursively
Physical and functional constraints Part size and mass Gravitational stability
Summary
Cognitive design principles Step-by-step Action diagrams Good visibility
Automated instruction design system
Integrate planning and presentation
Acknowledgements
Boris Yamrom
Christina Vincent
ONR grants N000140210534, N000140110717 and N000140010649
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