Figure 1: The Slice-100K dataset consists of STL files and their G-code counterparts. Each pair here consists of STL (left) and its slices (right) for G-code. Slice-100K will provide a foundational platform that enables broader research at the intersection of manufacturing and artificial intelligence, particularly with the recent advances in multimodal large language models (LLMs). Furthermore, openly-available data is essential for the democratization of knowledge in the scientific community. We believe Slice-100K will benefit the economy and will be a net positive contribution. However, we do foresee some potential negative societal impacts.

G-code (Geometric code) or RS-274 is the most widely used computer numerical control (CNC) and 3D printing programming language. G-code provides machine instructions for the movement of the 3D printer, especially for the nozzle, stage, and extrusion of material for extrusion-based additive manufacturing. Currently, there does not exist a large repository of curated CAD models along with their corresponding G-code files for additive manufacturing. To address this issue, we present Slice-100K, a first-of-its-kind dataset of over 100,000 G-code files, along with their tessellated CAD model, LVIS (Large Vocabulary Instance Segmentation) categories, geometric properties, and renderings. We build our dataset from triangulated meshes derived from Objaverse-XL and Thingi10K datasets. We demonstrate the utility of this dataset by finetuning GPT-2 on a subset of the dataset for G-code translation from a legacy G-code format (Sailfish) to a more modern, widely used format (Marlin). Our dataset can be found here. Slice-100K will be the first step in developing a multimodal foundation model for digital manufacturing.

The proliferation of abundant electricity time series (ETS) data presents numerous opportunities for various applications within power systems, including demand-side management, grid stability, and consumer behavior analysis. Deep learning models have advanced ETS modeling by effectively capturing sequence dependence. However, learning a generic representation of ETS data for various applications is challenging due to the inherently complex hierarchical structure of ETS data. Moreover, ETS data exhibits intricate temporal dependencies and is susceptible to the influence of exogenous variables.

Additive manufacturing (AM) has transformed the production landscape by enabling the precision creation of complex geometries. However, AM faces limitations when applied to challenging environments, such as elevated surfaces and remote locations. Aerial additive manufacturing, facilitated by drones, presents a solution to these challenges. However, despite advances in methods for the planning, control, and localization of drones, the accuracy of these methods is insufficient to run traditional feedforward extrusion-based additive manufacturing processes (such as Fused Deposition Manufacturing). Recently, the emergence of LLMs has revolutionized various fields by introducing advanced semantic reasoning and real-time planning capabilities. This paper proposes the integration of LLMs with aerial additive manufacturing to assist with the planning and execution of construction tasks, granting greater flexibility and enabling a feed-back based design and construction system. Using the semantic understanding and adaptability of LLMs, we can overcome the limitations of drone based systems by dynamically generating and adapting building plans on site, ensuring efficient and accurate construction even in constrained environments. Our system is able to design and build structures given only a semantic prompt and has shown success in understanding the spatial environment despite tight planning constraints. Our method's feedback system enables replanning using the LLM if the manufacturing process encounters unforeseen errors, without requiring complicated heuristics or evaluation functions. Combining the semantic planning with automatic error correction, our system achieved a 90% build accuracy, converting simple text prompts to build structures.

This paper introduces a chain-driven, sandwich-legged, mid-size quadruped robot designed as an accessible research platform. The design prioritizes enhanced locomotion capabilities, improved reliability and safety of the actuation system, and simplified, cost-effective manufacturing processes. Locomotion performance is optimized through a sandwiched leg design and a dual-motor configuration, reducing leg inertia for agile movements. Reliability and safety are achieved by integrating robust cable strain reliefs, efficient heat sinks for motor thermal management, and mechanical limits to restrict leg motion. Simplified design considerations include a quasi-direct drive (QDD) actuator and the adoption of low-cost fabrication techniques, such as laser cutting and 3D printing, to minimize cost and ensure rapid prototyping. The robot weighs approximately 25 kg and is developed at a cost under \$8000, making it a scalable and affordable solution for robotics research. Experimental validations demonstrate the platform's capability to execute trot and crawl gaits on flat terrain and slopes, highlighting its potential as a versatile and reliable quadruped research platform.

G-code (Geometric code) or RS-274 is the most widely used computer numerical control (CNC) and 3D printing programming language. G-code provides machine instructions for the movement of the 3D printer, especially for the nozzle, stage, and extrusion of material for extrusion-based additive manufacturing. Currently, there does not exist a large repository of curated CAD models along with their corresponding G-code files for additive manufacturing. To address this issue, we present Slice-100K, a first-of-its-kind dataset of over 100,000 G-code files, along with their tessellated CAD model, LVIS (Large Vocabulary Instance Segmentation) categories, geometric properties, and renderings. We build our dataset from triangulated meshes derived from Objaverse-XL and Thingi10K datasets.

The proliferation of abundant electricity time series (ETS) data presents numerous opportunities for various applications within power systems, including demand-side management, grid stability, and consumer behavior analysis. Deep learning models have advanced ETS modeling by effectively capturing sequence dependence. However, learning a generic representation of ETS data for various applications is challenging due to the inherently complex hierarchical structure of ETS data. Moreover, ETS data exhibits intricate temporal dependencies and is susceptible to the influence of exogenous variables. In this paper, we propose a foundation model PowerPM for ETS data, providing a large-scale, off-the-shelf model for power systems.

With the advancement of Industry 4.0, intelligent manufacturing extensively employs sensors for real-time multidimensional data collection, playing a crucial role in equipment monitoring, process optimisation, and efficiency enhancement. Industrial data exhibit characteristics such as multi-source heterogeneity, nonlinearity, strong coupling, and temporal interactions, while also being affected by noise interference. These complexities make it challenging for traditional anomaly detection methods to extract key features, impacting detection accuracy and stability. Traditional machine learning approaches often struggle with such complex data due to limitations in processing capacity and generalisation ability, making them inadequate for practical applications. While deep learning feature extraction modules have demonstrated remarkable performance in image and text processing, they remain ineffective when applied to multi-source heterogeneous industrial data lacking explicit correlations. Moreover, existing multi-source heterogeneous data processing techniques still rely on dimensionality reduction and feature selection, which can lead to information loss and difficulty in capturing high-order interactions. To address these challenges, this study applies the EAPCR and Time-EAPCR models proposed in previous research and introduces a new model, Time-EAPCR-T, where Transformer replaces the LSTM module in the time-series processing component of Time-EAPCR. This modification effectively addresses multi-source data heterogeneity, facilitates efficient multi-source feature fusion, and enhances the temporal feature extraction capabilities of multi-source industrial data.Experimental results demonstrate that the proposed method outperforms existing approaches across four industrial datasets, highlighting its broad application potential.

We address the problem of object arrangement and scheduling for sequential 3D printing. Unlike the standard 3D printing, where all objects are printed slice by slice at once, in sequential 3D printing, objects are completed one after other. In the sequential case, it is necessary to ensure that the moving parts of the printer do not collide with previously printed objects. We look at the sequential printing problem from the perspective of combinatorial optimization. We propose to express the problem as a linear arithmetic formula, which is then solved using a solver for satisfiability modulo theories (SMT). However, we do not solve the formula expressing the problem of object arrangement and scheduling directly, but we have proposed a technique inspired by counterexample guided abstraction refinement (CEGAR), which turned out to be a key innovation to efficiency.

-- Robot hands that imitate the shape of the human body have been actively studied, and various materials and mechanisms have been proposed to imitate the human body. Although the use of soft materials is advantageous in that it can imitate the characteristics of the human body's epidermis, it increases the number of parts and makes assembly di fficult in order to perform complex movements. In this study, we propose a skin-skeleton integrated robot hand that has 15 degrees of freedom and consists of four parts. The developed robotic hand is mostly composed of a single flexible part produced by a 3D printer, and while it can be easily assembled, it can perform adduction, flexion, and opposition of the thumb, as well as flexion of four fingers. I ntroduction Robots are being used to automate tasks previously performed by humans, with robot hands playing a particularly important role. In a social implementation, changing hands according to the task is problematic in terms of implementation cost. However, a robot hand that can perform many tasks with a single hand has advantages such as greatly reducing the cost of introduction and contributing greatly to the realization of an automated society. Most tools in society are made to fit human hands, so the human mimetic robot hand can be implemented in society without the use of special tools.