Pub Date : 1999-07-21DOI: 10.1109/ISATP.1999.782998
N. Silva, C. Ramos
Manufacturing systems are changing structure and organisation. Supply chains are evolving to more coupled organisations like virtual enterprises, though maintaining the single entities autonomy, adaptability and dynamism properties. Such organisations imply organisational and technological shift through agility, distribution, decentralisation, reactivity and flexibility. New organisational and technological paradigms are needed in order to reply to the modern manufacturing systems challenges. The paper proposes and justifies the holonic manufacturing system concept as the main organisational paradigm presents the infrastructures needed to assure system operation, security, coherence and coordination. Additionally, the scheduling sub-system is presented along with a scheduling method developed as a case study.
{"title":"Infrastructures and scheduling method for holonic manufacturing systems","authors":"N. Silva, C. Ramos","doi":"10.1109/ISATP.1999.782998","DOIUrl":"https://doi.org/10.1109/ISATP.1999.782998","url":null,"abstract":"Manufacturing systems are changing structure and organisation. Supply chains are evolving to more coupled organisations like virtual enterprises, though maintaining the single entities autonomy, adaptability and dynamism properties. Such organisations imply organisational and technological shift through agility, distribution, decentralisation, reactivity and flexibility. New organisational and technological paradigms are needed in order to reply to the modern manufacturing systems challenges. The paper proposes and justifies the holonic manufacturing system concept as the main organisational paradigm presents the infrastructures needed to assure system operation, security, coherence and coordination. Additionally, the scheduling sub-system is presented along with a scheduling method developed as a case study.","PeriodicalId":326575,"journal":{"name":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-07-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128244143","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1999-07-21DOI: 10.1109/ISATP.1999.782940
V. Mînzu, D. Cernega
Proposes a control problem statement in the framework of supervisory control technique for the assembly workstations, which obviously are discrete event systems. A desired behaviour of an assembly workstation is analyzed. The behaviour of such a workstation is cyclic and some linguistic properties are established. A necessary condition for the existence of a supervisor that meets the production constraints is proved.
{"title":"Supervisory control technique for assembly workstation","authors":"V. Mînzu, D. Cernega","doi":"10.1109/ISATP.1999.782940","DOIUrl":"https://doi.org/10.1109/ISATP.1999.782940","url":null,"abstract":"Proposes a control problem statement in the framework of supervisory control technique for the assembly workstations, which obviously are discrete event systems. A desired behaviour of an assembly workstation is analyzed. The behaviour of such a workstation is cyclic and some linguistic properties are established. A necessary condition for the existence of a supervisor that meets the production constraints is proved.","PeriodicalId":326575,"journal":{"name":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-07-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116069139","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1999-07-21DOI: 10.1109/ISATP.1999.782930
Bharath Mukundakrishnan, B. Nelson, J. Feddema
Development of hybrid MEMS devices has demonstrated a need for automatic microassembly strategies. Visual servoing techniques have shown great promise as a control strategy capable of submicron precision while compensating many of the problems that exist in the micro domain, including thermal expansion of assembly devices and imprecisely modeled and calibrated sensors and actuators. This project develops rules for micropart design to aid in device assemblability with visual servoing techniques by ensuring that the microparts can be easily tracked and controlled using vision feedback. A criterion is presented that estimates part trackability based on the visual appearance of the part. This criterion is then used to microfabricate features to improve part trackability and hence, the assemblability of the device. The criterion considers the feature appearance when the part lies out of the optical system's depth of the field. A Fourier optics based approach is used to simulate the visual appearance of microparts represented by CAD models using high resolution optical systems. This simulation is used to automatically design microfabricated features on microparts.
{"title":"Micropart feature design for improving visually servoed assemblability","authors":"Bharath Mukundakrishnan, B. Nelson, J. Feddema","doi":"10.1109/ISATP.1999.782930","DOIUrl":"https://doi.org/10.1109/ISATP.1999.782930","url":null,"abstract":"Development of hybrid MEMS devices has demonstrated a need for automatic microassembly strategies. Visual servoing techniques have shown great promise as a control strategy capable of submicron precision while compensating many of the problems that exist in the micro domain, including thermal expansion of assembly devices and imprecisely modeled and calibrated sensors and actuators. This project develops rules for micropart design to aid in device assemblability with visual servoing techniques by ensuring that the microparts can be easily tracked and controlled using vision feedback. A criterion is presented that estimates part trackability based on the visual appearance of the part. This criterion is then used to microfabricate features to improve part trackability and hence, the assemblability of the device. The criterion considers the feature appearance when the part lies out of the optical system's depth of the field. A Fourier optics based approach is used to simulate the visual appearance of microparts represented by CAD models using high resolution optical systems. This simulation is used to automatically design microfabricated features on microparts.","PeriodicalId":326575,"journal":{"name":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","volume":"446 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-07-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116153916","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1999-07-21DOI: 10.1109/ISATP.1999.782999
R. Pastor, A. Corominas
This paper presents the solution of a real problem concerning assembly line balancing with several types of incompatibility, and with the constraint that, for a given number of stations, the load of the stations must be located within a time window that is predetermined according to the average load time. The problem is solved by a two-phase heuristic solution procedure: a truncated dynamic programming procedure and an improvement phase, which involves local optimization and tabu search procedures.
{"title":"Assembly line balancing with work zone and station load time windows constraints","authors":"R. Pastor, A. Corominas","doi":"10.1109/ISATP.1999.782999","DOIUrl":"https://doi.org/10.1109/ISATP.1999.782999","url":null,"abstract":"This paper presents the solution of a real problem concerning assembly line balancing with several types of incompatibility, and with the constraint that, for a given number of stations, the load of the stations must be located within a time window that is predetermined according to the average load time. The problem is solved by a two-phase heuristic solution procedure: a truncated dynamic programming procedure and an improvement phase, which involves local optimization and tabu search procedures.","PeriodicalId":326575,"journal":{"name":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-07-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124945071","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1999-07-21DOI: 10.1109/ISATP.1999.782981
J. Rocha, C. Ramos, Z. Vale
This paper presents a system for computer aided process planning (CAPP), using a precedence graph representation of the operations and their restrictions. Description of machine and tool selection is described, as well as the operation sequencing. A genetic algorithm is used to generate the sequence of operations and to select the machine and tools that minimize some criteria (machining time).
{"title":"Process planning using a genetic algorithm approach","authors":"J. Rocha, C. Ramos, Z. Vale","doi":"10.1109/ISATP.1999.782981","DOIUrl":"https://doi.org/10.1109/ISATP.1999.782981","url":null,"abstract":"This paper presents a system for computer aided process planning (CAPP), using a precedence graph representation of the operations and their restrictions. Description of machine and tool selection is described, as well as the operation sequencing. A genetic algorithm is used to generate the sequence of operations and to select the machine and tools that minimize some criteria (machining time).","PeriodicalId":326575,"journal":{"name":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-07-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122409677","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1999-07-21DOI: 10.1109/ISATP.1999.782929
P. Lafond, L. Laperrière
Presents a method to mathematically model 3-D tolerance chains around a desired functional requirement of a mechanical assembly. The modeling process uses the concept of virtual joints associated with the toleranced functional elements in a tolerance chain. These virtual joints simulate small possible dispersions of the toleranced functional element in terms of three general small translations and three general small rotations assuming to result from manufacturing inaccuracies. Using standard Jacobian-based computations, it becomes possible to model the effects of such small dispersions of each element in a kinematic chain around a point of interest on an assembly, in particular around the desired functional requirement. The main focus in the paper is on the important ability of the developed tolerance model to explicitly include the effects of dispersions on two types of functional element pairs in a chain around a functional requirement, namely internal pairs (pairs on the same part) and kinematic pairs (pairs on different parts in contact).
{"title":"Jacobian-based modeling of dispersions affecting pre-defined functional requirements of mechanical assemblies","authors":"P. Lafond, L. Laperrière","doi":"10.1109/ISATP.1999.782929","DOIUrl":"https://doi.org/10.1109/ISATP.1999.782929","url":null,"abstract":"Presents a method to mathematically model 3-D tolerance chains around a desired functional requirement of a mechanical assembly. The modeling process uses the concept of virtual joints associated with the toleranced functional elements in a tolerance chain. These virtual joints simulate small possible dispersions of the toleranced functional element in terms of three general small translations and three general small rotations assuming to result from manufacturing inaccuracies. Using standard Jacobian-based computations, it becomes possible to model the effects of such small dispersions of each element in a kinematic chain around a point of interest on an assembly, in particular around the desired functional requirement. The main focus in the paper is on the important ability of the developed tolerance model to explicitly include the effects of dispersions on two types of functional element pairs in a chain around a functional requirement, namely internal pairs (pairs on the same part) and kinematic pairs (pairs on different parts in contact).","PeriodicalId":326575,"journal":{"name":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","volume":"17 3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-07-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127712061","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1999-07-21DOI: 10.1109/ISATP.1999.782983
S. Zorc
The paper describes the concpet of adaptive heuristic assembly planner (AHAP). AHAP has the ability to automatically extract specific knowledge about the assembly from previous planning sessions and the ability to use this constructed knowledge for guiding future planning sessions. The benefits of such a possibility are increased efficiency, since the experience would help to find the optimal assembly sequence more quickly, and the increased flexibility would allow the planner to learn and use different knowledge representing a different set of criteria in its search. In addition, availability of the knowledge base and the possibility of its refinement would enable the humans to get insight into the influence of used parameters on planning, and would enable them to tune the planner to their specific needs.
{"title":"Toward adaptive assembly sequence planner","authors":"S. Zorc","doi":"10.1109/ISATP.1999.782983","DOIUrl":"https://doi.org/10.1109/ISATP.1999.782983","url":null,"abstract":"The paper describes the concpet of adaptive heuristic assembly planner (AHAP). AHAP has the ability to automatically extract specific knowledge about the assembly from previous planning sessions and the ability to use this constructed knowledge for guiding future planning sessions. The benefits of such a possibility are increased efficiency, since the experience would help to find the optimal assembly sequence more quickly, and the increased flexibility would allow the planner to learn and use different knowledge representing a different set of criteria in its search. In addition, availability of the knowledge base and the possibility of its refinement would enable the humans to get insight into the influence of used parameters on planning, and would enable them to tune the planner to their specific needs.","PeriodicalId":326575,"journal":{"name":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","volume":"86 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-07-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133787346","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1999-07-21DOI: 10.1109/ISATP.1999.782933
C. J. Barnes, G. F. Dalgleish, G.E.M. Jared, H. Mei, K. G. Swift
Product design is still commonly component rather than assembly oriented. Industry requirements have inspired a more holistic approach which is presented here. In this, proactive DFA is used in a process centred around assembly sequence construction. Early analysis and evaluation is enabled by geometric reasoning and expert system tools. Details of underlying principles and implementation are given together with a case study illustrating the benefits of the approach.
{"title":"Assembly oriented design","authors":"C. J. Barnes, G. F. Dalgleish, G.E.M. Jared, H. Mei, K. G. Swift","doi":"10.1109/ISATP.1999.782933","DOIUrl":"https://doi.org/10.1109/ISATP.1999.782933","url":null,"abstract":"Product design is still commonly component rather than assembly oriented. Industry requirements have inspired a more holistic approach which is presented here. In this, proactive DFA is used in a process centred around assembly sequence construction. Early analysis and evaluation is enabled by geometric reasoning and expert system tools. Details of underlying principles and implementation are given together with a case study illustrating the benefits of the approach.","PeriodicalId":326575,"journal":{"name":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-07-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125050184","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1999-07-21DOI: 10.1109/ISATP.1999.782968
S. Aramaki, I. Nagasawa, S. Kurono, T. Nagai, T. Morita, T. Suetsugu
Presents a knowledge representation and programming method for robotic assembly tasks. The methodology is explained through robotic assembly tasks with position and force control. The state space of assembly objects is abstractly defined using a qualitative landmark which consists of the state of an object and a robot. The current state and sensor input determines the next robot action, and the state of a robot is made to lead to the goal state. These concepts are formulated by using a finite state automaton. The action sequence is defined based on the control hierarchy structure which consists of four levels (control primitive level, control skill level, skill level and task level). The complicated assembly task can be represented by product and concatenation of control primitives in a lower level and various tasks can be defined by adding new control primitives. In the paper, the concept of a CRS (constraint reduction system) is introduced for making a robot task program. The CRS is realized by extended Prolog. All the action and primitives are considered as a process and can be uniformly described by the reduction rule of the CRS.
{"title":"The knowledge representation and programming for robotic assembly task","authors":"S. Aramaki, I. Nagasawa, S. Kurono, T. Nagai, T. Morita, T. Suetsugu","doi":"10.1109/ISATP.1999.782968","DOIUrl":"https://doi.org/10.1109/ISATP.1999.782968","url":null,"abstract":"Presents a knowledge representation and programming method for robotic assembly tasks. The methodology is explained through robotic assembly tasks with position and force control. The state space of assembly objects is abstractly defined using a qualitative landmark which consists of the state of an object and a robot. The current state and sensor input determines the next robot action, and the state of a robot is made to lead to the goal state. These concepts are formulated by using a finite state automaton. The action sequence is defined based on the control hierarchy structure which consists of four levels (control primitive level, control skill level, skill level and task level). The complicated assembly task can be represented by product and concatenation of control primitives in a lower level and various tasks can be defined by adding new control primitives. In the paper, the concept of a CRS (constraint reduction system) is introduced for making a robot task program. The CRS is realized by extended Prolog. All the action and primitives are considered as a process and can be uniformly described by the reduction rule of the CRS.","PeriodicalId":326575,"journal":{"name":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-07-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133115969","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1999-07-21DOI: 10.1109/ISATP.1999.782957
H. Ozaki, Chang-Jun Lin, T. Shimogawa
The unified trajectory generation algorithm proposed is applied to three types of trajectory generation: 1) trajectories of a workpiece manipulated to avoid obstacles; 2) joint trajectories of a manipulator with end-effector path constraints; and 3) collision-free joint trajectories of a manipulator with fixed or non-fixed working time. The obtained results are satisfactory and the advantages of the proposed method are confirmed: 1) it is extended to be applied to the time optimal problem, 2) it is applicable to the problem of an arbitrary performance index to evaluate trajectories, 3) it is applicable to the problem which has very complex constraints such as collision-free, kinematic, and full dynamic constraints, 4) it can generate trajectories with continuous time derivative curves, and 5) it needs less memory to store the trajectories generated.
{"title":"A unified trajectory generation algorithm for manipulators by using B-spline","authors":"H. Ozaki, Chang-Jun Lin, T. Shimogawa","doi":"10.1109/ISATP.1999.782957","DOIUrl":"https://doi.org/10.1109/ISATP.1999.782957","url":null,"abstract":"The unified trajectory generation algorithm proposed is applied to three types of trajectory generation: 1) trajectories of a workpiece manipulated to avoid obstacles; 2) joint trajectories of a manipulator with end-effector path constraints; and 3) collision-free joint trajectories of a manipulator with fixed or non-fixed working time. The obtained results are satisfactory and the advantages of the proposed method are confirmed: 1) it is extended to be applied to the time optimal problem, 2) it is applicable to the problem of an arbitrary performance index to evaluate trajectories, 3) it is applicable to the problem which has very complex constraints such as collision-free, kinematic, and full dynamic constraints, 4) it can generate trajectories with continuous time derivative curves, and 5) it needs less memory to store the trajectories generated.","PeriodicalId":326575,"journal":{"name":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-07-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132705704","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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