Pub Date : 1999-07-21DOI: 10.1109/ISATP.1999.782974
L. Lopes
For complex tasks in flexible manufacturing as well as service applications, robots need to reason about the tasks and the environment in order to make decisions. This paper presents a method for recovering from execution failures based on analogies with previous failure recovery episodes. The basic principles that explain the success of a failure recovery strategy are extracted based on several deductive as well as inductive transformations. In recovery planning based on these learned principles, the inverse transformations are applied.
{"title":"Failure recovery planning in assembly based on acquired experience: learning by analogy","authors":"L. Lopes","doi":"10.1109/ISATP.1999.782974","DOIUrl":"https://doi.org/10.1109/ISATP.1999.782974","url":null,"abstract":"For complex tasks in flexible manufacturing as well as service applications, robots need to reason about the tasks and the environment in order to make decisions. This paper presents a method for recovering from execution failures based on analogies with previous failure recovery episodes. The basic principles that explain the success of a failure recovery strategy are extracted based on several deductive as well as inductive transformations. In recovery planning based on these learned principles, the inverse transformations are applied.","PeriodicalId":326575,"journal":{"name":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","volume":"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":"125157375","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.1999.782995
J. Marinho, A. Bragança, C. Ramos
This paper presents a system to support decision-making of the production manager when scheduling the manufacturing orders. This system is mainly appropriate for small and medium size enterprises with productive systems like batch or job-shop. The manufacturing orders are dynamically scheduled considering namely deadlines and resource allocation. The system combines three modules: pre-scheduling, dynamic scheduling and re-scheduling. Each module applies heuristics to select the best solutions depending on the scheduling policies defined by the production manager.
{"title":"Decision support system for dynamic production scheduling","authors":"J. Marinho, A. Bragança, C. Ramos","doi":"10.1109/ISATP.1999.782995","DOIUrl":"https://doi.org/10.1109/ISATP.1999.782995","url":null,"abstract":"This paper presents a system to support decision-making of the production manager when scheduling the manufacturing orders. This system is mainly appropriate for small and medium size enterprises with productive systems like batch or job-shop. The manufacturing orders are dynamically scheduled considering namely deadlines and resource allocation. The system combines three modules: pre-scheduling, dynamic scheduling and re-scheduling. Each module applies heuristics to select the best solutions depending on the scheduling policies defined by the production manager.","PeriodicalId":326575,"journal":{"name":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","volume":"123 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":"132096682","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.1999.782971
O. Brock, O. Khatib
The novel framework of elastic strips allows real-time obstacle avoidance and implicit motion coordination for multiple robots in a shared workspace. It augments motion plans with a reactive component allowing the avoidance of unpredictably moving obstacles. The obstacle avoidance behavior is task-dependent so that task behavior is not suspended to avoid obstacles. The motion coordination behavior of robots can also be specified in a task-dependent manner. Motion coordination can be achieved by regarding other robots as obstacles or by real-time modification of the trajectory time parametrization. Multi-robot workcells can be programmed by planning the trajectories of all robots independently. Obstacle avoidance and motion coordination for the resulting trajectories are performed using elastic strips. The framework has been applied to the simulation of a multi-robot workcell.
{"title":"Real-time obstacle avoidance and motion coordination in a multi-robot workcell","authors":"O. Brock, O. Khatib","doi":"10.1109/ISATP.1999.782971","DOIUrl":"https://doi.org/10.1109/ISATP.1999.782971","url":null,"abstract":"The novel framework of elastic strips allows real-time obstacle avoidance and implicit motion coordination for multiple robots in a shared workspace. It augments motion plans with a reactive component allowing the avoidance of unpredictably moving obstacles. The obstacle avoidance behavior is task-dependent so that task behavior is not suspended to avoid obstacles. The motion coordination behavior of robots can also be specified in a task-dependent manner. Motion coordination can be achieved by regarding other robots as obstacles or by real-time modification of the trajectory time parametrization. Multi-robot workcells can be programmed by planning the trajectories of all robots independently. Obstacle avoidance and motion coordination for the resulting trajectories are performed using elastic strips. The framework has been applied to the simulation of a multi-robot workcell.","PeriodicalId":326575,"journal":{"name":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","volume":"7 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":"125074001","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.1999.782992
A. Madureira
Some general features of single-machine scheduling problems are described, and some of their structural properties are used to design local search procedures based on alternative definitions of neighbourhoods. In particular, the traditional idea of "exchanging the position of two jobs" is replaced by the idea of "exchanging jobs not apart more than a given number of positions (considered as a parameter of the algorithm)". For generating initial solutions, some traditional priority rules were tested with some degree of randomisation, introducing in general, a positive effect in the performance of the algorithms. Through a set of computational tests, the importance of the different parameters was evaluated, and their values for different meta-heuristic procedures (tabu search, and randomised local search) were tuned. Though these tests have been exhaustive only for a given problem (weighted tardiness), the results already available show these approaches are robust and flexible, and that, in general, satisfactory solutions can be obtained in an efficient way.
{"title":"Meta-heuristics for the single-machine scheduling total weighted tardiness problem","authors":"A. Madureira","doi":"10.1109/ISATP.1999.782992","DOIUrl":"https://doi.org/10.1109/ISATP.1999.782992","url":null,"abstract":"Some general features of single-machine scheduling problems are described, and some of their structural properties are used to design local search procedures based on alternative definitions of neighbourhoods. In particular, the traditional idea of \"exchanging the position of two jobs\" is replaced by the idea of \"exchanging jobs not apart more than a given number of positions (considered as a parameter of the algorithm)\". For generating initial solutions, some traditional priority rules were tested with some degree of randomisation, introducing in general, a positive effect in the performance of the algorithms. Through a set of computational tests, the importance of the different parameters was evaluated, and their values for different meta-heuristic procedures (tabu search, and randomised local search) were tuned. Though these tests have been exhaustive only for a given problem (weighted tardiness), the results already available show these approaches are robust and flexible, and that, in general, satisfactory solutions can be obtained in an efficient way.","PeriodicalId":326575,"journal":{"name":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","volume":"28 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":"126570538","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.1999.782977
S. Park
An approach to CAD/CAM system based on the knowledge based system is described. The CAD system is written in AutoLISP on the environment of AutoCAD software. The CAM system is written in CTK customer language on the environment of SmartCAM software. The input to the CAD system is a process planning data of a deep drawing product and the output from the CAD system are the die design drawings for transfer press. The input to CAM system are modeling data of transfer die design and die outputs from the CAM system are NC data which can apply to actual site. In this study, the technological knowledge of process planning, die design, and die manufacturing in deep drawing process is formulated by the interview of experts in the field. In addition, the new concept of the definitions for the alphanumeric terms is adapted. An application of this system provides effective aids to the designer and the manufacturer of the transfer press die in the field.
{"title":"A study on the CAD/CAM system of transfer die for deep drawing process","authors":"S. Park","doi":"10.1109/ISATP.1999.782977","DOIUrl":"https://doi.org/10.1109/ISATP.1999.782977","url":null,"abstract":"An approach to CAD/CAM system based on the knowledge based system is described. The CAD system is written in AutoLISP on the environment of AutoCAD software. The CAM system is written in CTK customer language on the environment of SmartCAM software. The input to the CAD system is a process planning data of a deep drawing product and the output from the CAD system are the die design drawings for transfer press. The input to CAM system are modeling data of transfer die design and die outputs from the CAM system are NC data which can apply to actual site. In this study, the technological knowledge of process planning, die design, and die manufacturing in deep drawing process is formulated by the interview of experts in the field. In addition, the new concept of the definitions for the alphanumeric terms is adapted. An application of this system provides effective aids to the designer and the manufacturer of the transfer press die in the field.","PeriodicalId":326575,"journal":{"name":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","volume":"54 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":"122469741","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.1999.782934
S. Kashyap
With the emerging global markets, success in the industry is determined by rapid product innovation, providing new quality products from a single platform, cutting product development costs and time. Since design effort consumes most of the product development time, the need to reduce design cycle time is vital in being competitive. The paper describes a feature-based framework for attachment level design of snap fasteners for products for automated assembly that addresses reducing design cycle time. In the introduction the need for such a framework is described. In the following section, previous work related to design for assembly, and concepts related to plastic part design are presented. In the next section, the developed framework is described with the introduction of feature level abstractions that capture design for automated assembly criteria. An example part design is then illustrated using the developed framework. Finally, the conclusion summarizes the benefits from this feature-based framework for product design for automated assembly.
{"title":"A feature-based framework for attachment level snap-fastener design in product design for automated assembly","authors":"S. Kashyap","doi":"10.1109/ISATP.1999.782934","DOIUrl":"https://doi.org/10.1109/ISATP.1999.782934","url":null,"abstract":"With the emerging global markets, success in the industry is determined by rapid product innovation, providing new quality products from a single platform, cutting product development costs and time. Since design effort consumes most of the product development time, the need to reduce design cycle time is vital in being competitive. The paper describes a feature-based framework for attachment level design of snap fasteners for products for automated assembly that addresses reducing design cycle time. In the introduction the need for such a framework is described. In the following section, previous work related to design for assembly, and concepts related to plastic part design are presented. In the next section, the developed framework is described with the introduction of feature level abstractions that capture design for automated assembly criteria. An example part design is then illustrated using the developed framework. Finally, the conclusion summarizes the benefits from this feature-based framework for product design for automated assembly.","PeriodicalId":326575,"journal":{"name":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","volume":"15 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":"128510845","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.1999.782967
J. Rosell, J. Gratacòs, L. Basañez
Parts polishing is a repetitive task generally done in unhealthy conditions. It is therefore desirable that robots replace humans in performing these kind of tasks. Nevertheless, its programming is difficult, tedious and time-consuming. The paper presents a tool to automatically program a robot from a high level description of the polishing task. Given the specification of the polishing curves over the part, the location of the polishing bands where each operation must be performed, and a description of the cell, then a robot program to perform polishing trajectories in the optimum sequence is generated, the paths between trajectories being collision-free.
{"title":"An automatic programming tool for robotic polishing tasks","authors":"J. Rosell, J. Gratacòs, L. Basañez","doi":"10.1109/ISATP.1999.782967","DOIUrl":"https://doi.org/10.1109/ISATP.1999.782967","url":null,"abstract":"Parts polishing is a repetitive task generally done in unhealthy conditions. It is therefore desirable that robots replace humans in performing these kind of tasks. Nevertheless, its programming is difficult, tedious and time-consuming. The paper presents a tool to automatically program a robot from a high level description of the polishing task. Given the specification of the polishing curves over the part, the location of the polishing bands where each operation must be performed, and a description of the cell, then a robot program to perform polishing trajectories in the optimum sequence is generated, the paths between trajectories being collision-free.","PeriodicalId":326575,"journal":{"name":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","volume":"151 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":"133929953","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.1999.782928
V. Mînzu, A. Bratcu, J. Henrioud
Precedence graphs are used in assembly systems design, tasks-to-workstations assignment algorithms and resource planning. Despite that, no systematic obtaining method for these graphs has been proposed. On the other hand, there are very efficient methods to generate assembly sequences and a precedence graph can be obtained by "merging" assembly sequences. In the paper, a property of a given set of assembly sequences is found, that guarantees the existence of an "equivalent" precedence graph. This result can be used for the general case, when this property is not met.
{"title":"Construction of the precedence graphs equivalent to a given set of assembly sequences","authors":"V. Mînzu, A. Bratcu, J. Henrioud","doi":"10.1109/ISATP.1999.782928","DOIUrl":"https://doi.org/10.1109/ISATP.1999.782928","url":null,"abstract":"Precedence graphs are used in assembly systems design, tasks-to-workstations assignment algorithms and resource planning. Despite that, no systematic obtaining method for these graphs has been proposed. On the other hand, there are very efficient methods to generate assembly sequences and a precedence graph can be obtained by \"merging\" assembly sequences. In the paper, a property of a given set of assembly sequences is found, that guarantees the existence of an \"equivalent\" precedence graph. This result can be used for the general case, when this property is not met.","PeriodicalId":326575,"journal":{"name":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","volume":"22 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":"123729635","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.1999.782961
O. Rogalla, R. Dillmann, G. Frugoli, M. Bordegoni
Kinematic modelling of robots and flexible material simulation have been an important aspect in robotic research issues over the last years. In this article a new approach for the design of arbitrary gripper and robot architectures are presented. It is shown how these robot systems can be simulated based on the presented design structure. Further, the integration of flexible material simulation is displayed. A particle based object models are shown and the mathematical basics described. Finally, the integration of the flexible material simulation into the robot simulation software is given and evaluated.
{"title":"A general approach for simulating robots for flexible material handling","authors":"O. Rogalla, R. Dillmann, G. Frugoli, M. Bordegoni","doi":"10.1109/ISATP.1999.782961","DOIUrl":"https://doi.org/10.1109/ISATP.1999.782961","url":null,"abstract":"Kinematic modelling of robots and flexible material simulation have been an important aspect in robotic research issues over the last years. In this article a new approach for the design of arbitrary gripper and robot architectures are presented. It is shown how these robot systems can be simulated based on the presented design structure. Further, the integration of flexible material simulation is displayed. A particle based object models are shown and the mathematical basics described. Finally, the integration of the flexible material simulation into the robot simulation software is given and evaluated.","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":"129115609","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.1999.782963
H. Onda, T. Suehiro
We describe "graspability", "manipulability" and "virtual gripper". These concepts are necessary to deal with the geometric relation between a dexterous hand and its grasped object in both the planning and designing processes. Since the coordination of motion of the manipulator and manipulation of its gripper is needed in order to achieve the desired motion of the grasped object, we develop an algorithm that generates these coordinated motions: the path of the manipulator and the manipulation path of the object with respect to the coordinate frame of the gripper. This paper describes "graspability", "manipulability", "virtual gripper", an algorithm that generates the coordinated motions, and estimation of a "manipulable region" of a dexterous gripper which is needed in a specific task.
{"title":"Motion planning and design of a dexterous gripper-virtual gripper and manipulable regions","authors":"H. Onda, T. Suehiro","doi":"10.1109/ISATP.1999.782963","DOIUrl":"https://doi.org/10.1109/ISATP.1999.782963","url":null,"abstract":"We describe \"graspability\", \"manipulability\" and \"virtual gripper\". These concepts are necessary to deal with the geometric relation between a dexterous hand and its grasped object in both the planning and designing processes. Since the coordination of motion of the manipulator and manipulation of its gripper is needed in order to achieve the desired motion of the grasped object, we develop an algorithm that generates these coordinated motions: the path of the manipulator and the manipulation path of the object with respect to the coordinate frame of the gripper. This paper describes \"graspability\", \"manipulability\", \"virtual gripper\", an algorithm that generates the coordinated motions, and estimation of a \"manipulable region\" of a dexterous gripper which is needed in a specific task.","PeriodicalId":326575,"journal":{"name":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","volume":"428 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":"133813546","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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