Pub Date : 1999-07-21DOI: 10.1109/ISATP.1999.782975
S. Chhatpar, M. Branicky
Assemblies with uncertainties exceeding the assembly tolerance require the use of compliance control combined with search strategies for parts alignment. Automating such assemblies requires a general framework that allows various search strategies to be combined at a higher-level of planning and yet be compatible with low-level compliance control. We examine these issues with a hybrid systems approach. This paper also presents experiments on a specially constructed peg-in-maze assembly abstracting the challenges of example real-world assemblies, which were automated in earlier work.
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Pub Date : 1999-07-21DOI: 10.1109/ISATP.1999.782969
J. M. González-Linares, N. Guil, P. Pérez, M. Ehrenmann, R. Dillmann
This paper describes the set-up of the image processing system installed at the IPR in Karlsruhe. It will serve for sensor device in the programming by demonstration field. As a first application example, it is used as source for images in the demonstration of a bag packaging task. A detection algorithm that finds positions of infusion bags is presented. It was developed at the Department of Computer Architecture of the University of Malaga, and uses a straight line Hough transform after the application of a Canny filter. Then, the position of the rubber caps of the bags are located by a binarization technique to predicate the orientation of the bag. However, since the computing power is quite limited, the algorithms must have as low complexity as possible.
{"title":"An efficient image processing algorithm for high-level skill acquisition","authors":"J. M. González-Linares, N. Guil, P. Pérez, M. Ehrenmann, R. Dillmann","doi":"10.1109/ISATP.1999.782969","DOIUrl":"https://doi.org/10.1109/ISATP.1999.782969","url":null,"abstract":"This paper describes the set-up of the image processing system installed at the IPR in Karlsruhe. It will serve for sensor device in the programming by demonstration field. As a first application example, it is used as source for images in the demonstration of a bag packaging task. A detection algorithm that finds positions of infusion bags is presented. It was developed at the Department of Computer Architecture of the University of Malaga, and uses a straight line Hough transform after the application of a Canny filter. Then, the position of the rubber caps of the bags are located by a binarization technique to predicate the orientation of the bag. However, since the computing power is quite limited, the algorithms must have as low complexity as possible.","PeriodicalId":326575,"journal":{"name":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1999-07-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123535722","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 : 1998-12-09DOI: 10.1109/ISATP.1999.782942
T. L. Calton, R. Peters
When a product concept emerges, the manufacturing engineer is asked to sketch out a production strategy and estimate its cost. The engineer is given an initial product design, along with a schedule of expected production volumes. The engineer then determines the best approach to manufacturing the product comparing a variety of alternative production strategies. The engineer must consider the capital cost, operating cost, lead-time and other issues in an attempt to maximize profits. After making these basic choices and sketching the design of overall production, the engineer produces estimates of the required capital, operating costs, and production capacity. This paper describes the development of computer tools to aid manufacturing engineers in their decision-making processes. This computer software tool provides a framework in which accurate cost estimates can be derived from design requirements at the start of any engineering project.
{"title":"A framework for automating cost estimates in assembly processes","authors":"T. L. Calton, R. Peters","doi":"10.1109/ISATP.1999.782942","DOIUrl":"https://doi.org/10.1109/ISATP.1999.782942","url":null,"abstract":"When a product concept emerges, the manufacturing engineer is asked to sketch out a production strategy and estimate its cost. The engineer is given an initial product design, along with a schedule of expected production volumes. The engineer then determines the best approach to manufacturing the product comparing a variety of alternative production strategies. The engineer must consider the capital cost, operating cost, lead-time and other issues in an attempt to maximize profits. After making these basic choices and sketching the design of overall production, the engineer produces estimates of the required capital, operating costs, and production capacity. This paper describes the development of computer tools to aid manufacturing engineers in their decision-making processes. This computer software tool provides a framework in which accurate cost estimates can be derived from design requirements at the start of any engineering project.","PeriodicalId":326575,"journal":{"name":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1998-12-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123169893","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 : 1998-12-09DOI: 10.1109/ISATP.1999.782935
T. L. Calton
At the 1995 IEEE Symposium on Assembly and Task Planning, Sandia National Laboratories introduced the Archimedes 2 Software Tool. The system was described as a second-generation assembly planning system that allowed preliminary applications of assembly planning for industry, while solidly supporting further research in planning techniques. Sandia has worked closely with industry and academia over the last four years. The results of these working relationships have bridged a gap for the next generation in assembly planning. The goal of the paper is to share Sandia's technological advancements in assembly planning over the last four years and the impact these advancements have made on the manufacturing community.
{"title":"Advancing design-for-assembly-the next generation in assembly planning","authors":"T. L. Calton","doi":"10.1109/ISATP.1999.782935","DOIUrl":"https://doi.org/10.1109/ISATP.1999.782935","url":null,"abstract":"At the 1995 IEEE Symposium on Assembly and Task Planning, Sandia National Laboratories introduced the Archimedes 2 Software Tool. The system was described as a second-generation assembly planning system that allowed preliminary applications of assembly planning for industry, while solidly supporting further research in planning techniques. Sandia has worked closely with industry and academia over the last four years. The results of these working relationships have bridged a gap for the next generation in assembly planning. The goal of the paper is to share Sandia's technological advancements in assembly planning over the last four years and the impact these advancements have made on the manufacturing community.","PeriodicalId":326575,"journal":{"name":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1998-12-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127508970","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 : 1900-01-01DOI: 10.1109/ISATP.1999.782937
Jeffrey D. Adams, Daniel E. Whitney
Screw theory is used to provide mathematical models of assembly features, allowing the determination of positioning constraints imposed on one part in an assembly by another part based on the geometry of the features that join them. Seventeen feature types have been modeled. A user of this theory is able to combine members of this set to join two parts and then determine whether or not the defined feature set over-, under-, or fully-constrains the location and orientation of the part. The ability to calculate the state of constraint of parts in an assembly is useful in supporting quantitative design of properly constrained assemblies in CAD systems. Locational overconstraint of parts can lead to assemblability problems or require deformation of parts in order to complete assembly. The theory has been implemented in a computer program that is integrated with others to form an assembly analysis tool suite.
{"title":"Application of screw theory to constraint analysis of assemblies of rigid parts","authors":"Jeffrey D. Adams, Daniel E. Whitney","doi":"10.1109/ISATP.1999.782937","DOIUrl":"https://doi.org/10.1109/ISATP.1999.782937","url":null,"abstract":"Screw theory is used to provide mathematical models of assembly features, allowing the determination of positioning constraints imposed on one part in an assembly by another part based on the geometry of the features that join them. Seventeen feature types have been modeled. A user of this theory is able to combine members of this set to join two parts and then determine whether or not the defined feature set over-, under-, or fully-constrains the location and orientation of the part. The ability to calculate the state of constraint of parts in an assembly is useful in supporting quantitative design of properly constrained assemblies in CAD systems. Locational overconstraint of parts can lead to assemblability problems or require deformation of parts in order to complete assembly. The theory has been implemented in a computer program that is integrated with others to form an assembly analysis tool suite.","PeriodicalId":326575,"journal":{"name":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120974910","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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