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14th annual simulation symposium
222 Conference Reports oped methods and, based on over 200 trials, 57% of the con rods were removed at the first attempt, 24% on the second and 6% on the third. Some 13% were not removed after three attempts. The system utilised a double-bin configuration so that the vision processing timed four seconds overlapped the time involved in the movement of the robot arms to give an average cycle time of approximately eight seconds. The work at Rhode Island has shown up two limitations of the system. The first is the tendency of the finger tip to contact the top of the con rod rather than pass alongside the piece. Secondly, the lack of depth data meant the hand had to be driven very slowly into the bin. Improvements to overcome these problems are seen by providing local vision in the form of proximity information and investigations are being pursued along these lines at the present time.
Visual processing John Lockton of Micro Consultants see that future robots will require visual processing systems capable of functions far in excess of the capabilities of present day systems. In his paper he described an approach to the development of such systems by implementing a powerful video processing analysis system combined with concepts of visual data analysis derived from our knowledge of animal perception. To this end Micro Consultants has developed a software language called ART to facilitate the rapid execution of image analysis processors. Perhaps a little nearer to the present day requirement is the work being performed at the Westinghouse Electric's research and development centre in the US. It has developed a binary imaging system which is essentially a follow up of the work from the Stamford Research Institute. The main advances that Westinghouse has been
Computers in Industry
able to make is in enhancing the software to improve execution speed. The vision system has been interfaced to a Unimate Puma 500 robot. There are two possible configurations, one in which the camera is held stationary and the second in which it is installed on the robot's arm. The vision/robot system can find in real time a workpiece in its field of view randomly located and orientated, can identify and inspect it and bring it back to a specified location with a predetermined orientation. The work is part of Westinghouse's automatic assembly line development. The paper presented by A. Makhlin of the robots technology division described some of the work with which Westinghouse is now concerned: principally this is building assembly lines to produce small electric motors. Here a variety of input feeders are linked into an automatic system in which the robot arms are fitted with vision systems. The system, being used to carry out a variety of assembly tasks, probably represents the state of the art as far as vision control of robots is concerned. It demonstrates that vision is now technically feasible although the economics have yet to be worked out. There is no doubt that the software has improved and as more hardware becomes available then execution times will improve and justification will become that much easier. But what is really needed is a computer vision system which does not require terms for the software to be written. Dr. Brian W. Rooks Organising Secretary I.F.S. (Conferences) Ltd. 35-39 High Street Kempston, Bedford MK42 7BT England (Reproduced with permission from ,'Sensor Review")
14th Amnual Simulation Symposium The Fourteenth Annual Simulation Symposium was held March 18--20 in Tampa (Florida). The Annual Simulation Symposium is the longest running symposium dedicated to the computer simulation field. The main reason for this continuing popularity
is its quality as evidenced by the outstanding papers, non-concurrent presentation format and guest speakers at the luncheons. The Annual Simulation Symposium is the major program in Simulation Week which also includes a
Computers in Industry
one day workshop sponsored by ACM's Special Interest Group on Simulation and another one day workshop sponsored by the IEEE Computer Society's Technical Committee for Simulation. The Symposium opened with a paper by Dr. Joseph D. Brownsmith from the University of Florida entitled "A Simulation Model of the Micronet Computer System During Join Processing". "The Simulation of a Microprocessor Based Event Set Processor" presented by Dr. John Craig Comfort of Florida International University investigated the feasibility of assigning the discrete simulation functions of event set manipulation to a separate microprocessing element. Dr. Raymond M. Bryant of the University of Wisconsin-Madison presented "Micro-Simpas: A Microprocessor Based Simulation Language." "Modeling a Production System in a Recessionary Environment" was presented by Mr. Edward Lai. Mr. Lai and co-author Mr. Donald Schact both of General Motors Corp. began a simulation effort to analyze how to introduce a modern material handling system into existing facility to volume produce 25,000 computer systems a day. The simulation model developed in GPSS provided the ability to detect production capacity and storage problems. A recessionary environment caused severe cutbacks in production and found the simulation being used to determine an optimal cost-saving production plan. "An Automated Procedure for Developing Hybrid Computer Simulations of Turbofan Engines" was the title of the work of Mr. John R. Szuch, Ms. Susan M. Krosel and Mr. William M. Bruton, all from NASA Lewis Research Center. Mr. Szuch presented a systematic, computer-aided, self documenting methodology for developing hybrid computer simulations of turbofan engines. An application was ctescribed and compared to actual test data. Mr. James O. Henriksen of Wolverine Software gave a presentation on new developments in GPSS for improving simulation analysis. He warned us that all simulation languages are actively being improved and we are out of date if we have not kept up with developments in the last few years. Jim summarized the current status of GPSS/H and provided insight into new capabilities which will be offered soon. The first presentation on Thursday was on new developments for improving simulation analysis by Allen B. Pritsker. He provided an overview of the basics of SLAM and described the added features of
Conference Reports 223
SLAM II. The trend for improving simulation analysis capability with new tools was very apparent as Dr. Pritsker described how simulation data base language (SDL), analyzing distributions (AID) and graphics (SIMGRAPH) interrelate with SLAM. The fielding of electronic equipment must consider what kind of test and support equipment is required for maintenance. Considerable attention has been focused on relocating common test equipment to special designated repair sites and development of more universal Automatic Test Equipment (ATE) to support a broader range of operating systems. The purpose of the paper entitled "Simulation Model to Evaluate Operational System Performance and Repair Shop Workloads at a Navy Field Site", presented by Mr. James T. Newell of the Naval Training Equipment Center, describes a simulation model which can be used to evaluate system performance with different maintenance support concepts. Louisiana State University was represented by Dr. Roger L. Burford and Dr. Win-Yeu Winnie Chen with the paper, "On the Evaluation of the Quality of Several Combinations of Unit Uniform Random Numbers Generators and Unit Normal Transformation Algorithms". Applications of Fast-Time Discrete Simulation Techniques in Evaluating Aircraft Collision Avoidance Algorithms" was the title of the "Best Paper" award co-authored by Mr. Barry R. Billman of the FAA, Mr. Darrell Spracklin of Computer Sciences Corporation and Mr. Jacob Thomas of Burroughs Corporation. Mr. Billman described a discrete simulation system which provides a test bed to analyze and verify Air Traffic Control separation assurance algorithms. The interactive system supported the evaluation of a particular application, the Active Beacon Collision Avoidance System. Control of insect populations represents one of the most important means of improving human welfare through the resulting increase in food production and decrease in infectious disease. Economic loss due to insects in United States agriculture alone is estimated to be at least twenty billion dollars annually. The purpose of the paper entitled "Application of Discrete System Simulation to Insect Population Dynamics", presented by Dr. Tuncay T. Saydam and co-authored by Dr. David E. Lamb and Mr. Marc R. Halley, all of the University of Delaware, was to determine the optimum time to apply insecticide to reduce destructive pest stages. Most simulation studies of this nature use continuous simulation techniques; however, this
224
Conference Reports
study utilized discrete simulation to reduce computational complexity and to take advantage of waiting time distributions and scaling for widely varying populations. In his presentation, "The Use of Computer-Simulated Radiances to Retrieve Total Atmospheric Ozone Data from Satellite-Mounted Infrared Multifilter Radiometers", author Patric P. Weidhaas of Lawrence Livermore Laboratory discussed modeling of the radiative transfer process in four MFR spectral channels to simulate radiances to build a linear regression model for total column ozone. The simulated data was validated with Dobson Spectrophotometer measurements. This enabled the Satellite Ozone Analysis Center to use a new source of data for collection of global ozone data which is so important in analyzing potential threats to the ozone layer which protects US.
In the paper entitled "Hierarchical Modeling in GASP", author Dr. Lawrence L. Rose of BattelleColumbus Laboratories described the design methodology and resulting implementation of a largescale computer system simulation model. Mr. Paul J. Fortier and Mr. Richard G. Leary, both of the Naval Underwater Systems Center, co-authored the paper, "A General Simulation Model for the Evaluation of Distributed Processing Systems".
(brnputers in Industry
The NCR Corporation was represented by Mr. Peter L. Haigh and the paper. "A Cost Effective Modeling Technique fo{ Polling Systems". The final presentation of the Symposium. by William E. Priore of TRW Systems Group, was entitled "A General Purpose Data Processing System Simulator for Satellite Ground Stations". Mr. Priore described the problem of designing a system with 10 computer mainframes and thousands of software tasks in a complex real time environment and a cost effective solution. The DPSSGS, a generic model of multi-tasking computers and computer networks, provides a design tool for analyzing the many alternate computer configurations proposed in the design of a ground station. A total of 16 non-concurrent presentations were made at the Symposium. The papers presented are published in the Record of Proceedings which is available from the Annual Simulation Symposium, Inc., P.O. Box 22621, Tampa, FL 33622, the IEEE (Catalog No.81CH1590-9) and ACM (Order No. 577810). Ronald M. Huhn Harris Corporation P.O. Box 37 Melbourne, FL 32901 USA
Workshop on the Use of Computers in Offshore Operations An international invitation Workshop on the use of computers in offshore operations was held in Glasgow, U.K., on 1st and 2nd September, 1981, at the University of Strathclyde, UK. The event was arranged for IFIP's Working Group 5.6 by the Group's Chairman, Professor C. Kuo of the University's Department of Ship and Marine Technology. The Workshop was attended by representatives of a good cross.section of operators in the North Sea, as well as other interested organisations. The following papers were presented and discussed:
Process Monitoring in Offshore Plant Mr. J. Nicholson, Conoco U.K. Ltd.
Computer Assisted Operations: On-Line Data Acquisition Systems Ing. J. Buyzen, SE. Computers in Monitoring of Offshore Mooring System Dr. D. Hoffman, HMC; and Dr, F. Michelsen, HES Computers in the Installation of Offshore Structures and Rigs Mr. W. Clifford, CKB-E and W Ltd. Experience in the Use of Computers in Offshore Operations in the Norwegian Sector Mr. Rolf Hestenes, DNV Process Simulation for Offshore Oil Production Mr. M. Mortice, C U.K. Ltd.
Visual processing John Lockton of Micro Consultants see that future robots will require visual processing systems capable of functions far in excess of the capabilities of present day systems. In his paper he described an approach to the development of such systems by implementing a powerful video processing analysis system combined with concepts of visual data analysis derived from our knowledge of animal perception. To this end Micro Consultants has developed a software language called ART to facilitate the rapid execution of image analysis processors. Perhaps a little nearer to the present day requirement is the work being performed at the Westinghouse Electric's research and development centre in the US. It has developed a binary imaging system which is essentially a follow up of the work from the Stamford Research Institute. The main advances that Westinghouse has been
Computers in Industry
able to make is in enhancing the software to improve execution speed. The vision system has been interfaced to a Unimate Puma 500 robot. There are two possible configurations, one in which the camera is held stationary and the second in which it is installed on the robot's arm. The vision/robot system can find in real time a workpiece in its field of view randomly located and orientated, can identify and inspect it and bring it back to a specified location with a predetermined orientation. The work is part of Westinghouse's automatic assembly line development. The paper presented by A. Makhlin of the robots technology division described some of the work with which Westinghouse is now concerned: principally this is building assembly lines to produce small electric motors. Here a variety of input feeders are linked into an automatic system in which the robot arms are fitted with vision systems. The system, being used to carry out a variety of assembly tasks, probably represents the state of the art as far as vision control of robots is concerned. It demonstrates that vision is now technically feasible although the economics have yet to be worked out. There is no doubt that the software has improved and as more hardware becomes available then execution times will improve and justification will become that much easier. But what is really needed is a computer vision system which does not require terms for the software to be written. Dr. Brian W. Rooks Organising Secretary I.F.S. (Conferences) Ltd. 35-39 High Street Kempston, Bedford MK42 7BT England (Reproduced with permission from ,'Sensor Review")
14th Amnual Simulation Symposium The Fourteenth Annual Simulation Symposium was held March 18--20 in Tampa (Florida). The Annual Simulation Symposium is the longest running symposium dedicated to the computer simulation field. The main reason for this continuing popularity
is its quality as evidenced by the outstanding papers, non-concurrent presentation format and guest speakers at the luncheons. The Annual Simulation Symposium is the major program in Simulation Week which also includes a
Computers in Industry
one day workshop sponsored by ACM's Special Interest Group on Simulation and another one day workshop sponsored by the IEEE Computer Society's Technical Committee for Simulation. The Symposium opened with a paper by Dr. Joseph D. Brownsmith from the University of Florida entitled "A Simulation Model of the Micronet Computer System During Join Processing". "The Simulation of a Microprocessor Based Event Set Processor" presented by Dr. John Craig Comfort of Florida International University investigated the feasibility of assigning the discrete simulation functions of event set manipulation to a separate microprocessing element. Dr. Raymond M. Bryant of the University of Wisconsin-Madison presented "Micro-Simpas: A Microprocessor Based Simulation Language." "Modeling a Production System in a Recessionary Environment" was presented by Mr. Edward Lai. Mr. Lai and co-author Mr. Donald Schact both of General Motors Corp. began a simulation effort to analyze how to introduce a modern material handling system into existing facility to volume produce 25,000 computer systems a day. The simulation model developed in GPSS provided the ability to detect production capacity and storage problems. A recessionary environment caused severe cutbacks in production and found the simulation being used to determine an optimal cost-saving production plan. "An Automated Procedure for Developing Hybrid Computer Simulations of Turbofan Engines" was the title of the work of Mr. John R. Szuch, Ms. Susan M. Krosel and Mr. William M. Bruton, all from NASA Lewis Research Center. Mr. Szuch presented a systematic, computer-aided, self documenting methodology for developing hybrid computer simulations of turbofan engines. An application was ctescribed and compared to actual test data. Mr. James O. Henriksen of Wolverine Software gave a presentation on new developments in GPSS for improving simulation analysis. He warned us that all simulation languages are actively being improved and we are out of date if we have not kept up with developments in the last few years. Jim summarized the current status of GPSS/H and provided insight into new capabilities which will be offered soon. The first presentation on Thursday was on new developments for improving simulation analysis by Allen B. Pritsker. He provided an overview of the basics of SLAM and described the added features of
Conference Reports 223
SLAM II. The trend for improving simulation analysis capability with new tools was very apparent as Dr. Pritsker described how simulation data base language (SDL), analyzing distributions (AID) and graphics (SIMGRAPH) interrelate with SLAM. The fielding of electronic equipment must consider what kind of test and support equipment is required for maintenance. Considerable attention has been focused on relocating common test equipment to special designated repair sites and development of more universal Automatic Test Equipment (ATE) to support a broader range of operating systems. The purpose of the paper entitled "Simulation Model to Evaluate Operational System Performance and Repair Shop Workloads at a Navy Field Site", presented by Mr. James T. Newell of the Naval Training Equipment Center, describes a simulation model which can be used to evaluate system performance with different maintenance support concepts. Louisiana State University was represented by Dr. Roger L. Burford and Dr. Win-Yeu Winnie Chen with the paper, "On the Evaluation of the Quality of Several Combinations of Unit Uniform Random Numbers Generators and Unit Normal Transformation Algorithms". Applications of Fast-Time Discrete Simulation Techniques in Evaluating Aircraft Collision Avoidance Algorithms" was the title of the "Best Paper" award co-authored by Mr. Barry R. Billman of the FAA, Mr. Darrell Spracklin of Computer Sciences Corporation and Mr. Jacob Thomas of Burroughs Corporation. Mr. Billman described a discrete simulation system which provides a test bed to analyze and verify Air Traffic Control separation assurance algorithms. The interactive system supported the evaluation of a particular application, the Active Beacon Collision Avoidance System. Control of insect populations represents one of the most important means of improving human welfare through the resulting increase in food production and decrease in infectious disease. Economic loss due to insects in United States agriculture alone is estimated to be at least twenty billion dollars annually. The purpose of the paper entitled "Application of Discrete System Simulation to Insect Population Dynamics", presented by Dr. Tuncay T. Saydam and co-authored by Dr. David E. Lamb and Mr. Marc R. Halley, all of the University of Delaware, was to determine the optimum time to apply insecticide to reduce destructive pest stages. Most simulation studies of this nature use continuous simulation techniques; however, this
224
Conference Reports
study utilized discrete simulation to reduce computational complexity and to take advantage of waiting time distributions and scaling for widely varying populations. In his presentation, "The Use of Computer-Simulated Radiances to Retrieve Total Atmospheric Ozone Data from Satellite-Mounted Infrared Multifilter Radiometers", author Patric P. Weidhaas of Lawrence Livermore Laboratory discussed modeling of the radiative transfer process in four MFR spectral channels to simulate radiances to build a linear regression model for total column ozone. The simulated data was validated with Dobson Spectrophotometer measurements. This enabled the Satellite Ozone Analysis Center to use a new source of data for collection of global ozone data which is so important in analyzing potential threats to the ozone layer which protects US.
In the paper entitled "Hierarchical Modeling in GASP", author Dr. Lawrence L. Rose of BattelleColumbus Laboratories described the design methodology and resulting implementation of a largescale computer system simulation model. Mr. Paul J. Fortier and Mr. Richard G. Leary, both of the Naval Underwater Systems Center, co-authored the paper, "A General Simulation Model for the Evaluation of Distributed Processing Systems".
(brnputers in Industry
The NCR Corporation was represented by Mr. Peter L. Haigh and the paper. "A Cost Effective Modeling Technique fo{ Polling Systems". The final presentation of the Symposium. by William E. Priore of TRW Systems Group, was entitled "A General Purpose Data Processing System Simulator for Satellite Ground Stations". Mr. Priore described the problem of designing a system with 10 computer mainframes and thousands of software tasks in a complex real time environment and a cost effective solution. The DPSSGS, a generic model of multi-tasking computers and computer networks, provides a design tool for analyzing the many alternate computer configurations proposed in the design of a ground station. A total of 16 non-concurrent presentations were made at the Symposium. The papers presented are published in the Record of Proceedings which is available from the Annual Simulation Symposium, Inc., P.O. Box 22621, Tampa, FL 33622, the IEEE (Catalog No.81CH1590-9) and ACM (Order No. 577810). Ronald M. Huhn Harris Corporation P.O. Box 37 Melbourne, FL 32901 USA
Workshop on the Use of Computers in Offshore Operations An international invitation Workshop on the use of computers in offshore operations was held in Glasgow, U.K., on 1st and 2nd September, 1981, at the University of Strathclyde, UK. The event was arranged for IFIP's Working Group 5.6 by the Group's Chairman, Professor C. Kuo of the University's Department of Ship and Marine Technology. The Workshop was attended by representatives of a good cross.section of operators in the North Sea, as well as other interested organisations. The following papers were presented and discussed:
Process Monitoring in Offshore Plant Mr. J. Nicholson, Conoco U.K. Ltd.
Computer Assisted Operations: On-Line Data Acquisition Systems Ing. J. Buyzen, SE. Computers in Monitoring of Offshore Mooring System Dr. D. Hoffman, HMC; and Dr, F. Michelsen, HES Computers in the Installation of Offshore Structures and Rigs Mr. W. Clifford, CKB-E and W Ltd. Experience in the Use of Computers in Offshore Operations in the Norwegian Sector Mr. Rolf Hestenes, DNV Process Simulation for Offshore Oil Production Mr. M. Mortice, C U.K. Ltd.