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Structuring the distributed object world of CIM
205
Abstracts
Some ideas for important ~ponents of Object Oriented Devdopment Tools are also presented, and it is shown that the method for infornmtion modelling is very well suited for a computer4ided development process. 079
A Knowlodge Based Simulation Approach for Real-Time Model Valid•fit• V.l. Vitmov, D.K. Harrison, G.R. Sotirov and S.K. Ghosh, pp 213.216
The need for real-time support in making manufacturing decisions in Computer Integrated Manufacturing has become crucial. This paper reviews the problems in real-time model validation and introduces an Lqtelllgent System for on-line Model Validation (ISOMV) for implementation in a Flexible Manufacturing System envirotunent. The ISOMV concept is presented, and its importance as a preliminary step towards the goe] of intelfigent management is stressed. The method for building up the system knowledge base and the inference and control engine is presented. It appears that the described system can become a powerful tool for improving the certainty of manufacturing, and the FMS management policy in general.
guaranteed. Simulation of • two-link numipulator verifies the proposed learning algorithm. 084
This paper describes a sophisticated, lower-cost on-line product recognition and counting system. A multi-tasking ~ t e r based data-acquisition system linked to an IBM PC satisfies the confli~aing requirements of very fast data sampling and processing, and continuous on-line display end storage of results. This solution reduced the chip count, simplified the progrmruning structure, increased the hardware reliability, and reduced hardware and software costs by over 50%. A simulation strategy enabled the system to be operational within two hours of installation at a Phih'ps factory. The accuracy and financial benefits have opened up the possibility of using simulator transputer/PC combinations for other factory projects.
085 080
Structuring the Distributed Object World of CIM A. Kemper, G. Moerkotte, H.-D. Walter, pp 217-222
This paper's thesis is that today's object-oriented data models do not offer enough expressiveness to structure the distributed world of CIM in an appropriate manner. Two relationships useful for modeling CIM applications which common objectoriented models lack are identified. The first expresses that some objects describe different prospectives- or facets - of one entity in the real world. The other represents the distribution of activities within • factory. The usefulness of both relationships is argued and • comparison with other relationships which are mentioned in the literatureis given. Free Motion, Collision Avoidance and Contact Motion Coatrel for Mebile Robots D.S. Necsnlescu, B. Kim, S. Kalaycloglu, pp 223-228
Free and contact robot motion control, as well as collision avoidance, require suitable robot and actuator models and the integration of sensor information into the system controller. In this paper, an artificial impedance approach is used for developing the high-level controller of a mobile robot. The control law is based on a Newtonian dynamics model of the mobile robot. Range sensor inform~on is used in the trajectory correction for avoiding collision. Force sensor information is integrated in the contact motion controller based on an artificial impedance approach. Simulation results illustrate the performance of the impedance-based controller 082
Getting Friendly with Robots C. Archibald, E. Petriu, pp 229-234
Flexible robots are widely reponed in the academic literature but seldom used in industry. The issues of combining real-time feedback from sensors with motion in both the geometric and force domains are not being adequately addressed, in the absence of a suitable environment, and a computational for on-line experimentation and program prototyping. paper such an environment is based on the premise that r e t i e manipulation can be modelled as a sequence of welltested sensor-based and elementary motion skills which can be combined to explicitly express complex functionality of the sensor-eqnli~.d robot.
083
Neuromorphic Control of Robotic Manipulators Using
Sliding Mode C.-Y. Su, Q..J. Zhon, T.P. Leung, pp 235-238
A neuromor~.c controller is presented for trajectory control of a robot mampulator with unknown dynamics using the theory of variable structure systems. It consists of two neural networks with PD feedback and full dynamics feedforward compensation. ~tee leart~, g sd~eme only makes use of a priori knowledge of g enenu structure of robot dynamics, and is computationally very tast and amenable to parallel processing implementation. The global stability of the closed-loop dynamics can also be
The LSI Assembly Cell M. Rilio, A.H.R.C. RIIIo, L.A. Roali Costa, pp 245-249
This paper gives an overview of the assembly cell e n n ~ t l y under development at S_o Paulo University. Two r o l ~ s and many sensory dements are organized in a modular hierarch/eal structure with a central node and five local nodes. The control structure is based on Petri nets and rule-based systems, h is very easy to program and to insert new knowledge. A hierarchical ~nning system is d/rectly cormected to ~ control system. A vision system provides information about the pmifion and orientation of the arriving parts and a 3D vision system tracks the operation on the current assembled product.
086 081
An On-line Product Recognition and Counting Display System Using a Trtasputer/PC Cemblaatlea G.M. Gerry, J.S. Swift, I. Davlanu, S.M.R. Porter, pp 239.244
Scheduling Problem with Changeover Costs in Industrial Applications L. Aguilera, Z. Binder, A. Gonthier, K J . Heeramun, pp 251-256
This paper presents an appllcati.on study of two algorithms to solve the One Machme Scheduling Problem with Changeover Cost, in a glass boule product industry. The One Machine Changeover Cost problem is modelled upon the Traveling Salesman Problem. The first algorithm is based on Little s algorithm which uses the branch and bound aptzrtmch. The second algorithm is based on Lin's algorithm which uses the 2-opt heuristic. The second algorithm is also applied for the parallel machine scheduling problem, with changeover cost, and provides a reassignment of jobs to machines.
087
Overcoming Communication Bottlenecks in Distributed Intelligent Control of FMS D.S. DevapHya, B. Descotes-Genon, P. Ladet, pp 257-261
An approach to reduce the effect of problems related to internode communication in Distributed Problem Solvers (DPS) is n~sented for the special case of real-time control of Competer grated Manufacturing Systems (CIMS). Some tedmtques based on the distribution of control and VLSI implementauons of control Pet~'. nets were presented in earlier papers. The present paper mscusses me necessity for fumishin8 the system with a panoply of diverse communication techniques and letting me. system lcam to use the best t~h.m.'que for • given sitmuion. lnts pe.rmsts a mgn oegree of flextbility of the system without sacmmmg communication efficiency unduly, while avoiding bottleneck situations in the DPS network. 088
LAN.DNC Structured Bottom.Up for CIMS F. Shen, X. Xiao, X. Wu, pp 263-266
This paper proposes a simplified CIM model. For its im~mentation, a bottom-up approach is used. That is, at first, LJr~t. systems are installed; then. the DNC systems are connected to a factory mainframe computer via • local area network CLAN). This approach provides • firm foundation for CIMS. It is also a low-cost' low-risk way to re~ize factory automation.
Abstracts
Some ideas for important ~ponents of Object Oriented Devdopment Tools are also presented, and it is shown that the method for infornmtion modelling is very well suited for a computer4ided development process. 079
A Knowlodge Based Simulation Approach for Real-Time Model Valid•fit• V.l. Vitmov, D.K. Harrison, G.R. Sotirov and S.K. Ghosh, pp 213.216
The need for real-time support in making manufacturing decisions in Computer Integrated Manufacturing has become crucial. This paper reviews the problems in real-time model validation and introduces an Lqtelllgent System for on-line Model Validation (ISOMV) for implementation in a Flexible Manufacturing System envirotunent. The ISOMV concept is presented, and its importance as a preliminary step towards the goe] of intelfigent management is stressed. The method for building up the system knowledge base and the inference and control engine is presented. It appears that the described system can become a powerful tool for improving the certainty of manufacturing, and the FMS management policy in general.
guaranteed. Simulation of • two-link numipulator verifies the proposed learning algorithm. 084
This paper describes a sophisticated, lower-cost on-line product recognition and counting system. A multi-tasking ~ t e r based data-acquisition system linked to an IBM PC satisfies the confli~aing requirements of very fast data sampling and processing, and continuous on-line display end storage of results. This solution reduced the chip count, simplified the progrmruning structure, increased the hardware reliability, and reduced hardware and software costs by over 50%. A simulation strategy enabled the system to be operational within two hours of installation at a Phih'ps factory. The accuracy and financial benefits have opened up the possibility of using simulator transputer/PC combinations for other factory projects.
085 080
Structuring the Distributed Object World of CIM A. Kemper, G. Moerkotte, H.-D. Walter, pp 217-222
This paper's thesis is that today's object-oriented data models do not offer enough expressiveness to structure the distributed world of CIM in an appropriate manner. Two relationships useful for modeling CIM applications which common objectoriented models lack are identified. The first expresses that some objects describe different prospectives- or facets - of one entity in the real world. The other represents the distribution of activities within • factory. The usefulness of both relationships is argued and • comparison with other relationships which are mentioned in the literatureis given. Free Motion, Collision Avoidance and Contact Motion Coatrel for Mebile Robots D.S. Necsnlescu, B. Kim, S. Kalaycloglu, pp 223-228
Free and contact robot motion control, as well as collision avoidance, require suitable robot and actuator models and the integration of sensor information into the system controller. In this paper, an artificial impedance approach is used for developing the high-level controller of a mobile robot. The control law is based on a Newtonian dynamics model of the mobile robot. Range sensor inform~on is used in the trajectory correction for avoiding collision. Force sensor information is integrated in the contact motion controller based on an artificial impedance approach. Simulation results illustrate the performance of the impedance-based controller 082
Getting Friendly with Robots C. Archibald, E. Petriu, pp 229-234
Flexible robots are widely reponed in the academic literature but seldom used in industry. The issues of combining real-time feedback from sensors with motion in both the geometric and force domains are not being adequately addressed, in the absence of a suitable environment, and a computational for on-line experimentation and program prototyping. paper such an environment is based on the premise that r e t i e manipulation can be modelled as a sequence of welltested sensor-based and elementary motion skills which can be combined to explicitly express complex functionality of the sensor-eqnli~.d robot.
083
Neuromorphic Control of Robotic Manipulators Using
Sliding Mode C.-Y. Su, Q..J. Zhon, T.P. Leung, pp 235-238
A neuromor~.c controller is presented for trajectory control of a robot mampulator with unknown dynamics using the theory of variable structure systems. It consists of two neural networks with PD feedback and full dynamics feedforward compensation. ~tee leart~, g sd~eme only makes use of a priori knowledge of g enenu structure of robot dynamics, and is computationally very tast and amenable to parallel processing implementation. The global stability of the closed-loop dynamics can also be
The LSI Assembly Cell M. Rilio, A.H.R.C. RIIIo, L.A. Roali Costa, pp 245-249
This paper gives an overview of the assembly cell e n n ~ t l y under development at S_o Paulo University. Two r o l ~ s and many sensory dements are organized in a modular hierarch/eal structure with a central node and five local nodes. The control structure is based on Petri nets and rule-based systems, h is very easy to program and to insert new knowledge. A hierarchical ~nning system is d/rectly cormected to ~ control system. A vision system provides information about the pmifion and orientation of the arriving parts and a 3D vision system tracks the operation on the current assembled product.
086 081
An On-line Product Recognition and Counting Display System Using a Trtasputer/PC Cemblaatlea G.M. Gerry, J.S. Swift, I. Davlanu, S.M.R. Porter, pp 239.244
Scheduling Problem with Changeover Costs in Industrial Applications L. Aguilera, Z. Binder, A. Gonthier, K J . Heeramun, pp 251-256
This paper presents an appllcati.on study of two algorithms to solve the One Machme Scheduling Problem with Changeover Cost, in a glass boule product industry. The One Machine Changeover Cost problem is modelled upon the Traveling Salesman Problem. The first algorithm is based on Little s algorithm which uses the branch and bound aptzrtmch. The second algorithm is based on Lin's algorithm which uses the 2-opt heuristic. The second algorithm is also applied for the parallel machine scheduling problem, with changeover cost, and provides a reassignment of jobs to machines.
087
Overcoming Communication Bottlenecks in Distributed Intelligent Control of FMS D.S. DevapHya, B. Descotes-Genon, P. Ladet, pp 257-261
An approach to reduce the effect of problems related to internode communication in Distributed Problem Solvers (DPS) is n~sented for the special case of real-time control of Competer grated Manufacturing Systems (CIMS). Some tedmtques based on the distribution of control and VLSI implementauons of control Pet~'. nets were presented in earlier papers. The present paper mscusses me necessity for fumishin8 the system with a panoply of diverse communication techniques and letting me. system lcam to use the best t~h.m.'que for • given sitmuion. lnts pe.rmsts a mgn oegree of flextbility of the system without sacmmmg communication efficiency unduly, while avoiding bottleneck situations in the DPS network. 088
LAN.DNC Structured Bottom.Up for CIMS F. Shen, X. Xiao, X. Wu, pp 263-266
This paper proposes a simplified CIM model. For its im~mentation, a bottom-up approach is used. That is, at first, LJr~t. systems are installed; then. the DNC systems are connected to a factory mainframe computer via • local area network CLAN). This approach provides • firm foundation for CIMS. It is also a low-cost' low-risk way to re~ize factory automation.