Birendra Prasad (Editor)

CAD/CAM Robotics and Factories of the Future Volume 111: Robotics and Plant Automation

3rd International Conference on CAD/CAM Robotics and Factories of the Future (CARS and FOF'88) Proceedings

With 171 Figures

Springer-Verlag Berlin Heidelberg GmbH

Editorial Board Chainnan

Birendra Prasad Senior Engineering StafT Artificial Intelligence Services Technical System Development Electronic Data Systems General Motors Post Box 7019 Troy, MI 48007-7019

Editors: S. N. Dwivedi R. Mahajan

Associate Editors: S.Aggarwal M. F. Carter S. Ganesan G. P. Herring P. K. Khosla M. Staroswiecki W. M. Spurgeon M. J. Tracy J. M. Vranish M. B. Zaremba

A. 1. G. Babu A. F. D'Souza K. Ghosh K. S. Kane R. Stapp R. Sodhi B. Thacker D. A. Vincent D. E. Wisnosky Y. F. Zheng

ISBN 978-3-662-38994-2 ISBN 978-3-662-39962-0 (eBook) DOI 10.1007/978-3-662-39962-0

This work is subject to copyright.AII rights are reserved, whetherthe whole orpart ofthe material is concerned, specifically the rights oftranslation, reprinting, re-use ofillustrations, broadcasting, reproduction on microfilms or in other ways, and storage in data banks. Duplication of this publication orparts thereofis only permitted underthe provisions ofthe German Copyright Law of September 9, 1965, in its version of June 24, 1985, and a copyright fee must always be paid. Violations fall under the prosecution act of the German Copyright Law.

© Springer·Verlag Berlin, Heidelberg 1989

Originally published by Springer-Verlag Berlin Heidelberg New York in 1989. Softcover reprint of the hardcover 1 st edition 1989

The use of registered names, trademarks, etc. in this publication does not imply, even in the absence ofa specific statement. thatsuch names are exempt from the relevant protective laws and regulations and therefore free for general use.

216113020543210 - Printed on acid-free paper

Conference Objective

Improving cost competitiveness and remaining abreast in high tech­nology are some of the challenges that are faced by an enterprise in the modern times. In this context, the roles of engineering, manufac­turing and plant automation are becoming important factors to enhance productivity and profitability, and thereby increase market share and product quality. The commuter automobile, actively controlled car, the U.S. space station, the unmanned platform, and commercial space ventures are all real life examples of a few explorations now being undertaken on earth and space - requiring a greater dependence by people on machines. Complete shop floor automation - a "lights out" plant may be unrealistic to many but automating and integrating the engineering and manufacturing process, where it makes sense from a cost/benefit stand point, are certainly viable undertakings.

Hence, the objective of the Third International Conference on CAD/CAM, Robotics and Factories of the Future (FOF) is to bring to­gether researchers and practitioners from government, industries and academia interested in the multi-disciplinary and inter-organizational productivity aspects of advanced manufacturing systems utilizing CAD/CAM, CAE, CIM, Parametric Technology, AI, Robotics, AGV technolo­gy, etc.. It also addresses productivity enhancement issues of other hybrid automated systems that combine machine skills and human intel­ligence in both manufacturing (aerospace, automotive, civil, electri­cal, mechanical, industrial, computer, chemical, etc.) and in non­manufacturing (such as forestry, mining, service and leisure, process industry, medicine and rehabilitation) areas of application. Such an exchange is expected to significantly contribute to a bett er under­standing of the available technology, its potential opportunities and challenges, and how it can be exploited to foster the changing needs of the industries and the marketplace.

Conference Scope

The conference included the following areas of active research and application:

CAED: CAD, CAT, FEM, Kinematics, Dynamics, Simulation, Analysis, computer Graphics, Off-line Programming

CIM: CAD/CAM, CNC/DNC, FMS, AGV, Integration of CNC, Interactions between RObotics, Control, vision, AI, Machine Intel­ligence, and other Automation Equipments, and Communi­cations Standards

Design/Build Automation: Parametric Programming, Design, sensitivity, optimization, Variational Geometry, Generic MOdeling, Identification, Design Automation, Value Engineering" Art to Part, Quality, Cost & Producibility

Knowledge Automation: Artificial Intelligence, Expert Systems

Robotics: Mechanical Design, Control, Trajectory Planning, MObility, End Effecters, Maintenance, Sensory Devices, Work Cells, Applications, Testing and Standardization

Factory of the Future: Planning of Automation, Management, Organiza­tion, Accounting, Plant Design, Informative Systems, Produc­tivity Issues, Socioeconomic Issues, Education, Seminars and Training.

Conference Theme

The theme of the 3rd International Conference was:

C4 (CAD/CAM/CAE/CIM) Integration, Robotics, and Factory Automation for improved productivity and cost containment.

Conference Organization

SPONSOR

International Society for Productivity Enhancement (ISPE), USA

ENDORSING SPONSORS

Association for Computing Machinery (ACM), USA

National Science Foundation (NSF), USA

Society of Automotive Engineers (SAE), USA

Automotive Industry Action Group (AIAG), USA

Robotic Industries Association (RIA), USA

Electronic Data Systems (EDS), General Motors Corporation, USA

The International Association of Vehicle Design (IAVD), UK

International Society for Computational Methods in Engineering (ISCHE), UK

American Institute of Aeronautics and Astronautics (MI) (AIAA), USA

American Society of civil Engineers (MI) (ASCE), USA

Center for Robotics and Advanced Automation (CRAA), Oakland University, USA

American Society of Engineering Education (ASEE), USA

Engineering Economics Division (EED-ASEE), USA

Japan Technology Transfer Association (JTTAS)

American Society of Engineers from India (ASEI), USA

Michigan Society of Architects (MSA), USA

CAD/CIM Alert, Massachussetts, USA

Automation and RObotics Research Institute,

university of Texas at Arlington, TX, USA

Committee Chairpersons

COMMITTEE CHAIRPERSONS:

Conference General Chairperson: Dr. Biren Prasad, Electronic Data Systems, GM, USA

Program Chairpersons: Dr. Suren N. Dwivedi, UWV, USA; William R. Tanner, Cresap Manufacturing Cons., USA Doug Owen, EDS, USA

Technical Chairpersons: Rakesh Mahajan, Deneb RObotics, Inc., USA; Dr. Jean M. Mallan, EDS, USA

International Chairpersons: Dr. Ario Romiti, Politechnico di Torino, ITALY ; Dr. Marcel Staroswiecki, Universite Oe Lille, FRANCE ; Dr.Jon Trevelyan, computational Mechanics Institute, UK

Panel Session Chairpersons: Dr. Frank Bliss, EDS, USA ; Dr. Subra Ganesan, Oakland University, USA

Workshops Chairperson: Dr. Pradeep K. Khosla, Carnegie Mellon University, USA

Video/Tech Display Chairperson: Dr. Addagatla J. G. Babu, University of South Florida, USA

Student Session chairperson: Dr. Hamid R. Parsaei, University of Louisville, USA

Exhibits Chairpersons: Jon Keith Parmentier, Tektronix Inc., USA; Forrest D. Brummett, GM, USA

Receptions Chairperson: Umesh B. Rohatgi, Charles S. Davis Associates Inc., USA; Dr. Bhagwan D. Dashairya, Inventors Council of Michigan, Ann Arbor, MI, USA

Administration Chairperson: Dr. Prakash C. Shrivastava, GM, USA

Conference Directory: Dr. Yogi Anand, Consultant, Rochester Hills, MI, USA

Committees' Roster

PROGRAM COMMITTEE

er. Sudhlr Aggarwal, Beß CommunlcaUon. ReHlIch, USA

er • .lohn S. Bar •• , Un1verllly 01 Maryland, USA

er. Mare Becqu.I, Unlverllla' Ubr. Da BNxelles, BELGIUM

Thoma. H. Calad, EDS, USA

Jorn •• P. Cal., GM, USA

Mlch •• 1 F. Cart.r, GM, USA

er. M. Coisalll., UGAA CEN·FAR, FAANCE

J. P. Crealln, DDREET, FAANCE

K.nnelh 1.. Crew, W •• lem Dal. Syslem., USA

er. 1.. F. O'Souza, UT, USA

Calhorlna FlIegon, ODREET, FAANCE

MIchlei J. Frolllng, Toklronlx Lab., USA

er. RamanI V. Granclhl, Wrlghl Sille Unlvorllly, USA

Jeck B. HarrllOll, Tho Hand~ JIT Ine., USA

er. Gory P. Herrlng, US Po .... Sarvlce, USA

er. Jeck Horgan, ArIe. Toohnology, USA

er. Mlng C. Hueng, EDS, USA

er.lchlro Ineue, NEC Corp., JAPAN

Wlmam B. Johnoon, Aockwoß Inlornallonal, USA

er. SenJ.y JoIhI, PoM.ylvanl. SI.le Un1verslly, USA

Richlld B. Kalnllc, GM, USA

er. Rahesh K. Kapanll, VPI & Sill. Un1verslly, USA

Garald 1.. Kaslon, AHA Tach Corp., USA

Prol. F.lOmura, Unlverilly 01 Tokyo, JAPAN

er. Mdrew Kullak, Un1verllly 01 Manlloba, CANADA

er. HsIn.Y1l.a1, North Corollna~. & Tach. Sial. Unlverllly, USA

er. Polya Uu, Slemen. Corp., USA

er. Surosh M. Mengrulkar, Ford Molor Co., USA

Dwlghl Morgan, GMF Rabolles, USA

er. Mlcha.1 Muld", Unlvar.11y 01 Porllend, USA

Yasuo Nagll, ln.thUl.ol New Ganerallon Corhpuler T.chnOlogy, JAPAN

er. Shlgeo Nakeglkl, To.hlba Fuchu Work.,JAPAN

er. La.zlo Nemes, CSIFIO, AUSTIWJA

er. EI.lrado. Nikol.ldl., VPI & SI.le Unlverslly, USA

er. Mlch.el O. OIIH, Unlverilly 01 Soulh Carolln., USA

La.I" OIl1ng", THP Inc., USA

er. ReJ.hekll D. O:a, Unlve .. 11y 01 Aorlda, USA

er. Sudhakll Paldy, Roch •• ler InsdMe 01 Technology, USA

Prol. V. M. Ponomaryov, Acad.my 01 Selonces, USSR

M.C. PoI1mann,INfUA.\.Drralne, FAANCE

J.M. Prolh, INRIM.orralne, FAANCE

Pro!. J. G. PosIlIre, Un1verllle' Da une, FAANCE

er. TIm Pryor, OIHraclo, Ud., CAHADA

Prol. J. Algol, Un1versllo' Da Nancy, FRANCE

Arthur D. Rage .. , Inlegr.led AulomaUon Corp.,USA

Jollph D. Romane, 1.. T. Kaarney, USA

er. Ann Salgal, Tu'" Un1verllly, USA

er. SunD Salgal, Woroe.I" PoIyI.chnlc In.UM., USA

Har.had Shlh, Eagla Tachnology Inc., USA

er. Ram p, Sharma, We.lem Mlchlgan Unlverllly, USA

er. Kang G. Shln, Unlverilly 01 Mlchlgan, USA

Anlhony R. Skomrl, AulomlUon TechnOlogy Product., USA

er. Willlllll Mo Spurgoon, UnIv,,1I1y 01 Mlchlgan Dallborn, USA

er. Ra) s. Sodhl, New Jersey ln.mUl. 01 Technology, USA

Rlck SIIPP, Aulo SlmullUon. Inc, USA

er. Allen Surl, Unlvarilly 01 Wisconlln, USA

er. Bh ... 1 Thacker, Unlveroal Compuler AppUoaUon., USA

er. Joa Torok, Roche.ler In.Ulule 01 Teohnology, USA

Mlch.el J. Trecy, Smllh Hlnchmen & GryII. AssoclllOl Il10, USA

er. H. S. Tzou, Unlvellily 01 Kanlucky, USA

Don H. Turner, Arthur Young & Co., USA

Donald 1.. Vlncenl, RIA, USA

er. /isu·Pln Ben Weng, Unlvellily 01 BuHllo,USA

er. Ptler Wild, SDRC Englne.rlng Sarvlce. Ud., UK

er. Aonald l. Web.I", Marlon Thlokol tnc., USA

er. Tony Woo, Nallonal SeI.noe Found.don, USA

er. W.I Uang XII, Beqlng lneUM. 01 Aeronautlcs & AslronluUos, PRC

er. Y. F. 2heng, Clomoon Unlvalllly, USA

er. WißIIIll J. Zd.bllck, Malcul R ... AssocJaI .. , USA

er • .Iohn S. Zule, Brooklyn PoIyI.chnlc Unlvelllly, USA

x

ADVISORY COMMITIEE

Tony Al!UIO, EOS, USA

Dr. CarlOI A. Brobbl., W .... x InIUlUlo 01 Tochnology, UK

Dr. M. A. Dorgham, Tho Open Unlversily, UK

Dr. G. G. Oodd, GM Rese.,eh lAboralorlel, USA

F\ldl Gem, EOS, USA

W. C. Hamann, Ford MoIOf Company, USA

Dr. Plerre Haren,InI.IIIg.noa Logldone, FRANCE

l\I""n F. Henke, AulomaUon Technology ProduclS, USA

Prol. It Iwala, Kobe Universlly, Japan

Dr. Munlr M. Kllnal, GM Rose.,eh Uboralortel, USA

Dr. Marshaß M. Uh, Nallonal Selence Foundallon, USA

Dr. M. E. Marehenl, Malcul Rose.,eh Aasoclal .. , Inc., USA

Dr. Howlld Moran, Nalional Selonce Foundellon, USA

Georgo E. MunlOll, Unlverslly 01 Call1Ofnla San .. Borbara, USA

Dr. Jay Nalhan, Unlverilly 01 Scranlon, USA

Dr. G. J. OUIng, Chryslor MoIOfl, USA

Dr. A. Pelen, rNWA, FRG

KII.n L Rasmuuon, GM, USA

Roberl B. Schwanz, Fruohaul Corp., USA

Dennll E. Wonolky, Wzdom Syslems Inc.USA

INDUSTRIAL COMMITIEE

W. Roberl bn, FOfd Molor Compeny, USA

Edw.,d J. Carl, 'n USA

Dr. Roberl G. Dubensky, ChrysIer MoIOfl, USA

EIIm Sam Ekong, Unloyo Corp. USA

EcIwIn J. Fabluak, Jr. MS('.ICAD COMP 1nc.,USA

Dr. Henry H. Fong, MARCAnalyals Rell.,eh CorpOfaUon, USA

D. Gal.,a, EDF/DER/SEP, FRANCE

Dr. Don G. Gallle, Davldson Researeh, USA

John E. GaII, Fruehaul CorpOfauon, USA

Dr. AbId Ghuman, Chrysler Motors, USA

Glenn R. Gramllng, Howtell·Packard Company, USA

Jam .. D. Hock, GM, USA

Dr. Arun Jaln, BP Arn.r\ca Inc., USA

Dr. Hlroshl Kawanllhl, NEC CorporaUon, JN>AN

Dr. KlRI /(Qlhawala, EMRC, USA

Dr. Vlrondra Kum." General EIeeItle Company, USA

Dr. Polor A. MIlk., Aulomallon T.ehnology ProdUCII, USA

Dr. San/ay Millal, )(erox, USA

Wallace M. Murray, Morton Thlokollnc., USA

LaJos Imro Nagy, Ford Molor Company, USA

Rem G. NllUla, Bochlel CorporaUon, USA

Dr. Frank PIonka, ChrysIer Molors, USA

Donald L Smllh, Ford MoIOf Company, USA

Dr. Gerald A. Thompson, Hughos Alrcra" Co., USA

UNIVERSITY COMMITIEE

Dr. Davld Ardayllo, Wayn. Slale Unlverslly, USA

Dr. V.S. Chadda, Unlverslly 01 Dolroll, USA

Dr. John B. Chealham, Jr. Ace Unlverslly, USA

Dr. Roßln C. DIx, 1l1no1. ""UIUI. 01 Teehnology, USA

Dr. Joe G. Elsley, Unlversllyol Miehlgan, USA

Dr. Mukelh Gandhl, Michlgan Siale Unlverslly, USA

Dr. Kalyan Ghosh, Ecole Polyleehnlque, CANADA

Dr. R. T. Ha!lha, VPI end Slale Unlvorslly, USA

Dr. C. B. JoMIng., Soulh Bank Polylechnle, UK

Dr. R. T. John.on, Unlverslly 01 MI.sour!, USA

Dr. Sieven H. Klm, Massaehusa'" In.Ulule 01 TochnoIogy, USA

Dr. Roberl D. Loghcer, Massaehuse ... In.lllule 01 Tochnology, USA

Dr. Areh W. Naylor, Unlverally 01 Michlgan, USA

Dr. Waller D. Pllkey, Unlverally 01 Virginia, USA

Dr. Paul G. Ranky, Unlverslly 01 Surroy, UK

Dr. S. S. Rao, Purdue Unlver.lly, USA

Dr. Eugeno L AYIn, Wayne Slale Unlvorally, USA

Dr. Rakelh Sag." SouIh Bank Polylochnle, UK

Dr. H.,elh C. Shah, Slanlord UnIvorslly, USA

Dr. Nanua Slngh, Unlvorally 01 WindlOr, CANADA

Dr. Duwuru Srlram, Massaehuselll In.Ulu" 01 Tochnology, USA

Dr. 1t5. Toraman, Lawronoa In.mule 01 TochnoIogy, USA

Dr. Naron R. \/Ir., Howard Unlvorally, USA

Dr. Wayno W. Waller, Roch"ler In.UIU .. 01 T.chnoIogy, USA

Dr. Mar,k B. Zar,mba, UnIversIlo' Du au,boo.' HuB, CANADA

Dr. Made) Zgorz.lskl, GMI Eng. & Manog.manlInIL, USA

INTERNATIONAL ORGANIZING COMMITTEE

BELGIUM

M. Becquei (Brus .. I.)

R. Gabln (UlMln)

J. Pelo" (UlMln)

R. Snoeys (UlMln)

H. Ven Bru ... 1 (UlMln)

P Venho,ek (U ... on)

BRAZII.

Marla Emlna Carna'go (Sanll Marta)

Edge, Perei,. (Porto Alog,e)

CANADA

B. Menu Da. (Calgary)

Mark B. ZllOrnba (Hull)

DENMARK

Flnn Fabrlclu. (Lyngby)

FIWICE

BourJauil Alaln (Bosonc:on)

Phlillpe Pract (Besancon)

Marcel SlaJoswieckl (VinonllMl'O'Ascq)

Claudo VIobel (Evry)

INDIA

C. Arnarnalh (Bombay)

P. C. Pandoy (Roo,keo)

Rakesh Sagar (DelhQ

V. Slngh (Varenasl)

N. Vlswanadhom (BangaIoll)

ITALY

.... 10 AlmlIl (Torlno)

JAPNl

Yoshlakllchlkawa (HI1achl)

T. Yamashlll (Tobala)

NETHEIIlNIDS

J, A. M. Wlnlnborg (Ultechl)

PEOPLES REPUßLIC CF CHINA

allen 2Ileng (Bel)lng)

POLANO

A. Morockl (Warsaw)

REPUßLlC OF CHINA

Shul.Shong Lu (Telpel)

ROMANIA

Volcu N. Chloroenu (Slghelu MarmaUeQ

MI,ce. Ivenoscu (eralova)

SPAIN

R. Cares (Madrld)

THAlLNlO

R. Sadanand. (Bengkok)

UNITEO KINGDOM

John ßllllngsley (Portsmoulh)

Cartos A. erebbla (Soulhamplon)

M. A. Dorghom (MilIon Keynos)

Davld G. Hughes (PIymoulh)

Davld Peul Siolen (Br1slol)

XI

Letter from the President, ISPE

Dear Participants and Guests;

1987-1988 was the best and the most fruitful year in the history ofISPE. With your continued support and co-operation, ISPE has seen considerable growth and popularity. You will agree that our focus is very much mainstream and activities are clearly aimed towards bringing all the pertinent issues found in technologieal, business, socio-economic, and organizational horizons for discussion and resolution.

After successful sponsorship of three conferences in the USA, ISPE is now sponsoring the Fourth International Conference at I.I.T. Delhi, India during December 19-22, 1989. I hope, with your active participation and support, the fourth conference is bound to be a success.

We would like you to know that your continued technical input, written to share constructive ideas and innovative development strategies have been our backbone. your involvement has been the key to our success but our continued growth requires more efforts. Tbe society is constantly in need of creative ideas and experienced hands. So far, we have been carrying out the responsibilities with sustained contributions from a limited number of members. Now, we are requesting your cooperation and help.

With this letter, I extend a personal invitation to each of you to come up with fresh ideas and new ways of thinking - a partnership that can strengthen ISPE technical and financial foundations so that we could be more aggressive in promoting yours interests and improving the quality of life to which ISPE stands.

With good wishes,

Dr. Suren N. Dwivedi West Virginia University Morgantown, West Virginia

USA

ISPE Conference Mission

ISPE was founded in 1984 with the goal to accelerate the interna­

tional exchange of ideas and scientific knowledge with absolutely no

barriers of disciplines or fields of technological applications. The

main objective of ISPE is to foster cross-fertilization of technology,

strategy and 4M resources (manpower, machine, money and management) to

enhance productivity - to increase profitability and competitiveness,

and thereby improve the quality of life on land, sea, air and space.

One of the aims of the society is to provide opportunities for contact

between members through national and international conferences, semi­

nars, training courses and workshops. The Society also aims to create

a channel of communication between academic researchers, entrepre­

neurs, industrial users and corporate managers.

ISPE embraces both the traditional and non-traditional fields of

engineering, manufacturing and plant automation, all areas of computer

technologies, strategie planning, business and control. Equal empha­

sis is being placed on the cross-fertilization of emerging technolo­

gies and effective utilization of the above 4M resources.

Acknowledgements

The Third International Conference on CAD/CAM, Robotics and Facto­ries of the Future (CARS & FOF 188) was hosted by the International Society for Productivity Enhancement (ISPE) and was endorsed by more than 18 societies, associations and international organizations. The conference was held in southfield, Michigan at Southfield Hilton Hotel during August 14-17, 1988. Over 450 people from 12 foreign countries attended. People from industries, universities, and government were all represented. Over 250 technical presentations organized into 11 forums (panels), 61 specialty sessions, 3 plenary sessions and 4 workshops were conducted during the four days program. six major symposia were concurrently held.

I wish to acknowledge with many thanks the contributions of all the authors who presented their work at the conference and submitted the manuscripts for pUb1ication. It is also my p1easure to acknowledge the role of keynote, banquet, and plenary sessions speakers whose contributions added greatly to the success of the conference. My sincere thanks to all sessions chairmen and sessions organizers. I believe that the series of the International Conferences on CAD/CAM, Robotics and Factories of the Future which emphasizes on cross­fertilization of technology, strategy and 4M resources (manpower, machine, money and management) will have a major impact on the wide­spread use of productivity concepts - to increase profitability and competitiveness, and thereby improve the quality of life on land, sea, air and space.

I acknowledge with gratitude the help and the guidance received from the various organizing committees. I also wish to extend my gratitude to the sponsoring organizations. Grateful appreciations are due to student volunteers from Oakland university, Wayne State university, University of Detroit and University of Michigan for their enthusias­tic participation and help in organizing this conference. Thanks are also due to all my colleagues, friends, and family members who extend­ed their help in organizing this conference and making it a success. In particular, I acknowledge the help and cooperation extended by Electronic Data Systems (EDS) without which this would not have been possible.

I would like to appreciate the excellent work done by Springer­Verlag in pUblishing this proceedings.

B. Prasad Conference chairman and Chief Editor

Conference Proceedings

The papers included in this volume were presented at the Third International Conference on CAD/CAM, Robotics and Factories of the Future (CARS & FOF '88) held in Southfield, Michigan, USA during August 14-17, 1988.

CARS & FOF '88 featured 11 panels, 6 symposia and 4 workshops. The symposia covered six specific themes of productivity tracks (repre­senting foundations of connectivity) in "The Look of the Future in Automated Factories". Under each symposium, several key sessions were planned, focussing both on the opportunities and challenges of new or emerging technologies and the applications. Over 250 papers from over 12 countries covering a wide spectrum of topics were presented in the following six symposia:

Symposium I: CAED - Product & Process Design

symposium II: CIM & Manufacturing Automation

Symposium III: Design/Build Automation

Symposium IV: AI & Knowledge Automation

symposium V: Robotics & Machine Automation

symposium VI: Plant Automation & FOF

The conference proceedings are published in three bound volumes by springer-Verlag. The three Volumes are:

Volume I: Integration of Design, Analysis and Manufacturing

Volume II: Automation of Design, Analysis and Manufacturing

Volume III: Robotics and Plant Automation

Volume I includes papers from Symposia I and II, Volume II includes papers from symposia III and IV, and Volume III includes papers from symposia V and VI. The papers presented in the panel sessions and plenary sessions are distributed to the Volumes based upon the subject matters. The complete list of papers for all volumes are included at the end of each volume.

Preface

The complete shop floor automation - a "lights out factory", where workers initially set up all machines, turn off the lights, lock the door and the machine churns up the parts - remains an unfulfilled dream. Yet when we look at the enormity of the process of automation and integration even for the most simply conceived part factory, we can recognize that automation has been applied and is being applied, more so when it made sense from a cost/benefit standpoint. It is our nature to be dissatisfied with near term progress, but when we realize how short a time the tools to do that automation have been available, the progress is clearly noteworthy - considering the multitudes of factors and the environment we have to deal with. Most of the automa­tion problems we confront in today's environment are mUltidisciplinary in nature. They require not just the knowledge and experience in various distinct fields but good cooperation from different disci­plined organizations to adequately comprehend and solve such problems. In Volume III we have many examples that reflect the current state of the art techniques of robotics and plant automation.

The papers for Volume III have been arranged in a logical order of automation planning, automated assembly, robot programming and simula­tion, control, motion coordination, communication and networking to factories of the future. It is a measure of the times and the multi­disciplinary nature of the problems, we encounter, that a significant number of papers fit into more than a single category. A fictitious paper entitled "CAD-Based Computer simulation of the Dynamic Behavior of a Flexible Fixturing System Using the Finite Element Method for the Purpose of Monitoring Tool Wear to Develop Preventive Maintenance Schedules" only mildly exaggerates the breadth of categories often encountered in a single paper. This also illustrates the multidisci­plinary nature of problems dealt with.

In Volume III, the various topics are arranged in a mann er that, while providing bits and pieces of current research emphasis, the papers reflect their relations to a larger picture - the rObotics (ma­chines) and plant automation. With such arrangement, the editors have provided a certain amount of direction and flow as the reader proceeds from paper to paper.

Contents

CHAPTER I: Planning for Automation

Introduction ••••.••••••..•••••••••••.•...•.•.•••.••••••••••••• 1 The Automated Manufacturing Project: understanding Management's Concern

R. Holmberg •••••••••••..•••••••....••••••.•..••••.••••.•.••• 3 strategie Planning for the Factory of the Future

M. Izadi, E. Karbassioon, and M. Toosi ••••••.•••••.••••••••• 8 I.1 Automated Systems ••••••••••••••••••••••••••••••••••.•••.•.•••• 13

Human Performance in Man-Robot System Y. Beauchamp, T.J. Stobbe, and K. Ghosh •••••••••.••••••••••• 15

Review of DeterminingjOptimizing a Robot's Process Capability B.C. Jiang, and J.T. Black •••.•••.•.•••••••••••••••••••••••. 21

Automated Data Collection Workstation for Inventory Management S. Ganesan, and K. Athappilli •••••••.••••••••••••••••••••••• 27

Investigation of Computer-Aided Control of a Waterjet Robotic Workcell

E.S. Geskin, W.L. Chen, and W.T. Lee ••••.•••••.••••••.•••••. 32 Automatie Decentralized Allocation of AGVs in a Cellular System

S.P. Rana, S. Taneja, and A. Vashishta .....•••••.••••...••.• 37 Implementing a Transition Manager in the AMRF Cell Controller

B.A. Catron •••••••••..•••••••..•..••••••.•..••••••••...••.•. 42

Chapter II: Automated Assembly

Introduction •.•••••••••..•.••••..•.••••••.•..••••••••••.•••••• 47 Investigation of Automatie Assembly Methods

A. Harnoy •••••••.•••.••••••••••••.•..••..•.••••••.••.••.•••• 49 The Interrelationship of Parts Classification and Gripper Design for Automated Assembly

F.L. Bracken, G.E. Insolia, and E.W. zimmers, Jr •••.•••••••• 54 CARA - The Next Generation

C. Kosta, M. Miller, and P. Krolak •••.•••••.•••..••••..••••• 59 Pin Assembly by Robot

Z. Mehdi, R. Sagar, and T.P. Sattar .••••••••••••••••••.••••• 64 Automated Robotic Cell Configuration for Electronics Assembly

G. G. Raman, and T. -C . Chang ••••..•••••.....••...•••...••••.• 70

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Chapter III: Robot Programming and simulation

Introduction •••••••••••••••••••••••••••••••••••••••••••••••••• 75 ADAR : A New Vision of Tasks Programming for Robotized Industrial Workcell

A. Haurat, and J.-L. Perrard •••••••••••••••••••••••••••••••• 77 Robot Systems Software

I.J. Cox, D.A. Kapilow, W.J. Kropft, and J.E. Shapiro ••••••• 82 The Simulation of a Manufacturing Cell

F.L. Severance, and R. Tanner ••••.•••••••••••••••••••••••••• 89 GRaSS - Graphie Robot Simulation System

H.-J. Bullinger, R. Menges, and J. Warschat •••••••••.••••••• 95 Kinematic Simulation of Robotic Systems

J.L. HilI, and S.-D. Tang •.•.••••••••••.•••••••••••••••••••. 100 Simulation of Compliant Motions with Uncertainty

S.J. Buckley .••.•••••••••.•••••••••••..•.•••••.••••••••••••• 105

Chapter IV: Kinematics, Dynamics and Path Planning

Introduction •••••••••.••.•••••••••.•••••.••••••••.•••••••••••• 111 A New Departure in Programmable Robotic Manipulators

G.N. Sandor, D. Kohli, and T.-C. Weng ••.•.•.•••••••••••••••• 113 Tunnel Following Problem of an Autonomous LHD Vehicle operating in an Underground Mine

R. Hurteau, G. Chevrette, and A. Piche ••••••••.•••.••••••••• 120 A Robot Kinematic Gripper

J. Jeswiet, T.N. Moore, and W. Nshama ••••••••••••••••••••••• 125 A Kinematic Study of a Robot ~nd a Dextrous Hand

R.S. Solanki, K.S. Rattan, I. Kaleps, and W. Repperger •••••• 132 Inverse Kinematic Analysis of Moving Base Robot with Redundant Degrees of Freedom

P.S. Dutta, and T.-L. Wong ••••••••••••••••.••••••••••••••••• 139 Real-Time Obstacle Avoidance for Fast Mobile Robots

J. Borenstein, and Y. Koren •••••••••••••••••.••••••••••••••• 144 Mode1ing, Trajectory Coordination, Control and Simulation of the Multiarm System

M.M. Bayoumi, and L. Mo .••••••••••••.••••••••••••••••••••.•• 149 Dynamic Characteristics of a PUMA 560 Manipulator, and a Complementary Tracking Control Strategy

P. V. Nagy •••••••••.....•..•••••••••••••••••••••••••••••••••• 155 Kinematic Model Sensitivity to Geometrical Parameters Errors and its Impact on Robot Precision

H. Becquet, J.-H. Renders, and E. Ponslet •••.•••••••••.••••• 160 Flexible Manufacturing Using Modular Robotic Wrists

M.H. Ang Jr., and V.D. Tourassis •••••••••..••.•••••••••••••• 166

XIX

Chapter V: Objeet Reeognition, Imaging and Sensors

Introduetion •••••••••••••••••••••••••••••••••••••••••••••••••• 171 3-D Modeling for Robotie Taetile Objeet Reeognition

P.K. Allen •••••••••••••••••••••••••••••••••••••••••••••••••• 173 An Imaging proximity Sensor for Robotie Inspeetion and Assembly

G • F. Mauer •••••••••••••••••••••••••••••••••••••••••••••••••• 178 A Sensor System for Determining position and Orientation of Robot Targets

J.B. Cheatham, P.L. Weiland, and C.K. Wu •••••••••••••••••••• 183 Learning Shape Features Using a Binary Tree Classifier

R.E. Haskell, and B. Mirshab •••••••••••••••••••••••••••••••• 188 Measurement System for Testing Magnetie Parameters of Thin Amorphous Ribbons and Metrologie Parameters of Disp1aeement Sensor Using Amorphous Ribbons

M. Kozak, E. Misiuk, and P. Karkoszka ••••••••••••••••••••••• 193 An Experimental Autonomous Artieulated Robot That ean Learn

A.S. Mohamed, and W.W. Armstrong •••••••••••••••••••••••••••• 198 Development of 3-D Imaging Systems for Postal Automation

G.L. Gareia ••••••••••••••••••••••••••••••••••••••••••••••••• 209 Mailpieee Manipulation on the Basis of Partial Shape Information J. Deeurtins, and P.G. Mulgaonkar ••••••••••••••••••••••••••••• 217 singulation of Irregular Objeets by Adaptive Roboties and Sparse .Range Imagery

B.R. Frederiek, and W.R. Ealy ••••••••••••••••••••••••••••••• 225 A MUltiview Image Aequisition System for Postal Pareels

J.H. Kremers, and P.G. Mulgaonkar ••••••••••••••••••••••••••• 235

xx

Chapter VI: Control

Introduction •••••••••••••••••••..•••••.•••••.••••••••••••••••• 243 Application of KaIman Filters to Asscmbly Signature Monitoring using Empirical Process Models

P.J. Eagle, and L.H. Tabrizi •••••••••••••••••••••••••••••••• 245 Autonomous Distributed Control Through Flexible Communications

B. Meandzija, and W. P.-C. Ho ••••••••••••••••••••••••••••••• 250 Non-Homogenous Redundancy Management for Fault Tolerant Robots

G. Toye, and L.J. Leifer •..•••••••••••••••••..•••••••••••••• 255 Reflex-Action position Control and Two-Arm Load-Sharing Force Control with Adaptive Load Apportioning

J. N. Anderson ••••••••••••••••••••••••••••••••••••.•••••••••• 260 Performance Implications of Rendezvous in the Design of Multi-Task Robotic systems

M.B. Zaremba, and J.W. Miernik •••••••••••••.••.••••••••••••• 269 A Microprocessor Based Speed ed Controller and Data Processor for Dynamic Testing of Rotor Blades

T.S. Balasubramanian, G. Raghumurthy, and S. Ganesan •••••••• 274 A DSP Microprocessor Based Workstation for Expert Control

S • Ganesan •••••••••••••••••••••••••••••••••••••••••••••••••• 281

Chapter VII: Motion Coordination

Introduction •••••••••••••••••••.••••••••••••••.••••••••••••••• 287 Lifting of an Object by Coordination of Two Planar Robots

R.E. Goddard, K. Laroussi, and H. Hemami ••••••.••••••••••••• 289 Dynamics and Coordination of Multiple Robot Arms Moving a Common Task Object

G. Rodriguez, M.H. Milman, and K. Kreutz •••••••.•••••••••••• 291 Coupling of a Robotic Language with a supervisor for a Simultaneous Adaptive Control of Two Robots

D. Jolly, R. Ferhati, M. Bayart, and M. Staroswiecki .••••••• 296

XXI

Chapter VIII: Communication and Networking

Introduction •••••..•••..•••..••••••••.•.•.•••••••••••••••••••• 301 Fiber optic Factory of the Future

R.H. Appleby •••••••.•.••••••••••••.••.••.••••.•••••••••••••• 303 MAP/TOP Functionality from User Perspective

B. Thacker •••••••••••••..•••••••.•••••..•••.••••••••..•••••• 308 Robot Support System for Automotive Manufacturing Using MAP Communication Standards

R.B. Keil, and C.D. Groff •••••••.••••••••••••••••••••••••••• 313

Chapter IX: Factories of the Future - Plant Organization

Introduction •••••••.••••.••••••••••••••••••••••••.•••••••••••• 321 A cross-Decomposition Method for Layout Systems and Scheduling Problem

M.-C. Portmann, and J.-M. Proth •••••••..•••••••••••••••••••• 323 Extraction of Flowshop Type Lines From a Set of Working Processes M. Happiette, and M. Staroswiecki •••••••..•••••••••••••••••••• 328 Modeling MUltistage Production Systems by Timed Petri Nets

H.P. Hillion •••••••••••••••••.•••••.•••••••••••••••••••••••• 333 Modeling Cellular Manufacturing Systems by Using Petri Nets

S.H. Teng, and J.T. Black ••••••..••.•.•••••••••.••••••••.••. 338 Modeling of Production Systems by Continuous Petri Nets

H. Alla, and R. David ...••••.•••..••..•••••••••.•••••••••••• 344 Specification and Composition of Relativized Models of Real-Time Systems

S. Aggarwal, B. Gopinath, and P. Uppaluru .•••.•••.•••••••••• 349 Waterjet cutting Systems for Factories of the Future

D.J. Gerhardt, and R.G. Ferguson •••••••••••••••••••••••••••• 358

Chapter X: Future Trends

Introduction •••••••••••••••••••••••••••••••••••••••••••••••••• 363 Beyond CIM - A Computer optimized Manufacturing System

G.J. Hess ••••••••••••.•.•••••••••.•••••••••••••••••••••••••. 365 Proposed ANSI/RIA Mechanical Interface Standards: For Industrial Robots

H.A. Akeel ••••••••••••••••.••..•••••..••••.••••••••••••••••• 370 Robots Beyond the Factory

W.L. whittaker ••••••••.•••••••••.•••••.•••.•••••.••••••••••• 375 Guidelines and Rules for Automated Assembly by Robots in Space

S.N. Dwivedi, S. Srivastava and G. Jones •••••••••••••••••••• 381

Contents of Volume I ••••••••••••••.••••••.••••••••••••••••••••••• 389 Contents of Volume II ••••••.••••••••.•.••••••••••.••••••.••••••••• 394 Author Index •••••••••••••....••..•••••.•••••••.••••••••••••••••••. 398

Invited Lectures

Keynote Speech: Eric Mittelstadt, President and Chief Executive Officer, GMF Robotics Auburn Hills, MI, USA

Banquet Speech: Senator Carl Levin, Chairman, Senate Small Business Sub Committee on Innovation, Technology and Productivity, US Senate, Washington, DC, USA

Plenary Sessions: A Case for Computer Integrated Manufacturing

J. Tracy O'Rourke, president and Chief Executive Officer, Allen Bradley Co., RockweIl International, pittsburgh, PA, USA

Future Trends in AI/Robotics - A Pragmatic view Randall P. Shumaker, Director, Navy Center for Applied Research in AI, Washington, DC, USA

Future of Engineering Design Practice Kenneth M. RagsdelI, Director, Design Productivity Center, university of Missouri, Columbia, MO, USA

A New Departure in Programmable Robotic Design G.N. Sandor, Research Professor and Director, M.E. Design and Rotordynamics Labs, University of Florida, Gainesville, FL, USA

Cost Management as the criterion for Integrated Design and Manufacturing

Ali Seireg, Mechanical Engineering Department, University of wisconsin, Madison, WI, USA

Earth Observing Satellite System Gerald A. Soffen, Director, NASA Program Planning, Goddard Space Flight Center, Greenbelt, MD, USA

Rapid Response to Competition Raj Reddy, University Professor of Computer Science and Director Robotics Institute, carnegie Mellon University, pittsburgh, PA, USA

Engineering Research Centers - AVision for the 90's Howard Moraff, Program Director, Cross-Disciplinary Research, National Science Foundation, Washington, DC, USA

Robots Beyond the Factory W.L. whittaker, Robotic Institute, Carnegie Mellon University, Pittsburgh, PA, USA