Intelligent assembly systems:
Saved in:
| Format: | Book |
|---|---|
| Language: | English |
| Published: |
Singapore [u.a.]
World Scientific
1995
|
| Series: | World Scientific series in robotics and automated systems
12 |
| Subjects: | |
| Online Access: | Inhaltsverzeichnis |
| Physical Description: | XXII, 239 S. graph. Darst. |
| ISBN: | 981022494X |
Staff View
MARC
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| 245 | 1 | 0 | |a Intelligent assembly systems |c ed.: M. H. Lee ... |
| 264 | 1 | |a Singapore [u.a.] |b World Scientific |c 1995 | |
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Record in the Search Index
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|---|---|
| adam_text | WORLD SCIENTIFIC SERIES IN ROBOTICS AND INTELLIGENT SYSTEMS - VOL.12
INTELLIGENT ASSEMBLY SYSTEMS EDITORS M H LEE & J J ROWLAND CENTRE FOR
INTELLIGENT SYSTEMS DEPARTMENT OF COMPUTER SCIENCE UNIVERSITY OF WALES
ABERYSTWYTH US* WORLD SCIENTIFIC * SINGAPORE * NEW JERSEY * L
SINGAPORE * NEW JERSEY * LONDON * HONG KONG CONTENTS PREFACE V 1
KNOWLEDGE-BASED ROBOT SUPERVISION 1 1.1 INTRODUCTION 1 1.1.1 THE
PERCEIVED PROBLEMS 2 1.2 WHY USE IKBS FOR ROBOT WORKCELLS? 3 1.2.1 THE
IMPLICIT KNOWLEDGE APPROACH 6 1.2.2 ROBOT USER REQUIREMENTS 6 1.2.3 A
PROPOSED KNOWLEDGE-BASED APPROACH 8 1.3 WHAT IS SUPERVISORY KNOWLEDGE? 9
1.3.1 EVENTS 10 1.3.2 EQUIPMENT 11 1.3.3 EXPECTATIONS 13 1.4 KNOWLEDGE
REPRESENTATION PARADIGM 15 1.5 AFFIRM KNOWLEDGE REPRESENTATION 16 1.5.1
EVENT FRAMES 17 1.5.2 EQUIPMENT FRAMES 21 1.5.3 EXPECTATION FRAMES 24
1.5.4 FRAME ASSOCIATION 26 1.6 THE FRAME HIERARCHY 27 1.6.1 A USEFUL
ANALOGY 32 1.7 AFFIRM KNOWLEDGE MANIPULATION 33 1.8 IMPLEMENTATION 35
1.8.1 THE RUN TIME SYSTEM 35 1.8.2 THE AFFIRM SUITE 36 1.9 THE
ACHIEVEMENTS OF AFFIRM 36 1.9.1 AFFIRM S INTELLIGENT KNOWLEDGE BASE
DESIGN 36 1.9.2 PROGRAMMING AFFIRM 38 1.9.3 AFFIRM AS A SUPERVISORY
SYSTEM 38 1.9.4 AFFIRM S USE IN ERROR DIAGNOSIS 41 1.9.5 POSSIBLE
ENHANCEMENTS 43 REFERENCES 43 XVII XVIII CONTENTS 2 SOFTWARE TOOLS FOR
ROBOT SUPERVISORS 47 2.1 INTRODUCTION 47 2.1.1 SUPERVISION 48 2.2 THE
ASSEMBLY WORKCELL 49 2.2.1 THE ACTUATORS AND SENSORS 49 2.3 TDL-MODEL,
TDL-SEQ, WCE 51 2.3.1 TDL-MODEL AND TDL-SEQ 51 2.3.2 WCE 61 2.4 THE
CRITIC AGENT 61 2.4.1 CRITIC S OBJECT MODEL 61 2.4.2 THE PLANNER 66
2.4.3 CAUSALITY: MANUFACTURING USES? 68 2.4.4 PLAN SELECTION HEURISTICS
69 2.5 THE FATE AGENT 69 2.5.1 THE ENTROPIE MODEL 70 2.6 PUTTING IT ALL
TOGETHER: THE KNOWLEDGE BUS 75 2.6.1 THE KBUS IN USE 78 2.7 CONCLUSIONS
79 REFERENCES 80 3 QUALITATIVE REASONING FOR DIAGNOSIS OF MECHANICAL
SYSTEMS 83 3.1 INTRODUCTION 83 3.2 MODEL-BASED REASONING 84 3.2.1 GOALS
FOR THE REPRESENTATION 84 3.2.2 MODELLING MECHANICAL DEVICES 85 3.2.3
QUALITATIVE REASONING 89 3.2.4 CONCLUSIONS ABOUT MODELLING MECHANICAL
DEVICES 91 3.3 REPRESENTATION OF THE DEVICE STRUCTURE 91 3.4 ANIMATING
THE REPRESENTATION 96 3.4.1 DESCRIBING THE BEHAVIOUR OF COMPONENTS 99
3.4.2 EXAMPLE ONE: PRESSING ON THE BUTTON 101 3.4.3 EXAMPLE TWO: PULLING
ON THE LATCH 103 3.4.4 USING SINGLE STATE-STEPS 104 3.5 IMPLEMENTING THE
DEVICE SIMULATOR 106 3.5.1 INITIALIZING THE DEVICE SIMULATOR 107 3.5.2
PERFORMING A SINGLE STATE CHANGE 108 3.5.3 CREATING A STATE MAP 108 3.6
EVALUATION OF THE SIMULATOR ILL 3.6.1 LIMITATIONS OF THE SIMULATOR 112
3.6.2 FITNESS FOR PURPOSE 116 3.6.3 OTHER MECHANICAL DEVICE SIMULATION
WORK 117 3.7 PREDICTING DEVICE BEHAVIOUR 121 3.7.1 MODEL-BASED
PREDICTION 122 CONTENTS XIX 3.7.2 PERFORMING PREDICTION WITH THE RIDDL
SIMULATOR 123 3.7.3 LIMITATIONS OF THE RIDDL SYSTEM FOR PREDICTION 124
3.7.4 FINAL COMMENTS ON PREDICTION 126 REFERENCES 127 4 TACTILE SENSING
FOR AUTOMATION 131 4.1 SENSING AND ROBOTICS 131 4.2 A SENSING TAXONOMY
132 4.3 WHAT IS TACTILE SENSING? 133 4.4 SOME ATTRIBUTES OF THE TACTILE
DOMAIN 134 4.5 HAPTIC SENSING 137 4.6 TASKS FOR TACTILE SENSORS 138 4.7
PROCESSING AND USING TACTILE SENSOR DATA 140 4.8 BASIC TACTILE SENSING
ISSUES 140 4.8.1 PARAMETERS OF CONTACT 140 4.8.2 GRASPING AND TACTILE
SENSING 141 4.8.3 STABLE GRASPING WITH INTRINSIC TACTILE SENSING 144 4.9
OBJECT RECOGNITION USING A SINGLE TACTILE IMAGE 146 4.10 ACTIVE TACTILE
SENSING 150 4.10.1 SHAPE DESCRIPTION WITHOUT SPECIFIC MODELS 151 4.10.2
MODEL MATCHING 152 4.10.3 HAPTIC SENSING AND HAPTIC PERCEPTION 154 4.11
CONCLUSION 157 REFERENCES 157 5 SENSING AND ACTUATION FOR FLEXIBLE
ASSEMBLY 165 5.1 ORIGINS 165 5.2 THE VIRTUAL SENSOR CONCEPT 166 5.3
DESIGN ISSUES 168 5.4 SUPERVISORS AND VIRTUAL SENSING 170 5.5
INTEGRATING SENSORS WITH ACTUATORS 171 5.5.1 THE COMMAND AND STATUS
INTERFACE TO THE CONTROLLER 173 5.5.2 ACTIVE SENSING 176 5.6 SUMMARY:
CAPABILITIES OF VIRTUAL SENSORS 177 REFERENCES 178 6 SUPERVISORY AND
SENSING SOFTWARE FOR AN INTEGRATED FLEXIBLE ASSEMBLY MACHINE 181 6.1
BACKGROUND 181 6.2 THE ASSEMBLY MACHINE 182 6.3 ARCHITECTURE 184 6.4
SENSOR INTEGRATION 186 6.4.1 THE VIRTUAL SENSORS 187 6.4.2 THE SENSOR
COMMAND LANGUAGE 188 XX CONTENTS 6.4.3 IMPLEMENTATION AND TESTING 192
6.5 THE SUPERVISOR 194 6.5.1 CLASSES OF GENERIC TASK 196 6.5.2 LIST OF
CLASSES 197 6.5.3 TASK MOTION PARAMETERS 199 6.6 AN EXAMPLE 200 6.6.1
INVENTORY DATA 201 6.6.2 TASK SPECIFICATION 201 6.7 SIMULATION AND TASK
EXECUTION 202 6.7.1 COMMAND ACKNOWLEDGEMENT AND ERROR HANDLING . 203 6.8
IN CONCLUSION 204 6.8.1 THE OUTCOME 205 REFERENCES 206 7 TOWARDS A
THEORY OF SENSORY ROBOTICS 209 7.1 INTRODUCTION 209 7.2 RESEARCH TRENDS
IN SENSORY ROBOTICS 210 7.2.1 RESEARCH CATEGORIES 211 7.2.2 A BIASED
VIEW OF THE RESEARCH 212 7.2.3 SUMMARY OF RESEARCH CLASSIFICATION 216
7.3 THE CASE FOR A THEORETICAL BIAS 216 7.3.1 DIFFICULTIES WITH THEORY
217 7.3.2 BENEFITS OF FORMAL THEORY 217 7.3.3 APPROPRIATE THEORETICAL
BIAS 218 7.3.4 SUMMARY OF THE CASE FOR THEORETICAL BIAS 221 7.4 ELEMENTS
OF A ROBOT SENSING PROBLEM 222 7.4.1 TASK 223 7.4.2 MECHANISM 224 7.4.3
BEHAVIOUR 225 7.4.4 SENSING 227 7.4.5 CONTROL SYSTEM - THE ABSTRACT
ROBOT 228 7.4.6 SUMMARY OF GENERAL MODEL 228 7.5 CONCLUSION 229 7.5.1
DIRECTIONS FOR THEORETICAL WORK 230 REFERENCES 230 INDEX 235
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| illustrated | Illustrated |
| indexdate | 2024-07-09T18:32:46Z |
| institution | BVB |
| isbn | 981022494X |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-008659446 |
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| owner_facet | DE-703 |
| physical | XXII, 239 S. graph. Darst. |
| publishDate | 1995 |
| publishDateSearch | 1995 |
| publishDateSort | 1995 |
| publisher | World Scientific |
| record_format | marc |
| series | World Scientific series in robotics and automated systems |
| series2 | World Scientific series in robotics and automated systems |
| spelling | Intelligent assembly systems ed.: M. H. Lee ... Singapore [u.a.] World Scientific 1995 XXII, 239 S. graph. Darst. txt rdacontent n rdamedia nc rdacarrier World Scientific series in robotics and automated systems 12 Assembly-line methods Automation Robots, Industrial Industrieroboter (DE-588)4026861-5 gnd rswk-swf Montage (DE-588)4040126-1 gnd rswk-swf Industrieroboter (DE-588)4026861-5 s Montage (DE-588)4040126-1 s DE-604 Lee, Mark H. Sonstige oth World Scientific series in robotics and automated systems 12 (DE-604)BV006188286 12 GBV Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=008659446&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Intelligent assembly systems World Scientific series in robotics and automated systems Assembly-line methods Automation Robots, Industrial Industrieroboter (DE-588)4026861-5 gnd Montage (DE-588)4040126-1 gnd |
| subject_GND | (DE-588)4026861-5 (DE-588)4040126-1 |
| title | Intelligent assembly systems |
| title_auth | Intelligent assembly systems |
| title_exact_search | Intelligent assembly systems |
| title_full | Intelligent assembly systems ed.: M. H. Lee ... |
| title_fullStr | Intelligent assembly systems ed.: M. H. Lee ... |
| title_full_unstemmed | Intelligent assembly systems ed.: M. H. Lee ... |
| title_short | Intelligent assembly systems |
| title_sort | intelligent assembly systems |
| topic | Assembly-line methods Automation Robots, Industrial Industrieroboter (DE-588)4026861-5 gnd Montage (DE-588)4040126-1 gnd |
| topic_facet | Assembly-line methods Automation Robots, Industrial Industrieroboter Montage |
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