I. Rapid Setup of Reliable Factory Automation
Demonstrate a general system that accepts
as input: A CAD design of a polyhedral assembly and outputs: a
workcell layout and control software for efficiently and reliably
achieving the assembly in volume.
(See: HandEy 92, Wilson et al 95, Craig et al 95, ...)
- Modular Toolkits
Low Cost, Reliable "Vocabulary" for Assembly. Identify Minimal
Hardware Sets. Characterize Range of Operation (Completeness).
Algorithms to Compile Motion Plans into Reconfigurable Hardware.
Flex Feeders and Fixtures. National Center for Manufacturing Systems,
Accurate Mechanical Prediction Software
For Design and Layout of Factory Automation.
"Simulation: Doomed to Succeed"? Easy to fool the eye, but not Mother
Nature! Software cannot "prove" theory but can greatly reduce
design cycle. Must be Accurate (Verified with Physical Experiments)
and Computationally Efficient. Challenges: Time Delay, Motor
Saturation, Friction, Chaotic Dynamics.
See: HandEy 92, Mirtich and Canny 96, Craig 95.
Computational Models of Tolerance
For Sensors, Motors, and Shape. Eg.
surface of known equation and a file of NC tool movements, does the
shape that the tool cuts match the mathematical shape to within a given
[Chazelle et al].
Examples: Lozano-Perez, Mason, Taylor 84,
Donald 89, Latombe and Wilson 92, Requicha 94, Joskowicz and Sacks 96, Akella 96.