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sn#640903 filedate 1982-01-30 generic text, type C, neo UTF8
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C00001 00001
C00007 00002 \|\\POX Tithe Page with big fOnts
C00026 00003
C00029 00004 \|\\ng Everypace no page numbers
C00032 00005 \F2\CABSTRACT
C00035 00006 \F6\CTABLE OF CONTENTS
C00037 00007 \|\\standard pox left margin, right margin requires minor change
C00040 00008 \F6\CTHE CENTER OF EXCELDENCE
C00045 00009 \C\F2BACKGROUND
C00050 00010 \JUntil recentlq, the costs of sensors, interfacing, and computers were
C00055 00011 \JThus, part of the
C00056 00012 \F2\CTHE CENTER OF EXCELLENCE
C0005800013 \CEducation
C00066 00014 \CResearch
C00073 00015 \CTechnolkgy Transfer
C00076 00016 \F2\CSTANFORD#S QUALIFICATIONS
C00079 00017 \CComputer Science and Artificial Intelligence
C00088 00018 \CAutomatic Control
C00095 00019 \CElectrical Engineering
C00103 00020 \F2\CTHE CENTER OF EXCELLENCE AND CAMS
C00106 00021 \F2\CEDUCATION
C00110 00022 \jmaintain more PhD level research staff who contribute to teaching and
C00111 00023 \CFacilities
C00116 00024 \CThe Students
C00121 00025 \J\[=2=2Visitors from Industry\]:
C00124 00026 \CDegree Programs
C00128 00027 \J\[=2=2PhD programs\] would be regular departmental degrees in Computer Science,
C00133 00028 \J\[=2=2The Engineer's Degree\] is a two year program with a project requirement
C00139 00029 \J\[=2=2The Master's Degree\] is granted in all departments included in the Center,
C00141 00030 \J\[=2=2The Bachelor's Degree\] is granted in Electrical Engineering and
C00142 00031 \CCourses
C00146 00032 \C\F2INDUSTRY INTERACTION
C00158 00033 \F2\CRESEARCH PROGRAM OVERVIEW
C00168 00034 \F2\CSUMMARY OF INITIAL RESEARCH PROJECTS
C00172 00035 \F0\CProject 3: Automated detection, Diagnosis, and Circumvention
C00185 00036 \F0\CCONSOLIDATE ROBOTICS FACILITIES
C00189 00037 \F2\CPROJECT 1: SURVEY OF KEY PROBLEMS
C00200 00038 \F2\CPROJECT 2: FLEXIBLE, INTEGRATED SYSTEMS
C00207 00039 \CBackground
C00214 00040 \CResearch Plan
C00225 00041 ACRONYM
C00234 00042 \CReferences
C00236 00043 \F2\CPROJECT 3
C00266 00044 \F2\CPROJECT 4
C00270 00045 \CBackground
C00275 00046 \JThe Stanford Artificial Intelligence Laboratory has carried out basic
C00280 00047 \JThe second task will include investigating the capabilities and limitations
C00289 00048 \F2\CPROJECT 5
C00293 00049 \CAdaptive Control of Flexible Mechanisms
C00297 00050 \JII The Role of Adaptive Control: The problem of control of flexible
C00299 00051 \JTo control a system such as (1) several schemes have been devised. These
C00303 00052 \JIII In recent simulation studies (Johnson, Franklin, et al) advantages and
C00309 00053 \F2\CPROJECT 6: INTEGRATED SENSORS
C00318 00054 \F2\CPROJECT 7
C00327 00055 \F2\CADMINISTRATION
C00329 00056 \F2\CFACILITIES
C00342 00057 \F2\CBUDGET
C00343 00058 fff
C00344 00059 fff
C00345 00060 fff
C00346 00061 fff
C00347 00062 fff
C00348 00063 fff
C00349 00064 fff
C00350 00065 fff
C00353 00066 fff
C00354 00067 \F2APPENDIX 1: ROBOTICS EXPERTS TRAINED AT STANFORD
C00358 00068 \F2\CAPPENDIX 2: EDUCATIONAL PROGRAMS
C00374 00069 \CTypical MS Program for an ME Student preparing for automatic assembly
C00377 00070 \F0\CComputer Science Courses
C00388 00071 \F2\CAPPENDIX 3: AFFILIATES PROGRAMS
C00406 00072 \JAs of November 1, 1981, the following 30 companies are Affiliates
C00408 00073 outtakes
C00415 ENDMK
C⊗;
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\F0
\,
\C\F0PROPOSAL TO THE
\CAIR FORCE OFFICE OF SCIENTIFIC RESEARCH
\Cfor a
\CCENTER OF EXCELLENCE
\CIN AEROSPACE AUTOMATION
\Cat STANFORD UNIVERSITY
\CJanuary 1982
\F1
Center Director and Principal Investigator:
Robert H. Cannon, Jr., Professor and Chairman,
Department of Aeronautics and Astronautics
Deputy Director and Principal Investigator:
Thomas O. Binford, Adjunct Professor of Computer Science
Principal Investigators:
James Meindl, Professor of Electrical Engineering
Lambertus Hesselink
Assistant Professor of Aeronautics and Astronautics
Gene F. Franklin, Professor of Electrical Engineering
Associate Investigator:
Michael Genesereth
Acting Assistant Professor of Computer Science
Center Advisors:
Daniel B. DeBra, Professor of Aeronautics and Astronautics
and Director, Guidance and Control Laboratory
Victor D. Scheinman, Vice President, Automatix, Inc.
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\,
\F2\CABSTRACT
\F0\JStanford University's Center for Automation and Manufacturing Science (CAMS)
proposes to maintain a Center of Excellence in Aerospace Automation,
specialized in assembly, test, and rework within aerospace manufacturing.
The program of the proposed Center of Excellence includes both an educational
program and a research program in automation and manufacturing science.
An industrial advisory committee will advise on
educational and research programs of the Center.
Educational programs will encompass extensive departmental and
interdepartmental academic programs, combined with
intensive involvement in a strong research
program, guided by leaders in research in automation, robotics, controls,
sensor technology, and Artificial Intelligence.
The investigators are a strong coalition of faculty from Computer
SciencE, AeRonautics and Astronautics, and Electrical Engineering, with
advisors from Mechanical Engineering.
The proposed Center of Excellence would be part of CAMS, a larger group
with broader scope in manufacturing.
Other faculty not participating in
this proposal will teach courses and provide leadership in other areas of
manufacturing.\.
Proposed research includes:
\jintegrated systems for assembly and test;\.
\jhigh level modules incorporated in integrated systems;\.
\ja system for test, diagnosis, and circumvention of faults in electronic
circuits;\.
\jservo control with end-point sensing for flexible devices;\.
\jadaptive control of flexible devices;\.
\jintegrated circuit touch sensors;\.
\joptical preprocessing for robot sensors.\.
\JThe research draws heavily upon long-established research programs with
substantial results in the proposed areas of research . Most of the
proposed courses and academic programs have been in place for some years;
extensions are proposed to strengthen these programs.\.
\F6\CTABLE OF CONTENTS
\F2INTRODUCTION
\F0Background: Objectives of the Center of Excellence
The Center of Excellence
\jEducation\.
\JResearch\.
\jTechnology Transfer\.
The Center of Excellence and CAMS
Stanford's Qualifications
EDUCATION
Introduction
The research environment
Students
Degree Programs
Special Courses
INDUSTRY INTERACTION
Industrial Advisory Committee
Industrial Support of Research
Interaction with Visitors
RESEARCH PROGRAM OVERVIEW
Elements
Philosophy and Achievements
SUMMARY OF INITIAL RESEARCH PROJECTS
Project 1: Survey of Key Industrial Problems
Project 2: Programmable Inspection and Test
Project 3: Flexible, Programmable Automation
Project 4: Rapid, Precise Control of Nonrigid Manipulators
Project 5:
Project 6:
Project 7:
CENTER ADMINISTRATION
APPENDIX A:
APPENDIX B:
APPENDIX C:
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\F6\CTHE CENTER OF EXCELLENCE
\CIN AEROSPACE AUTOMATION
\CAT STANFORD UNIVERSITY
\F2\CINTRODUCTION
\F0\JStanford University's Center for Automation and Manufacturing Science (CAMS)
proposes to maintain a Center of Excellence in Aerospace Automation,
specialized in assembly, test, and rework within aerospace manufacturing.
Funding is requested for an initial period of five years
at the level of $1,117,175 for the period from April 1,1982 through
Sept 30, 1982, and $2,140,150 for fiscal 1983,
with adjustment for inflation for succeeding
years. (Detailed budgets are prepared through 1984).\.
\JThe program of the proposed Center of Excellence includes both an educational
program and a research program in automation and manufacturing science
specializedin assembly, test, and rework in aerospace manufacturing.
αAn industrial advisory committee Will provide guidance For
Educational andresearch programs of the Center.
Educational programs will encompass not Only Expensive departmantal and
interdepartmental academic programs$ but also
Intensive involvement in a strong resaarch
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3 PhD visitors,
and 6 consultants without pay, representing departments of Computer Science,
Aeronautics and Astronautics, Electrical Engineering, and
Mechanical Engineering.
As noted previously, a special feature of the program of Stanford University's
Center will be a multi-faceted collaboration with the Industrial Automation
Department of SRI, International.
Stanford University and SRI, International, are totally independent
institutions located about four miles apart, with a long history of
many collaborative projects between individual groups within them.\.
\C\F2BACKGROUND
\F0\JThere is a growing recognition that this nation's economic ills are due
in large measure to low productivity.
Low productivity particularly raises the
cost of Air Force systems which are typically built in small quantities as custom
orders with special requirements at the limit of technology, and which
typically require many engineering modifications. Because of funding
fluctuations, orders may be uncertain. There is thus a high premium on flexible,
small-batch assembly capabilities which can quickly and easily
resume production of a modified product, or
start up production of new products, or resume production of stretched-out
systems.
General opinion is that American industry
is already highly automated. In fact, some industries are substantially
automated, especially continuous process industries
e.g. oil refining. High volume production of items in volumes
of one million or more are also highly automated by fixed automation.
The bulk of discrete parts production, however, is in small batches with little
automation and low productivity.
The automation of
flexible batch manufacturing systems would make it possible to
optimize utilization of assembly equipment and decrease inventory
by accomodating a product mix or quick changeover of products.
To achieve the increases in productiviTy
that are essential if we are to remain aworld leader in technological
industrieq will require major advances in automation and manufactqring technology.
New manufacturing systems will require extensive use of automated and
robotic systems, precision measuring systems, computers, non-contact
gauging and non-destructive test andevaluation, rapid and efFicient
metal-forming and cutting processes, precision dabrication processes,
precise thermal control, new approaches to management oF manudacturifg
operations, and new wais kf Thinking about @QQJAKα≠?;?nK∂Mβ|∧bππ-|G.∨M→vruEaPPh+I%&z
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can be made if inspection afdtest are used to feEd baci results to
improve the control of the production pRocess itsElf and to
decrease fluCtuation oF the output of production.\&
\JUntil Recently, the costs of sensors, interfacing, and computers were
so high that only simple automated InspeCtion was possible. There does
noT yet exist a well-developed automated inspecTion technology. In those
cases in which humans don't perform inspection well, opportunities for
increased productivity and quality are lost.
Humans have great perceptual
skill, but they do noT perform inspection well in very many cases, and they
are weak at feEdingback results in a usable way to production systems.
Human perceptual skills do not help with many non-visual sensors, typical
of exotic sensors. Humans are not very fast, accurate or reliable in recording
and communicating results of inspection. Humans tire rapidly in repetitive
inspection tasks. Consequently there are large areas of industrial
production for which neither human nor automated inspection is adequate.
There is a neEd for 100% inspection of safety-relatedproducts or high
reliability products.
Integrating
test andinspection into steps of the produCtion procepπfAK9CEYKLAISC≥]←gS9N~∃aIKGSg∃YrAo!KeJAAe←EY∃[fA←
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What are the consequences for batch production when computers, sensory control,
vision, and robots provide higher performance (faster, more accurate)
at low cost?\.
\JThe limiting factor in integrating newly-developing automation technology
into production systems may be the engineering required.
Even if robots, sensors, and computers were to become free, total costs of
production
systems would decrease only about a third. In the experience of our contacts
in industry, the ratio of engineering costs to equipment costs is
typically 2 to 1 for first-of-a-kind systems, and 1 to 1 for follow-on systems.\.
\JThus, part of the
solution to the problem is to train engineering staff and provide them with
a background which will serve them now and in two decades hence when revolutionary changes
in robotics and inspection technology will be in use.
Another part of the solution is to develop technology for assembly, test, and rework
which will cut the amount of engineering required for the full cycle from
system evaluation and design to completion of production.
These, too, are objectives for the propsed Center of Excellence at Stanford
University.\.
\F2\CTHE CENTER OF EXCELLENCE
\F0\JThe proposed Center of Excellence would contribute in three ways
to advancing productivity improvements in aerospace manufacturing in
assembly, test, and rework:
first, by educating and training engineers and scientists
who specialize in robotics and other areas of manufacturing science and
technology; second, by advancing the science and technology base for high
productivity;
and third, by contributing to technology transfer of advanced manufacturing
technology.
Stanford's approaches to
each of these three contributions are outlined in the subsections below.
Details of the proposed Stanford program in each area are then given in
subsequent major sections.\.
\,
\CEducation
λ\BCAMS pRoposEpεAiQ∀AM←Y1←oS]≤A[KG!C]Sg5fAM←β⊃β↔∪.≠πS'}qjq_hP4*sU≠Sπ≠4{K⊃β&+↔K↔*βCK??∪π7Mε QβSF)α
Mbα6M1∧+;∨'v+↔I1ε ;⊃αεB⊃β3/3↔3LhQβ←'&AβOC,≠'π3OSπS'}qβ'9π∪↔3↔6 ;Qβ∂∪↔πMε{→βπ-#?7π&K?9nbp4(∀Uc+π∪⊗+π∪eε+c'O&K;≥β≡{WKO/→βπ;"β3π ε3π∂'fKS'↔_h+'9π##∃β⊗+3↔[∞sQβ≠.s∪π7.sSπ1ε#'O∂Oβ3';/→1β↔Gβ3'∂O#3d4VK9βSF)βπK. Mβ?2βK? ␈#'∂Mbβ';Oε+∂S'}qβπ; β['OL{91β∞#[π;≤+⊃β∂}sSK?baβπ;"αZ2NKZq84Ph*s*Ns∪WO'∪'π1∧ ∪['≡{Keα≡{77''#↔∃β⊗+∂?7n+;∪π&K?;Mπ∪↔∨π⊗#';≥ε≠?WK≤+Eβπv 4)β&+↔K↔*βCK??∪π5β.kC#π≤¬↔ Z nVv∨M≥vvNlpλ
|H≥~ T∩;Y N<⎇≤M≤;λ⊂,NZ<{n/(β"H={;:.N→9(∞⎇;≠λ ,(≤_.N→<[L\λ_9NL<H∃
(≤⎇,<y<|ln;λ_,lZ;~,≡→<h∞∞[y|L≥#"[ld≥~→$ →<_..≠9;ND≠yHλ≤<[{L≡=~8n4_;Y∧λ<⎇≤M⎇X==
≤|h
∞<9(≠ ≡→<H∞<8⎇~-⎇J.w¬a"C"KM\⎇≥,L;]λ
≥][s∞l;9;ND~;H∞>≤[{Luλ→<nL8[~.=→9λ∞,<y8.,zλ≥ \;<nkEC"C!+~R≠mm|\hλ={|λ L9|Y,T≤≤[l}X;<d [|@⊂~w2:y]94pvλ9z0s→≥n↔εBεE.5≥90tw~w3P3\0w:⊂≤97sy_vyP4[⊂5r|H:2qt≠7v7s↑P0y2Xy]n↔βE
\jcontact With Industpy, In some cases by spendingthree month periods in
IndusTpy, and by participating in projectq important to industry or in
projects with visiTors fpom Industpy.\.
¬
Industpy projectq are so varied that the education of engifeers
cannot be tailored for specifIc jobs; progress is so rapid that a
tra`e-oriented education would be obsolete as a company evolved.
It is important thatindustry and university research staff communicate
about what research is important for applications, what research is likely to
be productive and scientifically relevant, and what applications might flow
from current technology.
Then, courses, research, and educational experience should
be fundamental in nature; education
should be useful for engineers over their potential work life.
Since much detailed learning is on the job, it is important that a university
program such
as this proposed Center should educate technological leaders in absolutely fundamental
concepts, so that they can learn and grow
on the job, and so that they will be capable of conceiving,
initiating, and implementing major programs, not just act as
rank and fiLe engineers, implementing the concepts of others.
It Is important to US firis that univeRqitieq provide several aspects of tpaining:
1) education in fundamentals Will provide engineerq with a basis for enhancing their
technical skills throughout Theirwork life, despite rapid advance of the
technology;
2) intense project implementation experience combined with strong fundamentals
will enable them to come to speed quickly on new assignments;
3) experience with industry will aid in developing physical intuition
from abstractions.
Stanford aims at educating leaders with just that approach, with a strong
fundamental background, but
with extensive experience in implementation of complete experimental systems.
The principal laboratories involved in the Center have strong theoretical
and experimental
programs involving conceptualization, design, building, experiment, and analysis
requiring several disciplines. Students make use of resources of the research
team, including those of other students and the greater research community.\.
\JIndustry, universities, and R&D laboratories encounter
shortages of qualified staff at all levels of the chain of technology generation,
training and education, research, development, and implementation.
As development of productivity technology intensifies,
shortages of productivity engineering staff are expected to become more severe.
In industry, morineers with appropriate
training, education, and experience to plan and execute automation projects
are needed to implement current productivity technology in aerospace manufacturing.
More engineering staff are required for technology transfer, planning,
development of future technology, and research.
Universities and research institutions require more staff for basic research
and applied research, for teaching courses and for directing students in
areas of manufacturing technology.\.
\JThe Center would
contribute to educating and training experts in programmable automation for
assembly, test, and inspection. A comparison with Japanese industry
illustrates an important aspect of education and training. In Japan,
turnover of engineers is low;
workers typically remain with their company for life. Japanese companies can
afford to provide extensive training to engineers. In the US, engineers have
a shorter expected mean time on the job. A US company cannot afford to devote
the same resources to training as a Japanese company.
Further, the ratio between salaries for Japanese engineers and production workers
is lower than in the US, Thus Japanese firms can afford more engineering effort
on projects.\.
\,
\CResearch
\JRobots are primarily used for spot weLdifgand material handling.¬
There are Few eXampl@∃`
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≤vBo> V."∞9F/>≥lrε∞l@π'⊗≤=6NvuDε∞g=tπ/≡≥lphVM|⊗"ε↑:FNn≡M⊗}r ≥f"ε≤L↔π&≡lRε≡⎇nG⊗}EkBph!Q%dU|Tππ⊗} w≡(≥≠d →=Y-M|λ∃∞⎇h≥≡. <h≠ld≤y;N=|\k↓QZ;] \|X= \λ_r. ⎇:5∧ {{] ≤⎇λ≤l]\{p→≤P37`2 robots, and
visual featqre detectionelements usifgoptical processing.
CAMS proposes to develop miniature touCh seNsors using resOurces forlinear
integrated Circuits in
the Integrated Circuits Lab in the Center for Integrated Systems.
We also plan to develop lInear integrated circuits to miniaturize interdaces
for the Scheinman force-sensing wrist, ngwbecoming a standard sensor.
Contact and force sensors should be sensitive, low-cost, simple to interface9
to achieve spatial localization, many small sensors may be necessary.
The proposed Center would mobilize VLSI technology to develop
VLSI potential for many, low-cost, miniature devices.
Optical processing has the potential to perform simple visual operations
quickly, operations which are very computation-intensive. It is proposed
to study harnessing optical computation power to augment vision systems for
edge and corner detection.\.
T,
\CTechnology Transfer
\JWe think that technology is transferred to people,
by participating in hoint efforts at many levels, e.g. at the level of
defining research programs afdat the level of engineerss.
Industry and universities can also transfer working
technology, especially integrated systems, but also modules.
Again, it is necessary not only to transfer hardware and software, but
to train people to use and develop the technology.
In studying Japanese research and development in areas of robotics and computer
vision, we have observed that the Japanese seem to have a major edge in
technology utilization. In basic research, the Japanese seem to lead in
manipulator development, while the US appears to lead in fundamental vision
and inspection capabilities. Considering the lag in US application of research,
US strength in basic research may keep us within range.
The US lag in fundamental work in manipulator development is disturbing.
It is time, however,
to work at transitioning technology and to work at setting up mechanisms to
maintain a continuous process of technology transfer.
Multiple mechanisms for technology transfer are proposed. They include:\.
\ja strong Industrial Advisory Committee and affiliates program;\.
\jindustry visitors who participate in research;\.
\jtransitioning of systems which are now ready for exploitation including the
AL system and ACRONYM, and
continuing transitioning of systems as they are developed;\.
\ja specific technology transfer project to assess applications problems
and assess technology capabilities to maintain a continuous dialog concerning
technology transfer.\.
\F2\CSTANFORD'S QUALIFICATIONS
\F0\JIt is in order to say a little about
Stanford's record over more than a decade in education
and research in areas of robotics, Artificial Intelligence, Computer Science,
Guidance and Control, Mechanical Design, integrated
circuit and VLSI technology, Electrical Engineering and other
components of the technology of advanced automation.\.
\JAppendix 2 lists the faculty whose courses would provide the
automation-related component of the educational portion of the program.\.
\CInterdisciplinary Research
\JRoboticq and automation research has been carried out as a collaboration
among departments of mechanical Engineering, computer sci@∃]GJX↓KYKGQeSGC0~∃K]≥S]KKIS]NX↓C]HAQQJAGα{;SK|aβ∨K␈+Aβ←O##'9π##∃β&+CπK&k↔;Q∧{⊂4
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β'rβC3π≡)β≠?⊂β¬β≠∂≠QβO& KQβ>KS#?/!β¬βd+πK≠Ns≥βC/∪'?⊃`h+π;"βCK?6K∪↔Mε β π≤KEβ?2βS↔∂Fs?3??Iβ≠?⊂βK↔O. K∂!π#=β∂}sSK'↔+S∃β&x4+π'3π;∂/→β'9εkπ;W6 ∂SW⊗K;≥β&+∂#;|c?∨ebβπ;⊃ε3?Iβ&+∂#;}c?∨eπ#Kπ;≡3↔I8hRπ31ε{→βSFKMβ'~β'9β∞qβ↔;6KK?;n+;Qβ|∧bεF≤⎇απ&\=εv}M|wJπ⎇≡FFNd∞FF*∞]fO6↑.6O'⊃Q&∞vD ⊗r¬=→FN≡⎇d¬&∞MLWJuEaPPh ed89voπ↑LW∩¬<9⊗.v<Tε∞vDλ↔↔&≤i⊗≡N≥D∧NwL]FfN|]f≡(Q!PUd*Mε*¬>L⊗v6},B∧≡⎇↑π/&↑$¬≡≡≤]f≡* LWε∂.MV.wD
v∂~∞,⊗v↑\Dε6O.:Bεv≡M⊗}v≥MGJε/⊃PW& Tεf∂>DεNvL↑ε.vL]g"π,≥f↑Nlpε}2λ=voπ↑LW∩¬<9⊗.v<Tε&/ ≡'&n]nG~b∞Mε*∧=⎇g>∂⊃Q&≡}]]↔'&\Ubα∧}lW∩πM Rπε≡:Bε6≡hRπN\≡'~b∞Mε*εL↑ε∂↔M\Vw"
↔~ε ≤Bπ& Tεn␈>D∧e≤aQ&6.MMw?≡
≡αε∂|≡&'~ ≥V}vtλ6}o∞ZF/∩λ8λm≤8π1`% departments. The departmant attracts
exceLlent students.
The ComputerScience department Collaborateq veRy clOsely with
the Computer Systems Laboratory oF Electrical Engineering, another large
and strong group in Computer Systems.
These groups have cOmputing facilities matched by only a few departments;
the next few years will see massive additions to computing facilities.
Computer Science and Computer Systems Laboratory share an affiliates
program, the Computer Forum, which includes 30 leading firms in computers,
electronics, and communication.
Stanford has strength in
Artificial Intelligence, numerical analysis, analysis of algorithms,
VLSI, and computer systems. The AI group is
probably one of the two strongest in the world. The department draws on
the unusual concentration in SiLicon Valley of computer science and Artificial
Intelligence.
Stanford also has two student time-sharing systems, LOTS and LESS, which
operate DEC 2060 systems available to all students. The Stanford
Center for Information Technology (CIT) operates an IBM 3033 system.
It also operates a campus-wide word pRocessing system.\&
TCRobotics
\JMuch oF Stanford's robotics work has centered In the Artificial Intelligence
LabopatoRy wiThin the COmputer Sc@%K]GJ↓ KaCIi[K]P\@A)!KeJA!CfAE∃K\AB↓gie←9N~∃G=YQCE=eCiS=\AM←β⊃β≠'7#↔↔9πK↔πK~β←'SBαCK?2α ↔Kv K⊃α⊗{S!β∞s⊃β?&C↔KMε{⊃βSF)↓4T#↔O'>qα∪'4KG'?pβ?→αn+∂#πvK∂π1∧+;∨'v+↔K'v91βπv!β¬β∨#C?;8β∂?3f ?K∂#'?9∧{[↔I∧εFF(Q( ≡⎇λ∃
∞Y9(∂≤8<\d∞z=~∧
≤[qD
[xY..λ⊂x-m[{@
|H≥~ T→→< ≡]≠9-nλ≠qDλ9<[ml==~,>h_;LA P<nN[{X.↑~8|ea"C"J|(_Y-M9=P∩H:40zλ)z0w→7y2~0yP6→r⊂:4→P;wy≠2⊂4wλ2r:qXz4w3H62pr→y9P4[⊂:42CE0y2XP7s⊂≤97sy_vrpq≠2P0z]7vpz~ww⊗⊂~W2W⊂≤5q7z~qyV⊂~w9x2Xz4wwλ0w2_wvx:]2y⊂;~ytww ⊂εE5Zw2vp]4qyP_w2⊂2→ytsw ⊂⊂εE∃42P8≤7x7yYr⊂89≠sy0vH;wzv→⊂9z9→w3z4→w⊂0wλ2r:qXz4ww_v⊂89≠sy0vH;t4qZ⊂4yP_v92pY<P9z≤7w3WβE x8→w24|λ_P4w_v:r2\P0P8_y:4p[⊂64y]⊂7s⊂∀z0w3≠y2⊂3\0r:p]2yP4[⊂:42H0y2pH7sεE≤5q7z~qyP0[2⊂92[0z2rλ:7x4XyP4wλ6rqt_w4qp[⊂2w3Zw2ry~w3V⊂≠pw<P≠s⊂;t≠vP0y→FE62Xp2y9H4w⊂4[2:yz≤<V⊂:[4{2i≤tz4r\P0w2λ92yrXy1t⊂~w9z4]8z4w[9W⊂⊂⊂P7:vX2y⊂'YεE3y_r:pz→yP40]2P12Yw⊂4w≤z9:vYw:0vλ4w⊂2\z0q6~yt4w→P72{H1wvx_w4ryH4w⊂:~2P0y→pP7sβE97q≠z4qyH0w2⊂_zz7vXz4wwλ:2qt≠7v7s↑W*↔εBεE.%∃42P9≠q7z4XyP89≠sy0vH0z⊂*~2P)j_w37y→⊂ y:~s4qtXv⊂$w≥2v64Yrw1bCE&0q≠y0z7\<P∀)Pdf∀P≥pyP1→szw⊂_<P%7Z7⊂&qPpy:4≡FE4wλ_\[~K⊂)tw_rP:4→w⊂;rH40{"H22{2[7x2rλ40y2≥py2P_w2εE≤ws:;Xy2P9↑yz2v\P;t4Xt⊂1w[:94q≥z2r⊂≥7P97X7z4q\P92yYpy1tβE4w⊂≠pw<P≠0q7y_z7y4YyP7sλ:42P≥wy62 ⊂⊂)x→qts4Xpv6<K⊂:42Hhas been obtained by General Motors, JPL, National Bureau of Standards,
Purdue, SRI, Illinois, and perhaps others; the Unimate PUMA is a descendant
of the Stanford arm which is a commercial product to be found in most research
laboratories; the WAVE system was the basis for the VAL programming system for
PUMA and other Unimation products; programming systems based on the AL system
have been implemented in Karlsruhe, Germany, Tokyo, Japan, and Grenoble, France.
There is great commercial interest in AL both in the US and Japan.
Robotics at SAIL is a large program with more than 20 people involved continuously
with others involved in short term projects. Other groups
in the Stanford program make the total considerably larger.
Research focuses on two major systems:\.
\jThe AL system for programming robots;\.
\jThe ACRONYM system for geometric modeling and spatial reasoning.\.
\JThey provide an experimental system of increasing power and provide a
way of testing the generality of modules.
Total system integration provides a means of technology transfer.
Thus, there is a combined focus on implementation and theory.\.
\JStanford is one of the leaders in many areas of robotics:
integrated vision systems; geometric modeling; stereo vision; edge finding;
programming systems for robots; force control integrated in software;
dynamics and control; basic kinematic analysis and theory;
and manipulator design. Stanford has also strength in sensory technology,
computer systems and distributed networks, and VLSI implementation of
special purpose computation for robotics.\.
\JThe Robotics Laboratory has had close relations with a number of
companies since about 1974, including GM, Texas Instruments, Honeywell,
and Unimation. Negotiations are underway for establishment of strong
industrial sponsorship of the Robotics Laboratory.\.
\,
XCAutomatic COntrol
~∃q∃)QJ↓KeO@/↓β/→πβK/≠/≠O?K~β'9β∂+S?7∂#'
β≤{;SK|aβπl@λ O9X;-≤|h_.D∀⎇_-l[|Y∧
;Z=L↑\z=∂⊃"Z<d∞;]<n\;≠≡$∞⎇≤[mlkHλ |H≥~ T≤z6∧∞≤[qL↑|{p→≤β who are members of the Department kf Aeronautics
and AstronauTics--Ashl@∃rXA¬IKCWo∃YXHA esg←8XAπC9]←\X↓ K¬e∧XA!←β;↔31bβ≠'[*βπK∀hS7↔↔⊗+KMβ}1βS#*α;πSN{;π⊃∧ ∂π∪.keβ?2α↔;∨Ns↔↔KNs≥9↓∧ 7?;:βS#↔hβS#↔Jβ#π[*βπ3K. ∪d4WβK?∪,≠↔⊃βn{K∃β&Cπ9↓ )AβO,≠∂πO≤3W1αεB⊃β∂∞s∪'∪∂#↔M1¬;#=β∂∪∃β;⎇9βS=ε∪∃β≠␈+;⊃β&CK?W>C?WPhSS#∃ε ↔K?∨βπ∂∃εK;∪W≥#@↔J ≡2π>]IBε∂4 ⊗rε.-v∞ε↑$ππ/,>VO'5`α∧∞]yf*πM Vjb∞Mε(h.9↔Bπ∞-v6/>=w↔~
↔6*∞∞&}'\8 ,D→Z5LT≠yH∞M→(⊂l]]≤X-D≥→>∞L[{zn4~;H∞M→(⊂m⎇]≤[mD_;Y↓QY≡;L≥:8|d Z9; EHλ∃
(_8nM=Z0~~pyP )n au@Q←[Ci%FAG←9ie←X↓←LAaI←MKgM←efA%\∩∃←β##↔Iε K↔π~β?→β.s∨';,+K';8∧ε∂"
:F∞vmz&"ε≡,Rε∞L9rεN↑∞&/∨=≡f+Z∞Mε*εl≥V/~λ=w6/%APT\X;M=~;K∧ x:; ≡~ λ M;]Z-Mλ
~N↑⎇λ→ \y8<l\λ+λ N9;XL↑Yy4ED_;Y∧
z9≤M}h_<LT≥y3
A Z{M}{H⊂≠[y62;Zp2WεBεE(9≠s2yy[y⊂ yZ42|P~yP0@≥7x⊂0]z47i~z<P /n aircrafT flu@QiKd@!BAgW%YPAO∃aSCS9JAi↑4∃G←]Qe←YY%]NAMαc↔c'⊗c∃β7,∧6F∞βZ4m↑h(_-lλ~_.∀≤Y0l]]≠≡$ z_:.,9λ_$ P4p$ {{;-≡≥→1!Q[{H mα2|4X62P9\0qrq\0s:⊂_w2⊂0[7z42\⊂' iPP1wv[tz:2YP7w⊂≥42P9Z:z:6→P42p]⊗yt4Yv2εE≥4v2P≤97q6→vWεE∀97s2\ywy⊂⊂9<yg[⊂4yP≥42P⊃→0z42\⊃⊂7cλ6wr2\7⊂1w[:97vλ:42g\αy, and a continuing
strong contributor to Control of aircraft, large flexible spacecraft, helicopters,
and (with Ashley and DeBra) experimental work on feedback control of wing flutter.
He has just published a new book on control of aircraft and spacecraft.
Professors Franklin and Powell have recently published their text on digital
control, which is the heart of a core sequence at Stanford which is taken
by some 130 Stanford graduate students each year.\.
\JThe Guidance and Control Laboratory, where many activities of the Center of
Excellence will be centered, compriseq some 7000 square feet on the ground
floor of the Durand Building for Aeronautics, Astronautics, and Space
Sciences, which was built in 1968 with major support from the Air Force
and NASA. The laboratory includes a seismically isolated test area, a
clean test facility, an electronics development lab, a precision qhop and
measurement area, and the new laboratory for laseR optics and holography
of Professors HesselInk and Joseph Goodman, as welL as The new robotics
daboratory.
The Guidance and Control Laboratory was startedby PRofessor Cannonin
1960 with major support fRom the Air Force Flieht Dynamics Laboratory and
fpom NASA headquarters. Its present Director is PRofessor DeBra, who has
led a sariepεA←L↓]←iC YJAG=]ieS kiS←9fAS\↓Cki←5CiSF↓G←]iI←X\@↓)QJA1←]OKMh~∃gQC]IS9NACGQSmSidAS\AQQJA→¬E←eCQ←erA%fABAAe←UK
hXAgQCeiK⊂AS\@DrjrA r~∃!I←MKgM←efAMGQSM_AC]H↓
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SCXA!SOP[AeKGSMS←\AMsgiK4AeKcUSeKH↓i↑AG=]ie←0AE←i AiQJ↓Ose↑4∃C]H↓iQJA⊃KISG¬iKHAMCiKY1SiJA%\AoQ%GPASPASfAQ↑AMYdXAQCYJAEK∃\AIKYKY←a∃HAU←%]iYr4∃oSi AiQJ↓'iC]→←eHAAQsgS
bA KACei[∃]h\@!)QJAMiC]M=eHAi∃CZAY∃CAKd↓SfA!!sgSGL~∃!e=MKgg=dA
e¬]GSf↓ mKe%ihR\A Km∃Y←a[∃]hASLA]←n↓]KCe1rAG←5aYKi∀AC]H↓Mk]I%]N~∃→←dAi!JAMY%KQhAAQCgJ↓←LAi!JAae=UKGh↓QCfA KK\AIKckKMiKHA rA≥βMαAM←H@brpL\~∀~)αA]←QCEYJ↓S]iKI[KIS¬iJAC
G←[a1SgQ[∃]hAS8AiQJ↓gCiK1YSiJidance and Control Laboratory's conception, development and successful
flight test of a "drag-free" control system for the Navy Transit Satellite,
an operational system.
Under contract from the Johns Hopkins Applied Physics Laboratory, Professor
DeBra's team designed and built the flight controller which maintained its
assigned satellite in a purely gravitational orbit to an accuracy of two
parts in 10\∩12\⊗, thus improving greatly the accuracy and predictability
of the satellite's trajectory in its use as a precise navigational reference
for the submarine fleet.
In recent years, Professor DeBra has also been heavily involved in
engineering and control for super precise machining in a range of other
contexts, including work with Lawrence Livermore Laboratories.\.
\CElectrical Engineering
\JStanford's Electrical Engineering department has 50 faculty,
with 9 adjunct professors, and about 500 graduate students.
As of 1980, it had ranked either first or second in the last two American
Council of Education polls in both Graduate Program Quality and Graduate
Faculty Quality. The department receives excellent students; over the
past three years, median GRE quantitative scores were in the 97th percentile.
For 1979-80, the department Received the largest number of new NSF Graduate
fellow Awards among EE departments. There are four affiliates programs in
the EE department, 35 industrial affiliates in Solid-State Electronics,
30 Industrial Members of the Computer Forum, 14 industrial affiliates in
Information Systems, and 17 industrial sponsors of the Center for Integrated
Systems. There are about 140 Honors Coop students in EE. Eiehty courses
per year are shown on the tv network which reaches industrial staff.\.
\CCenter for Integrated Systems
\JStanford is one of the leaders among universities with programs in VLSI.
Its fabrication facilities have long been unrivaled among universities.
Stanford has fabrication
facilities in the Integrated Circuits Laboratory for both digital and
analog integrated circuits, including ion implantation, laser and E-beam
annealing, with acceqs to an electron storage ring for x-ray lithography
experimants.
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≤[yn,;+λ ∀≤≠_-d≥z~,=λ≤→.
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≤Z99↓Q\≤[ll<|z-⎇X;λ ]<≠∪o≤9<h∞Mh≤Y,⎇<⎇→.$→[p→λ3y0r≥pz2P∀z0w3≠y2⊂![zy9b\P7w⊂_P80y≥⊗z4vYFE10\tyW⊂λ yP7≠z2r_q7{"K⊂:42\2P0y→P_Z_λ$7w7\9P!w[x⊂9z≥r2w:≤P4w⊂⊃bP0v≠w2WεB$7w7\9P!w[x⊂89≠sy0v\P4w⊂⊃w3tw→ry4w→P0w2λ!wvx≥z2y∀qtrw_rP0y→P4vx≠y:0w≥εA:7H:44yH897x≠yrr⊂⊂rw:2\↔⊂⊂*~2P$7[7y9P⊂wwx⊂≤97sy_vP4yH0zsvYw:2rλ1<P*~2P)z_w37y→εE$w≤z9:q]4ww0[⊂*2v→{4yd[w⊂'2];wy5K⊂0P#≠zy⊗qZ0w72[⊂72z≥wy5P≥t4qtλ2w0q≠2yP9]:r2w≥9FE:≠P0z:→w2⊂6~{2P6→qz:y→yP;t]4⊂:0[5Vq0XuP1p\0q4v~z<P0]⊂:42Zy⊂1w[x0w<H9tz2\W⊂⊂*~2y2FB0y2P_v9wP≤2vwj→P:;⊂≠2z;w\5P30Xtv4z~ryV⊂~vx6"[rw:2Y⊂1<P≥4r2wH:0x2H0w2⊂≤zx2i≥4yrrβE1<P≥8z7y≤P0z⊂≤2vwz→P1wv\0w<P≤tz2yK⊂⊂ yH77z2Y⊂0q7]2V⊂*~2y2P≥ry2P
_⊂1g]y9ryH7wεE≥42P*≥⊂72j≥wy5@→97vP⊃bP0v≠w2WεBεE)z_w37`2d has hada long record of involvement @]SiPAαK;∪W≥#@↔Jd∧¬.vLZ"∧7,\F/⊗≤=0hULZ&n∞eD¬∨&≥lf␈⊗Dλ L]_=→,D_{∪n≤9≡(∞⎇=~ L=Y0⊗≠x4w3H1wvx_w4ryH4w⊂εB)tv$Xww⊂+_v62|K⊂⊂ zλ62py]⊂34{→P0s#~v4pz→yP8)≠sy0v\P0z Stanford @%]GYK⊃J~∀lLAG←[AC]SKL@Q]←β!β'≠≤¬G.&≥lrβ≠Tλ⊗66≥I⊗∂&↑4ε}∩∞Mε*¬=yFN"X8
≡→(⊃-L8⎇≤M⎇Z8taQ\≤[l@y0v@, some kf Whom are members h∂LAα{S#↔⊂∧ε∞⊗m_
≤=→<d∞≤[yn ;<j%dλ∃~ T_9P∪~v4pz→yFE(≤αh∂Oe¬ZA←L↓iQJA%]IkgQaSCX↓βki←5CiS←8~∃ KACei[∃]hA←α1αNJJβ';∂e+∪↔Mε 9βπ&#'S'|sπ1↓λπαε6α<[.1"[[nD~;XmN9→9∧ <h_,lZ;∩,≡→<h
|β⊂ ∪@QC]M←β∪⊃βC⊗{⊂∨⊗≥↑2`+λπεEβEβ.#→.⊂j$"P⊂bg*"T⊂'c⊂⊃l!bf∪"g!bH g"⊂⊂`fiFBεE.# .% zλ892yYw:⊂9[vrP_M⊂897Y2yyw\9P86_w⊂:7H1py9≡P7zzλ92yrXy1tεB0yP8_y:⊂7Y⊂60y→ry⊂!PfiP8≤7sy0[yW⊂⊂∃47yrH30qz[:<P8≠:yP7]42yεB897s→yywy≤P;tv≠⊂4vx≠They represent the departments of
Computer Science, Mechanical Engineering, Aeronautics and Astronautics,
Electrical Engineering, Applied Physics, Materials Science,
and Industrial Engineering. Interest has been expressed by members of
the Business School.
Within this context, participants in this proposal
for a Center of Excellence are a subset of CAMS, with 6 professors
listed as investigators on the cover of this document.
Among other participants in CAMS not included in
the proposed Center of Excellence, several have strength
in fabrication technology, especially Professor Miller (metal forming),
Professor DeBra (precision machining), Professor G. Kino (nondestructive testing),
Professor George Herrman (behavior and testing of
metals in manufacturing processes).
Stanford departments of Aero and Astro and ME have traditionally had strength
in structures. As part of CAMS it is planned to build up an experimental program
in composite structures.
These capabilities reelate to other Air Force programs in
manufacturing technology in areas of fabrication.\.
\F2\CEDUCATION
\F0\JCAMS proposes a broad and flexible educational program,
in the area of automation,
the elements of which have been tested and proved.
The proposed program would expand an educational program in robotics
which has been successful over sixteen years, since 1965.
The central theme is learning by participation in directed projects
in research and in building experimental systems, an intensive experience
with a forcing function of priorities, personal involvement, and deadlines,
learning by working with faculty and with other students.
In a critical mass program such as this, the learning opportunity is unparalleled.
It takes several academic generations to build up an academic staff with experience,
profound knowledge of the field, and good scientific judgment.
The educational program in programmable automation at Stanford is already
very strong. There is a strong argument that Stanford leads by
far in producing experts in programmable auTomation and robotics.
It is cost-effective to expand this program which has good facilities and
excellent personnel.
The faculty and research staff involved in this proposed program are
augmented by outstanding visiting researchers from other research
institutions, by advanced graduate students who are already established experts,
and by research staff at a large number of institutions and firms in the area.
Members of the SRI research staff will participate in teaching and directing
students.
Co-direction of research projects would also be performed by qualified experts
in companies which send students to this program.
In retrospect, Stanford has been effective in this way in producing people who
assume leadership positions in industry and research.
The program has a focus of basic research applied to important applications,
with two components, a strong fundamental background, and extensive project
participation in building complete experimental systems.
We propose to strengthen the educational program in automation by the following
actions:\.
\jexpand experimental laboratories in robotics, inspection, and control;
consolidate robotics projects of Computer Science and Aeronautics in a single
laboratory;\.
\jprovide students as technical support staff for laboratories in electronics
and mechanical systems;\.
\jexpand the robotics course to three quarters (this had already been planned);\.
\jmaintain more PhD level research staff who contribute to teaching and
supervising research projects;\.
\jprovide computer facilities for students to give experience with
advanced use of computers in engineering;\.
\jexpand the course series in manufacturing (in progress);\.
\jenlist researchers at SRI and local companies the area to lecture and guide
students.\.
¬
\,
XCFaciliTias
TJThe program wou@1HAEKαK3⊃β}qβ &≤-wε∂Mz'Jεl≤6Nf≡M⊗/~ ≥f"ε=yWπ∂M≥f*εl≤6Nf≡M⊗/~∞⎇εN≡↓Q&F∂lTε⊗.]`π∂'-yf 4→[p→λ<rpy≤Tε SuppoRt staff are experaenced.
The Computer Science department and Compp iKβ⊃αOGα8
]<h∪ ≤Y|X.M|↑(
|β⊂:4→P⊂"bCE22x_y:6r[:⊂⊂4_{2P⊂_wvx:]4s3@ facIlitiEpε@@A]QSGPAMKnAS]gQSiki%←]f@↓GC\@AKck¬X\~∃
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6 ∂'3M#'πM∧∧f␈∩
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FacilIties fkr senso@HAIKm∃YWa[∃]hAS8AiQJ↓∪]iK≥aCiK⊂AπSe
kSif↓→CDA¬]HAS8@~¬βAaYSK⊂A!QsMSGfA¬eJAKβC∂↔3f+;Q9h*S#*αK? ⎇#'∂M∧cπ ?⊗ S?KJβ#πMε+c∂↔d¬F.wDλ M|[⎇β∧ {{<∞↑→<H∞m<z3md_;Y∧ {{<∞↑~;YaQYX8m≥~=~,↑iC"IM:y0≠ZyrV⊂≥42P#]tr0w_rP0w→⊂!ww≥97v⊂∪0q7y_z7y<H40yP→4w2P→0qtf~z4ryKεA⊂⊂∩z⊂4yH5s:2[⊂7{2\67wuYr∩⊂1≥z⊂:4→P9wc≥9py2H2w;4\7w6r[:εE4\P0yP~vx7y≥0w:⊂_yP2x]tx6r[:↔⊂⊂∃42P9]<v2P≠s⊂:yZw3P:~2P40\2;py→FE0w→⊂9ws≥9py2H2w;4\7w6r[:⊂4yH0v9gH4vx7\8∧ant9 Stanford benefits from a deca`e
of developing and using Top-quality sqc@QK[fX↓C]HA→a←ZA KSMN↓S\Ai!JA'Sαc'∂?ph*[πd¬F/JDλ∩ε6|>W4≠yH
9z∞L8z≠M⎇≠y}$ →=Y-M|≠9-n Hλ
M_9⊂≤2y1x→qz4{→P7s⊂βE22{→v7x6Yw:⊂ [2εE ]py2w→yyP'Y⊂9z0]2P7`& the art Ppovides a↓mCI@. #∃∧∪π∂/?∪?W≠ ∧ε -|H∀nN9→3NNhπεE∩w⊂97X5z4`#pεXAgQk@∪↔w#Eβ#∂3∃β¬∧¬F∂⊗|Tε⊗∂<Tπ∂O>LVjε⎇`λ∞⎇~8z∧∞≠h⊂N];→ AQP(⊂L≤zy|M}9Y⊂≠q⊂;w\5tw3H97q7]4qyP≠0q7y_z7y<H9|y`4ems For a↓IKGC⊃JA[K¬]fAi!Ch~∃QQKeJ4∃SfA∧AYCe≥JAEC
WOe←U]HA←_Ao←e-KHAKaC[aY∃`
β←FK∂!β≥#Wβ↔w#Eβ∂∞qβWO*βπ;⊃εk?∪'7I84
λ∧ε≡}↑ vv.n@ε}∩∞Mε*π∞-wε␈<\Bππ-|w⊗∞T ↔4≥≠h ≡9{9-nchnical support (using student staff)
where necessary to accomodate increased use of facilities to support education
and training. It is important to utilize time of students and visiting staff
effectively by providing adequate facilities.\.
\JAn important part of education will involve experience with modern computer
systems integrated into engineering applications.
It is proposed to provide students in the program access to high performance
engineering work stations (SUN terminals $7,000 each) which provide
high resolution graphics
with powerful local computing and which link to local computers and networks.
It is proposed to provide several computers with sophisticated systems
to support training and research of students in the program ($100,000 each).
It is proposed to provide students with terminals for home use ($1,000).
In order to utilize the educational, training, and research opportunities
most efficiently, it is important to provide adequate hardware support for
students. Required hardware costs are minor.
For those students in Computer Science and Computer Systems
Laboratory, most of those facilities will already be available. The budget
includes funds for computing equipment for Mechanical Engineering and
Aeronautics and Astronautics departments for the benefit of students in the
proposed Center of Excellence.\.
\CThe Students
\JA prime feature of the proposed Stanford Center of Excellence would be
its large and multi-skilled student contingent, who would be expected to
number perhaps 60 at any given time, including 30 involved in PhD research.
A benefit of doing research at Stanford is the remarkably high talent
level of students who choose this campus for their graduate studies.
An essential part of the learning experience is learning from other
students; this is usually overlooked, but is very important.
Furthermore, students develop skills in productive team work at a high level.
Another part of professional development is setting up contacts with
`∨i!KdAaI←MKgMS←]C1fXAKMaKGS¬YYbA→KYY←\Agik⊃K]if8@A⊃KIJXA[¬]rAgQkIK]Qf~∃O<A←\AQ↑Aa←MSiS←9fA←L↓YKCI∃egQS@\@A)!JA]KQo←eV↓←LAG=]iCGQbA[C⊃JAQKIJ~∃SLAmCYUCEYJ8@@A'Qk@∪↔w#Eβπ αOSπv3?K⊃εCπ[∃∧≠?;OL#↔Kπ⊗c∃β↔Gβ?OW⊗)βS<hSK↔O. C∂#-∪Eβπv!βOS.#↔;S~β≠K?hβ?S#-⊃β3↔∞#';≥ε≠↔;S/∪@~εM≥6*∧Y~Bbε≥lBεn\Z@hV∀∞7&.≤O∩π∨N,V∞j
x D∞Z<r.M|\kD∧∃~→.<(_p↔[80qz≤β and qp-to-date awarenesq of the
inteRnatiOnad Research cOmmunity c@=[ECh↓iQJ@ ]←h[%]mK]QKHKQ∃eJDAMs]Ie=[B4TεvFN=ε}↔L]bεN↑λV&/4∞π⊗@y→0⊃]4{4`4y*P_\4⊂⊂∀*dR'QβO→βCK␈β?O↔ ∧π&z∞
&␈6≤LRε.≤=απN\≡"bεlYFf␈}=εOπ4 f␈∩∧⊗Rε6≡.7"o≤\↔∩Q.7'.L]g'~ ≡Bαβ⊗¬Cββ¬aPTNd∞FF.≡ εf∂LZ"πN\≡'
b∞:G.→;]∞P;wz[2⊂12H9zx8≠y:2rλ7w⊂9→yrpy_t⊂8)≠u2qj≤WαE$]⊂40yH12rwλ7zy⊂→|82y~rs1bH:40zλ:44yH42{2[⊂7s⊂≤zx87\:⊂4yH0r2x]pz2FB:7P0]:90q]⊂3wwY⊂9z:Y2w:9K⊂2yx→qtpv≠<P9d[1rP:~2P0y→pyP7Y⊂9x2Xtpv4↑0z4w[⊂7s⊂≥44yFB897x≠ypv⊂_y2P0]:90q]4{2Wλ⊂*42H62{2[⊂7s⊂≤zx87\:⊂;w]v2⊂1→P2{0[:pz2Y⊂;tz~⊂:42CE$w2≥yz94Xv⊂ r≥4ywi≡P!wv[tz:2YWαE$Y⊂72qYyypy≡V⊂:4→P9zx≤7y:⊂≠2{2vλ;wzv→⊂12P≤0tybY↔αE*≤0tw4[3P3y_w:9P_y2P0[⊂2yyYw:4p[⊂80y≥⊂7s⊂≥42P8≤5sy0[V⊂:7H0z:9_qz⊂*~2P12\zεE9]:r2w≥9P4w≥7P:4~yP0y→pP7cλ0zz7[pz4w[⊂0w2λ6pw:Y0qz:\4w3WβE
A substantial number of regular students will be supported at any time by student
research assistantqhips providedby projects of the Center. These Will
normally be students beyond the Masters degree level.
Students in the proposEd program would come from two sources: @→Segh0AMe←4~∃iQ∀AeKOUYCdA¬I[SgMS←\AAeWGKMgKfv↓cKG←9HX~∃QQe←k≥PAga∃GSCX↓CI[SMgS←\↓S\AC8A⊃←]=efAπ=←`AaI←OeC4\@~∃%hASf↓KqaK
iKHAQQChA¬]]←k9GK[K9hA←L↓iQJA9KnAaI←OeC4AoSi ASif↓eKgK¬eGP~)←aa←Iik]SQSKfA]SYXA¬iieC
hA[C9rA←L↓iQJAMikIK9ifACPA'iC9M←eH0AC]H↓oSYX4∃CYg<ACiiICGhA9KnAgQkAK]QbAi↑↓'iC]→←eH\A)QJ↓MKYY=ogQSAfAoS1XAEJ↓KgaK
SCYYd~∃S]Miek[∃]iCX↓S\ACQieCGQS]NAQ←`AgQkIK]QfAi↑↓iQSf↓MSKY⊂\~∃β1XA!Q⊂AGC]⊃SICi∃fAo←UYHAG=[JAEdAiQJ↓eKOk1Cd~∃¬I[SgMS←\AAe←GKMfXAS9GYkI%]NA⊃=]←ef↓π←←`↓gikI∃]if\4∃∪\AQQJA⊃=]←ef↓π←←`↓ae←OICZXAMikIK9ifA[Ugh~∃MCiSg→rA'i¬]M←e⊂ACI[%ggS←8AeKcUSeK[∃]ifX↓EkhA]←kYH↓EJAC⊃[Sii∃HAS\↓CIISQS←\~)i↑AkMkCXAEk←iCLAM←d↓ ]OS9KKdOLA KOIKJAC9HA≠CMiKdOLA KOIKJAaI←OeC5f\@@4∃)Q←MJAgiUIK]iLAo←k1HAEJ↓gkaa=eiKH↓ErAg¬YCeS∃f~∃a¬SHAEdAiQK%dAMSI[f\@!∪\Ai!JA⊃←9←efA
←←`AAe←Oe¬[fXA→Se[f↓aCrAQQJAiUSiS←8A←L~)iQKSHAK[a1←sKKLAaYkLAC\A∃qieB↓MKJA∃ckCX↓i↑AiUSiS←8\S8\4∀→9∃9lzdvzHs-Sg%i←ef↓Me←Z↓∪]IkMies9tt∩∃/∀ACeJ↓K]iQUgSCgQSFAC ←kh~)QCmS9JAmSMSiS]≤AgiC→LAMe=ZAS]⊃kgiedAaCeQSGSa¬iS]Nαβ'9β⊗+Oππ⊗≠!8∀U;∃β#∂3∃β#∞!β[↔↔IβC?≡KS'[*β↔cC-∪'↔≠≤∧RεNd
FF*∞ ↔∨"aQ%6O=_
≥Yh≤nL9YH n[{
≥Y→<nN↑(⊂≠[zv2_2P0y\zvrrλ:7P![vrP#≠y⊂92\ppy1Z⊂εE"↑82y4Yw1rVλ:7P&→py7⊗λ:7P1[w:94X8z2P≥7P92\rpy1Z⊂897Yy0vyH5s⊂4[:2y2\z⊂:7H:42FB34y6K⊂7y⊂≥7P2s→2qz⊂≥2qt7≠v7s|H:90w≤s2y↔λ⊂+4yZz7y9H;wzv→⊂40{→P0qqYyyP:≠PεE1[0yyr\P⊂0zY4z∀P_w2⊂7]42y⊂_qpr2[tqP3_qtv4]4ryWλ⊂εE*~2|P;[zv2⊂≠7z⊂1→P0q6→P:7P≥0urP_wzy9YP1y2Y4z⊂7\⊂0qpY2vtqH22sy→ryW⊂λ*42|CE;wz[2⊂12H2|82Xz2r⊂≥7P40]2P0P≠2py⊂→:v6⊗]4vrP~w;7v≥2vrw≥⊂4w⊂≤2yrp\1t↔⊂λεE*4_z⊂4yK⊂:42H9z0z≥yP7sλ;4yt]7y9P≥7P:4→P!rw≥2y⊂4\FE77]⊂4w:→w22rλ0yP0[⊂7x8≠y::w~z<P3≠y⊂89~vpy4[<P1w]y9rP≤z:r<K⊂:w9]9:qz≥y2rεB7y⊂3≤2rP:~vrV⊂≠y⊂3r[2y0vλ7q9r\;0z4[w↔⊂⊂⊂P9z0]2vrw≥⊂7s⊂~w:2w≥⊂;wz[2⊂12CE92x]ty2rλ7s⊂0[6⊂;4\tz7y≤W⊂⊂)Xv0y4YyP7sλ;4yt]7y9P≥wzv2λ12FE≤0tr⊂_<P:4→ty⊂3~y6yWλ⊂+4yZz7y9H;wzv→⊂12P→|82q]2r⊂:≠P40{→P9zs→4qtr[:εE:≤0tw4[3P0w→⊂2r:Xpz4w[⊂:7P_ww:9~q:z2H:7P:~2P92\rpy1Z⊂2s3≠y:⊂0[2⊂:7CE12w→s4z⊂→97vP≥42P2↑82y4Yw1rWλ⊂*42↑P;wz[2⊂12H2|82Xz2r⊂≥7P12H4w⊂9→ytr2[1rFE≠7w3P→w7zsZ⊂:7P_ww:9~q:z2K⊂:yzXv6<P≠w2P<Ypy⊗⊂_:z⊂8→y40x≤P9t|λ6ww:~9P37\εE;4\tz7y≤P;tz~⊂9x2Xtpv⊂≤utv6≤P;t7H0y2P≥x⊂:7H9x2rY⊂397[P:42H9z0y≥↔εE*~2P34\6P9z\87y:~w3P:~2P;4\tz7yλ;wzv→⊂1ww≥94q:]2P0wλ0vwz[:⊂2x]pv⊂:≠FE:4_z⊂7sλ:42P∩7w7y≤P!ww\⊂897Yy0vP
:;tqYP32r\TP2:\4w3P≥42P:~vrP7Y⊂92yZr2w1YP7s⊂≥42FE≥4ytz≠y↔.↔βEεE.∩*42P∀7q7z~qyP&_q7y0]7y<P_w2⊂:~2P#zZr0w1YP0w2λ!ww:≤7v⊂&_q7y0]7y<P~0{2FB40r⊂→4yz4[3ztyZ2r⊂;~ytz7\r a decade or more.
Among them are Dr. David Grossman, leader of the robotics research
group at IBM Watson Research Labs and Dr. Bruce Bullock, leader of an
Image Understanding project at Hughes Research Laboratory.\.
\CDegree Programs
\JDegree programs are outlined below. There will in addition be non-degree
programs.
Visitors from industry may come for extended periods, 1 year or more.
In some cases, visits might be as short as six months for staff who have special
talents and who are ready in a short time to contribute to major research efforts
or to learn and transfer special research capabilities.\.
\JThe proposed program includes the following educational levels, described
in detail later:\.
\j1) PhD degrees in departmental or interdepartmental programs;\.
\j2) Engineer degrees in departmental programs; the engineer degree is
intermediate between a PhD and an MS, with a strong practical project
requirement;\.
\j3) MS programs with various specializations;\.
\j4) BS programs with various specializations;\.
\j5) short term training seminars on particular research systems, for example
on the AL system for programming robots;\.
\j6) short courses, e.g. summer courses in robotics.\.
\JDetails of specialized programs would be adjusted by discussions among
the Industry Advisory Committee and members of the proposed Center, in
consultation
with departments involved. Since most of the academic programs anticipated are
underway, we have strong models for these programs.
Much of the course support for the academic program in automation already exists.
The departmental structure at Stanford allows unusual flexibility for cooperation
among departments, as might be seen from the history of collaboration and sharing
of students among participants in the proposed Center.
In addition, there are Graduate Special programs, interdepartmental programs
arranged by individual students.
¬
Summaries of existing and proposed educational programs in Automation
and Manufacturing Science in each department are included as
appendiCes, Including coursEs, deerees, facilities, and laboratories.
(Further detaids are included in the Stanford UniveRpπSir↓¬`↔3d+S'9bα∂?W↔≠↔L4V ;⊃α&+↔K↔/→9&@EaPPeD+K3k∪7V#]ελDππ⊗|}&∞o;KRπ>}]F"ε,Tπ⊗.}]F∂∩ LWε∂.MV.wL≥Bε&\}&./4
⊗r∧=⎇Wπ/L↑"¬≡=_Vv≡UAPT.L\7'⊗≤<⊗b∧]lvNv\↑&NvuD∧n.= ⊗vN<≥B∧.l⎇⊗v.↑-⊗v:D
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∧ h.∞&}?,≥W~ε≡@¬∨&≥lf␈⊗D ↔⊗*∞≡VO&T ff/
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⎇fgJ∞=V∞fD
g.n,↑'
ε|aPW∨N\F.wN4π&.l@π&z∞∞W↔∨\Tε∞r
≥g&/,LWε∂.MV.wL≥B∧?,≤G.∂LT¬∨ε\=⊗∞b↓Q'π⊗|}&∞jd∧∧n␈,TεfN<]GJb ∀ε>Ol]bππ-|f/∨=}"?~∞,W≡.≡,6BπL\⊗jπ⎇≥Fbε≥l6g.LTπ∨'\LVw'4↓PV7-⎇Rβ~
z"β" LWε∂.MV.wN5`hT≤MVO∨=_ md≥≠h∞M→<y$
;]→.,→<_..≠9;NL8ε⊂(~"⊂89≠sy0v\P;wz[2⊂12H:497]st⊂:~2FE7≠y6pvλ0r6t\ytwwλ897qYyyP7Y⊂4w2~{4r:Xv⊂22\0y:6Yw:9WβEαE)]:r2w≥9P77]⊂2vx≠7|rrλ1<P#~y6yP~w⊂:4→P897Yy0v@≥wzv2λ12P2[1wzy_qrr≥7P9x→w2εE≤2y4`/ds working in industpy.\.
~∃pX~∀→9∃9lzdvzHw)QJ↓ ]OS9KKdOLA KOIKK9:↓SfAB↓io↑AeKCdAAe←Oe¬ZAoSQPABAAe←UK
hAeKEkSeK5K]h~)oQSG ASfAM←[JA→←eZA=LAeK⊃kGiS=\Ai↑↓aeCGQSGJ\A¬←i AeKOUYCeYdACI[%iiKH4∃gik⊃K]if↓C]HAQQ←gJ↓CI[Sor the special programs in manufacturing
would have similar programs.
Engineer's Degree programs exist for Mechanical Engineering, Electrical
Engineering, and Aeronautical Engineering.
Specializations in Manufacturing Science are available.
Computer Science does not
have an Engineer's Degree because Computer Science is in the School of
Humanities and Sciences. However, Electrical Engineering programs
of the Computer Systems Laboratory cover
large areas of computer science, and there is a speCial Master's Degree
program in Compqter Science, MS in CSAI, which has anequivalent program
in the area of specialization of Artificial IntelLigence, with subareas
of robotics and expert systems.
Supervision for projects fgrthe Engineer's Degree may be foundwithin the
CEnter. In special
cases the candidate may do part of the ppactical ppojeCt inhis Firm, for Those
staff members sant by acompany, Or in↓←]JAα{→βSF)βπ≠4K3'π&+⊂4+≡{7CπvK↔MβNqβS#*β∂πO*β?→β|εFF/$λ6∞vM≤F∂&↑5`hUM
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βs⊂ 4he CEnp Kd4⊃oQ↑↓o←kY⊂AG←[5k]SG¬iJAo%iPAC9rAKqQKe@;∞aβCK|¬&.∨Dλ⊗'⊗≤∧sn%Tε↔εB∧E.⊗βEβ,∧@∃9lzd`-βP Gh42P∪pyz2\α ∂fA⊃KGeKα*r`*
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-d_;⊂⊗λ22x \αpme@9ifAS9GYkI∃HAS\αβS#∃∧≠↔;S,ε"`H-∃f*@H~3Dλ9<[ml==~,>h_;LD⊂8u∞
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in General Efgineering, an interdepartmenpal degree inan unspecIfiedarea.
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λ∧⊂∀
b`4(2`$αW⊗gVL¬P≥Hp∞C#*α⊗∞= Vf@|I|dλα2sy→p¬P→:αβ'Mβ?∪π;S,!β'dλVf.>N&N≡≥D∧.v⎇_ L\αy4`.dεAC]⊂~∃≠Kα≠#πm_λl≥λ⊃3L@tp∞e@∃` 'lp D∧∃~→.2P0y→P77P≥w22`2dπeCIUCiJAα#↔?,X $∞≤[p∪\αa`≠f↓S\Aπα{7CW&+@⊂@"Tp⊃Zp¬`≥Gα)β ?$λ
-d⊂90→≠P0w2λ yz9≠Tε For those @]SgQSαs⊂~πMtε.wLX Dλ{{<∞↑→<@⊂∀qtrg_rV⊂(≤4πgrams
@=H β∂|εW.y<h ≡Y(⊃ ↑x|Z,,9λ⊂∀[⊂:42H)z0w→αord↓ @.MH .M;Kλλ=⎇<\l↑h_;LD⊃→0∪\2ryWβE*42\2P4`3 a BS proGp¬C@5∧¬⊗r∧β90⊃Z0p∞i@
CXA 9KS@;,∧WεNβY`⊂≥tz4 pπaKGαKπ3SJβ'8Q( ,≥]9P⊂Xz:y4[3R⊂ 7hich↓H @.Lh
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X ππα{WKO,ε0hPβ"W *≡<⊂∀Xpr⊂ #ours@∀AgKcUK]GKLAoSi AgaK
SCYSiCiS←8AS\A¬ki←[¬iS←\↓C]HA5C]kM¬Gike%]N~∃MGSK]
JACe∀ASMGαcWβ↔ ∧εNr ≡πε.lM⊗≡∂4λf␈∩ LV >Y9(∞∞[y|L≥<h⊃M}H→8,=λ→→. <]≠,]] C!)9Y~.m9≥8-A"Xsn↑\y( L<xp→~x:4g[9P0y→P3t{→w⊂4gλ:42P∀z0w3≠y2⊂!≥v62j~w⊗⊂![zy9`%q and @egreas.
Cours` fA%\ACe∃CfA←α1βOC,∧6N∞βλ⊂→→v2{0[1rP*≠P:42H27vpZw⊂7`& assEmbdy,
test, and reWork Are deqcriBed belh∂n\4∀⊂∀*eYuIMi⊃fK?⊗{S'∂~βπ;⊃∧≠?7C/#↔Iα4¬↔∞N⎇kEkPβ"R-d≥~→$λ{{<∞↑→<@
<z9;L<(→→. <]≠,]] λ ∀≤[xM}~8|d {⎇<N<(~_.4_Y1-d≠yP∪→y2r≤βi`≥Gα(4)EK9E 2∧λ↔π&≤h
,=8;λ ≥]→3
M9y;L<(_p↔]y9riH40{ % been kff@∃eKHA→←dABαβ3?;>+AβSNk∃8Q*FF*∞-v⊗␈M_74_{u..y(~ ≡h~_,D_;@⊂→w97`,lient h∂LA¬E←khb``A%\AeKα≠↔;Q three quarter series including a one quarter
robotics laboratory and projects course. In addition, there are advanced
reading and research courses which include projects. There have been
project courses in industrial engineering carried out in the Robotics
Laboratory.
A weekly robotics seminar presents summaries of current research and literature.
Visitors and researchers from local firms participate and present some of
the seminars.
There are also approximately four robotics working group meetings per week
on various topics of research.\.
\J\[=2;=2;Manufacturing\]:
The program in manufacturing is under revision, based on several years of
planning.
Distinguished visitors representing outstanding programs in manufacturing
were brought in to give seminars and to consult on courses in manufacturing.
Equipment is being added for course work and research in numerically-controlled
machining (NC).
A course in NC machining has been offered.
A course in Computer-Aided Design has been taught for years in the
Mechanical Engineering Department. An extensive collaboration in CAD is
beginning between Computer Science and Mechanical Engineering, which will
result in a strengthened course program.
A coursE in Manufacturing Technology has long been been acentral part of
the curriculum.¬
A coursa in Design oF Production Procass has been added. Various seminars
on PRoducTion Processes are oFfered.
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L↔⊗>T w⊗␈↑∧ε}2
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⊗w6⎇Nf."
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≡7"ε≥dπ&FT F/ε≡.Fn.nN2ε}aQ$≡}↑∞W&/$
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Y⎇⊂~w1v:Y4w3@ 35 affiliates of the Sol@%H['i¬iJA αc↔∂S⊗{;'∂_h+CK};Cπ∃bβO?7*β?2∞⎇ε}j ≡&*ε\YV⊗/.4ε}H≠p~~2y⊂ !ffil@%CiKf↓aeOOIC[fR8@A)Q∀ACMMαK3'π&+D4 αλ M||X;$
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&.f≡LRεn}8
∧ {≠|l]≤∧P 4o ae@I←gaC
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nh⊂j70{p⊗\8¬te@HA'GSα+;∂∃β0λλ→4h∞aYw:2iλ33y Integpated Sp∪Gβ#↔7MXh ∃≠Z:$JK1Q$∂/MyV∂&∨αE≥)∃∩`@ ¬!7Ytp∞gQβαY%'⊂⊃2≥∩%%0hRπ'≠≤¬⊗vv≡M∩∧n≥L⊗∨⊗⎇`λ¬
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⊂(∃+β"Hx(
⊂i~hε&bK$if⊗∀i$TVβE#rg→y0v⊂⊃<p∞amics (AA),
λ¬∨KαX -\9H
λ_*+β! πTE (CAS,ME,ISL),
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α∂|ε'ε←,≡FN}d¬∧ M5H5~Hβ"R ↑{→0~≥⊂(0qZβardQπβ&1∞M∩≥∩%%0hR# >lX∞.|αr6⊂
!`iV∀i$P 0lp fAαK;≠}-V∞bα+β!$:st→yP∀!TT∧ISL,AA),
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)i$TKε@
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JAQ%∨ε↑.'JM]m↔6∞4¬∧≥~∃APU&]>G⊗}m≠ααD9~2b∧:5DM≤E∃@hUI∀αD≤~5D≥~∃APU%*tαD≤~5D≥~H_∩e≥)∃∩`h*]fNn≡M⊗}r¬ T*e8)∩πεN↑2εNlh n
8;
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Mrπ&
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}6O&≥⎇`hV≡4ε}vT
v2πM Rπ&}∧ε6/t F/ε≡.Fn.nN2εNd∞FF* =w.wN/∩ph!Q%&FT
w⊗N⎇≥f∞b =voε≥m⊗/~
|bβ ⊗Vrπ>↑,Rπ∨\.6/∂\]g&g∀
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≥f&.\Ebα¬∞-v6/>=w↔~ ≥f"π>NV&.nN2εn≥<Rε7,↑↔..nDπ6O=≡G_h.Mrε␈↑$ε∞6m≥FN∂L↑2:π
L⊗w'5Dε∞vD∞F.≡
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V∞↑T g⊗/≡\Vw Q.fO≡≡N2π&t
w/∩
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v2πM R∧∞lm⊗fN≡LW
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ε≥lB∧∂>N&}v≡ZFN∨4λf∞∨]JGJπMtε&O<:W>h≠Y.t→~4L\⎇~3mnh→[n$≠⎇<AQ\Y<l\<Xz∧ 9Y⊂→r:qp]4ww0[⊂897Yy0vyK⊂0w2λ:7P%≥p∧ge the accuracy and balance
with whi@
PAoJ↓CeJA⊃KISG¬iSMNαβ?WI∧ε&/≡}X L<<h⊂∀[he Industrial Advisory Committee of
the proposed Center at Stanford University.\.
\CIndustrial Interaction in Research
\F0\JWe have relatively strong contacts with Unimation West and have negotiated
collaboration on several topics. Joint efforts are being negotiated
for medium scale research projects with several other firms, especially
GM, DEC, IBM, and Honeywell.
Robotics has had small levels of support from GM Research Labs and Alcoa
Foundation, plus a major equipment grant from Texas Instruments.
The support and the information from these contacts have been valuable
to us in guiding our research program.
Negotiations are underway for establishment of strong
industrial sponsorship of the Robotics Laboratory.
A prospectus for substantial industrial support for the robotics laboratory
is being prepared.
The robotics effort has had a number of visitors from industry for one year
periods, including Dr. David Grossman,
IBM, leader of their robotics research program, and Dr. Bruce Bullock, Hughes
Research Labs, Malibu, leader of their program in Imace Understafding.
It is ourexpeRiefcE that such vasItors mace a ve@IrAgiI←]NA%]MYkα+;∂∃∧¬vph.Mε*π,↑6.∂,=αππ-|wε∞T G/⊗≥lrπ& X
.∧≤→0→~wr⊂ /d resi`ence, and that anappreciable
influenca persistq afTerward. Also, the Continui`≥Nαβ∂?7o+;'∂∂#'?9¬;'S!∧+a7O'+∪↔;'_4+C⊗{['∪/→β[πg+π 3*β∪'O∨+GO'}sMβ≠|ε"ε?]≤FNvt
FF*∞,W≡.≡,6Bπ∞-v?⊗≥U`hPβ"U
∞[y9m∧≥X<M≥⎇<h∞∞[y|L≥<h≤L]_=→,D≥≠h ≡=≠{,≡~;{ED≥y(
=Y( ≤[⎇5∧εL λ∞m<z0~≠y9FE_w7:p[68 @→a←ZA5C]rA¬eKCfAWLA%]IkgQ` eβ∞s⊃β7,+Qβ?&C↔KM∧K9βS,≠#;'≡ 1β7.+S'≠?→04*>)β#π4∧Rπ6≡9↔&.D
V∞w∀λfO⊗↑5bα¬|TεF∂lTε&}lTε
πl≡&N∂O∀ε}∩ 9vw∨]JFNvtλf␈∩↓Q&n∞m_ ∞]_=~-⎇H_;LD≥Z<m≥{K<L]_=→,D≤≤[l-→;<eKλπεEβE( CTechnolh∂Or↓)eC]MMKdAAe←UK
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∞0w9c→y⊂8)≠u2q`4 involves
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_8 % p oKαsSeβL∧V∂↔4λ n⊂6w`2e industbial e@5aP∪?β_ ,]] C!$p∞ @QQJA ∀AIKaα @↔≠90↔≥⊗⊂:4~y:0→ perc@∃]`⊃β|∧bπ∨L¬0∩→w:1P_y2P$≠w0∂rs Coo@@Agi@,∧F.wL∧c! \[p⊗H4p∞dupπieR8@A'p∧∧={<⊂~]2y⊂)Xtrw1YT∧ alpπ↑@1∧¬V∞w∀λ nNαr2`.ts are @⊃←αs?KM∧≠??@hSGSW&+;CMp∧α∧n≥o∩π∨L¬0∩→w:0∪ pπaK]⊂Agk[5KefAβ;?K=_ L@P4w ind`+Miervα↓βOSαXF.wN4ε∂⊗QQ&.v=zW,9y1∧ ↑(⊂∪_qzv 4y to pπaK]⊂AaS[∀Ag←e-S]NAαK9β'v#WOS↔I0∃@λπεEβ,∧F %q∞J⊗α8T
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≥g&/,λ L↑_=~-⎇H≥z
≤zλ≤ ↑Y[p→≠FA3 2equeNthp∩AUgKHA=aKeCQS←]f↓C]HAβ;#'∂@∧ε≡∞βC"L,(≥<l\λ≥≠d ]:0⊗→⊂0P+_y0r`4y of asseMbhq And test systems;\.
Tjgeneral, i@9iKOe¬iKHAMsgiK5bAS]
YcIS9JA[K
QCMSα≠π1⊃∧∧Vf.>N&}v≤5Bε∞l@π≡}nNv∂⊗QQ&NwL↑& ,8y<d∞z~0⊃Z⊂4w1[y87i_z2P:~2yrP≠wr:f→yP4wλ897s\0rvt[3P9|\z2vyKεE1w[q4w2Y⊂;tj~⊂4:vXw⊂4w≥2y30XpyP+Z4qt→w0q6→PεE:\ry9P≥7P89≠sy0vH0w2≤p¬tep assembly and test systemq quIckly.\.
XJWe propose the f@=YY←o%]NAK1K[K]Q`
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1βOO≠S↔5ε ;⊃α ~J>:LiβOg∨#↔5β∂→4+4c↔c'⊗c∃1βNsS↔∨⊗ S↔⊃π≠gOS.kMβ≠␈⊃βπO≡+7 3JaβS↔∨!1βπv!βK↔>{K-lhS∪↔[,c?Aβn{∪W3/→β←'&C'9α aβπ; αε∞J|rf5nbp4(∀Uc)M%αβ∪↔[,c?Aβ∞s⊃βS/≠QβSF)α∩ε∃!βOg≥#↔51ε 9β↔Gβ↔KQπ≠gOS.iβ≠?⊂βπWS}kπS↔"4+∪/#↔∂SN{91β&Kπ∨;␈≠'M1ε ;⊃↓ε≠'K∂.k[↔;&K?9β|1β↔G.KC7↔w!β≠πNcWK↔≠Zq8∀Ph*s)"I↓β∪/3↔3?αβS#↔|ε&/&≤<⊗bε\ZFF}N4ε6␈!Q'⊗∂
≤Bbπ∞,V≡O<Tε≡}nN&}b
xbεv⎇n&N>≤@εn∞m~π.f≡Mw↔≠4 '.NL@ε/G Z&Nn]nF∞`Q.7O∨L]W Z
≥WεF]\Vw"∞Mε*ε\ZFF}N4ε∞vDλWGε↑-⊗n∞n@π>OMπ&F]P∞kEC"C!+~M*$∧_;X-O>Y( ≥Yλ⊃/∞→<Z-\αs: with↓[@↔SF{∪Mβ4{Aβπ& CS'4)β∂?w#C/1∧¬v2Q( ML>~0ML(≠9,=_;Z.=<jw¬a"C"KMMJ(∧ {{]
≥]9(∞,<y0.1t⊂*≠P22yZsw⊗⊂→0q94Xpz2Vλ0p∞d↓iKgh4⊃P↔'vKπSW⊗Kk↔⊃bβ';S.;CπS.!β∂'⊗≠W'QπβK↔O∨+K∃β≤+;O?↔→βπM∧≠?;S∞≠QβO.sO?K~β≠?I¬∪? ∨'→l4+NsS↔∨⊗ S∃β>KS!β&C↔5β∞#∪'SN{;π⊃¬#Cπ;≡#W∂↔↔_4+Szβ∪?Kjβ¬β7.cS'O.sO?Iε≠#'A]a84(hRs)]Jβ';[/≠S'∨∂#∃β?π#'∂πbβCK↔π∪?∂↔∨≠';≥εk↔S#}#Eβ'rβK/ ⎇#'
β≤+;O?↔IβOg≥#↔7Mua84(hRr*'rβOWCε{KQβ|1βK↔≡+πK∂BaβS↔≡C;?3};eβS⊗ ;O≠-⊃1βπv!β↔∪.≠πS'}q1β←*βCK?ε{O∀4U#=β∂}sO?3N#πS∃π∪? ?&K∂Mβ6 ∂'3O#'↔Mε ;⊃β/ W'Aπ##∃β⊗{ ?SN≠Eβ3∞∪?Kπ&{Kd4V Mβ¬π∪↔∨'}sπ1β⊗{ ?SN≠Eβ3∞∪?Kπ&{Ke:bp4(4Ub*S#/≠∃βπ⊗)↓β∂.sSKπb↓βS↔≡C;?3};eβπ⊗+πM↓ε3?I↓ε OO↔n∪3e0hSS↔O"aβπ;"βK↔←␈∪-iβNsS↔∨⊗ S↔⊃π≠gOS.kM1βFK∨!βf+[↔1π≠?≠S> K∃1π#πO-εc↔[↔bβC3πvs';≤hSOgO&+7M1π≠↔;O␈∪eβ∂}sSK?bβ?→β&+['∂/→1βπv!βO↔w≠?Iβ&+∂#;}c?∨Eph*CK}S↔∂S~↓I5Yε∪W'3 β?9βd¬vv:\↑7&∞-M↔∞F\Dπ⊗/<\↔⊗≡∧ V66}.G
ε≥`π&F↑8 $∞|→0m≤Z8c!,<Y8.5λ≥z
≤zλ~ ≡Y(≤∞-βr2`#ed working sysTems and significant results&\.
~∃q∃'KGQS←]f↓EKY←\AIKg
eSEJ↓S\AI∃iCCX↓S]Ci%CXAe∃gKCe
PAae=UKGiLAae←A←gKH~∃M←HAiQJ↓πC]i∃dA←L↓ qGK1YK]G∀\~¬¬=iPAE¬cSFA¬]HACAaYSK⊂AeKg∃CeGP↓CeJA%]m←YYKHL~))QJAIKgKCIGPAK→M←eh↓oSYX↓Km←YYJ~∃←8@AiQ∀@AECMSf@A=H@AI%gGkgMS←\@↓oSiPAiQJthe years developed the theoretical basis and practical
implementations for modules which can be combined into systems for many
applications. We have also developed integrated experimental systems which
incorporate and test the capabilities of these modules in selected
assemblies.
These systems provide a means of technology transfer. An important
aspect of utilizing technology is total system integration.
Our background of building systems and our current robot systems offer a
substantial contribution to technology utilization.
We believe that important new technology is close at hand.
We believe that we have new technology ready to transition, especially in
sensor-controlled robots.\.
\F2\CSUMMARY OF INITIAL RESEARCH PROJECTS
\F0\CProject 1: Survey of Key Problems and Technology Transfer
\JA preliminary study will identify needs and opportunities*
needs and objectives of affiliates in assembly, test, and rework
in production of airframe, avionics, and propulsion units;
opportunities for research to fill some of those
needs and opportunities for technology transfeR of existing systems.
The initial study will provide guidance to the program of the Stanford
C` ]i∃d\@A∧AgKY∃GiKH↓gKhA=LACaAYSGCQS←]f↓oSYX↓EJAS9mKgi%OCiK⊂AMkeQQKd\4∃π←]QS]kS9JAgiUIrA←_A]KK⊃fAC]⊂A←EU∃GiSm∃bAoS1XAY←=P
β'pβ∪↔C&AβπPhSO.LX7&.D ↔πεM≤6∂&≥⎇g~ε≥lBπ→8z
m{≠yo∀_8Y,≡iW AQ@εEεB.#_.⊂h97`*ect 28∧A
Yα+c' d∧Rb∧≥nF.?,≡F."λ;↔∨&]↑0hPβ"W *~~4d∞≤[t
}y9⊂≤2yr`!p¬GPA¬IIeKMg@↔M∧εFF* M⊗&6≤:Vgλ≤⊂→≠q22fH4πf Pph∂Oe¬[[S]≤~∃CGMK[EYdXAS]MaKGi%←\AC9HAiKβ≠Qβ≠|ε"ε⊗≡L6Bπ∞-v'.>M⊗}raQ%&FTλ L↑y8<L=λ_;∞=h→→,≥≤h∃m≡~λ∃ ≡zh⊂⊗→{2v⊂≠wr2`,es f@=`AS]QKeae∃iCiS=\A←L4∃gK]M←erA⊃CiBA¬]HAgα+;O?∩k∂?;'∪?33.!βπO≡+7 ∪Jp4*O& ;≠∨⊗!β#π~βπ9β∞#[π;≤∧V"π?≡7&.Tλf␈∩∞
&}?,≥Vn∞-HRε∂>8Vn⊗O∃Bπ& T∧ `Q.7O∨L]RpH*|Rππ-}ε␈≡T
FzεL↑f.f}∧εO" nW↔& Z"ε∂4 ⊗rε≥nF/⊗\\FN∂LTε6@→>~,-→+λ
≥]→9n,=→9∧∞}<u ](β"Lm|Hλ∞∞[y|L≥988ML(_<n<98[∂∃A"TnL9YSn, |hλ_tSsK→(≤}.>→; ⊂~yP0wλ4w:2[64sr[:⊂6wY2v⊗q_yrr⊂≤|yz2[P37yλεE89≠sy0v[tw3@~w9x2Xz4wwλ0s2≠pw4x≥v0z4[w↔⊂⊂⊂ai'g⊗fP;t[6⊂12H:42P_0ytyH37yεB0w⊂0Y;0w1Yr⊂4w≥2sy0]2r⊂9↑yz2vH37y_yyrvX6<V⊂_w2⊂3≠y⊂0wλ4w:2\6rr4Xz2FE~w:2s\0z2rλ9|yj→vP3'\⊂4w9\2qz4[w⊂0w→⊂:2y]↔εE+YP897\7yrP≥7P22]2v7xλ40y2≥py2P_w2⊂9[s:;p\2P4wλ ai'S,fP3≠y⊂;4\zpv⊂_ww:9≠vεE7Y⊂0yyYvq6<K⊂εE$~st⊂&→{2v⊂≥0yu@≠wr:f→yP;t[4⊂12H22{"[7x2rλ4w⊂ S⊂0w2λ ai'S,fP$[1v:r~w3]εB9rv &-calibration to improve absolute accuracy of rkbotpεv~∃MKYL[¬YSO]5K]hAβ#=βπ& CQβ&yβ↔K⊗{KMβNqβO↔'+Aβπv!βCK}#W∂SL¬vsXQ(ff/
_&f*∧λfOGNZ&Nvt 'Jα∞
&}?,≥Vn∞-H $∧→→5M≤y<naQZ;] \|X= \λ→Sn y(⊂⊃[w:97[⊂;t`4h viSua`_Aα≠?;S⊗{1βSzβπSS∞K9β#N; $ ∞≠∂WK∞≠eβ←LεFBε≥l⊗≡∨↑,↔&*
\⊗vO∞YF∂&}.3Xh.8
∞8qz:\2r⊂ ,ight↓H ?$ε6"πm≡6N}g1PF∞βY⊂≥4yz`[⊂:90Xutw3H4πf @I←E@?'→βπ≠ ∧πε∂.N2εNdλ↔>y;8MO+W AQ@εE.∩)2yj[89P /d∧A!e=UKGhα↓Eβ←L¬Fbπ∞-w6NLTε
εmxλn↑h≠p∪λ92y`%arch↓←\ACAaQSG¬iS←]L~∃@'v≠3@.M_ L@P:42H37v ,owing8\ ≤~)9UmSβ≠WπDλλm⎇]≤[mD≠yH NZ;⊂⊗~w3P0[2⊂94]2z4w→P37`2 i`≥Gβ∪↔πO,∧Bε∞<8
.0q|]W↔
\jfle@aSEYJ↓MSqiUaSMNαβπ;⊃¬β?O'&K?;'v9β≠∨⊂∧ε&OL↑αε6} λ∞ <]≤d
;H_-≡Y\X-\αP0y\βa`≠E1rw8\4⊃9UQ¬]IYS9NAMY∃qSEYα)β >-( ,>≤h⊂∀[⊂6puZw3P+Zy2P4_y0∞essas+\.
\Jnuee@ISGCY1rAG←9ie←Y1KHA[∃ie←Y=KrAo%iPAG=←eIS9CiJA5KCgkIS]NAQ←←Yf98\~∀→9 aqπ!e←)KGh@LtAβkQ←[Ci∃HAIKQKGiS=\XA %CO]←MSfXA¬]HAπ%eGk[YK]iS=\~∃9
←LA EkSa[∃]hA
¬SYke∃f~∀~)9∃'i¬]M←e⊂XAS\↓G←YY¬E←eCQS←\A]SiPA%¬~XA!Cf~∃
←]Ik
iKHA∧AeKg∃CeGP↓ae←OICZAC%[KHA¬hAiQ∀ACki=[CiK⊂AISC≥]←gSLA←L~)G←[aUiKdA!CeIo¬eJAM¬kYif8@~∃)!JAae%[Cer↓eKgk1hA←L↓iQJA⊃β%(AAe←UK
hASf↓BAae=OeCZ↓iQCh4∃GCaQkeKf↓iQJAMaKGS¬XAIKMSO\A-]←oY∃IOJA¬]HAI%CO]←MiSFA¬ESYSQSKfAA←ggKMgKH~)ErAKβCC↔K'→βπ; β7π//→βS#.iβπ[∞K3π f)βS=∧3'π3 β↔;∨Ns↔↔K~q↓αSF)βCK};KπQQ&∞≡<Zπ'~∞:F∂&]\Vw'4
v"π?≥Wπ&⎇↑2ε7-⎇Rπ& Tε6N]LBε.l⎇⊗v.↑ ∧∞Y<=,↑⎇≤h∞L<⎇≤d 9Yβ! 8xq.∞≤h∃
(≤Y.>9≥≤eD≤⎇9l|αyz9H80y:λ92x6_qrvr[:9V⊂_w2⊂:[:4vp]2v<P→4psw≠yryFB:42P→0tv:\2WεEβE$w⊂≥42P"⊂i*⊂8≤7u2q]⊗⊂;rH1t7yYP:7P≤px0y_z2P4[33y6Xz4wwλ0q7z]εE22\tsw⊂→97vP→4psw≠yz4aH2|8"\αtisE (device-itation was the
development of a flexible design description language called DDL.
Coordinated with DDL is a simulator/reasoner called SHAM.
We propose to extend DART to analog circuits.
While the DDL formalism is appropriate for digital circuits, there
are no terms for describing analog phenomena such as
feedback or oscillation.
We also propose to investigate automated test generation.
Considerable work on testing has been done over the past few decades,
culminating in powerful methods like the D algorithm. However,
most of these methods are very sensitive to the complexity of the
devices under test. For VLSI, those methods are not feasible.\.
\F0\CProject 4: Rapid, Precise Control of Nonrigid Manipulators
\F0\JThe key problem we propose to attack is the optimal design of lightweight,
end-point-controlled flexible manipulators performing high speed, high
precision tasks.
End point control is the key to precision and to the development of quick,
lightweight robots; because without it, robots must be made very stiff
(and therefore very heavy) so that end point locations can be inferred
accurately from joint angles. This makes for slow, clumsy movement.
The reason end point control is not yet available in robots is that when
control torque at one end of a series of links is based on feedback from
the other end, any compliance in the series -- in the drive system and in
the beam elements -- makes the system inherently unstable. To date, this
problem has not been solved. We intend to solve it.
We havE already accomplished rapid end point control of a single, very
flexible (0.5 Hz.) experimental manipulator arm using optical sensing
of end point location. We are now beginning precision pick-and-place
operations with our flexible arm. We have also nearly finished
construction of a two-link version. Both flexible arms operate in the
horizontal plane where gravity does not affect operation.
In the research proposed here, we first plan to extend the end-point
control of flexible manipulator systems to the vertical plane, with
gravity acting, and to full three-dimensional operation. Manipulator
arms with both lumped and distributed compliance will be built. Next,
fundamentad Research into the capabilities and Limitations of End-
point-controlled flExible robots wilh be conducted theOretically and
expeRimentally. Fundamentad design questions concernine weieht,
flexibility, power consumptiOn, controller @
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edge detection, in The cOurse of recognizingand location objects.
Edge detecTion takes seconds to minutes on general purpOse digital computers.
αHoweveR, optical proceqsors are
ifherently capable of performefore have the promise of being inherently much faster than digital
systems.
We propose to investigate the use of optical processors and coherent optical
techniques in recognition systems.
It has been demonstrated that real time
coherent edge reconstruction can be performed with BSO crystals.
We propose to expand our investigations into holographic recording materials.
Currently we are investigating several
photorefractive materials with the objective to improve the recording and
retrieval time of holographic data. \.
\F0\CCONSOLIDATE BOBOTICS FACILITIES
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>CπQβ∂∪∃βSF)βS?}cEβSzβO?36)βCK}∪3↔7≠yλ4*&+∂#;|c?∨eε OO↔∨≠7↔;"βπ;πgKk↔Mπ#↔∂#v{3/∨N≠π1βε Kπ7-#↔KMε ;⊃β⊗+3πS/→βS#.h4+SzβC↔K6{K7πv≠∃βC∂∪π7↔&+KM9ααS↔∂Fs?3??IβπO≡+GO7.sQβπv 3gOO→βCK␈3'β↔~βS#∀hS7↔πw→βS=ε#↔S↔⊗k';∃¬;#πQπ≠gOS.kMβ∂∞qβ ∃εkπ∪∃ε∪eβ∂}k ';Ns≥β7}#W3π⊂β∂πC∞∪'3'&K↔M0hS←#π βπK∃π##↔'⊂β3'7M#πS'}sMβπv!β∂πε '3O#'↔Mph*S↔≡C;?3};eβπ∨≠↔OOn+;Qβε OO↔~β';≠␈∪7πSN{9β≠⊗{5βS.≠#;?f{∨eβ∨β↔∂'∞c'OS~β'84W##∃α≡+;S↔∩βπ;⊃εK9β'v#WOS↔IβS=π##?O*β/;?>c↔∪∨. 3∃ε ?W"βπCCfK∂πSN{;M8hP4*ππβ3'∂∂#'?;~βπOO/≠O7↔w!βSK∞sO≠?⊗kMβππβ3'∂∂#'?;~βCK?⊗c↔7MεK;S=πβ↔K≠␈∪7π;≡(4+K/ W'K.k↔;S~β?→β∨+ Og∨#↔7Mr↓αS↔≡C;?3};eβπ∨≠↔OOn+;Qβ'∪π;O6{K7Mπ#↔∂#v{3?∨Hh+OC.≠'≠'≡ S'?w→β';&yβCπ⊗ 7↔S/∪'k↔"βC↔K6{K7πv≠∃β∂∂βπ 'fKS'↔~q↓αS.≠#;?f{∨d4W#πK∨/#';≥εkπKKN+Mβππβ3'∂∂#'?;~βCK?⊗c↔7Mπ#=β∂}kCπSN∪3∃β&+∂#;}c?∨eε∪πO↔ h+?9π#↔∂#v{3?∨JβCK?V+∂S'}q9↓↓¬#↔∂#v{3?∨JβCK?V+∂S'}qβ∪↔ε+;∪Mε{9βSF)βπ Nc'SdhS?→βf+π∪↔↔→β'9π#↔∂#v{3?∨JβS=βN#↔;SN3eβπv!βπ;∞cgk∃π#↔∂#vK∂π1πβK? f+7M0hSS=βN#↔;SN3eβC␈#↔;SN 1βO}cWS'}sM1β∞s⊃βSzβ∪↔S/∪7';*β←#↔&C↔Iβ&C?O∃π≠?3W&K?;LhSπK∃πβKπ∂&K∂π1R↓↓
←F QβK/≠?WK≡+Mβ←Nc1βSF+eβK/ W'K+y ↓↓∃;#πQε#↔[↔f{C7↔w 4+↔63?KQεKMβK/ W'K.!⎇
qph(4*dR¬βC⊗+3'7NsπKeε CC3N≠πS'}qβπO≡+OO7.sQβ←Nc04+∨#W∪eεs↔↔∪~βπ;⊃ε{ +↔∨#'[↔~β?→β∞3≠'3N S↔MεK9βπ≥≠↔7 gI1βS/≠Q1β∞s⊃βK/;?K hS'9βπ∪?∪W≥#'?9ε{⊃βπO∪∪Kπn)1βπ4K?;'∨→1βπv!βCK␈βW3OL{9βWvKSM_hRK↔O, C∂#,ε'4≥z3
D≤_<NM8z< ≡→(∃m≡~λ≤nL9YH
|H_9Lm;~8.L<h∩-d→~<l><|z-⎇\h_-lβ"\
L;]λ∞m<z5∞P:7P~r2w:~s<P$[x7y:_w:⊂ \yrvq≠<P0w→⊂:2y]⊂0x(≠4qpz~ww9VβE17j~⊂10yZqP0w→⊂0x8≠4rr↔βE$w4]4pv⊂≤z:r4YyP0y→P2|8→qz2rλ:7P<Zrv2⊂≤2yzf≥9FE$[⊂0P &ew months to provide early guIdancE to the program. Initial studies
would depend on knowledge of affiliates and
on studies already done by affiliates of their needs;
Center participants bring to automation and many past discussions with those in industry.
Applications assessment would remain a continuing background activity
throughout the duration of the Center.
Students and staff will develop intimate knowledge of applications problems
in special cases. In the past, it has been found that students turn
formal knowledge into profound physical understanding by working in
industry in summer programs. Students and staff develop applications
focus by consulting. It requires considerable effort to get information
essential to assessment, information described above:
specifications, analysis of tradeoffs, abstraction
of problems to a few crucial subproblems, economic justification, and
competitive technology.
Applications problems and robotics capabilities
will be selected for further study if they satisfy these criteria:
1) applications hav@∀AgaK
SCXA%]iKe∃ghAC9HAS[A←eiC9GBAi<ACMM%YSCi∃bv~∀HRAiQ∃eJASLABAO=←HAM%hAEKQoKK\4∃Caa1SGCi%←]fA¬]HAaI←OeC5[CEY∀ACki=[CiS=\AiK
Q]←Y=Orv~)KSiQ∃dACaAYSGCQS←]f↓ae←E1K[fA¬eJAe∃CIbA=dA]K¬dAeK¬IrAM=dAg←1kiS←8AEr~)ae←OIC[[C YJAi∃GQ]←1←Or@!CaaY%KHAe∃gKCe
PRX~)←dACAaYSG¬iS←]LAae← YK[f↓CeJA≥←←HA⊃eSmKIfAM←HAIKm∃Y←aS9N~∃S5a←ei¬]hAaI←OeC5[CEY∀ACki=[CiS=\AgW%YYf@!ECgSα→βCK}∪3↔5n{K'↔w#↔⊃β⊗+Oππ⊗≠!%LhQM%β¬∪?∨K∞k7π d)βC↔≡C;?3};eβππβ↔πK~βS-βF [∃βλ∧ε≡}↑λW&OM≡f*ε≤Nf∞wL≤v*ε≥]vv8Q(
\z≠[mMy}( ≥≥→0→≠0z4{→yP∞
The kbj@∃GiSmα+@~ε|dπ&F↑8 $∞≤Y0⊗~vtw0\<P9j≥r4ryH0y2]βE0TPλ:7P 4p¬C]gα3↔Iβ↑s?←3.#∨*
≥bπ'⎇tε&O,X7&N⎇n2bε⎇≡fNvtλ6.wLZ"π∨L≤f0H,∀ε↑v}⎇F.&|Tε}2
≥Wε␈.L⊗w"∞
&}⊗L]W~ε≥lBππ-≥w⊗OM≤W4≠yH ≤YZ3
≤=→<eD→z=M≥Yc"L≤YZ3
≤=→<d (_Y.N→<H
=[⎇{ \→y(
|H≥~ T≥→0m
[{≠l␈(_<L\<h≠ld≥~→$λy;] ↑Kβ"NMh_:,D~;@ ={;=-m8x=
≥Yh∃m≡~λ_,lZ;∩,≡→<naQXJ(∧∞≠h_-≤λ~;D∞≤X;N==~;mm;Y`⊂_zy92[:⊂:2Xt77f≠s|FE_TP⊂:≠P6p|~vt⎇"H:42P~vx0q]⊂7s⊂≥42P$[2:yz≤4pv⊂⊂r;4y[y<P![vvtj≥2rP'[εE0&_w34w→P0qj~{4z4YyP7cλ:42P⊂pw:2\↔.↔εB∧E.%⊂P1ww≥4w:t[3P:0\uP7sλ:42P⊂rw:2\⊂;tv≠⊂12P≥2qt7≠v7s|H2{0v≥pz4w[εE0w→⊂:2qZ77v7Y|P89≠u2qj~ww↔⊂λ*42yYPεE0\2P4v\7y:0[:⊂:2Xt77f≠s|P*≤0w9s→y⊂1g[:94q≥z4ww≤P7s⊂≥42P!Yw:2y ∧E+rH;tv6λ0yyr\yP0w→⊂6puYP897Z2qz4[w9P'Y⊂:2qZ77v7Y|P4wλ:42yYP9rf→qz2rλ0y2p\VεE0[2⊂;t[6⊂3'\6zv0]2P0@≤40w⊂→7y⊂#≥y:42\⊂92yYpy1tλ10ybY⊂7w⊂≥42ybH9z:r~pyWβE P8_y:⊂'Y⊂:42H22ytYw⊂1g\z⊂7`& productiOn systems is
The evaluation prkcesq of s` YK
iSMNαβπ;⊃π≠∂K↔.s';≥ε≠π;∪N#πS∃π#πO/~β≠?I∧ WS?n S'?rp4*π βS#'~βOSπ>)β'9∧εF.≡
mvf@y}+∧∞y=Q.0p Candidate prkduCts and proc` ggα+@~ε↑↑7 H,,Rε/l≥G.∂L\Bε⊗\iw⊗* h
-l~;Yd
{Y(∞⎇~8z∧ z=Q.P44sZ⊂92j≥y3⊂ /n investmenp ≤~))QJAβ∪'O-∧3π∂S|ε"εO4 ⊗g≡t ⊗oε}.F∞wE`λ∧
≠⎇→-n~8;∧∞<y4NP0y2H5:yj~s4pq≠<P1p]z4wz\UαE*~2P89≠x7ybY⊂!rw≥2y⊂+[zv2⊂≤97{$Y2P30Xtv4j~pyP0[2⊂82\9ww7→v⊂:7H0tr~w⊂2{_v:pz~w3FE≤97u"Xz9Wλ!2qp]yrP6]qt⊂7Y⊂:42H82qt≠7v7s↑P4yP→rw2i~qV⊂*~2y2P~yP1`/nsidepablE
poTential carryover from one evaluation to another.
Another taskis to
evaluate and transition existing technology at Stanford and
elsewhere in the research community. One example at Stanfordis
The portable AL system with fo@IGJAg∃]g←e$[[←i=dAG←9ie←X8~∃)Q∀AiCg,Ao←k1HAEJ↓G←]i%]kKH↓iQe←UOQ←kPAiQJ↓IkeCQS←\A=LAiQ∀AπK]QKdACL~∃oJ↓EeS]≤A]Kn↓iKGQ9←Y←OdAS]i<A←aKICiS←8]8\~(~∃9∃¬]←iQ∃dAiCMVASf↓i↑ACUO[K]PAiQJ↓%←E←QSGfA1CE←e¬i←er↓CfAB↓eKg←UeGJA→←d~∃Ae←Oe¬[[CE1JACgMK[EYdAC]H↓S]ga∃GiS←8ACki=[CiS=\\@A1CE←e¬i←er↓MCGS1SiSKL~∃Ce∀ACYe∃CIrA≥←←HX↓EkhA→CGSY%iSKf↓CeJAMieCS9KHAEdAQKCYrAIK5C]H@4∃M←d↓iQKSH@Akg∀\@A∪P@ASf↓ae←a=gKH@↓iQChAiQJ↓πK]i∃d@AaI←mSI∀ACGG∃cf@AQ↑AiQ%f~∃KaaKeS5K]iC0@AeKM←keG∀@AM←β⊃↓β'v#WOS↔I↓β≠⎇⊃↓β↔6 3Wπ&K?9↓ε{→↓βπ∪?+↔∨#E↓↓ε ;⊂4W#↔∂#v{3/∨Jq↓α←*βCK?ε{O∃β&yβ#π4)β π≡K
β↔∂+'C7.sQ1β≡{∪S←∂∪∀4+∨KOS↔o→1βO.sO?K~βπ;⊃εK;OS↔+7π;& S'?rβS=βn /∃β/3π3W∂#'?;~βO'7εc∃βπv!βGWL≠%8∀TC'∨#gIβOC,≠'π3OS↔⊃β- W'Cn+;Qβ>{W3⊃ε∪∃βC⊗{['∪.!β≠?∩βS#↔o≠↔3[/→β eεK;S↔⊗+OS↔ h+≠'⊗kMmβ≡{7∃β- W'Cn+;Qβn eβ *βCK?6K∪↔⊃ε∪eβπ63'3'∂#↔Mβ∞s⊃β?&C↔Iβ≡{7CπvK↔M8hROSW&+;SMεK9βSF)βK?⊗{S'∂~β∂?W↔≠∃βπv!βCK|S↔∂S~β∂?W↔≠↔Mβ/≠∃βSF)αK?⊗{S'∂~α3π ␈∪πS?↔H4+;␈99↓α∂→β←∃πβ3π∂*βπ9βNs∂K↔∂≠↔⊃βf{π⊃β}qβS#*βWO∃ε{→βSF)β↔G.KC7↔w 4+≠␈⊃β∂?/∪O↔Mbβ≠?Iεc?;≥o#↔K5π3'O'&{KM1ε ;⊃β6{IβOF{KQ7&+K%βπ∪?+↔∨#M1β>)βC3∞qβS<hSCK?6K∪∃β∞#↔GW∂#∃β↔Gβ↔K'n+;Sπbβ≠π∂Nc'S'/→βS=π≠WCC␈∪QβSF+O¬β/≠↔M:bp4(4P2r→∃b∞BJ|R⊗∞Qβ⊃iα~d*b&
d)1α&u"⊗≡J
"⊗⊃α≥JNR⊗m_4(4Ub∞? V+∂S'6+L4(hRr→BdR?;∃εkπ+?∩β? +.≠S'[*β'Mβ&yβ↔c&+;⊃↓¬≠Sπ;6{K⊃∨~β∪↔[.c?C7.sQβ?2βS#∃∧
1↓β∨KOS↔hh+π;"βS#∃∧
∞J>uJ5↓β∨KOS↔jβπMβ6c↔c'⊗c∃1↓εK;S↔?∪πS↔"βOgO&+7Mβ6{I↓βπ∪?∨K∞k7π f(4+π/#?7π&K?9β6{Iβπ∨≠↔7 gI1βS/≠Q1β∞s⊃βK/;?K-ph*←∃πβK?C␈≠∃βSzβ≠WK&C↔Iβ&+[↔3␈↓βπ9εK;S↔⊗k↔∪'∂#∃β'w#↔∨K∂#↔⊃β∨KOS↔hβ≠?Iε OO↔n∪3e1ε ;⊃β&x4+ .;'9β&+[↔3␈β7↔;"β?→β∞p4+π'3π;∂.!β';&+↔Kπ&+⊃βOO≠S↔7~β≠?Iε OO↔n∪3e1ε ;⊃β∞qβ';&+K7↔&KπS∀hS';Oε+∂S'}qβπ;"βS↔O"βOgO&+584Ph*¬β≡+∂?;"β? +.≠S'[*β'Mβ&yβ∪↔6+3?AεC'∨!εc↔[↔bβSπOZβ7?∪.c↔MhSS=βNs∂?Kε{KπS*β'9β4c↔c'⊗c∃1βNsS↔∨⊗ S↔⊃π≠gOS.kMmβ&C↔eβNs∂3W&)h4+6KOWπbβ∂?;'∪?1β}1βπO≡+7 3KX4) ∨#KW∂'+K↔⊃εc'∨#"⊃β['∨+π1βNsOC↔≥#'?9ε ;⊃βn+πOW⊗+7π;#X4+π& CS'4)βO↔d17∂πfK Kπ&K?9β∞s⊃βO.c→7πfK∨;7.sQβ7}#W3↔≠X4+πv!β≠3/C' 3*↓β≠'G#WK'v9β eαβCK??∪π7↔∞∪3∃↓ε#↔['≡+M9↓∧{S#↔∩β#'∨Bβ3↔[.aβSπ≡X4+7}#W3↔~βπK∃εK7C3N≠'S3JβK↔G.KK↔⊃εK9βSF)β';&+∨Kπ&+⊃βOO≠S↔7~β∪↔O∨∪' ↔"β ↔3␈9:q8hP4*rUβK?C␈≠↔⊃β⊗+O↔π⊗≠!β'~β?K'.sS↔⊃π#?←π⊗!βO?g3';≥εCπK⊃πβK? f+7MβNqβπ↔⊗{OCπ≡(4+π∨≠↔7 gI1βS/≠Q1β∞s⊃βK/;?K-r↓αK↔∨+3SMε{→βC⊗{+↔∂"↓Eβ←Nc1βC⊗{['∪*βS#∃ε3?∂W_h+?9ε CC3N≠πS'}sM9↓¬##∃βNs'S'∞aβ';6+OS'> S'?w→β←'faβ ∃ε{9β∨.s↔K'~βS↔∂Fs?3??H4+≠␈⊃βS#*β≠?3f{←';:βπCCfK∂πSN{;Mjbp4(4Uc+πO≡+7 3KRq84Uc+['∨+π1β≡{;SK}aβ?→ε#K'3fK;≥β∞s⊃βKO3↔S'v9β≠?∩β';∂⊗+πO↔"βπ∂∂/∪π∂e]a84*fS≠3↔FK 3∃ε3'cS/∪';≥ε ;⊃βε{O'SN{;';:β≠?Iε3'SWαβ≠?IπβπKS~β'9β∞KK≠K∞k∃βπ∨≠↔7 gInq8hRs+C⊗{∨Kπnkπ 3*βCπK"β';O/∪S↔K~β≠?Iε+3↔∂'∪?;'~βπOO.k 3e]a84*fS#π;&c';≥ε33↔cN∪3∃β}∪+↔∂'→β'9εkπ/'v9β←'⊗)β#π⊗s↔OO/→nq8hP4*sW#↔OQUa84*fSS↔O"β?→β∂3'?;N≠Mβ∂O∪∂W''→↓"C⊗{+↔∂"↓M%nbp4*sVsW7↔⊗K∂π3gIβ∂?w#K?3f+⊃β7/#K?3};eβ←O#!β∂}{K∪'v S∃βn+πOW⊗K;≥β&{?3M]a84*fS?CSN≠π1βn+πOW⊗+7↔;"β?→β'+K 'v)βCπ↔#Mnqph*s+π∪?∨K∞k7π f)β['∨+π1βNsOC↔∨#'?9]a84*fSC
β⊗{πK⊃εK;OC.≠S'?sZq84Ph*s+⊗+←?K[Rq84Uc+∪'∞;;?OO→β?→ε ['?vK∂Mβ≡KK∂WO#M↓"π∪?+↔∨!↓M%]a84*fSK↔7␈#∃βO/∪['∂Ns≥β?2βOπS.c3'S*β∂?7o+;'∂∂#'?9π≠gOS.kMnqph*s+⊗+7?[Ns≥βKO3↔SMε ;⊃β6 OS↔v+KMβ7∪?5β∞KK≠K∞k↔Mnbp4*sW≠SK'πβ';≥αβπ;⊃π∪↔CπNsS';8βπ'K7∪π7↔≠Zq8∀Uc+←'⊗)β#π⊗s↔OMε3π KN≠πS'}q:q8hP4*rU;∃βC⊗{C?O*βS#∃ε3?33␈;';≥π#πO/~β'9β4c↔c'⊗c∃1βNsS↔∨⊗ S↔⊃π≠gOS.kMβπv 4+S∂≠-β3/3↔1βn{∪W3/→jq8d system for assembly:\.
\j1a) analyze selected, typical assemblies in AL, including
airframe, propulsion systems, and avionics assemblies;\.
\j1b) design and implement additions to AL, to
simplify programming and overcome limitations identified in task 1;\.
\j1c) augment development of the portable AL programming system
and aid in distribution of AL;\.
\j2) develop preliminary specifications for a family of standardized
electronic and
software interfaces for programmable devices, especially robots;\.
\j3) task module: develop adaptive self-calibration and self-alignment
modules which adapt to
setup errors to cut setup time, modules which track variations and
maintain calibration during production to improve reliability;
develop optimization modules to move along the learning curve
in speeding up assembly operations+\.
\j4) task moduLe: develop flexible faxturing by programeable devicepε@Ai<@AGkP~∃MSaiceS9JAiS5JAS\↓CggK5EYrv↓BAWKdASggUJASf↓OC]KICYSidAM←d↓[C]r↓CggK5EYSKLX~∃S9G←ea=aCiS9JA[C9rAIS→MKeK9hAgS5aQJA⊃KmSG∃f~∃←HAG←[AYKp@↓eP∨ ␈#@~α ≥f"α∞8Vw≡≥lrαεL↑fN≡↑4απ>≡Mααε\≡6+Z∧ ⊗v␈M W∩α
≡7∨.T∧εO_Q.π⊗↑},⊗nn≥lrε∞l@ε≡}nN&}fM≥f:ε=ywε/,≡FNvuDεo.NM↔εfTλfOGNZ&Nvt F/6≤<W ]EaPPh+M#*J∧ ⊗'6≥l6."
≥g&.},↔&.D∞7O∨L]Rε6} ε∂∨<]V⊗g↔+Bph+M&&/lYF␈αλ_5∀|k→Rε≡⎇mf.∨L\Bπ&tλ∀bε≡4ε∞r
≥g&.},↔&.D ↔∨≡]\&gJ∞?↔∨&]Pπ>OM∧hWm≡6N}eDε6␈,<Rε≡⎇nG⊗}EDε>.⎇\W'⊗≤4εn}L]FNvuDεn∞m≡π.f≡M⊗}rD∞6No]H↔&N⎇aBε∞l@λ∞
_;[M≥Ynw¬a"C"KMMJ(∧∞_<zd
;y≥-L.Hλ L=Y;
}λ≥Z.>8;λ ={]≤M⎇λ≠yD <|y-\[≡+∧∞<z;Lt⊂0tIyV3.aQ]<y$∞Z<⎇,≥λ≥≤L≤zz;Lt≠yH∞-x[⎇∧ ;Yλ∞ <]≤g; C"AQW~Me∀~;] ↑[99
≤=→(
≥]→9n,=→9∧∞}<⎇ ](→[n$~;\n 8⎇~-⎇H_;LD≥→<nGW C!+~Y>∞L;Yλλ_tSsK→(≥≠d :9λ
≥Hλ≤∞-y|X-]:;Yd ;Yλ
≥]→9n,=~;Lt≠=;∞M<≠→$∞→<⎇↓QY];L>~;{N5λ_;LD_:9∧
;H~-n→9|L≡~;Yd∞→<⎇∧∞z=~∧ <|y-\[≡.kEC"@↓K⊂pX,=y|[n]Yβ"AQTε%']y⊂:4→vrP$\β fast seTup and changeoVer In smalh lOt batch asseebly and pesT
foR a Prkdu@
hA[S`AoSi ABAe¬]OJA=LAaCIhAgSiKfAC9HAgQ¬aKf\4∃)sa%GCXAMSikCQS←]f↓CeJt4∃giCIiS]Nα↓βWAαβCK?'+∂S'}q↓β?2↓β;↔8↓βCK}#W∂S≠X4+C⊗{∪W∂Ns≥βOε K↔MαCK↔∪,≠∃βO&{∂/CL¬FNvu↔0hW∞-v'.=→f*ε∀ &∂&=λ
|H≤∀M|≥8p~≤P37`2 continuiNe orders;
interheaving a proDuct mix,
or modifyIng aproduct and resuming production.
Our approach provides aids to decreasa engifeEring time and total time
required foreach step in batch assembly and test, including
design of the system fixturing, programming, setup, and tuning of production.\.
\JRobots are limited because it is difficult
To get them to do what they can do. If used EffecTively, robots aq they are
fo@\ACeJ↓GCaC YJA←α1β'W≡Aβ7?⊗)βS#∞qβS#/Iβ∂πrβ∪=βv{])↓¬≠?7∃∧K@∨∨\↑2ε∂,W%bpQ+FV&↑hVf␈
≥f:ε≤LW∂.≡LRπ≡]n6␈↔4λf␈∩∞-v⊗␈N75bpβ"W
-;]→..≤Y5
≥Yh≤l]\{p→λ20z0Nn↔εE↔54w1[y87i_z4w3H;tz4λ2pyrH:42P≤4st:λ6p|≠q⊂1`/npac@PAgK]M←efX↓ae←q%[Si@Hh+O↔w≠?KMbβπ;⊃π3'O'}qβO↔w≠?KMβ;B`H+I'π⊗|}&∞n]→f*ε≤∧tl]8[≡$ 9Y⊂≥2yz≥W↔
\h¬G←]Qa←YYαK;≥β&+['∂-→β↔≠4¬⊗≡N]nFgKαw AQU~Y ↑Y;⊂↔\4s3@ dπeKCQKdAC
GkeC
rA←L↓eP∨ ⎇#@~uβ C!!"W∩I.<⎇ ≡c"\∞-βsy0[vtw3H4yP0H892r≠vtw0[:⊂1g\z⊂4wλ8ytw→P1wf\8¬te@HAgcgβ#↔7MbβCK??∪π77Ls≤4+O→β¬βn +?I∧3π∂S⎇⊃β'9π+O'≠8βC/ ␈#M)↓¬βK?∨⊗ 77'v9β←'daβ ↔≤{7¬βn{K∃βLkC?K& ;P4V MβO.sO?In≠?;S⊗{3 &\@π⊗↑-zG4_<Y$ →=Y-M|→9∧ 9Y∞↑y9 D↓ Hλ ≡λ~<d y;Y.,;≠≡!Q\Y8m|{Z>L\λ~≠nt≠=8m∧∃;Z-\=~;md→x:-l9λ~-d→→=L]≠|~-lh≥~ T∀∃3(∀→→=M≤y(β!,X<y,D≠{H∞M→:4AQX8|.]<z5
≥{H≠ld∀xz ];[8-d|h∃I_p4S%D∩;Xedλ∩=∧
<h≠M}λ≥<n\;≠≡$ <≤≤L\z8= \λ~≠nt≠=8m∧≥~→/⊃"Yx-≥Y9λ
≥H→y.N~;Yd∞~→(
h3λ≠ ≥Y⎇8,|(_;LD≥~→$∞→<\m⎇[Y3∧∞≠h→ ↑Y;≠n∧~=λ n<]~ ↑KC"J]Z;8.M;{In4∃P3∧
<h≠ml(≠qD
{[≡$ (→Y.t≠_;L}89y.4→[tD∞≤[yn,;;:-lh≤[l-⎇≤c!,{{;,↑Xz8-M≡(_.l:;_,-→+@∧ ;|u∧∞[x[nNh≠_,=h→9Ll8⎇~.l(≤≤M||X;-]9Y`∞?<⎇→-↑kW AQA"W *≤[|
}y9∞,<y8. zλ∃m};→λ∞,;_= T≥≠h ≥↑(≤o≡⎇→;$ [|H∞∞[y|L≥;:;Lt_<|l]8[≡$ →=Z,<<kβ!,=Y;D∞~≠⎇,⎇λ≠⎇.$≥{|MP1rw≥2y9P≠w⊂ f ⊂⊂⊂ S⊂4yP≥42P6[yz⊂0Y;0w1Yr⊂60[3zpsYP⊂7sβE4z9H1v0y\P0{0Zv0q6→W⊂⊂ S⊂4yP~w⊂:4→P8:q≠4qP2≠vptw εE)z_w37`2d has hedin developing integratedsystems for assembly andvisiOn.
We have developed a versiOn of AL which ipεAa←IiCEY∀AM←dαβ7π;J4+π∨≠↔7 gIβ∪↔4K∂πMε ;⊃β∧¬w.α0q6→P37`2 iany computers, αthat iS, modest @∃H ≠}.BεO4 f.≡↑>6∂↔∀λ
t_9_.∞λ⊂3∧∞≠h∀∞
y|X-Tβ"P$
Y=`∞
βq7jλ5y⊂ /ther↓ae←OIC[@7∞∪3∃β&+['∂*aβπl@λ
]y→4nD→9P∪≠y:⊂ 4o transpo@Ih⊂∀(→Bπ&tλ∩π∨]_
≤[→(
l=h⊂⊃[vx:`4er. AHλAQ¬`
βC⊗{['OL¬vw~ h n∧≠x⊃.0z4w→β mu@1iSaYα(4+πα:6.n-H∞$ →=P∀Xp¬s @%\AaCICYYKαa0∩αλ→Bε≡≥`ε∞g=tε≡}]↑VvN<≡F*π⎇~FBπm≡6N}aQ&&/m_λl↑h~3D (≤p∀[x62P≥p|]@ it haq beEn interfaced to the T¬&JB@`∩+4KG'∨pβ7?∪,¬F*ε|d∧n∞=
⊗v* ≥g&.MH
,@pp∞c@∀Aπ←eA←eCi%←\\@↓αAg[¬YXAgUEgKh↓←DAβ0AoSY0AEJ~)CmCSαcπ 3*β∪/I¬≠7π3bβ∂?7¬+S↔K~p4(Q*ε␈↔L≤&f*λ→BεO4∞'.vm→f 4≠[p≠H0p∞d↓SfAgα≠#↔∪αX \λ≥≠d Y(⊂→→v2pyYp⊂3 /p∧AYSα≠↔;O*β'9βnK⊃↓EKAI9hRπ9α aβOW↔≠↔QβF Eβ ,+9β'oβ3↔↔,sS↔⊃ε Qα∂∂∪3OK.C∃1α>+C7πwIαn g+7¬↓A
u!β∞s⊃4Vcπ;∨. ∨↔LhS∂3?≡+3eβε S@&↑-f." ≤g&/$λ∀bε ≡f*ε,XVrε≥↑εf.\]g&.D ↔"πM R¬.m~f/↔=~GJε|d¬&}?≥phU9≥f␈.Tπβ
jD ⊗v" ≡B∧?,]f}⊗LUB∧↔,≥f≡* 9F∂&⎇\&*βε≠Rph*<W6/,≥B¬*j5bε≡⎇↑ε∞v≤↑2ε∞lDε
εn]V⊗/$
v0h,mw⊗.≤⎇bε≡⎇↑ε∞v≤↑2εF≡lRε/∞∞&/∨<\BεNnLW⊗/>DεNr
M⊗≡.n=⊗v:λ→Bph(→Bπ≡\]W~πMtε⊗* ,V≡}]≥f:π=⎇V/&
≥f:ε|dε
π>L⊗v&≡,BubaQ hUI(∀≥∀yk∀jε≡4ε∞r
≥g&.MM⊗>.nDεNn≤|Rπ.lLW↔∨L≥f&Nltπ∨O>LVjεm}"εNnLW↔π,↑F∂&≥⎇`hV≥lBε≡L≡7≡Nm≤6∂&≥⎇bε}d
v⊗V\>G~r∧λ∀≥∀yk∀jε≡4ε∞g=tπ&FT &∂≡≡4ε6␈$ ⊗rε≤Nf∞v<\@hW∞-v?⊗≥]VNvt∞7O∨L]Rε6}$π⊗}-}G~r∧∧∧ ≥)yeLj
↔~ε∀∞7.↔?≡7&.T f␈∩↓Q'≡N↑]F∂&≥lrεn\=ε∞v≤<⊗bπ?≡7&.↑5Bε/> V≡N≥MGJπ-|&␈'5aPT :)tuLT
ε∂~ ,V.r∞↑6." mw∩ε≡ZF}n≡LV"π
L⊗vv≥lrε}d w⊗∂>∧πε␈=~FN}n4εNr }&∂∨
≥f8h-|&V.>N2εNd
V∞v≡∞Vf∂M→vrr∧λ∀≥∀yk∀jε ≡2πε}|W⊗7]Dε>.⎇\W'⊗≤1PVn|LVfNlpλ ={8Z-l9λ≥m≡~λ≤nL=→+-|K=~ U8<]∧∞≤[xML;(≤m⎇≥Z;Luλ~;.
→;9-n→9 ≡h_#!.];⊃%\X<q,D→y;m\=≤Z,4≤Y8.={Z;LT≤⎇8N?<⎇→-Uβ⊂⊂εB aa'S,fP4_yP6rXt0w4\vyP:≠P4w:→sy0z→P20z_P397[P6pw≡P9rg≤wy9VλεE0w→⊂:7P~w:2i≤92z data↓oSiP↓∞ε⊃εk?∪↔g→1βW≤K;≥βFK↔!βd+[↔1∧ε&.∂=⎇fNvukBph!Q%dT∀∞f/↔=≥vrε|d∧ ≥)yeLj
≡2ε⊗]≥f*ε≥↑εf.\]g&.D vrπM R∧$X4¬4
¬dα∧}lTε≡}↑ ⊗wHQ)↔
π↑=⊗v:λ_5∀|k→RεNd ⊗r∧~*∧
π∞-vV.>Ebα¬M Rε6≡-Rε/∞ V∨'4∞Fzπ↑<R∧ :)tuLQQ&Nre for research.\.
\,
\CResearch Plan
\JProposed research would evaluate AL for domains of aerospace assemblies,
airframes, propulsion systems, and avionics.
A few such assemblies may be done in the laboratory. Others will be
analyzed by programming component operations.
These exercises will provide detailed evaluation of what capabilities are
required in AL for aerospace assemblies. They will be useful in
evaluating requirements of any programming system for aerospace assembly, e.g.
the MCL system* AL development has focussed on robotq in assembly where the hardest
problems are found and the greatest capabilities are required. However, AL is
equally useful for simpler assembly devices, and for materials handling and
other applications.\.
\JIt is intended to investigate what is found clumsy and difficult in programming
those assembly examples, to add fundamental new operations where they may be
necessary, and to make simplifications where they can be made
in the programming interface. It is also intended to aid in the engineering
of AL for
distribution, to provide for developments in connection with distribution,
including interfacing one or two new robots, and to respond to problems
encountered by users. We hope to arrange that a firm take over distribution,
maintenance, modification, and support of AL.
Licensing arrangements are being negotiated with Hewlett-Packard
for their internal use,
and there is strong interest from another firm. SRI has an interest in
adopting AL. Collaboration with SRI would augment development of AL.\.
\JWhen a new programmable device is introduced great difficulty is usually
encountered in integratine it into a system. The problem o@_AS]i∃KeCi%]N~∃9KnAI∃mSGKLAS\AM←Mio¬eJAQ¬fAYCIOCYr↓EKK\↓g←Ym∃HXAEUhAEk%YIS]≤AKYK
ie←]%F~∃S9iKeM¬GKfA%bAIS→MSGk1h\@A→←dAKaC[aYα)1β'pβ';S.;KπSNs≤4+
β;↔]¬∪? ?"aβ'QεkπeβF [∃↓8β?Iβn{K∃βn{S?K~aβS#⊗+∃βO.sO?K~βC↔I∧S?';"βC3W_h+←KO≠Qβπv!β≠'v;↔Iβ≡+;O?↔→1β¬∧εF␈&≥Dε}2ε6Rπ≡]n6␈↔5dα¬& ↑&*π⎇≥Fbε,Tεn␈,Tπ≡.n=w↔_Q,↔~π<]g≡␈$∞F.≡
mvf}␈∀εO~
≥Wπ⊗}lV"r∧λ↔~ε∀∞&/∨]NBε}d
w/∩ \f6␈.N2ε∂D F/≡≤⎇fNvqQ&F∂,Nv∂⊗T ⊗v"∞=v7'|≡&*ε≥nF/⊗l≤6/~∞Mrε∞=
⊗/6T ↔∨≡]\&gJ LW6N<TεNvL↑ε.vL]f≡(Q,⊗v"∞<Vw≡}$εNvL↑ε.vL]f≡*D∞v*π
L⊗rπMtε6␈-↑Vf∂LTε&/=≤vw~ mw∩π>L⊗v&≡,@hV≥nF/⊗l≤6/~∞=rπ& ≡Bεv↑tε&/m≤6/~ ≥f"π<]g≡␈.4ε≡∞d &*ε≥nF.?,≡F."∞⎇↔&B \↔≡*kE`hPQ+DT
∞<Vf2\<⊗fN.,↔&N⎇dεn}N]F*ε≡4εNwL]f&.D∞Fzε≥↑π⊗␈lTε∞↔=⎇G/&T ⊗≡∨↑,⊗∨J
xbπ⊗|-w'~aQ%⊗}-}G
ε≡,Rεv}@π6//∀εNwL↑&≡F≥lv∞⊗LTε⊗.<≡W≡*
→f&Om≤G.∞D∞f∂⊗≤≡FN}n5@hW⎇
⊗f*∞=V∞fEDε∂⊗T F∂⊗|Tε≡}↑ ↔⊗.D∞Fzε≡>6.n-O∩π&⎇HW,9Xp∩\Tε They Canfo@PAEJA∃MMKGQSmKYd~∃ae=H∂Kπnk↔⊃β5∪?5α≤
⊃β∪∂#π π≡+Eβ .≠πWO*βS#↔Lε"ε∞.8 mNαz2P_qqzy_q|P$\P77jλ9zs3~qtrw≥↔εE*≠P:42H2|:2[:⊂:4_z⊂97X7z9P~0{2P≤2x2`]0q4v~z8V⊂≥42|P_pw⊂1→P1pv~q90z→r⊂:7CE0q9[v:z2H0qqz\0q|Wλ⊂⊂+t]4⊂⊂9]tz0q≠2P9r[9wy9H⊂0w2λ⊂4w:→y892]0z4w[⊂⊂6wY:v2yKεE9r[3⊗qp[4q90]4ww⊂_w2⊂9Yv3⊗p[4sw6Yw:⊂6[r:v2\β can calibrate robots To obtai`≤~)H∂K↔∂#↔Iβ∞∪O?3-#∃βπ≤≠WKπ∨IβπQεs↔∨3N;' 3*β∂?O"q↓αK}∪?Qβn //.4εF∂lTππ⊗⎇( ,>≤h∃
q"Xx-M8\X.L(≥~ ]<H∀M|Y⎇≤d∞≠h∩
≤z→4D 8x⎇.0q|Wλ⊂(97\7yrbλ92y`%arch↓o←kY⊂@∩∃C⊃HAiQ∀AGC@∧∧⊗⊗NM~GHhα]≠d x;⊂∀X90z2H:42P≤4πboT coo@IIS@;∂#∃βOO≠S↔5∧ε&.f≡M↔6*∞Mrπ& Tπ>␈->7&∂M→vrQ(λm⎇|Y~-l=→(∞?<⎇→-Uλ_;LD≥≠h∞,8x;
≤\X= T_{{NM;];n↑{≡(∞M→(∀M|[⎇ ={|Y
≥X=→$∞}<u ]+C"AQT[xM}≤h_.,(→~,lZ8⎇-Nλ≥≠d∞y=∞↑λ_Y,<=<p∩H:42lH4zyjλ12P0[4sw2Y⊂;2i≡FE0qXzy0z→v<]@≤5yt`4ions mustbe taughtprecIqedy.
αI@PASfAIKYCi%mKYr↓KCgr↓iVAOUSAJAI←EOiLA←dAα{S#↔⊂∧ππ⊗|}&∞n\≤&f* LW6N<Z2π&qQ&∂π∞-wFN\≡F*εM|6∂&≥⎇g~εmz"ε∂><Vn⊗O∀ε␈∩∞Mrε}.L⊗Nr ≡ππ⊗␈
⊗n∂LTεf↑<≡FN}n4ε7⊗⎇ThT8_Bε&≡L⊗⊗∂<↑2r∧
zv/6↑%BεOD ↔
εM≤f6N>]G"πMtε?.≤LRπ⊗|-w'~∞Mrε∞<>W⊗∂LTεf}<≡FN}n5@hV.↑Bπ⊗]L↔&Ol]GJε\≡7Jεmz"π& Tεn∞=
⊗v*∞Mrε6≥lBπ& Tεf}<≡FN}d ⊗≡∨↑,↔&.O∃`hT≥dπ∨&≡.FNvt g⊗}T ↔ππ-␈εNn≡LRεf|<↔&N⎇n2bπM Rπ'.\Rπε}=↔&N⎇aPV}d ∩εF⎇LRε␈$λ6␈⊗lZ"ε≡≥dε⊗*
|'&∞≥lV"εn-vjπ<]g≡␈/∀ε/6≤LVv≡T 'Jπ<\↔⊗≡
≥f:pQ(∩π≡]H E\;~9mm9;]∧
;y≥-L(_x-d_9_.∞λ≥≠d∞y=≥.∧→<\M}\kλ∞M→;@∞,8{|LD≥~→$ 9~].>→9β!.≠|z.M;{KD∧∃~~.∀≠Y1,D_Y( M{Y(
⎇[≡(
⎇Xy( ≡λ≤y.N<λ∃
≥9+λ ≥Yλ_l≥H_Y$ ≠{Y$∞X<∩,M≡#"L/(≥~ T≠88m
9Y(∞Mh_⎇.D≤y5∞↑λ≥~-\+C"I≥H≤∀M|≥8p~~ww⊗⊂≥0y4p]4ww9H4w⊂8_y:9P≤92yb[8∧ation o@HASLA⊃S[K]MS←]f↓←DAa¬eafX4∃P∨I∧#C'≠'→β'9∧¬⊗w∨N.Vn9]≤d x;@⊂_2P7`&d¬gKhαβ dQ( l]→K8-M9{[,]]λ∪-|≥;⊃.P;t4Xt⊂:9_quP+_y4pz~ww9P_ww:4[:szy[<P0w→∧E6pZw:0t[⊂1pv~q90z~ww⊂2≥y4w3H897r≥qz4g[⊂:7P~vx97]2P92[4pq4[4z<W↔↔αEεB,∧JTypically, pph∂IKα≠S'?pβGgO&+7Mβ∂∪∃βS,s↔⊃β&yβ'≠≤ε&.∂<Tπ&FT∞7ε.\@λ
|A"T∞-βr2`#tion↓oSiPαβ↔cC,ε&N∞βXp∩K⊂37`,lkwindεAiQ∀AQKCI]SMNαβ∂WK4∧Rbα
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t→x:-d→>≤ ↑Z9;L<(≠⊂∩Zyzy2[<W⊂ [<P::[4s3@ mustbe e@→H '∂L∧Vw"AQ&⊗∂<XBε}d
↔.N=0ε6.\L&∞≡5`α∧>M|&∞b
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iSGJ8@A!e=KeC[5CEYJ↓gsgi∃[fAQ¬mJAC8~∃CIYC]iC≥JA←m∃dAQk5C]fA%\AECQGPAU=EfAS8A←ai%[SuCQS←\A KGCkMJASh↓SfAK¬gSKd↓C]H~)MCgi∃dAM←HAae←≥eC[[¬EYJAMsgiK5f~∃i<AG←Y1KGhAQQJAI¬iBA]∃GKgg¬erAi<ACgg∃gfAo!ChAgQKafA
C\AE∀AgaK∃IKHAU`\~∃QQJAi∃GQ]SEkJA←_AS[aI←mS]≤AiQJ↓KgiS5CiJA=LAa←MSiS←9fAM←HAaCeQfA[CQS]N~)QKYaLAi↑A
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\Vw"d↓PT∂lYbεNdλW∂.≡ V.wDλ
l↑Y(⊃N,9+λ∞?<⎇→-T_{|nNh≥{n]→λ→ \|Y8.<(≠{MO(_ ∞M~<Y¬a"U~∞↑iλ⊂$
y>(
|ZY8nM=Y(
≡h→→,>Y8<m≥Yh→-lz;Y,↑Z;Yd {|⎇¬a"U≡.
8x;
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8:Sn∧_{|nD_{s,↑h~;D →<z,⎇Z;Yd∞|→0m≤;β"Lm>≥≥.-;Y`∞⎇~8z∧
_<h
M=≥≠ T_x<N∂;yQ.∧≥X;∞\(→Sn$≠⎇~ ↑H≤∀M|≥8p~~ww↔⊂βE+rP≤rru@≥p|yP≥7P6t[4vt⎇→P34l≥8y4w→P1wy]⊂0w2λ0yygXtpz2Y⊂2w3Zw2ri~w3P1[yzεE_<P22]2v7x~w3P3Yw2y4XP:2qZ74xzYyP37\⊂362↑4q62H34|:≥y4w3H;tz4λ0P3y→pz⊂;_y4rz≡FE7sλ87yt]4ww4[3P22]4qryK⊂⊂+rH9rruH6rz4≠r9P3≠yεE9Yv2qz~ww⊂7Yating fixturing in programmable assembly systems.
A key issue in flexible fixturing is incorporating many different simple devices
or complex robots and sensing devices with ease; another issue is
programming and controlling cooperating, multiple fixturing devices.
For choosing appropriate freedoms and mobilities and for commanding desired
fixturing motions of distributed degrees of freedom,
the analysis of [Salisbury 81] is an effective starting place.
Another issue is real-time collision avoidance of multiple, moving manipulators;
a real-time collision avoidance system has been demonstrated at Stanford,
and plans are to extend it to multiple manipulators.\.
ACRONYM
\JWe propose to interface ACRONYM with AL as an advanced integrated assembly
system with sensory control which couples complementary sensors including
visual sensing, force and contact sensing, and proximity sensing.
ACRONYM adds geometric modeling, simulation, and planning.
ACRONYM will provide a manipulation system with capabilities for
programming from a CAD data base, off-line programming,
the programming of sensory control tasks, and automated planning
of parts mating.\.
\JWe propose to develop hardware and software for visual control of assembly.
ACRONYM will be the basis forvisual control in applications from those
listedpreviously, including:T.
\ja) visual control forincreased accuracy In drilling and riveTing;\.
\jb) tracking of swinging cranes;\.
\jc) visual control of parts mating of 3d parts;\.
\jd) visual Control of fitup of sheet matal assembly;\.¬
\je) handlIng fLexible objects like wire.\.¬
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←[akQKdAgegiKZαβ∪?I∧
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complex static parts( @A¬π%∨≥e~AoS1XAkg∀A[←I∃YfA←_A←EU∃GifAQ↑AaS
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O(≤≤M||X;.4→[tAQZ;\n 8⎇~-⎇KHλλ∀≤z3L⎇→(⊂(:SsV)T≤}<nL;(_m};→λ ,(≥<l\λ≥≠d∞≤[yn,;(∩-n|→8nM;{C!,[|H ∀≠];,,<H∪ld≤{8-Mλ~;N≡→8p~~ww⊂9↑yz2v\W.↔εBεE.%∃pP86_w⊂:7H4w;2\z4sp]2P92]wy5P~w⊂ aT'g,fK⊂⊂ y\rrq6≡P7x2\0z4g[9P4wλ92{w\5FE0\2P9t[tv0yλ:7P$[4z4p[⊂0yyYvq6<H7x2y_z4ww≤V⊂2l_rx:⊂≥40z quantities are
expectedto be smaller. Removing rivets and fasteners
may be more difficult than initial riveting and fastening. Removal is
expectedto require visual cOntrol, StrippIng and painting may also
benefit fpom visual control.SincE the rate of paint Removal is unpredictable,
visual assassment Can determine the actual Removal rate and find
spots for touchup in process.¬
Generic operations from asseebly and test are the primary elements of rework.\.
\,
\CReferences
\J[Blume 81] C.Blume;
\F1"A Structured Way of Implementing the High Level Programming
Language AL on a Mini- and Microcomputer Configuration";\F0
Proc 11th Int Symposiumon Industrial Robots, Tokyo, p 663, 1981.\.
TJ[Inoue 81] H.Inoue, T.Ogasuwara, O.Shiroshita, O.Naito;
\F1"Design and Implementation kf High Level RoboT Language";\F
λProC 11th Int Sympoqium↓←\A∪9IcgiISCHAI←EOiLXA)←-s↑XA@@lnj0@brpDY8L~(~∃ 2UZ3πS}k ∃↓@ε∃j∧αK0ei_=≠m\Y+λλUS8<l↑L¬FE↔#_Q&∪V⊂ @∩4st⊗S2{2`, Progp¬C@7nK;≥αf ;∨W∞;∃β≠|ε"∧≡⎇nG-{≠⊂∀[3P y\pp
bly Robots"≠\F0
Proc 11thInt SympoSium On Industrial Robots, Tokyo, p 483, 190 "98\
∀4⊃0∩*]≠π3'≡∪WKeβAFuα≤ 3'O↔+@↔JD "`)hπ⊗⊂∩↔%↔!\0ps@;
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WeGα)α∂?w#@⊗}D ⊗v" =⊗v.\≡FN~ ~7∨.↑4#]dd∧β!(97`# JgiNt Au@Q←[Ci%FAπ←αsSK?bα∂?;4+C↔≠≤∧Rb∧= ↔εf}NF/∨m_
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@Q⊃KmSG∀[SMI∃aKMI∃]hX~)ICkYP[SMI∃aKMI∃]hAeUYKfR8@A∪\↓ISCO9←gS]≤AISM→KeK]PAIKm%GCfX↓ β%(4∃Caa1SCfAQQJAg¬[BAeUYKfAQ↑AIS→MKeK9hAIKMSO\A5←IKYL@QR]∀\ASiL~∀Ea!sgS←1←OrD$\@A)!JACIYC]iC≥KfA←_AiQSLACaaI←CGP↓CeJA∃G←]←5r@Qi!JAekαc↔L4T K∃β'KC↔⊃∧K9β?vceβ?v≠∃%1ε;K↔π&+Iβ∂-∪Sπ'w#e↓#≡K;∂∃¬##∃β↔+3↔Mε K∃β'KC↔⊂hS'9β}s3eβ}s∂∃1π##↔K*;Mβ3/≠MβKO≠-β?2β7π/Ns≥β¬εk'OS∞[∃β←F+9β ,K3∪'v9β¬βv+\4+&Kπ∨;␈≠S'∂N 9%1ε ;⊃β∨+C↔KN{Iβ↔Gβ3π≠∂#'?9ε ;⊃β↑s?←3.#∨¬β∞≠GW'≤KS'?ph+∂πε '3O#'↔MαC∂?7εc↔S↔v+OMβ∞s⊃β∂}sO'O&+;∂eε K∃β≡C↔∂/.!β eπ∪↔πO}s';≤hSCK??∪π7MεK;∪↔ε+;∪↔w!β?→π##∃β&Kπ∨;␈≠S'
π#πO-Jq↓αSF)β∂?w≠SKW≥#'?9ε{→βSF(4*∩
∩QβC⊗{∨KπjβK↔G.KK↔⊃εs↔]β⊗+OW3'→β'9π##∃β∂∪↔πMε{→βK/βK↔O.sSπSN{904W≠'7Wf S'?raβπ; β∪'π>s?O'~q↓4Ph*S#*β∂#'.1βK↔∨+3Qβ|1βS#*β←?KZβ?9β⊗+CK↔≤+;Cπ&K?9β> EβSF(4+∪/3↔3?εk↔;Q∧¬v"ε∀λff/
≤&f* LW=9{@ L<xp→~x:4`/n language calLed DDL.¬
The language enabh Kf↓←]JAβ#=βO∧+∂'≠Jβ∂?7εc↔S∃∧{AβC∂∪S'πbβ';≠|ε&n∂M→vpH,≤&␈/Dλ∩ε&↑i⊗≡
}4π∨'.X7'<Y(¬
=≤h∞ <]≤d 9Y⊂≥42t`2 intep¬G←]9KGiS=]fBX4∃Sif↓EKACYS←dX↓C]HA%if@EQKYK←αc?∨E⊂∧αF∂,}Vn8π:9H2|8 ,ai`≥Sαs⊂~πM Rε⊗] ↔6N}!PVNd
F/⊗↑4ε}H≥~ T≤⎇≤N\⎇→0→→P0w2λ0x8&~qpq6→P84<\tqpvλ40{yJTε A key feature
@=LA 0ASfAQQChA ←iPAMiekGβ#WK∃∧ ;⊃β⊗+#π[L{Aβ∂∞qβ ∃ε#↔O∂⊗K ↔⊃εC'πK∂∪∂#'≡ 33@∃aPU&
≡2ε∞MIw?~λH∃∃"∞Mrε&≤≤vv␈<Tε
π∞-v⊗F]Pε∂"∞l↔⊗N|↑2εf↑lVg~
xbε∞.8
∞0qz4[wαE X7{2P≥42P3Xz2Vv→{2v⊗λ42pr~w3P 4o a Substantial runtime economy.¬
CooRracing and breakpoints. Currently, the DART group is
investigating ways of generalizing SHAM to work with partial information
and to choose the level of simulation automatically.\.
\JFinally, there is the diagnostic program itself. DART first
accepts from the field engineer a statement of some "symptom", i.e. a
piece of expected behavior that did not occur. By looking at its
design model, it figures out why the behavior was expected.
Generally, the resulting "justification" mentions a number of
components, all of which are implicated by the absence of the expected
behavior. In order to discriminate the possibilities, DART again uses its
design model to devise tests for various subsets of these components
and by carrying out these tests pinpoints the malfunctioning component.
One important consequence of the DART approach is the ease with
which new diagnosticians can be built. If a designer utilizes an
advanced Computer-Aided Design system, a full model of his design will be
on-line when he is done. Thiq model can then be passEd as data to
DART. A similar apprkach couLd also be taken with test generation
and manufacturing tape creation.\.
\F2\CResearch Directions
\F0\JAlthough the DART project has met its goal of building an
automated diagnostician, several problems remain to be solved. These
include further topics in representation, test generation, fault
circumvention, design for testability, and fault tolerant design.
The open problems in representation have to do with extending
DDL to new design types. While the DDL formalism is appropriate for
the description of devices other than digital circuits, its vocabulary
has not been developed except in that direction. For example, there
are no terms for describing feedback or oscillation in analog circuits,
and there are no terms for describing fluid flow, spatial organization,
and the other topics relevant to non-electronic devices. The DART program
in no way depends on the current DDL vocabulary, only its formalism.
Consequently, if the vocabulary can be extended to handle these additional
topics$ The program wouLd be applIcable to These other typeq of deviCes
as well.\.
\JAutomatedtest generation is another important research area. αC@=]gSI∃aCEY∀Ao←e,A←\AQKgiS9JAQCLAEKK8AI←]∀A←mKβ⊃βS#*βCπO β≠↔]ε#↔∂π&+E04T≠W37NsπS'v9β'9πβ?←↔⊗3W1βn+S#?'→β3'↑)βS#*α⊃βπf;?K≡Mεjα∞,V %+Hλ
⎇y=L↑Kβ"M]|⎇
|β⊂:4→yrP6Yz47r≤P0y2H;2y<H9rw9Zz4{2H:7P*~2P1`/mpleXitq Od the
devices under test. While in most cases the cost of test application
grows only linearly with the number of gates in a circuit, the cost
of test generation grows polynomially or exponentially. Hence, as
circuits with more and more gates are built, test generation will become
less andless practical. One possible solution to thiq problem is the
use oF hierarchy present In most designs. The dependency-based test
generation technique usedin DART is a generalization o@_AiQJ↓λ[CY≥←eCi!Z~¬i!ChAKaaY←SQ`
βSFKEβ#L+CπK≡Ce 2∧λ'JεM≤⊗>v}8
-lh→X.]≥≤h m<\p~λ0z⊂0H44stλ42{"[ε@
then gradually becomine mo@IJAC]⊂ASOe∀AIKi¬SYKHαaα∩ε∃!β7πv ∨/4
Fzε<X .∧β"Q
}{H∃
(≠]-\Y<@⊂≠q⊂1`/mponents underconsIderation at any one tiee.
AlThough the technique was Designe` f@=` β∪L ∨;∨≤¬↔5λ≥y$∞{⎇0⊗→⊂64`+e to
λ¬G←]MS@∪↔⊂∧εO'4λ
}→;]
≤8ε⊂ &or device testing as p∂KYαa0⊂@ C"I⎇Xy( ∀→X=-Nα⊂4`3 detected↓C]HAα#'π∨v{@≡9 λ∞M→(⊃ ↑X∧q`% h kgβ!β ∃∧ε&/ε≥_ L\α⊂∞
Usually this means @IKgi←β∪';≥∧εFF* LW6N<Tπ&@h~0~≤β o`%%H∂'l≥Bε≡⎇lFO&≥x E@∧¬∃⊃=o@↔[,ε"bπ=yV/&≥\W4~8
is p@=`∂O'⊗c∃βSzβ∂'K≤εVo6]nBε
hλ.]≥λ⊂⊂[2⊂6pZβ`
Ai!JAIKYSGJ~)←aKe¬iS←]¬XAKmα+9β←LεFF←↑@λ @8¬dl pepaip. Such @
SeGk5mK]i%←]fA¬aJAKβ≠C↔∂L 3#@⊃Q'/≡\jVbπ⎇ VrπM Rε≡|∧p~≤β of d¬`↔∪bβC↔C∞K@∩ε≡,Rππ-⎇εN⊗α9~.l(≠p→λ;t2gλ80y:≤β abe ∃i∃[a←e¬aS@3JβW;π4 '3π⊗c∃ 2∧ ⊗rπL≥F@=8π3@ with↓KqaKIhAie=kEYKMQ←←i∃afAMβ∪?4∀TJ
51∧εv*εLX↔εV\@λ∞M_9⊂≥42|P_ww9`)der @
SeGk5mK]i%←\Ai<AEJAα{;∃β|∧bπ& X
.∧¬α`@IS[CedAO←C1bP→↓¬;∃β←⎇+3⊃βd¬⊗@<αP:7H4w;"\z4sp]2P;p↑yP7`& automatindεAE←β# $ &+['∂*βK↔C∞K@∩ε≥lBε6≤X ∞D_z0→_zv{"[:4ww ,⊂∞
P→∃∧AM@?,ε'&B∞,W∞8<Xm∧→~4L\⎇~0↔[⊂4yP≥4π e@aaY←e∀AiQJ↓` π]_ M≤x9~-⎇\h⊂↔Yαλ
¬←U`AC@∧επ⊗@x8r∧∞≠h⊃
≤9{[ntyP /n syStee Design. CPecif@%GCIYdXAoJ↓EKISα+[∀Q(
lT_x;D <Y~,>;_= T≥z_.D→→<m≤{H⊂∪→pz2`2es c@=[aYSα≠πS∃¬##∃β∧ε&}⊗LYRε@yH⊃
≤9{[n≥<kβ! 8π2 w`
Ao=kYHAαc'/∃∧εFzεmx M↑9_= T_(∀l↑λ≠p∪λ22y`)en rules @QQChAα≠πCS,ε&*πM W<α@
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QS`R↓C]HAα∪↔SS,ε"π→<p~~w3P %qu`∪@∧¬V.wEaP@!α@
F@%]C@3eI1β←*β←?Wd∧BεF≥<Rπεtλ
⎇zh⊂⊂]⊂0P 4otal@1rAISα3⊂⊗/,Yg"ε≤∧⊂_≤αh∂CGα@4+Szβ∪↔πd¬⊗v:∞⎇↔&B X .]<≠9-nα⊂3 !ilure, namelp∩Aα3πWL¬⊂≥4πle@IC]hAα#↔O'>q0∩αλ/⊂hVα;]∞4πd`+α≠';≥∧¬FNnα=→,D≤Y0∩≥w20w_|P0w→⊂92`#onfi@≥keC@&K?9β∞∪'3''I1β'α@λ
≡hβ"N
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αo@_AMC@,¬G'~βλ⊂~~4πugh perhaps @¬hABAβ∪↔'\8 ,D≠→0≠→v⊂7`& perfor`≠C9GB\@↓'←[J4⊂ CK,¬FNn≥l↔/(≥{n5P40\β be@∃\AI←9JAS\αβS#'~β∪'K,∧7&Nβ{@⊂_<P0@ nq`≠E∃` β?2β7π≠,3π∂S,ε&/↔1Q&∞vDλ
<Y( ≡Y(⊂$ Y=`⊂≥42w`2etic@¬XAeKβ≠W3S~q↓α←*β←?Wd∧BεF≥<Rπεtλ
-l→<] ≥y(⊂$↓ ¬0∪@
Q←YCIYrAKβCπ7πv S'⎇`λ
|β⊂:4→P87`3pπSESαc'S'-→βO'&Aβπ→∧∧WN(≥≠n|<Y⊂_x86 )cati@=\∩¬S8AaeC
iSGC0AIKgαK↔9β≤∧W'ε≥lw5@εEεB*42P≥5x4`#pεA[K9iS←]∃HAS\αβS#∃¬βK↔∂.#';≥¬βπKπ?∪πC#~βπ31∧C?3⊂hSS#∃¬β@⊗}]~6*ε|dπ=9{Z,m8x;ND≤Y<l\<Xz∧∞Y<⎇-N≤kλ ≥Yλ⊂≠YP12f~p{2P≥40z avionics
is agooddomain inwhich to Study them∞ Du@∀Ai↑Aβ##∃β&K[↔K≤¬↔'J
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angle o@_AKCG AYS],AeKY¬iSmJ↓i↑Ai!JAae∃mS←kLA←]J8@A!←β≠'S'|qβπ∂∨+@⊗∞?∀εO~∞Mπ/_Q( mm≡(⊂.∀→{p↔Y⊂0yP_v67`7e` by the accumulation o@_AKee=ef@1h#C#*βGS'4∧fv/>4ε}H≥~ T≠90⊗X2y9Vλ:42P_qqz`2acp∩Aα{⊂∩πM Rε≡≥H
,.X=~-⎇Kλ⊂-lβ"P~~2P9`4i`
M]∃`∂Mβ|∧bπε Tε⊗∂<Tε}r∞⎇εN≡∧λ .l<Z0~~4p∞g↓`∂'S~p4(Q*FzεL≡F*B∞Mε*ε|-w>NβY`⊂_wvx*]2y⊂ 0ower↓CmCSαcπ ∪*β⊂⊗@|H⊂→≠q0∂ts has been↓kgKHαβS 8Q(
≥Y≠⊂∩H5tw2[pz4`# relAtigns h∂LAαK;∂K,∧↔=8π3@ comp@1KqSIdXAoQ%YJAaβ∪? LYW4≠yC! ≡;X-]8|h ≥Yλ⊂∪≠2|4`"ility ha`-α)β ↔,¬bπ≡⎇H
L\α⊂1<H9tvx≠<P6pZβi`≥NβiQJA5K[EKβ∪@_h,X∞∞NY;9-O(≤p~~pεf @¬]HAQ∃Cmr\α↓απM∧εv*ε,Xλm⎇9(⊂⊂X4∧e @Q↑AIKβ3↔3?αβ∂?;'∪?1β&+∂#;Lε↔.<c"NM_8
th∂YKβ∪πS∃∧∧ff/
_λM≥~9≡$
8π⊂ ! h C]%a`↔L≡F␈∩|∧h
\αqt0[4qpvλ9z1:Xz:y2K⊂:42H8¬se
λ¬P∨→∧ε7.≡∧λ ML>~0⊃≠2P0y≠yP;t[4∧ have many depπSeC YJAGα{;O↔∂+↔;∂,ε3@$≠8;M≡≥;⊂⊂]4πr`&4⊂ ∂πp∧ε⊗*
H
,@t:2`2 a`≥Hαβ⊂⊗∂>LW∩b∞8λ,L<H⊂~≠P:y`%, and h KgLAae←αs∃βSzβ∪πa very difficult problem. Such systems are inherently
unstable. When we can achieve the astute use of end-point sensing and
feedback, this will make possible a new level of precision in manipulator
use, and open up many new areas for manipulator application.
The Stanford Guidance and Control Laboratory has pursued fundamental
understanding of basic control problems since 1960. During this time
we have gained a strong capability in optimal control, both analog
and digital, and have verified theoretical results by numerous experimental
demonstrations (Refs. 1-10). Since our beginning, a prime area of interest
has been the control of flexible vehicles and beams (1-5). More recently,
we have also developed new insights into the problems of robust control
with uncertain parameters (8,9), and real-time dynamic estimations (10).
Current experimental research includes control of a very flexible manipulator
using end-point sensing (5), as well as an experiment demonstrating active
damping of structural vibrations using a non-colocated sensor (7).\.
\,
\JThe Stanford Artificial Intelligence Laboratory has carried out basic
research in robotics since 1965. We havE designed and built two robot
manipulators, two programming languages for robots, and several force
sensors, together with kinematics, force control, and a strong program
in computer vision (11-17). This work led to a successful industrial
rkbot, the Unimate PUMA, and its software system VAL. Wa think that
the marriage oF theoretical and experimental capability at StaffOrd
In robotics afd↓S\AMαc↔c'⊗c∃β∂}sSK?bβ∂π9εkπ/∃π+;'G,∧Rε≡⎇nG⊗N.ZFN}n4π&xQ,&∂≡≤4π.vLZ'∨&≥lFNvt ⊗v"∞Mrπ& Tε∂↔D v"ε\≥fOπ]H↔&␈$
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FF*
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}≠9;NEHλ∪ml+;∩-mh_;LD≥≥{e]~;Zd [→>
≤[→( ≡[<h¬ε M( ∂J#"M}→<X.M;Y`⊂~w⊂:4→P47i~⎇7w:_v⊂86_w2P0\2P12Zw3P:\rr⊂3≠y⊂:4~yP92\rpy1Z↔.↔εB∧E.!T2yrp\1t⊂(≠0p∞
TJThe fIpst Task For the AFOSR pRogram will be To extend The end-po@%]hAGα{;SK}`4+3∂;Eβ←*β#π[*β∪↔[,¬F␈ε\@ε&␈$λff/
≤&f* ≡&jε|λWε∂M→vrε≥`λ∞M→(~
}X:P↔[8∧al ph C]∀~∃i↑↓iQJAYKeiS
CXAa1C]JA¬]HAi<AiQe∃JAIS5K]gSα{;Mβ>C↔K∃ε;Cπ[LεGJε≤hf.∨N4π&FQQ'∨O>LVj@Hλ∃
<h∃m≥≠λ∩-m=~8-M≤(⊂LT→≠sLT≥<p∀[3P:;[TP0w→⊂:49→rVv )nk robot Apis
with↓H &←
⊗⊗NM~GJε≥`π&FTλf␈⊗T v $_{s.
~8;ND→≤Z.l(_Y-N≤k@⊂λ*44yH4yP0H88 `!αK∂π⊂hSπ;⊃∧¬⊗oε}.F∞wDλ M}Y(⊂↔Yα co@5aYSC9G@∃βL¬bπ⊗|-w"π?~7&.↑5bα¬M
↔4≥z0⊗≠⊂0v ,ow the
αfUndamenpal control lAws to be devel@=aKHAMaKGSα3'∂πdceβ←LεFBε},↔6OO∀ε.⊗lXλnNc"P∀[⊂6t`.d rather @QQCLAβ##∃β,∧f&.>N2ε@yH⊂⊃\αkss-coup@1S]NA KioKα+9β'pkC &≥lRε∞βYβ!
⎇=β-|K<⊂⊗_w2P!→w24g→β mo@⊃KfAC9HAi←I`∂'⎇l⊗bε]xF/~dλFO∨N-⊗↔=→1∧ Y→0≤~q4v )ty~∀!G←[a1SC]h5EKCZαβ7π≠MβW3π&{Aβ7,k ↔K~Iβ←'d¬Bε⊗T ⊗w6↑8
≤x9→,D~;@∞M→(≠L←≥β"NL<z|ea"C"H≥≠λ∪lD≥~→$ {{]∞
{λ∪-|α2yP≤92{ )ouslY devEloped fgr↓iQJA!←eC@T{;CπbβC &≥lPhV≡-W
π⎇→Fbε,Tε∞_8⊂~→r⊂:7H:42P≥2y:4Xpr⊗x≠0p∞e and Three-dimeNsional armq;
including↓YCeO∀AC@;>c∃βOd∧W>Nlp ∧∞≤[v
≥8=≡$
;⎇~-⎇Kλ⊂m⎇]_8nE9[|L<(_p↔[:97f ∧E0w→⊂9vw[z4⊂9]tz1t~w3P1→z;rr[⊂6wr→yW⊂⊂⊂r24j~ww0vλ;wy5H4w⊂3≠2|4q≠2P0y≠FE5t[2rpz~qyP$\β ne@∃IKHAQ↑AIKβ#↔K↔Ns∃β?¬#'7πbβ#?'w!βπ≠ ∧ε.vE↑ε}NnAPW',≥&.∨Mz&N∂4λf␈∩
]⊗vN↑]Ro&≥\Rπ≡LZw5λ≤∪n|<H⊂⊃[w9zv\:4wwλ1ww9]90tw≥9VεE_w2⊂+_y0pq≠2P80↑v7prλ6pyyH∀0w2λ4p∞e@IiSBR8@A qQK]gSYJAaCIC[Ki∃d⊂∀+/≠S'\≡FN}d ⊗v" ≤F∂πM≡f*ε=yg'⊗⎇Dπ&.=
fO∂\Z2ε∂,Tε.wm~6N}l\Bε6} π&F≡4πε∂,APV↑d∞FF*∞L↔∞ZβW AQ@εE. ∧Aβ,∧@∃)!JAgKα≠?;⊃∧εF∂≡4λ
m≥≠λ⊂∀[1v2b→P4w;→yz4cXz4w3H:42P_px0q~v4r4YyP0w→⊂64fZz0r4[w9FE≠pε l@U[aKHαk∂?7∧¬FN∞βXp∩H93q7]⊂0q6\Tε Speci@→SGCYαceβSF)βO3,εrπ∨ X ,Eλ→0↔→⊗x7`)nt
Settl@%]NAi%[@∃β∞s⊃βC⎇≠'S'|s';≥∧∧⊗≡∨↑,⊗∨JD∞πε␈α~0⊗Zz8 Motion, and contact-force
λperfor`≠C9G@∃β>K3 " ,Rε&↑LWε@8;Y,D→[p→∞α variabl@∀AMYKβC' 'd¬↔'J¬
∩v*dλλm 8π3r\β in
drive-beLt co@5aYSC9GJRv↓mCeS¬EP∪∃¬βπg∪} ⊃β7∂≠Eβπv!β'≠,ε'&N∃Dπ6∂-≤⊗⊗FQQ&∞∨L¬0.M|H∀
}y<@¬
~;:.D≠8>
≥=; ⊂_wvvp[22r tkrque input to m`∨i=efRv↓mCeS¬EYJ~)G←]iI←YYKβ⊃β πv#←'∪&Amβπv!β'≠F+K↔;"βπ∂S. S?Iε ;⊃β≤∧Vw≡} εv}e]FNv\≡&O&≤↑0hR
]w&␈$λ6}≡⎇≥f*ε≥lBπ⊗≤
εf*∞Mw↔∂\UBπ≡]n6␈∩
}W'π↑@π∂.≥nFOV≡M⊗}rDλW&~e∃`hT}
FNn≥Dε&/=≤vrε>-↔&/-≤∩ε≡≥`ε⊗* LW6.M}ε." n&}j∞Mε*π,↑7.gN4ε}2∞MεO~∞L↔≡ZβC"AQT⎇8N<<=1-nλ≥_.=|h≤
L9[Y,D~;XmN9→(∞M→(⊃M⎇≠≠um≥YnC!*_<zd∞~≤Y,UH⊃>∞L;Y∞M→(∃m}Zh∩-d≥_<m≡c"Sml(_;LD≥≥{d∞≠h∀M|[⎇ ≡[<h∞⎇=~ M<⎇≤M≤]=→,D→[⊃/
8Z3
≡≡(⊂↔\2y0z~w3P$[⊂:42CE;2y≥4qpvλ860w→P0w2λ4w⊂3≥v6⊂*~92rP→4vrg≤tww9K⊂⊂$wλ0r24]4ww⊂≥7P4w_y2pyZw3FE≥42P7≥vq2yλ7s⊂3≠2|4q≠2P6wY2yP3≤7vP7[2P:7H⊃6pw≡Q⊂6wY2yP⊂≤2y⊂&~w5VεB1y7y\Vqwz\64w3H12z;Yrw⊂4[⊗x60[2P0w→⊂7zz ws⊗x≠0s2P_2w24[3P6wY2yP0[2εE:≠y9tw[0v⊂6[r2yP≠zyz⊂_2P1`/ntrolled. The robot arms built foR this pack
will be very close in design to @QQJAMαc↔c'⊗c∃βK}∪?SMπ;#'∂Bβ←'3bβ↔[↔w#Wπ3gH4+ *βWO↔ β'9βNs∪GO'∪eβπv!β e∧εFF*
]⊗fOL≡'JPQ!PU&≤92ε6}Z"r∧\≡F*πM Rε6L[εN⊗LTε∂⊗↑4ε&/lX
}→9⊂~w⊂:4→P:44\2⊂:0\uP;t]4εE 4he sOphicTicated sensors and End-e@→MKGi=ef@QQQJA∃A_['i¬]M←e⊂A⊃C]⊂X∩∃GUeeK]QYrAE∃S]NA⊃KmKY=aKHX↓C]HAQ↑@EG1←gJAQQJAYα{?A ∧¬vrπM VO∩ 9vw'-⎇@hV≥lBεNnLV/⊗≡LRπ& Tε␈6↑,⊗fb 8 mn≤[s∧
;]≠d (~~,⎇ ;⊂∩]2v⊂ #ommand language
su@
PACf↓βπ%∨93~\~(~∃)CMVAMSYJ\A∪9mKgi%OCiJ↓iQJAAKeM←I[C]G∀A←LAQQJAG=[aYKQJAMY∃qSEY∀Ae←E=h~∃CIZAoSQPAK]⊂[KMM∃Gi←d↓M←dAYCeS←UfAeK¬X[YS→JA[C9kMCGQkeS]≤XACgMK[EYdX~∃C9HAS]MaKGi%←\Ai¬gWf\A→CiQKdAi¬cWfA%]GYk⊃JAS]QKOeCQS←\A=LAiQ∀AMYKaSEYJ4∃K]H5a←S]PAG←]Qe←YY∃HAe← ←hAS9i↑AB↓[C]k→CGikIS]NA∃]mSe=][K]PAC]H~∃[kis, Aeronautics and Astronautics Department,
Stanford University, November 1965.
2. Schaefer, J.F., Cannon, R.H., "On the Control of Unstable Mechanical Systems,"
presented at the 1966 International Federation of Automatic Control, London,
England.
3. Edwards, J.W., Breakwell, J.V., Bryson, A.E., "Active Flutter Control Using
Generalized Unsteady Aerodynamic Theory," Journal of Guidance and Control,
Vol. 1, No. 1, January-February, 1978, pp. 32-40.\.
\J4. Breakwell, J.A., "Control of Flexible Spacecraft," forthcoming Ph.D.
thesis, Aeronautics and Astronautics Department, Stanford University.
5. Schmitz, E., Cannon, R., "Control of a Flexible Manipulator Link," to
appear in Proc. 1981 Joint Automatic Control Conference, Charlottesvilhe,
Virginia June 17-19, 1981.
6. Cannon, R.H., "Requirements and Design for a Special Gyro foR Measuring
General Relativity EffEcts," Kreiselproblema (H.Ziegler, ed), Springer
Verlag, Berlin, 1963, pp. 106-160.
7. Rosenthal, D. and Cannon R.H., "Experiments with LoncOlkcated Control of
Flexible StrucTures," presanted atthe AIAA Conference, Albuquerque, New
Mexico, August 19-21, 1981.
8. Ly, U.L., "A Direct Method for Designing Optimal Control Systems that are
Insensitive to Arbitrarily Large Changes in Physcial Parameters," Aeronautical
Engineering Thesis, California Institute of Technology, August 1977.\.
\J9. Vinkler, A., L.J. Wood, U.L. Ly, R.H. Cannon, Jr., "Minimum Expected
Cost Control of Linear Systems with Uncertain Parameters -- Application to
Remotely Piloted Vehicle Flight Control Systems, "Journal kf Guidance and
Control, Volume 3, Number 6, November-December 1900.
¬
10. Bryson, A.E., Mishne, E., "On-Line Parameter Estimator Using a High Sensitivity¬
Estimator," AIAA Guidance and Control Conference, Palo Alto, Ca, August 7-9,
1978.
11. Johnston, A., "Proximity Sensor Technology for Manipulator End Effector,"
Mechanism and Machine Theory, Tol. 12, pp. 95-109, 1977,\.
TJ12. Johnston, A., "Optical ProXimaty Sensors @→←dA≠¬]Sak1Ci←eLXDA∃A_A)~4ffJlDdX~∃5Cr@BdnfL~(~∀bf8A∃←Q9gi←\αaα¬9b↓
π→∧+cC↔⊗K7π; β'9αn ;'C.cπS?∩α∂?;'∪?1β>KS!α∧ε&␈F≥]↔'Jλ8 -n{|\eDA"RJ λ⊂
&KYYV[
\⊂ April 1974.
¬
14. RoderiCi, M., "Diqcre@QJAπ←9ie←X↓←DABααK/ ⎇!απKha↓απ↔#'≠π≤Kπ1αNsS↔3dK⊂≡∞βXp∩CE&0q≠y0z7\<V⊂)]0p∞f@=eHA 9SmKeMSibX↓≠K@7zαε&5i⊃a]⊃∧~M5U9 1απ.;WOQβ eMYph(4) )9αO≡C↔';n 91α2rA91α∩∪↔ON;9β?2β¬α∂}kCGS-⊃α∂?w#K?3f+⊃α7∞s'CWf S?Ib⊃απK&K≠'∂N 04
NsS↔3fK∨↔;≤)α3π⊗{KπS␈∪e1α∨#π;≠⎇∪⊃αWvK[↔K≤KSe1∧k↔7=∧
&5↓K⊃1↓EK1e:Qph($*dQEY9∧≠Kπ':aα)9bβπ;⊃¬∪π' /∪Q1αjq1↓
αOgO&+7πSL→α7↔&C?⊃β6{Iα#N∪K'⊃¬β?O'&K?9<hR≠?K≡)α∂?w#K?1ε{→β¬∧kπ;'π+3πS␈⊃1 α∧ε&}~dε∪K;∀ ∀,,Tλ6}o∞↑F/∩
9v7'|≡&(h(≡πεf≤<↔&N⎇n2∧≡⎇lf/⊗]l6*bλ=εN≡≤⎇rb∧→EB∧v}lVn⊗↑$β Kw∃`hPQ&∪:R
<⊗fO<.W↔JD "tZeDα∀∞>M↔6*
:FN6mlW∂~λ=vw'-⎇Bε}d ∩∧n≥m↔π.L≡F␈∩
≥b∧≡≡.F/≡≤≥`hT=⎇w⊗&≥l↔&/5D"∧LXXR∧≡⎇lf/⊗]l6*∧⎇d∧&.=≡6N}d ⊗v"λ=vw'-⎇Bb∧≥L'/∂\Z'∂.UD∧tjAQ$&.<]V⊗/$ε∪KC¬aPPH&↔αr¬ ≡Vbb
%dbrD ⊗r¬}UB∧~i¬bbα)\⊗vO∞YF∂&}$∧≡}↑ FN∞l8 $λX<p∩Y⊂7w∩7tw:λ*7y8]p@
Control", IEEE ConfeRence On DecisiOn and Contpkl, Albu@Ek@↔K∂+∃1αti0$(LV≡.\,Wαβ↔↔βαpQ!PC α+@⊂∀0zv⊗λ)↔⊂ %t al, "AdvanceD I`≥IUgieS¬XA%← ←hAπ=]ie←0A'sGQK[fXλA'GQ=←XA←_~∃ Yα+∂SKL≠π1α.s↔'lX .
9Y`⊗λ(:y2≥pP ∃niversitq, TR-EE-78-∩5, May 1978.T.
\F2\CPROJECT 5
\CADAPTIVE CONTROL OF FLEXIBLE MECHANISMS
\F0\CAbstract
\JAlmost all positioning control systems, including those in servomechanisms,
machine tools, and robots, require fEedback around a member with significant
flexibility relative to the desired speed oF response of the device. Standard
pechniqu@∃bAM←HAiQSLAgSiUCiS←8AkgJ↓←]Yr↓G←Y←
CiKH↓gC]g=afXA¬]HAS9GYkI∀~∃G←5aK]g¬i←ef↓oSiP↓]←iG Aisa∀AMeKEkCMGdAeKgA←]gJ↓iVAe∃IkGJ↓eKg←9C]hAα3↔↔∪⊗ ∂,4T∧⊗v"∞8 d x;⊂⊗→p⊂97X8¬stcontrollerpεAIKMSO]K⊂Ai↑A¬GQSKYJAG←9ie←X↓S\Ai!JAMC
JA←L~∃k]
KeiC%\AeKM←]C]
JAMe∃ckK]
rP→↓¬##↔O*β∪↔OL;;Mβ|∧bεv\8 .ytz<H9pq`2ibac@∀AaKe→←e@7∞s∂∀∀T QβSF)β+∨nK;πD
7'↔\8
∞↑X;λ∞ <X;,↑→<\d∞≠h∪,≥9]_-≥H≤x.M<yP,>≠|↑$∞→<YM}Xεpw_p¬ at
the worst case valu` f\α↓α'→∧∧Vv"∞λ m≥]λ⊂→Yw9t`.dεASf↓iP≥β⊗)β@/<XBbπM WJπ⎇→Fbεmx
↓Q]{tMP0r all.~∀4U∪↔∂↔w!βK↔≥+3@'4λ
-d_9_.∞~=P∩H1ww:≤5v⊂ 4hegry combined↓oSiP↓S[ae=mK[K9ifAS8@∩∃Kαc↔∂S⊗{;'∂~βπ;⊃∧+@∨ε\8
,≥≠~#!-:8tM}≤[p⊃Yyyw`2 cosT to perfoRmafc@∀AeCi%←fA[¬W@∃β&C∃β'w#K >NX7&N⎇`ε}∩ ≤F∂πM≡f(h,9vw'-yFf/.4ε6.≡9⊗⊗FT∞π⊗␈m≤F."∞Mε∂"∞9vn(≤Y-\:;Z-lh≤∀M|[→;.∀_x;D Y(≤m⎇≥Y9¬a R5∧
<h≥
(_:-T≠yH∞M~<h∞∞[|∪n<;λ∃
t≤⎇9l|<⎇λ∞⎇|Zh∞M_=∞∞[{:.<<h≥
t_{{NNZ8].L#"\m≤{Z1M≤x;]
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7ε.=_fN.D &␈.lLV"ε}ZGπ∂Dλ / ⎇<\m≥{\kKEA"C! ~Y∀H)z2b≡P:42H82y3≠y0
anca o@_AKqSMiSMNαβπ3∨|ε&O&
↑2ε∞βY⊂≥42P2→ytswλ4πf new
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which the a` CAβ#'[∃∧∧6}wN-vbπ⎇→Fbε,Tε.6lX7&OlUebpQ!PUBAQ exible Mechanisms
\JI. Definition of the problem. Manufacturing Science must include the
science of control of mechanisms and, in the effort to increase performance
while reducing costs, most of these mechanisms will display significant
flexibility. The problem exists both in the machine tool used to make the
product and in the product itself. For example, the servomechanism used
for positioning a computer disk head must move the arm to which the head
is attached and this arm has a frequency of resonant vibration due to its
flexibility that must be considered as part of the feedback control design.
FurthermoRe, because of manufacturing tolerances and environmental changes,
the resonant frequency will vary from unit to unit and will vary over time
in a given
unit. Similar↓KMMK
ifACIJAM←U]HAS8AgKeY←[KG!C]Sg5fAM←β⊃βCKNsS↔K~aβC3␈#S↔K~`4+S∂β∃β∪⊗K[↔Mbβ#πK β∂?CJβS↔KnK;π3~aβ'9π##∃β≤¬voπ↑LW∩ε≥lG/∨N/⊂hV≥Mvv+4λ6}o ≡&∞⊗LTππ⊗|-F.o4λWFO>@εNr
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9TP 2epresents the unstructured uncertaintq of the problem. The order of
l(s) and The fOpm oF l(s) are entirely unknown; only The facts that l(s)
is sTable, afddor s=j\f7w ,|l|j\f7w| For soma specified function l\∪m\⊗ are known.\.
\JTo control a system such as (1) several schemes have been devised. These
may be classified as (Astrom 1981)\.
1) Gain Scheduling
2) Model-Reference Adaptive Control (MRAC)
3) Self-Tuning Regulators (STR)
\JIn gain scheduling, the parameters O are found to depend on one or two
critical environmental factors such as temperature, or fuel level in a
rocket, or in aircraft, dynamic pressure and an independent measurement
of these cRitical parameters is made. Beforehand, a design of the control
is done fOr each of the important Ranges kf The paraee@QKefA¬]HAB↓iCEY∀A←d~)gGQK⊃kYJA=LAG←9ie←X↓OCS]LAmKeMkfAGISiSG¬XAaCIC[Ki∃dASf↓[CIJ8@A)QUfXAo!K\Ai!J~∃K9mSe←9[K]h↓SfA[∃Cgke∃HXAi!JAG←9ie←Y1KdAY=←WfAQ↑AiQ∀AgGQ∃IkYJ↓C]HAMKifAQQJ~∃≥CS]f↓CGG←β∪∪'≠>ce)↓¬;#↔9π##∃β∂≠OW7π#'?;~β?→β> '9β≤≠#↔∪,c';≥ε K∃β≡ S'O4K↔⊃0hSS#∃εk↔S#}!β'MεK;↔cε+;O'6)βπ; β↔≠≠.≠S'[*q↓α←F+9βSF)βπO∨+7CSN{;Mβ∂∪∃β;␈ 4+O∂#'O≠N+⊃1β∂→β←#.qβS#*β∪'7.sO'?w→β?→∧yβπK*β3πK>)1βSF+9βSF)βSπ⊗c∃β .≠?7↔_h+CK}C' '&K[↔3Jβ3πK>)βπ;"βπ3S/∪;πSO3∃β7/##?∪~β∂?;≡K∪↔K.!84(hRS#∃π#←=βπ∪';∂Oβπ1β≡ S↔∨␈∪'↔Mε{→βπ& CS'6)β∂?w#K?1π≠SW∪N+⊃β?6+IβSF)βCπ∨ 4+∪.≠π∪∃ε K∃β&C∃β7}#↔1β⊗+≠↔K.s∂∃β∞#πCSO3∃β∂}sSK?b↓"6J →%βπv!βS#*βO↔32βSW;Ns≤4+⊗+∨W3∂#?I↓E~RI%rα←#'f)βS#*β?K'>K;π1πβ#'3␈≠?C#Jβ?→β&C↔O∃π#←=βn+S#?'→β←π_h+∪'63↔K↔w!1βSF)β↔[}cWS'}qβ?→ε 3∨?⊗KS#7~βπ;⊃π≠Sπ Nc'SeπβK??7→β#π~β ↔↔rβOW∂@h+S#∂!βS#*βS←=π≠∂#↔n+Mβπ⊗)β;?:βO↔↔rβπMβ/≠O↔;&Kπ33Jβ↔GWO3π3↔w!9↓αNqβS#*α6Jε~`4+πrβ↔cS/∪;π1εk?∪↔bβK↔C⊗+O↔;&K;≥βN#↔π1ε ∂#'/3π 3*βK↔Oε{;O∃εKMβ∪⊗K[↔9ε∪eβSF(4+O∞k∃β∂}k7π;"βπCCfK↔⊃β&yβS#*β∂?;'∪?1β∨KOS↔jq↓αSF)β?W'βWQβ/∪K?Iε3?K7.!β dhSS#∃ε#'≠≠/∪↔;∂*β ↔S>+↔9βn{∪↔1ε{WSC/!βπ;"βOgO&+5β?/#CWQεKMβ≠␈∪7↔⊃r↓απ8hSπ3∨␈∪'S#jβ'Mβ/≠↔⊃β>C'∂!ε ∪+W∨#EβSF)β∂?w#K?3f+Iβ∨∞K;Mβ≡yβπMπ#=β7Ns'7'V)βS#O_4+↔↔∪?I9αα'9β&C∃αN%⊃1β?rβS#∃ε{S#↔∩β#π;"aβS#*βC#'f{O?CGIβ'Mπ#=βO/βπKπ&)β7?&+33'v84+≠⊗{5β∂}sSK?baβ;πn+3eβ&yβ'∪.sS'≠JβS#∃π≠gOS.iβCπ⊗ 7↔S/∪M)↓∧K9βSF)β?KN;';π`h+O∂F+7∃1¬##∃βε Kπ↔-#↔KM¬;↔K∃εK∪↔;&K≠'↔ β eβλβK↔∂/∪G'[*β3↔π≥!βOG. K↔LhSπ3∨⎇∪'S#hβπ;⊃¬##∃β≤{;SK}aβ π≤+⊃β?rβ7';NkW5β6 K'πv≠∃9α∂≠SK?hβ∪↔O≥∪' ↔_h+π∪&+K;π&K[↔Mε∪?S!ε3?IβN#↔;SN3'∂π&K?9β∞s⊃β≠⎇⊃β∂?w#K?1ua84(hRr*'rβ;W7-∪?WMε+cπ7εc↔M1πβK'7∂∪'3eπ#π/↔rβ≠K?jβS#∃πβK?∂/≠Mβ'v#WOS⊗K↔M0hSS#∃¬~RIβF Mβ .+9β≠␈+;⊃β&yβ ∃ε+≠≠↔∨#'[∃ε ;⊃β&yβ3↔∞!βS=π≠'∨;N3'∂πw 4+'oβK?[.k↔;S~β?[↔∩β≠'c.!β∂?w#K?1εcπ←MεC?←↔6+IβSF+eβπ⊗)β∪↔≡K∨;↔"rq84Pnt simulation studies (Johnson, Franklin, et al) advantages and
disadvantages of adaptive control for flexible mechanisms have been revealed.
A fourth order model consisting of two masses connected by a structure of
unknown stiffness and damping is to be controlled by an actuator which applies
force on one mass based on position information from a sensor on the second
mass. Because of the ease with which the STR algorithms can be understood
and the acknowledged equivalence between the STR and the MRAC, a version of the
STR was simulated. The original algorithm required that the system have no
zeroes in the unstable region of the complex plane. Because most dynamic
models when sampled for digital control, do not have this property, an
algorithm based on pole assignment with explicit identification of the system
parameter O was used. The conclusions may be summarized as follows:\.
\Jo In a wide range of circumstances including jump changes in the system
parameterq, the control maintained stability and abter about 40 samples
responded as if the parameters were known.
o When unstructured uncertainty in the form of an additional secOnd order
term (as might arise from a second resonance) was a`ded, the algorithm
converged and, with some slight deterioration in response, continued to
control the system.
o When the second resonance was given zero damping, the control was unstable
and the adaptive algorithm failed.
o During step changes when the parameter has not converged, the control
signal (in simulation) underwent extremedy large excursions before it
converged to good control.
o Even when the system was changed to an open-loop unstable c@=]ISi%←\XA%HAiQ∀~∃k]MiekGQkeKH↓k]GKIiCS]QrAoCLAUOhαβS?=∧cπK∨*aβS#*β∂?;'∪?1β> Eβ↔4∧f.∨M≡f*Uβ C!↓αE.%∃42P)→yzv 4pεA←L↓iQSf↓aeKY%[S@;∂∪eβO'+∪eβ>+K∃β∧ε&}n≤8
-lh_].D→|Y,≡→<@∞]Y→0→≤z0w2~w3FE~yP72Xpyyp\<P12Y7y2P≤zqt≤|yz2[yP1`[⊂12P≤2pv )sticalhq Appli@∃H\@AMKmKe¬X∩+⊗+7π'vK;≥β∧ε&}⊗L]W
ε≡,S@H!Q#
J
Mε*π∞,W∞;]∞M→;p→≡P27b\β no@PAaKe5ShAE=k]IS9H
βSF)β∂?w#C/1∧∧V&6}.Bε␈$λ
≥z;Yd 8⎇~-⎇C"P∀Y⊂:42H7zz8≥z⊂2`8ceeds limits. The algorithm design afd↓G←]m∃eOK]
JAae=←@≠Mεs↔↔⊂hSS-β⊗)β↔c&+;∪↔ ∧π&z 8 nl<H⊂~~4yP1XyrWεB∧E→∧H*42P≤92y`%np algoriThis are based On measurine al@0AiQJ↓aCeC5KiKeLAWLAQQJAgegiKZ8~∃∪L↓iQJA⊃s]C[%FAG←∃MMSG%K]hA¬eJAi!K[gKαc[↔Mε β≠Wv≠S'?pβ?→β
βO7πdc↔Iβw+7 ↔⊂β?_4T≠C'SN≠π1βε Cπ\X
↑\h≤n\zλ_.4_(∪
|9λ≠,≡|h≠n$≤|∀M≥Yh≤nM9Y[L↑|kλ∞M→;@∞M→(_-L{|Z.M≠#"Nt7zf→⊂12P≤z9:q]8y2rλ9wP0\P:7P≤tvx6~s<P*≠P5:y]⊂2yj~vpz4[w⊂7cλ:42P_y4z4XpvεE≤0y0vYz2y9K⊂⊂*4~yP92\zv:≥wzv2λ3t{2H:yP0H1ww:~w:zvH12z;Yrw⊂3Xtw⊂9Xt2r:[4w3P_w2εE_p0x*~{2P![w:97[↔εEεB→TP*~2P0v→wy4z~6P:yYr⊂7cλ2|86~qtz⊂≠wr2vλ4r2w≥4s4qXz4wwλ0w2⊂≤7v2P≤60qr[rw:⊂_w2εE→2yts[⊂:92Xz9P:~2P1p\rP7cλ=2y7\P4w⊂≥42P:[9z0q≠2P92Ytww⊗λ1:z⊂→7ryP≠7z⊂4_{2P0CE:42[y<P3≠y⊂:4→P1pyYP7s⊂≥w9z9≥qz:y→r⊂:w_ry:0Zw:<Wλ⊂*42H8zry]4ww⊂≠s⊂24\qw{2\4s3FB0P17]w2⊂7[⊂6⊂3≠y⊂9z_q4v4]<P7cλ0w⊂0Y0x:4]2P0v→wy4z~6P4yH;2y<H4vx7\80w:λ:7P9]:r<WβEαE*~2yrP≥492rH:42g\2z4qXv⊂8zYyz4g[9P1w]x62rλ;tz4λ0P9t[zv0z~ww⊂0[2⊂60X7y0z≠y<FE~vx6"[rw:0]4ww⊂≤z:r<H1ww9]4z:j→P:42H;wy5H897e→qz⊂8≤7x7yYr⊂:7H0r;0[1rP*~2FE #ontrol of fhexible mechanisms by adaptive control.\.
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(⊂ `4anfo@IHAβ]QKGeCQK@⊃α≤¬↔,⎇:0~≤β @→C ←eCi=` eβF @~ε,X -a X8nM=Y(
≥H≤Y.p¬abch deAli`≥Nαβ←'S@∧ε
πl≡&N=~(
|β⊂4`.tegbated @MK]g←β∪@~@Hλ⊂$
αp∂nolithic
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∞,V∞~;Yd 8∧r d¬P∨I∧εFF* -FNvD¬β
J∞⎇εN≡∧λ⊗g≡qQ&Nv=JV&.Dλ∩ε@8;Z,≡≥<Y$∞~9>M|;→0nNZ8h∞L8⎇~-L(→~.x60|K⊂⊂!`%veral f`∨e5`
β?2α∪ ?∞ F/⊂β"U-N≤X<m⎇X8h @47{vYz2y9H40{ % beeN demonstrated (2,3). A novel SilicOn gas chromatogp¬CaP4⊃QCF↓EKK\αβ∪↔↔|sOSK∂#↔⊃↓A!% 2 mw6.D VNv≤≡G/⊗T VN∨-xVf.>N&}εT ↔↔⊗∨~2ε6} λ∞↑y(⊂∀[⊂0wεBαaudith∂er↓aeOgβ##↔OLε2εF≤h $ Y93D →<pn
8Y1∧¬
*+D∧⊂;@ ≤α24`4ion, bothpiez@=aKgSMiSmJPlR~)C]HAα≠πCπ≤KS'[*↓!]%π≠'3'≤{9βC⊗+@∨∨↑,Rπ',≥g<≥8p∩\9P40]2P12Yw⊂4`.vestieated,X ≤~(~∃ 2≤{ +↔≥#'[∀hP4*@I*FF*∞
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βSzβ∂?;&K;W∃∧ε&/≡\≡&≡B ≥⊗n9λ⊂~≠{py2βE:v 4p¬CKS9SCiKβ∪∃↓ Uf 5β⊂⊂⊃↓p@bAβA↓9E∧k5%β∧ε&/∨>X LT≥≤X-ny→0⊃Yy9P #apable of pπ@↔;≤¬⊗v: ⊃P@.z9→$∞X;YlT≠yH∞0x4`$ly c@!C]OSαs⊂~π∞,W>⎇<Y.P4w a vari` i@Jβ?2 ≥V⊗N]nG5β⊂⊂ H9rq`/ndary
`∨E)KGiSβ3∃β'~βS :
_ NL9x 0]2P;t]4⊂:4→P892\βsure pranpπAkGα+@∩b ≤F&OM_ ml8ε⊂ 4p¬C@;≤#W∂↔↔_4+≠|ε"ππ,Z7∂/,UBπ→;< ↑X=≥.,+λ⊂∩[2qz9~qpv⊂≤7z2g≥4pv⊗λ64st≥⊗⊂9`4p¬C@'p¬Bπ∧¬Dε/&5aPF@98<n↑Y;9-n≤h⊂~≠P37`2m a @5kYiSMK]g←β⊃β∂#M↓2aaQ hUβ⊂p.∞≤[p,=β"C!,∧BThe fe@¬`∂' L¬FO'α(⊂↔Y⊂:42H10q`)c a`!AaP∨π≤AβS=∧∧&*π∞X N≡99⊂~0yP1→pw⊂"\z0q6~yt2bλ;tz4λ:42FB4p∞i@QSCXA⊃K[←]MieCi%←\A←α1βπ9∧¬⊗wε\}&∂&\@λ∞p¬nsOp based upon apπSYS
←\AI%CaQe¬OZ~∃α≠πCπ≡KS'[*βCK↔∨≠WK∃¬#Cπ;≡#W∂↔⊂↓!]∃`λ∧
~~<d∞≤X;N<≥8y.$≥x<d X8\M≤x=→,D~;H∞M→(≤l≥9#"N≥;~8m⎇H_z
≡λ≥z.Mλ~;NL9|X.L9λ⊂m≡X⎇2.N↑(⊂~≠P1ww≥2y: pressure-inducEd changes in
diaphragm position to changas In the period of an astable multivibrator.
The diglicon
diaphragm pressure transducers are proposed. Diaphragm thicknesses of 5-10
microns and diameters of less than 0.5-1.0 mm are quite feasible. The minute
values of transduction capacitance associated with these devices mandate that
on-chip electronics be used to buffer the transduction capacitance.
This buffering isolates the transduction capacitance per se from any off-chip
wire or cable
capacitances whose relatively massive values and uncontrolled variations
would otherwise totally swamp the transduction mechanism.
The silicon diaphragm will be anisotropically etched using either wet
chemical or dry reactive ion etching techniques. The transduction capacitor
electrodes will be metal plates. One plate will be evaporated on a silicon
dioxide layer covering the "inside" of the diaphragm. The second plate will
be evaporated on a glass cap which will be anodically bonded to the silicon
chip. The critical spacing between the plates will be determined by a patterned
thin film of metal separating the silicon chip and its glass cap. Reliable
methods for attaching electrical leads to the chip-cap assembly must be
developed.
Integrated circuit batch fabrication technology will be used. Thus an
entire 75 mm silicon wafer will be "covered" with integrated sensors during
the fabrication sequence. Thus, virtually any number of pressure transducers
along with additional temperature, light, strain and other transducers plus
associated circuitry can be included in the same sensor chip.\.
\CReferences
\J1) P.J. Salsbury and J.D. Meindl, "A Monolithic Image Sensor for a Reading
Aid for the Blind," Proc. IEEE 58(9):1302-1314, Sept. 1970.
2) J.W. Knutti, H.V. Allen and J.D. Meindl, "An Integrated Circuit Approach
to Totally Implantable Telemetry Systems," Biotelemetry and Patient Monitoring
6(3):95-106, 1979.
¬
3) C.F. Hottinger and J.D. Meindl, "Blood Flow Measurement Using the Attenuation-
Compensated Volume Flowmeter," Ultrasonic Imaging 1(1):1-15, Jan. 1979.
4) S.C. Terry andJ.B.Angell, "A Gas ChromatographiC Air Analyzer Fabricated
on a Silicon Wafer," IEEE Trans. on Electron Devices ED-26(12):1880-1886,
Dec. 1979.
5) T.R. Gheewala, R.D. Melen and R.L. White, "A CMOS D/A Charge Demultiplexer
for Multi-Electrode Neural Stimulation," Digest of Technical Papers, 1975 IEEE
International Solid-State Circuits Conference, pp. 178-179.
6) T.A. Nunn and J.B. Angell, "An IC Absolute Pressure Transducer with Built-in
Reference Chamber," Indwelling and Implantable Pressure Transducers, eds.
D.G. Fleming, W.H. Ko and M.R. Neumann, CRC Press, CleveLand, Mhio, 1977,
pp. 133-136.
¬
7) C.S. Sander, J.W. Knutti and J.D. Meindl, "A Monolithic Capacitive Pressure
SensoR with Pulse-PeRiod Output," IEEE Trans. on Electron Devices ED-27(5):
927-930, May 1980.\.
XF %qπ!%∨) π(@\~∃ 2≤zBRε≤
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description exists. The method involves generating a hologram directly
from a master or a digital hologram is made from the design data. The actual
part being manufactured is compared with this reference.
The method used for the comparison is holographic interferometry. The part-to
be manufacturing is being illuminated by a coherent wave and a holoeram is
created using an appropriate reference wave. This hologram is superimposed
on the hologram of the masterpart and an interferogram results. The
interferogram contains information about the discrepancies between the
specified part and the manufactured part.
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Day to Day admi`≥Sβ≠SKπ&K?9β>K3!β⊗)β∂π↔∪'↔⊃∧{WQβ↔IβS#*β∪'K,≠S/I∧εvFxQ(
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\λ_↑$ (≤p~→p¬rine committee
including heads od two departmeNts. The steering committee will be
composed kf the head oF the department kf Mechanical Enginearing, PRof William
Reynolds, the head kf Aeronautics andAstronautics$ Prkf Robert Cannon,
Prof John McCarthy Of Computer Science, Prof Thomas Binford of Computer ScIence,
and Prof Dan DeBra of Aeronautics and Astronautics.
There will be detailed technical progress reports at six months and eighteen months.
In addition, there will be quarterly letter progress reports.
The primary mode of reporting will be technical papers reporting specific results
of research.\.
\F2\CFACILITIES
\F0\CSAIL
\JThe system is display-oriented, wiTh full graphics display
terminals in nearly every offIce.
Display editors andotheR sysTem software provide unusual
user Facilities. HiGh quality printing and graphiCq devices profIde¬
Publication facIlitiEpεAoQ%GPACIJAgkAaWei∃HAEr↓g←Mi]CeJ@4∃IKmα+3/C,!βπQ∧εFF*λ→∩εF≤-wε∂Mx O∀λ∧ *P⊗⊂""V⊂37`2
`≠CQQK@7∂#'∂πbβCW d¬⊗≡∂M_ meλ_;LD∀∪v¬∃@εE#\0x44XyP8 2intine devices inclUde0∀Aβ##∃αβλU∀⎇∧λw,<~~,>h⊂⊂→~w:2`2 (XGP)(
XEROX↓ WmKβ⊃αCKLsS↔HhQ##'>AβK↔≤¬vg=~0↔[⊂14`4 rac@QKdRX↓( πKN 9↓I⊂⊃βCKLsS↔I⎇β3 ?NLWααα_Z.D≤X<nL<J+↓QPx;M⎇H≠⊂⊂\p¬r Beae Ppinter, and Alphat`3ββ∃βCF{S : 8 m↑≠xp∀]4sw pranter.
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7tw:≠<P7`7ned by the departments of
Compqte@HA'GS∃]GJX4∃βYK
ieSG¬XA ]≥S]KKIS]NX↓C]HA=aKeCQS←]f↓%KgK¬eGP\AβYX↓gikI∃]ifA%\ABA⊃KOeK∀~∃ae=OeCZ↓S\Aπ=[aki∃dA'G%K]GJ↓QCmJ↓CGGKMfAi↑↓'π∨%∀\@A'
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'+≠ `~∀
∃q∃'+≠∃0ASf↓BAIk¬XAaese research work involves such applications may be
granted access to SUMEX. The SUMEX facility supports local and dial-access terminals,
ARPAnet, and other national networks. Additional equipment associated with SUMEX include
a DECSYSTEM-2020 and a DEC VAX-11/780. These several systems are also on
the Computer Science Ethernet local network.\.
\CCSL
\JClose collaboration is maintained between the Electrical Engineering department and
the Computer Science department. Research in hardware and software
computer systems is done in the Computer Systems Laboratory (CSL). CSL is
a laboratory of the Electrical Engineering Department populated by faculty
from both Electrical Engineering and Computer Science. CSL operates
a VAX-11/780 system for VLSI system design. Also, CSL has a variety
of small computer systems.\.
\CNetwork
\JA BBN TIP (Honeywell DDP-516) provides connection to
the ARPANET. Systems are interfaced to a local network, the
Ethernet, which connects SAIL, SCORE, many DEC VAX systems, DEC PDP11s,
and a network file server.
The Computer Science Department also operates several Xerox Alto personal
computers, linked together by the Ethernet communications network. Xerox
has provided these Altos, a Dover printer, and a network file system, as
an equipment grant to the Computer Science Department.\.
\CPlans
\JStanford has developed the SUN terminal, a high resolution graphic display,
800x1000, with a Motorola 68000 processor. Extensive software support
based on UNIX and C are being developed.
Computer Science and CSL plan to acquire 35 SUN terminals,
10 VAX 11/750s and 15 LISP machines in 1982. A large file server for the
entire SU network will provide economies of scale in storage.
Smaller file servers for clusterq of SUN terminals are planned. Since
cluster file servers are based on large disks, they are more economical
and provide higher performance than small disks for individual SUN machines.\.
\C\F2VISION AND ROBOTICS EXPERIIENTAL SYSTEM\F0
\JTwo Unimate 600 (PUMA) arms and
a pair of Stanford Scheinman arms are used for experiments in assembly.
The Stanford arms were designed and built here, the first in 1970, the second
in 1972. Hands and sensors for the PUMA arms are planned.
One Stanford arm has a wrist force sensor which measures three components
of force and three components of torque. It measures 300gm weight to within 5 gms.
There is a simple program which automatically calibrates the wrist.
Two pairs of force sensing fingers have been
built, the first measures one component of force, the other measures three components.
These fingers are being interfaced to the arms. Their sensitivity is .1 gm or so.\.
\JThe assembly workstation has a flexible and accurate setup capability,
with accurate locating holes and screw holes for clamps. A computer controlled
vise (with position feedback) and screwdriver (with velocity feedback) are used
for assemblies. More assembly tools are planned, including a moving belt.\.
\JA PDP11/45 with 124k wds of memory controls the arms. It is interfaced
to the KL10 I/O bus and the Ethernet.
A PDP11/60 is being interfaced for real-time arm control, with the PDP11/45
running the AL system.\.
\JA pair of solid state cameras, GE TN2500, will be used for stereo vision.
There is also a Fairchild CCD camera with resolution 380x480.
There is a vision module, Machine Intelligence VS-100, connected to a
GE TN2500 solid state camera together with a light table. It analyzes
silhouettes of objects for classification and location, and is coupled
to the AL system.
There is an Optronics C4500 digitizer for digitizing color photographs.\.
\JA Grinnell GMR-270 display system with 512x512 resolution with 36 bits per
pixel provides gray scale and graphics. It
is shared among users by a video switch. The system accomodates various combinations
of users: four users with 9 bit black and white
images, two users with two 9 bit channels each, or one user with 3
color channels of 9 bits each plus
another user with ablack andwhite channel Are soma oF the possIbhe Configurations.
The display systemhas an arithmeTic processor and tv digiTizer.\.¬
XJThe robotics sqsTem wilh be a distributed↓`∂gO&+5β←FK∂!β≤{77WvK∂πS/_4+∨4+Aβπpα↔S#,ε&v/D 4n∂L<⊗f6Tεs%jd∧¬&F↑,Rπ>≥H ∧ Y(_$ Y=` ≤α24`4ional direct iNterfacas.
The Ethe@I]KhAαK@~ε∀λλm|>λ⊂l≤Y→(∞⎇=~ ≤Yy0~λ→⊂6rYpq4jλ90z2H0s2 a simph JAAe←i←α≠?19α4*SFK@~π<9ε.nTλ L↑=:4L↑h≠sMO(≠sLT~_<LNx<Y$
;]→.,X8q$ ;Y⊂≠w2P9[s:;p\2P4w≥2y30XrP3'\⊂2pqZεE72]P22{~qrP4[9z2pY⊂7s⊂_P40y→;py2H0w2⊂≤ws:;Xy2P$[:2y3_qrP3≠y⊂2{→y<P8_ty⊂7Y⊂εE2→{4qr\W.↔εB∧E.%⊃4stz~⎇2r⊂≤z2y2[P4vpYryP6X|P12H;4r{Yr⊂0w→⊂897XryyrY⊂0z_P9z2\2wP9]0z4g[↔εE*~2P9z_z4wwλ4yP![vx94\rr⊂'Y⊂0P8_ty⊂7Y⊂160XuP0w→⊂;t4]2P6w[4z7y≤V⊂_[H⊂!ww≤0qP(T`VX[PFE44Yt⊂92\wv:z~ww⊂;~r2wP≠ww4j≠y9V⊂_w2⊂0H6wr4Y4rr⊂∪v2⊂"→v3:⊂∩ddP9Xpw74[3FE9]2y2w\qwx2K⊂⊂*4→P#y4[72v&λ24yx≠0|P9↑yz2vH897{~p2yP≥4r2wH:7P*~2P9z→y2wP≤z0z4[w⊂6w[4z7i≤WεE*~2P1z\9wy⊂_pw⊂1→P6pw~x:v0]2r⊂1≡P:90Xuq0v≠εE1w[:97vλ:497]st⊂*~2P("∀⊗XXP_w2⊂(⊃(∩XXλ1wvx≥z2y9K.∪εEβEβ,#⊂∩\@π¬+ ≥ (~∀4⊂∩∀~( fff
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\F"APPENDIX 1: ROBOTICS EXPERTS TRAINED AT STANFORD
\F0\JOne of our most important products has been people who havE worked in
robotics and who are now activeLy contributingin the field of robotics.
A partial list follows:\.
Victor Scheinman - VP of Research, Automatix, Inc.
Raj Reddy - head, Robotics Institute, Carnegie-Mellon Univ
Jerome Feldman - former chairman, Computer Science, Univ of Rochester
David Grossman - head of Robotics, IBM (one year visit)
R.F. Sproull - Asst Prof, CMU
Donald Pieper - chief engineer, Automatix
Gerald Gleason - chief engineer, Machine Intelligence Corp
Ram Nevatia - Prof, co-leader of Image Understanding0A+'ε4∀@@AIkggK1XA)CeY←d@4A∪¬~4∀@@A eSC\↓πCeY%gYJ@4A!eKMSIK]PXA+]%[CiS=\A/KMh~∧@A∂Ke¬YHAβ≥S\@Z↓!e←L0AES↑5K]OS9KKeS9NXAπ¬e]KO%J[≠K1Y←\AU]SmKIcSiR4∀@@A ekGJ↓'QS[¬]↑@Z↓+]S[¬iS←\↓/Kgh4∀@@AISGQCIH@E→=jDA!¬kX@Z↓!e←L0A!ke⊃kJA+9SmKeMSir~(@@A↔∃]]Ki A/CY⊃e←\@4A!e←_XA∨Q%↑A'i¬iJA 9SmKeMSir~(@@A/¬eeK\↓'KKe%]N@Z↓βggh↓!e←L0A≠∪(4∀@@A
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Ruzena↓ π+∨≠e↓5¬βK/→bαW;π2β? α∧∧Vv@\}3∞l8π4`CE⊂⊂⊂∪<p∞n↓#kCZα↓5αO≡C3W\,W⊗>↑!PRα∧
2r∧|≥f∂ε≡MπJαTλ↔∂≡|4¬π⊗|eB¬.m≡bε@yH∪-≤z~9l≥A"H∧∧⊃8<N≥_(∩Mt⊂∧0w≠0t⊂⊗H&7quZ2rrεB⊂⊂⊂!≤:qrP⊂αaumgart - consultant
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9w⊗}<⊂αj∧≡>7"¬∞-v2b
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⎇gJ¬>⎇w⊗"¬T¬≥∀⊃Q"αα
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N6∞J¬T∧<j
,W≡.≡,6B∧L≤'_h$∧α∧:dλf∞f4¬R¬π-|bb¬.ZF>∂.1PRα∧
ε∂'-≤6J∧β88jm8x<EZz→; ≥H (λ-y:;Lq"Hλ∧ x<[∧
~;YmL( (λZsβ"D∧λ∪8.-8(⊃m≥X( $λ;→8nN[⎇→,=Z8seD⊃:0⊗_w⊗⊂$]0r0→
GiusePina Gina - Electrotecnico, MiLan, Itali
R.A.Schmadt, Jr
A. Kay - Xerox
Michael Roderick - Teledyne
α Arthur Thomas - ADAC
William Gilberp - Texas InstpueeNts
Casey Cox - Automatix
\F2\CAPPENDIX 2: EDUCATIONAL PROGRAMS
\F0\CTypical Course Series
\JThe Computer Science courses which follow are courses which would
be relevant to engineering students not specializing in Computer
Science, but seeking computing background:\.
\F4
CS 107 Systematic Programming
(Brown)
CS 108A,B Fundamentals of Computation
(Reid)
CS 109A Assembly Language Programming
(Ehrman)
CS 111 Introduction to Computer Organization, Machine and
Assembly Languages
(staff)
CS 112 Digital Computer Organization
(staff)
CS 135 Numerical Methods
(Golub, Schreiber)
CS 144A,B Data Structqres
144A (Ullman)
144B (Floyd)
CS 193 Digital Logic Laboratory
(staff)
CS 194 Microcomputer Laboratory
(staff)
\F0
\JThe following courses in Computer Science relate to Automation,
automatic assembly, robotics, and computer vision:\.
\F4
CS 222 Artificial Intelligence Programming
(staff)
CS 223 Fundamentals of Artificial Intelligence
(Genesereth)
CS 224 Models of Thought Processes
(staff)
CS 227A,B,C Introduction to Robotics and Computer Vision
(Binford, Roth)
Robotics Seminar
CS 445 Topics in Computational Geometry
(Guibas)
EE 271 Introduction to VLSI SysTems
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4 E 207 Dieital Contpol I
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∂*#"H:ids
(Shortliffe and Buchanan)
CS 222 Artificial Intelligence Programming
(staff)
CS 223 Fundamentals of Artificial Intelligence
(Genesereth)
CS 224 Models of Thought Processes
(staff)
CS 225 Artificial Intelligence Research
(staff)
CS 226 Epistemological Problems of Artificial Intelligence
(McCarthy)
CS 227A,B,C Introduction to Robotics and Computer Vision
(Binford)
CS 229 Topics in Artificial Intelligence
(staff)
CS 234 Numerical Methods of Optimization
(Dantzig)
CS 235 Statistical Computing
(Golub)
CS 237A,B,C Advanced Numerical Analysis
237A (Oliger)
237B (Wilkinson)
237C (Schreiber)
238A,B,C Advanced Topics in Numerical Analysis
(staff)
242 Programming Language Design
(Hennessy)
CS 243 Compiler Project
(Hennessy)
CS 245 Database System Theory
(Ullman)
CS 246A,B Operating System Design
(Lantz, staff)
CS 247 Computer System Evaluation
(Tobagi)
CS 250 Graph Theory
(staff)
CS 251 Probabilistic Algorithms
(staff)
CS 252 Lower Bounds
(staff)
CS 253A,B Combinatorial Algorithms
(staff)
CS 255 Analysis of Algorithms
(Knuth)
CS 256 Advanced Theory of Computation
(staff)
CS 257 Advanced Computability and Complexity
(Floyd)
CS 258 Mathematical Theory of Computation
(McCarthy)
CS 275 Computational Models for the
Syntax of Natural Language
(Winograd)
CS 276 Computational Models for the
Semantics of Natural Language
(Winograd)
CS 277 Topics in Computational Linguistics
(Winograd)
CS 310 Seminar on Computer Systems
(staff)
CS 311 Computer System Design
(staff)
CS 312 Advanced Computer Organization
(staff)
CS 316 Advanced Computer Architecture
(Flynn)
CS 317 Digital Signal Processing Architecture
(staff)
CS 318 Reliability and Testing Aspects of Computer Systems
(McCluskey)
CS 319A Digital Reliability Seminar
(staff)
CS 319B Computer Systems Analysis Seminar
(Baskett)
CS 319C Computer Architecture and Emulation Seminar
(staff)
CS 319D Design Automation Seminar
(vanCleemput)
CS 319E Concurrent Programming Seminar
(staff)
CS 319F Computer Communication Network Seminar
(Tobagi)
CS 319G Distributed systems seminar
(Lantz)
CS 319H Programming Language Design and Implementation Seminar
(Hennessy)
CS 320 Artificial Intelligence Seminar
(staff)
CS 323 Graduate Seminar in Cognitive SciEnce
(staff)
CS 330 Numerical Analysis SEmifar
(staff)
CS 340 Prograeming Systems Seminar
(staff)
CS 341 Computer-Aided Design of Digital Systems
(vanClEemput)
CS 342 Program VerifIcation
α (Luckham)
CS 343 Topics in Concurrent Programming
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;Y≥.>≤Z8-D≤|≠mn{|\g; C"AQW~P,↑[{X.↑~8|d ;Yλλ≡⎇≤[ml==~,>h +$ε,λ→M≡[<h
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<z9;L<(→→. <]≠,]]λ⊂∀[⊂:42H!wvx≥z2y⊂⊃7y:vH897s\0vUn εEεE↔5"v"Xz94qXv⊂"w→ts2r\4w3Fλ)wv$Y⊗iz0]2P"f→qz97[4qyP VP→ZH34y6\]n↔εB∧E.5⊃v2qj≤4qpvλ"w3t[2ry4[3V⊂$[37y6Xz4wwλ)|yz→vyP&_q⊂⊗VH→→P3~y6yW↔↔εEεB.%$wλ0r24]4ww⊗λ:42P_s34f~pz2yH897s\0vP7Y⊂:42H$s2:\z94p[⊂ zj≠vpz4[w⊂"2\0y:6Yw:εE≠s⊂)i∩P40yH→XP6Yvq2iλ30y6\W*↔εB∧E.%∃42P#≠v67kZw3P4\P0P6Yy3rrλ64yjλ7s⊂0Y34v4Xz2yVλ2|1v≥r4w3H:42P∃42y6[yqtb[1ryFB0s2∀wv4r iz0z→P"v"Xz97w~qyP(≤7sy0[yR⊂*≠z0v4[3P≠→H30y6\]
ADR ULtrasOund,
Aerojet Electro Systems,
Amdahl Corporation,
Ampex,
Bell Labs,
BNR, Incorporated,
Boeing Company,
Comsat Labs,
Control Data Corporation,
Data General,
DEC,
Eaton,
L. M. Ericsson,
ESL,
Fairchild Semiconductor,
FMC,
Ford Aerospace,
Fujitsu Laboratories, Limited,
General Dynamics,
General Electric,
Grumman,
GTE,
Harris Corporation,
Honeywell,
Hewlett-Packard,
Hitachi,
Hughes Aircraft Company,
IBM,
Intel,
ITT,
Linkabit Corp,
Litton,
Lockheed,
LSI Logic Corp,
Measurex Corp,
Mitsubishi Electric Corporation,
Motorola,
National Cash Register,
National Semi,
Nippon Electric,
Northrop,
Paccar,
Pacific Gas and Electric Company,
Phiilips/(Signetics),
Philips Ultrasound,
Raychem,
Rockwell International,
Schlumberger,
Siemens, AG,
Spectra-Physics,
Sperry-Univac,
Standard Oil,
STC Computer Research,
Technicare,
Tektronix,
Texas Instruments,
Timkin,
Toshiba,
TRW,
Unimation,
Varian Assoc,
Welex/Haliburton,
Xerox.\.
\JSRI affiliates add 18 additional firms:
Allen-Bradley Company,
Automatix, Incorporated,
Borg-Warner Corporation,
The Budd Company,
Caterpillar Tractor Company,
Cincinnati Milacron,
E. I. DuPont de Nemours & Company,
Eastman Kodak,
General Motors Corporation,
Kulicke & Soffa Industries, Inc.,
Lord Corporation,
Machine Intelligence Corp.,
Martin Marietta Corporation,
Monsanto Company,
The Procter and Gamble Company,
RCA Corporation,
E. G. & G. Reticon,
and Universal Instruments Corporation.\.
\JThe following are
affiliates of the Center for Integrated Systems:
DEC,
Fairchild Semiconductor,
General Electric,
GTE,
Honeywell,
Hewlett-Packard,
IBM,
Intel,
ITT,
Motorola,
Northrup,
Tektronics,
Texas Instruments,
TRW,
and Xerox.
The following are affiliates of the Information Systems Lab of the EE
department (Professor Martin Hellman):
ADR Ultrasound,
Aerojet Electro Systems,
Ampex,
Bell Labs,
Boeing Company,
Comsat Labs,
ESL,
Fairchild,
General Electric,
GTE,
Hitachi,
Hughes,
IBM,
Linkabit Corp,
LSI Logic Corp,
Measurex Corp,
National Semiconductor,
Northrop,
Philips Ultrasound,
Si
Technicare,
Tektronix,
and Varian Associates.\.
\JMembers of the Computer Forum maintained jointly
by the Computer Science department and the Computer Systems Lab
of the EE department are the following:
Amdahl Corporation,
Bell Laboratories,
BNR, Incorporated,
Control Data Corporation,
Data General,
L. M. Ericsson,
Fairchild Corporation,
Fujitsu Laboratories, Limited,
General Electric Company,
Harris Corporation,
Hewlett-Packard Company,
Hitachi, Limited,
Hughes Aircraft Company,
IBM - San Jose,
Intel Corporation,
Mitsubishi Electric Corporation,
Motorola, Inc.,
National Cash Register,
Nippon Electric,
Pacific Gas and Electric Company,
Philips/(Signetics),
Schlumberger,
Siemens, AG,
Sperry-Univac,
STC Computer Research,
Tektronix, Incorporated,
Texas Instruments,
Toshiba,
TRW,
and Welex/Haliburton.\.
\JAffiliates of the Design Division of the Mechanical Engineering department
include:
Eaton,
FMC,
GE,
GTE,
Paccar,
Raychem,
Spectra-Physics,
Standard Oil,
Timkin,
and Unimation,
Members of the Affiliates Program of the Aeronautics and Astronautics department
under Prof. Holt Ashley, are the following:
Boeing,
Ford Aerospace,
General Dynamics,
Grumman,
Hughes,
Litton,
Lockheed,
Northrop,
Rockwell International,
and TRW.\.
\,
\BAs of November 1, 1981, the following 30 companies are Affiliates
of the Industrial Automation Program at SRI International (one additional
affiliate has since been added):
Allen-Bradley Company,
Automatix, Incorporated,
Boeing Commercial Airplane Company,
Borg-Warner Corporation,
The Budd Company,
Caterpillar Tractor Company,
Cincinnati Milacron,
Digital Equipment Corporation,
E. I. DuPont de Nemours & Company,
Eastman Kodak,
FMC Central Engineering,
General Electric Company,
General Motors Corporation,
Hewlett-Packard Company,
Honeywell, Inc.,
International Business Machines Corp.,
Kulicke & Soffa Industries, Inc.,
Lockheed-California Company,
Lord Corporation,
Machine Intelligence Corp.,
Martin Marietta Corporation,
Monsanto Company,
The Procter and Gamble Company,
RCA Corporation,
E. G. & G. Reticon,
TRW Incorporated,
Unimation Incorporated,
United Technologies Corporation,
Universal Instruments Corporation,
and Xerox Corporation.\.
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