AFOSR.JAC[INS,TOB]1 - www.SailDart.org

perm filename AFOSR.JAC[INS,TOB]1 blob sn#639347 filedate 1982-01-30 generic text, type C, neo UTF8
COMMENT ⊗   VALID 00073 PAGES
C REC  PAGE   DESCRIPTION
C00001 00001
C00007 00002	\|\\POX Title Page with big fonts
C00026 00003
C00029 00004	\|\\no everypage 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 EXCELLENCE
C00045 00009	\C\F2BACKGROUND
C00050 00010	\JUntil recently, the costs of sensors, interfacing, and computers were
C00055 00011	\JThus, part of the
C00056 00012	\F2\CTHE CENTER OF EXCELLENCE
C00058 00013	\CEducation
C00066 00014	\CResearch
C00073 00015	\CTechnology 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
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   Daniel B. DeBra, Professor of Aeronautics and Astronautics 
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   Victor D. Scheinman, Vice President, Automatix, Inc.
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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
manufacturang.\.

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 environmeft
Students
Degree PRograms
Special Coursas

INDUSTRY INTERACTIMN
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\F2\CINTRODUCTAON
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are needed to implement current produCtivity technology in aerospace manufacturing.
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<z>LT≠;y∞]_<C∧y;Y.-8h∃\z≠[mMy}(∞⎇~8z∧∞z;≠↓QX_=LT_;H
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CAMS p@I←a←g∃`
βSzβW'f!β?9ε	βOS⊗{;≥β∧ε&}?,≥RεNdλ↔↔&≤m⊗≡N≥D∧NwLYFfN|]f≡*≥f h(=voπ↑LW∩¬<8
,]Xy(≡≤≠~,\λ≥≠d∞≤[yn,9;8,-→(_.>y;8MO(_;LD≥→<nEλ≥≠aQY]4NM→<@⊂→2{2f≠x⊂0w→⊂2|8≠7tz⊂≥492rH4w:2Yy0z2Y⊂9|i]2vyP→4πr programmable 
aqsembly and test:
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∞
w↔ε≤-F*πl↑'∞N⎇`ε}2λ→BεO4
f.∂$λλm⎇<≠⊃.M;{H≥Yλ≥m≥≠λ_LT→~<nNZ8].L9λ~-d..ε'c"\l\{{Y¬D≥~→$λ0tSi@,fP9↑yz2vH37y programei@9H
β'w≠C↔∂&K?9m∧¬vv*i↔εj
↔_h,≤F␈πL\B∧:)t`+3.h∞M~<Y¬D≥~→$λ⊂4U∧∞}<u](→P↔\α test of elec@Qa←]SAGSe
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58hRS#↔≤∧Rπ∨≡>F.o4⊗&',↑74≤y=L↑X;λ∞∞[x[]<h⊂∀[⊂:y`)ng pRocrammable automati@=\\
∃∧AWKr↓Sggkα)β'MπβK?∨⊗77πv9β∂?oβ3↔aπ≠gOS.k@≠Z∞8l@8;py→P4yP_P1y:Xtpv⊂~yyzbCE0	n↓kgS]≤AG←[AkiKeLXAC]⊂AKckα33@∀λ
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fO∂\Z2ε@yH→/∞→<]∧∞}<p~→vyP#≤5vP \:4s$Xtpv⊂∩w:2v≠4srg_rFE 4o aiD engineers in programming automated pest technology.~∃¬]WiQ∃dAWKdASggUJASf↓[CWS9JAgK9gJA←α1βO↔w≠';≥r↓α'QεKEβ¬∧c?;≥π;πeβ5∪?5β≡+;O?↔H4+∪∂#¬βSzβS#∃εK;≠?⊗kπS'}qβ∪↔≡KK↔⊃ε3?Iβn/';8β∪↔∂O≠'?;~q↓α'rβCOg≡C?3??I14W≠↔;OL¬f:ε≥lBπε↑,6/πM≥vrε≡,Rε&≡>FNv}]↔≡F\EbαQ(⊗v␈MW∩ε<←∩εO>>V*ε≡4πεF≥mfNvt⊗v"LV≡O=→vrn\≥6Nvudα∧:)tuLT
⊗v≡}.ε␈⊗≡LW_h,|V}n↑N&N~
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4→y↔εE∃w0	mati`∨\α;@~¬h→BεO4λml(≠p∪λ5w6 9 a f@∃nAYC9H∂Wπ>+@~εmxD∞≤[p∪\αa`≠[%]NAe=EP∨Sα1P@,{{;,↑Xz0⊂[4∧p∩Aα[π≥Hλ,-α2W  M`∨Gβ!βK∨⊗{SMβd∂-β,∧f ,8⎇~.l(≤⊂→≠pπrammi`≥Nαβ@∨O>LVo~βP∞↔βE
\JPro@A←gKHαβC↔O,∧↔,zλ⊂≠[zr2 p¬K@3∂#∃βSzβπ;e∧ε7O∨LX$Xπy prggram`≠Sαs⊂~ε≤8l]8[⊂≤H22{ )c`fX4⊃KmKαqβS#|εV =λ≠u.⊂;w`2hεAGKαsS↔K~β?9αa0∩α∧λ∀bε≤4π&FTλ-}⎇λ⊂⊂Y8εance`λAYα;∨W∞;∃↓β|∧`hVα8
9H1v0y\β a`-α'3π⊗c∃ 2∧λ∀bε≤∧h
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We have deVelo`Ed a @YKegSα{9β?2αε!β>C'∂!∧¬↔4≤≠p→≥0q6 % f`∨dαβ7π;J4+πα8l]8[⊗$→=P∀Xp¬s And p@=`@&≤-F*εmxD
αpw<H1wvx≥z2y9K∧@
that i@LXA[←⊃KghAα+⊂⊗6β|]∧
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d8π2 is s@
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|β⊂0r\αh∂gaα∂*≡7<8εq6~p¬s,
λ¬C@'α,g,8εr`3, propp@3α8
-⎇H≤p≤\z2vyK⊂0w2λ0{4`/nics.
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Hλ,-βy0z≠y<W('z42\αs wilhλAE∀@⊂∀,≥f∞gα8
 %d bi pr`∨OIC[@7L¬f 4_{p⊗\5w2`.t o`!∃`πSL¬vw~βC"JM→<p∩H2|2`2cise@LA`∨'d¬Bππ-x
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βπ⊗)βK↔∂+'K↔ ¬bα∧α≠p≠Y{2y, AL @%b~∃KβWπMH∞$∞αyr`&ul f@=`	βOL¬Wε@→<@⊂_yyr`-bh	bAα#↔[≤8W5α⊂0w→⊂37`2 hCi∃`'πe→β#πv#3'lpλ≥Yβ"M}~→0→λ0x8 ,ications.\,λ
∧~)9∃∪H↓SfAS9iK@;&+⊃βSzβ';[,ε7&N|≡F*π⎇↔"ε≡4ε&@⎇;Y∧{→;.∨(_;LD→~1L@4qz`,t in↓ae←OIC[@7L¬f(h.Mε␈≡Tλλ.≡y;8MO(→0≤_vx6 %pεP⊃β&yβπ∪ ∧ε .8π20[rp∞tal ne@\A←aKβ∪πS'}s@~π⎇W⊗*∞Mε/J
\↔Jε,QPV@Y8q.ypq<K⊂0w2λ:7P -ake simpl@%H'∂∂#'?;~β←#↔⊗)βS#,π∩ε≡≥`λ,(≠8,L εE )n the proGp¬C@7nK;≥βNsS↔K4∂¬9αα'QβO→βπ∪α9rεNnLVv&\@λ∞MβP0tY⊂4w the @∃]OS]∃Ke@'v84+|d∧@λ→P↔\αλ
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d∞≤[p∪\αa`≠[¬EP∪∃∧∧F/6α8p∩H4yP )np	e←α#W∂↔ ¬Bε?,Xλ.D→~0∪→αicu@1irASβ→β@/>Xλ-Mα8	
enco@U]`∪↔⊗+⊃β'p∧εNwLX	n0z4`.dεAS@ ∧εNwMtε
π?_nL8εW  The pr`∨E1KZA←α1β'nLV >X9~-lc"P↔→{P22]4qr`3 if @M←@≠Sα|↔⊗*
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hardware @¬]HAgα{⊂↔≥x<LT~;]↑YX8l↑h≥≠d8z~,↑Y(⊂⊂\βsembly device inde@AK]IKαs∂(Q(λ-lλ≤p∩[9wq~w22`0ende@9GBXAβ;∃βCd∧⊗rπMtε&@|[=-L=→(L<z0∪[9P37\α standard
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To the extenpλAi!ChAe=EWif↓QCmJ↓aKaKαSπL¬FO'α+λ∞M→>(<8π⊂ "e calibrate`λAi<~∃CEM←Yki∀ACGGβ+@⊗∞?∃bααλ⎇↔&B∧λn]=_8ML(≤p∩[9wp∩s  and  interpretati@=\@A[=I`↔LXeAα@
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T_8p⊃]y0q`9 at @9KGYSα;'∪*β∂?O ¬bα¬-xλM}λ≠8-≤αy0∪ have pr`∨Uα+∂SM∧εFxhαXp⊂[4q10]2P:4→ty⊂ 2ob`∨@'→βC=∧¬εNz→0→λ0qq`5p¬CGr8@A!e=aP∨O,∧Bπ⊗↑8	,≡Xz≡⎇⎇;⊂∩λ∧¬∃C⊃HAiQ∀AGC@∧∧⊗⊗Nβ~0~≡F@
do cal@%EeC@&)β@&Tπ-βq7`4 coo@IIS@;∂#∃βOLε7&.β(⊂→→v0p∀ive to p	QJ↓o←eWMiCiSα{94T∧6}␈,M⊗v∂LTπ?<⎇→-Uα⊂0w→⊂:7P≤2qpv~q90z→P1w`.ti`≥kα{WO3β∀π&FTλM|Xπp∀↓G←←@⊗#';παLRπ∨α8	z→vWεEβE)7`"ots @¬aJAI%IMCGβ+3@"∞Mrπ≡↑@λ∞↑λ_Y,<=<p∩H842`9 hkgβ!β∃∧∧⊗fN⎇lV"πlXO⊃ ¬0qXzy0z→v8	;↓aP∨OLεFN}n4εo/>@λ,(≥_.\βt: prec@%`∂.β_Wλ∧¬∃∪β!β'M∧ε&.f≡M↔6.β~(\<}(∞MβP3zZp∧e @I←E@?αN2ε@|H⊂↔]42y pr`∨OIC[@7∞∪3∃β&+['∂,ε2π&qQ&∂π∞-wFNβ8=T≠≠p⊃Xz4w`.pεAM←β⊃βπO≤∧Vn⊗β_P≠y⊂:7H4πb`)¬S\ACAae@?β
⊗n∂LTεf@xx=
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be@PAeKYαS'[,¬GJε\≡7JεmxD∞α42P≠pqt4[2P:7H30	nd p	QJ↓YP∨∂∂#'?9∧∧⊗≡∨↑,↔&.β≡+AQR;@⊂≤βtabting @→` >Tλλ.∞≤[p≤~vpr2H4∧oc@¬iS@?w→1βSF)β@',¬0∩H87p∪Iti`∨\4⊂ >dλλ$
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 0β"P$∞y;⊂∪ppi@≥]P↔↔w!β .βy≥-L(_p⊂[⊂0r0\8∧ to setup errors, then↓`↔∂|ε&"πMRε∞M(
.≡→9β!87p∪@%iS@?p¬bα¬M
↔4≠Y0∩Y⊂12P→4πne on`→R↓←]GJ↓ChAgα+S@/∧λ

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≤>(∩.yzrP~w⊂3 ,exible fi@ai`↔KNs⊂~ε≡4εNv=z'ε␈,≡FNvt
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FF*∞,W∨.NN2bπ>Xv><⎇≤d∞_<]∧∞Y<⊂⊗_qrvr[:9V⊂_w2⊂:[:4vp]2r<P→4psw≠yryFB842P→0pv*\2WεEβE*42H;wy5H7w⊂"⊂i*⊂1→pπanin the coNtext o`Agα{7¬β,ππ'⊗]\VgJ∞:V≡≡↑>67.AQ'⊗/<Xλ.1t⊂ /n au@Q←[Ci∃HA[K⊃SGCX↓ISCO9←gSf0ACfA⊃K[@?w≠SKπ&+⊃βJβCK??∪π7M∧c'/∀hR6f∞Lqβπ; ∧¬¬,hebα¬⎇
⊗f*∞Mε*ε≤∧⊂_≤4πach qse@⊂AS\AQQChAIKgKCIGPASL~∃KcUCYYr↓eKYKYC]hAβ#=β↔∂+'C7,sQβS⊗{W3/≠#??&K;≥1∧εv*εmx
-lλ≥~≡λ_ ⊂→4s32\2w:εB0x8 2oach had Signi@→SGC]PACImα;@&≤|W~@Hλ∀∞-y|X-↑h≠~-<αP&lPdg⊂0[2⊂(*Q ε c@=]`∪πNp4+∪L∨;?≤εFN~←πε/.M↔≡(~3D∞~→(mβy6@≠s⊂9|[x:7vKr4yrXyrP0\ywqtXz4wwλ9:v"\W
While both programs perfo@IZAChαβS#∃∧c↔[↔bβ?→βG+7π9∧+cC↔↔#Mβπv!β∂πpβ↔cCf'8∀TεFF.≡ λ∞,<⎇3∞Niλ⊂~~2|P0\2P:w_q62P≥5P2l≤60twλ:42P≠wz4{_z4wwλ33y thei@HAekYα+L4+∞s⊃βSF+eβ#∂3∃β;zβ←πeε{⊃β↔63Wπ&K;≥β&C∃β∂}sO'O&+;∂eε{Aβ∂|¬Wε@→=→-l<|h
|Hβ"NM→:4D∞];⊂∩H9rz9K⊂⊂*4→P92p\ww⊂#≠y⊂:4~yP4yH:40zλ72tz~2y⊂9↑yz2vH40yP_FA6wY2v⊂ /d the physiology underliing the ru@1Kf\~(~∃∪\↓iQJA⊃β%(AAe←UK
hXAo∀AGQ←MJAi↑↓gKaCICiJA%]M←e5CiS←8ACE←Uh~+&+O'∨r↓#S#*βC#g≡K?3??I%β≠⊗{5β∪N∨;?≥#'
β/CC↔K&KO¬↓F#↔['≡)7';&+C↔;&+;Q0hS≠πWg!7';&+C↔≠&+;Qβ↔+3↔MJq↓α'pβ∪'π>s?O'v9β∪'63↔K↔w!β∪↔6K∂↔Mbα∩εJ h+πCεc'↔M¬##∃β≡7∃β↔+3↔Mπ#=β∪N3≠↔K.sQβ∪/≠'∨9εk?∪↔g→↓#%v)9β''_4)∧¬πO≡≥yF}?∀%∩rα
Mε*ε≤Nf∞wL≤v/~
|bπ&
≡2ε∂∞
&}∞=∧ε∂⊗TλV≡}m⎇WJαα≥~T≤]0⊗→yFE \2P:<\2r⊂4[⊂7w6≡P7w1YTV⊂3\2pz2\⊂1ri≥0p	nty (since The rules are typed
in o@9YrA←9GJXAQQKeJ≥bAYKMbAeSMRA←L↓[CGSαs∃β¬∧¬VO∨L≥6*π⎇Vrε.X
-L~;Yd(≠Y.q"Y~,≤{[tnM8z8-e+λ⊂-lλ≤⎇.<Z;n⊂2|8≠0p∞ation and knowledga acquis@%iS←\4∃GCaα'3M#'/4¬ε≡}↑	F/&]lW∂~≥f"ε=xN=<⎇→-l|∧P !re c@!KGWK⊂AErAβ∪↔πO|¬fNvqQ'π⊗|}&∞o4	⊗v&↑λVv&]nBε↑dλ

(→~,≤βw7i]4qP 4ask).  The construc@QS←\A=H	βSF(4*∩
∩QβC⊗{↔KπhβC↔G,¬↔ε.D
f/:∞,W∨.NN2εNdλ

(_<L\<h≠l@⊂92x≤2yr`.tati@=\X~∃MS[kYαS'?paβπ≠ ∧ε&N≤⎇f␈≡≡5bαQ!PU&Tε≡F≤X	D∞Y<u-Nλ≠p∪λ:42P≥wy5@ on repres@∃]`∪π&K?9β>EβSF(4+∪/3↔3?εk↔;Q∧¬v $_(⊃ML>~8ML(→→.≥9{@⊂→2yq`2ipti@=\AYC9OkCO∀AGCYαc↔⊃α$"18Q*FF*
Hλ-l⎇89lT→;X,-→<h
⎇Y(⊂~≠P9x %cify complete Op∧AaCIiSCX↓S]M←β∪7πSL¬vpH,≤&␈/Dλλ$→=P∀Xp¬'`&↓gieK
i`↔K*↓#'S~βCπK'→βπ≠ ∧π&F]_D
;]→.1ww7→qz4g[9PVεB4z9P_2p0{~wy⊗⊂_w2⊂$]9P⊃:→v2w`,ogy"QCeOU[K@;'→β↔c∧¬F∞NβZ0↔→β the behavior
if @QKe[f↓←@→β&C∃βO'∪W∂S,ε&*ε≥lBε∂∞λ
≤x8[T≤~≡.tqpvλ40syJU⊂⊂ H5r|P→2pz:\2FE /d∧A		0ASfAQQChAα∪?S!π≠SKW≤εG/⊗Tλ⊗v",VF∂m_n⊂1pwλ12P2→yqy4X2r⊂4~py0y_t4qp[48	.
This adlOws DART to diagnose a probh	KZαβπQβ4K'?,ε2εF↑lVg~
xbε∞.8
∞0qz4[wεE !bove the gate-level, heading to a Substantialpacine and breakpoints.  Currently, the DART dπeOk@ASf@4∃S]m∃ciSO¬iS]N↓oCsf↓←LAO∃]KeC1SuS]≤A'⊃β4Ai↑A]←eVA]SiPAACeiS¬XAS]→←eKCQS←\~)C]HAQ↑AGQ=←gJAQQJAYα+[↔1∧{⊃βONkW3π&K?9β∂+S?7∂#'∂πfce:Qph(4*dR≠';∞c3e1π##↔K*β'Mβ&C∃β∪N∨;?≥#'
β¬∪?∨K∞iβ'S≤∧Vf2d∧∧$
*@ε -<\u↓QX8pl↑≥≤hn[{(∞M→(⊃M≤;→]Yz;L\<H⊂$∞⎇_=]9;]∧
yH≤m⎇9(λN?;<≥
⎇(Kλ
∃Y+H⊃"\~,\y(≠l@⊂2|8→qz2rλ12t0]4wy≥40z did not occur. By lookine at↓Sif~)IKgSα;9β7}#↔1Dλ
.D→Z0∪]y2yP≠zz⊂ 7hy the beHavioR sas expected.
@∂K]∃aCYYdXAiQ∀AeKgUYiS]≤@EUkMiSMS
CiS←8DA[K9iS←]LABA]U[EKdαβ?λ4T≠?7C|¬f.wN5Bε∞MDε}H≥z
≤zλ_.,(~0⊗\64qp]2r⊂1≡P:42H0q9`%nce Od∧AiQ∀AKqaα+∂S↔ h#↔F['?⊂¬bα∧≥`λ
}Y→4D∞≠h⊃
≡x|Z-]8π0z→P:42H87p∪sibalities, DART again us@∃`
β''_4+∪,ε6N>d
V}ε]Dπ&@h→→.m<y(∞L<⎇≤dXπy variOus s@UEgKiLAWLAβ##↔O*β∂?7∧{;↔;'_4+πv!βe∧∧6∂↔-_
-lh≠⎇.D≥~→.<αP:2\z9P8~w87`)nts @QQJA[¬YMk]
iS←]%]NAG=[a←]∃]h\~(~∃∨]∀AS[a=e`∪πw!β∂?w≠↔GW,s∂∃β}1βS#*α∩εJ βπCC⊗{π∂!∧K@~πMRε.≡<Rπ>≡Mαh,⎇εN≡∧
f/:M⊗∞≡mz7&N=≤⊗w~<⊗rε,Tε↔.≥NB`$λ∩1D(→→.≥9{Y.$≥=~-M>Y<d;Hβ!9→X-ly9λλ={<≥.L<K0-≤→9λλL<z1md≤}<nL;+λ∀→];
D≠;y]λ≠yD
~<hL<z0∪[⊂;tv≠⊂12FB7w⊗v~w2P+Z2w⊂4→P4yP→7w2Wλ⊂*44\P6wr→v⊂1p[⊂:42[⊂12P≤0yybY⊂0yP→0z0P≥7PεE⊃ i*↔λ⊂ P9Zvtv0\⊂0x(≤5pqtλ1wzv→⊂0v9[P12P≥0urwλ;tz4λ82yjλ3rw2\0z4g[⊂εE0[2⊂6p[:s0q]8y4w→P:0x→P1y2Xz4ww.↔εEβE*#→↔!i2yYpy1tλ"4y2Xz4ww≤FEεE↔!_.%⊂v:47]qt⊂*~2P" T*⊂8 2ojec@PAQCf↓[@↔Q∧¬↔'~⎇v∞b
|bε↔]_M9Y`⊂_w
Automated @⊃SCO]=giSG%C\XAMKmKe¬XAae=EQK[LAeK[¬S\Ai<AEJAM←YmK⊂X@A)!KgJ~)S]GYUIJAMβ+CS#-⊃βS?∧K∂MβLqβK↔¬∪↔O↔w#πS'}q1βS/≠Qβ∨.s↔Kπ&K?91ε3πW∪ ∧hV=~&∨.↑lVw&≥⎇bbεL↑6N>dλf␈∩∞LW∨&≤-⊗fOO∃Bε∞l@ε&∂]JBπ&⎇HWε∞nDε&/=_	meC"C!*~→(
}→;@∞∞[x[]<h~-d≤Y<∞,<y0↔≥0z4w[⊂40{→P:7P→7P;t]4⊂2|≥2w24[3FE"⊃&⊂:7H72{P→2yt`'n types.  While the DDD Formalism Iq ap@Ae←ae%CiJA→←d~∃QQJAI∃gGeSAiS←\↓←DAI∃mSGKLA←iQ∃dAiQ¬\AIS≥SiCX↓GSeGUSifX↓SifAY←GCEUYCeR4∃QCf↓]←hA	KK\A⊃KmKY=aKHA∃qGKaβ!β'9π##πQ∧#'K↔≥#'?9p↓α≠?∩β↔cπoβ3∃1¬##↔K*4+π⊗)β;≥¬#↔K7~β≠ ?$F/≡>-⊗⊗Nlpε6.\L&∞≡4
w$≠|xm≥≠_=
≥{H~-d_;X-Myh_m≡X⎇2.Nkβ"L≥Yλ≥
<Y(≡Y(≠Mt≥→<M↑h→[n∧→→<l>Z8Z-lh→[∞]9λ→MMβ{V⊂≤x0z4Xv⊂7y→pw4`:ation,
∃C9HAiQ∀A←iQ∃dAi←ASGfAIKYKm¬]hAi<A]O\5KYKGβ#@⊗}m_2ε&↑i⊗≡<k@∧
~→(λH4U⊂≤97sy_vPεE~w⊂77H9p|P→2x2`.ds on the current DDL vocabul@¬`e1ε{;#E∧KSMβ4¬w⊗@8;~.≥+C"H={\q.≡9;]
O+λ∩,D≥~→$∞Xπq`!bpYCIrAGC8AEJA∃q`∪↔v#↔⊃β&yβ#πv#3∃β&C↔O∃∧∪∪'&K?;π`h+@&}
⊗∨~Dλ

(≤⊂→≠sy0vH;wz`,d be appl@%GCEYα)βS=∧εFF/<Tε␈&Z"ππα8λ %pεA←L↓IKmSα≠↔L4T∧↔4≥y0⊗≠↔(.
λ
¬9)βki←5CiKHαβS↔O β⊂≡8π2`2atioN is anothep important reSearch area,	αC@=]gSI∃`πd)β←?⊗Yβ?9¬#↔OSNs⊂~ε≡2ε⊗\XD≠{Y$
⎇Y0→λ:42P≤0yz dew @⊃KGCI∃bP⊂4T≠W37LsπS'v9β'→πβ?←↔⊗3W1βn+S#?'→β3'↑)βS#*α⊃βπf;?K'αMεjα∞,V"Jd∧∧F@⎇y5L↑Kβ"M]|⎇⊂≠pε these methodq are rery sensitive to The c@=[aYKβC'S@∀λl@⊂:42Hε@
devices ufdep test.  While in most cases The c@=ghA←_AaKgPACaa1SGCi%←\@~)OeOoLA←]YdAYS]∃CeYR↓oSiP↓iQJA9k[EKHA←LA≥CiKf↓S\ABαβ∂'K∨+'Q⊃∧εFF*8n≡β"[lD≥→4nD→y;L↑X=~-⎇H→|M}|h≤
⎇≡;[m]8;∪∂∀≠|H←≤≠{L]]~8-M≤∧Wλ$2w1YV⊂0yCE1ti_zpz9H;tz4λ6wy2H0w2≠wy2P→pz2yH0y2P_:pv*⊂:2y]⊂3rw→y0z4[w⊂;t[4∧ become
hess andless practical.  One possible solution to this probhemis the 
Usa oF hierarchy present In most designs.  The depEndency(ECMKHAi∃gh~∃≥K]Ke¬iS←\↓iKGQ9SckJ↓kgKH↓S\A	¬%(ASLABAO∃]KeC1SuCi%←\A←_AiQJ↓λ[CY≥←eSi!Z~∃i!ChAKaaY←SQbAiQ%fAQS∃eCeG!r\@A	rAIS¬O]←g%]NAM¬kYif↓MSegPAChA∧AQSO AYKm∃X~+&C↔9β?∪π∪W∞c3eβ⊗+∂?7Ns≥β7␈∪∃βπv!β7?⊗)β∪↔&'3↔ aα∩ε∃!β7πv∨↔Mπ#=β/.+A4V#?←9π##∃βw+7↔∩β?→β≡{7C?v+;SMπ+;∪↔∩β∂?;≡K∪↔K∂#'?9εQβπwIβ?;*βS'7*p4*πg##?W>AβS#*βS↔∂Fs'GW*β←πMε#↔O'>s↔⊃β6{Iβ∪N∨;?≡KM1β>)β←?.c⊃β3N[∃βSxh+∂?w≠'∪↔∩β'SMπβ?S↔w#'π1ε3?Iβ&+['∂*βS↔O&K;≥β∂→β←↔fa84(hR?;∂*β¬β≠∂+3QβO→β∪↔&+∂S↔"βπ;⊃ε#'π∨v{O↔⊃bβS#∃ε#↔['≡)β7W∨!β∃π∪↔CπO∪↔⊃8hRWOW∞c3eβ&C'Mβn+π;Mπ∪↔OS␈∪';≥π##∃β&+['∂*βS=βO#Mβ?⊗K∨';∞aβ∂?v#'S'}q84*F{←↔[/⊃1βO}k↔S'n+Mβ'"β'Mβε{GO'⊗c∃βSzβ∂'K∨+7[↔w!β¬β6W3Qε;⊃βn/∃β&C∃β∪/3'∂∀hS?C↔⊗S'?v1β↔4+9β←O##?W"β≠W3bβK↔C∞KI9↓¬≠W∂!ε≠'K∂.k[↔;&K?;MεK∃β,ε7ε.=≤⊗fgα#"N↑y9]-D≥z→-d≥~→${|⎇∞4≠yHn;≠λ∞,<_:.$_<Y$∞≤[z
≤Z=~.l(≠|D∞z→3D∞_<]∞4_<Y$↓"]→-↑≠|X.-;≡(∞]X=X-≥_8[UHλ∩-d≥_;
=;Yh∞⎇=~λ←≤→<ND≥≤[n\[→<m
{⎇→..h→\M⎇#"R()+λ≥lT≠→8.-Y9λ∞M_=∞M→>(={\z,L<H⊂⊃Zy1zv]2w:4[w⊂:7H12P'[2P7`& theip
primary goals(@A]JAo←UYHAY%WBAi<AS]m∃giSO¬iJAo¬sfA←_ACki=[CiS9NAE←QP~∃I∃mSGJ↓eKaC%dAC]⊂AMCk1hAGSβ∪∂W76+;S'}q:q_hP4*RT	β≠∨,ε'&B∞,W≡8<Xm∧→~<L\⎇~3md~<h∞Mh→6∞
≠|Y$∞~→(∞;:0∪~qpz4[w9P7YεA7z\⊂0x 0rkach to diagnosis on syStem design.  SPecifically, we beliEve
@]JAGC8ACei%GkYCQJAoQ¬hAIKMSO\A→KCikβ∪↔Mβ≡{7C3N≠πS∃π##∃βπ∪?3.iβ/→ε#'π∨v{O'M`h+π;"β←¬β>{W3⊃∧c'/∃π#=β≠␈∪7W3∂#∃β¬π≠↔Qβ}1β∪↔≡K∨9β↔+3↔Mπ##πQε≠πCS/∪∃βSF+O∀4U∪↔OWg#M)↓∧K;∂3.#↔⊃βNqβS#O→β←?⊗Yβ←?.c⊃β*βS#∃ε∪∪'&K?9β|1β∪'∞;;?O&K4+FK∪←∂∪∃↓#fK/∃β∞#∪'SN{;π1πβ';Mε{9β¬∧≠#'AJβπ;⊃ε∪↔SS/⊃βS↔∨#';≥ε+GW'εk↔;Qph(4*6K;π3gI1β←*β←?Wf!β3'↑)βS=εc??-εQβ¬π#?Sπfceβ∪N3≠↔K.sQβπ∧επ⊗}≤=hWMtε&.≥M⊗v:∞⎇↔&B↑↔.O
\Vw"l⊗Ng↑,Rbεl≥V.g∀λf∂.NDπ&}L↑&∞wDF/≡≤⎇brαλ/⊂hV≥nG⊗@y≥0m≥Yh≠
≥:=→,D≤Y9∞]Y_;L?(_;LD≤Y8m⎇YZ9n↑X=~-⎇H_8M≥~=≡%D~=λ
≡hβ"N
||z,-→(≥
t→→<m≤{H_m≡X⎇:.Nh≥~≡λ_x-d→];L>~;{D{|\L\⎇≠≡$=Y;D
;H≥
(≤≤L↑y;XlQ"[yDX=;∞Nkλ≥

⎇9z∧∞→<Z≡≤h_.D_(≤L\≥8y,D≠→=L]λ≠yD∞→<YM}[8;L<+Hλ
={9#!.≤Y;
≥:;X./(≥{n-h~_.4_Y9-d→≠{LT~;H∞M~<hM<Y8nM;{H/(_(
n;8Y.$≠yH
\;]9L≤⎇≥<L↑\c"L≥Yλ≥
<Y(≡Y(_$Y=h∞M→;|L↑~8x-D≤Y<n]≥≤kD∧∃y(∞⎇⎇;→∧
~:y$∞≠h≥-l→<]≥y(_$↓"\xm
{_<MO(→>≥:;X.M;{H
|H≥~T≤≠|n=8Z;
≡~9<d∞z=~∧;H→/≤(≥≠n|<Yλ≡≤≠~,<=~;ma"Z;D∞≤X8nM8x;∧→<z,⎇H≤y.N~;Yn5C"C!*~→(∞M|~8n4≠9;NM;{Y,D~;H∞M→(≤∞,8y9
≥Yh≤≡X9|L≡~≤h≥≠λ~
⎇→β"NM→(≤∞-{:<lT≠yH∞=9{Z,m8x;ND≤Y<l\<Xz∧∞Y<⎇-N≤kλ≥Yλ≥lT_Y;
≤=Y(∞M_=⊂_{4ww~qyFE~yP0P→wwr⊂→7vpt[⊂4w⊂≥t4qtλ:7P9]:r<P≥42vGλ⊂":rH:7P:~2P24]2y9t]<P7sλεE22\tsw⊂≥<x2iH∀0w0[7sP [2⊂24Ytz0vλ1ty1]tz9Vλ2v2q]97w4XP0w2λ84<yZqpv⊂βE22{~qryTK⊂:42H34rv→⊂897]4r2yH0P94Xt⊂92\p¬arch environment @¬]HAs∃hA←M→Kef~)iQJA
QCYY∃]OJA=LAgk	giC]QSCXAAeCGi%GCXA¬aaYS
CiS←8]8\~(\F2\CPROJECT 4
\CRAPID PRECISE COH
)%=_A∨↓≥∨≥%%∂∪λA5β≥∪!U→β)∨I&~∀~)9a9))QJA-KrAaI←EYK4AoJAAe←a←MJAi↑↓CiiC
VASf↓iQJA=aiS[¬XAIKMSO\A=LAYS≥QioK%OQhX4∃K]H5a←S]P[G←]Qe←YY∃HAMY∃qSEY∀A[C]%akYCQ←efAAKeM←I[S]N↓QSOP↓gaKK⊂XAQS≥P~∃aIKGSg%←\Ai¬gWf\4∀~∃9HAa←%]hAG=]ie←0ASfAQQJAW∃rAi↑↓aeKG%gS←\↓C]HAQ↑AiQ∀AIKm∃Y←a[∃]hA←_AckS
VX~∃1SOQi]KSOQPAe←E=ifvA	KGCkMJAoSQQ←kh↓ShXAI←E←iLA[kgPAEJA5CIJAYKerAMiSML4∀QC]⊂AiQKIKM←e∀AmKedAQKCYrRAg<AiQCPAK]H↓a←S]PAY←G¬iS←]LAGC\↓EJAS9MKee∃H~∃C
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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
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YkIJ↓iQJA→←YY←]S]Nt4∃)Cg,AiQe∃J\AaiK]H↓iQJA]←eVA%\AiCMWf~∃=]JAC9HAio<Ai↑AI←E←h↓Ce[f↓oSiP↓ISgiISEki∃HAMY∃qSES1SirA=aKeCQS]NA%\AiQ∀~∃mKIiSGC0AaYC9JAC]⊂AS\A→kYXAQQeKJ↓IS[K9gS←]L\@A∪8ACII%iS←\↓i↑AS9GeKCMS]N~)iQJA9k[EKHA←LA→YKqS	YJA[=IKfA→e←ZA=]JAi<@E[C9rDA[=IKf@↓aKdA1S]VX4∃Ge←Mf[G←UaYS]≤AEKi]KK\A%\[aY¬]JAC9HA←kP[←L[AYC]J↓EK]I%]NA[=IKfA¬]H~∃Q←egS=]CXA5←IKf↓[kgh↓EJAG=]ie←1YKH\A)QJ↓e←E←PACe[LAEkS1hAM←HAiQSLAiCg,~∃oS1XAEJ↓mKer↓GY←g∀AS\A⊃KgSO8Ai↑AQQJAM1KqSE1JAe←	←ifA]QSGP↓oSYX↓KmK]QkCYYd~∃EJ↓kgKH↓S\AS9IkgiIrAC]⊂AErAQQJA[%YSiCIr\~∀4∃)Cg,AM←kH\A≠CQJAiQ∀AMYKaSEYJ↓Ce[f↓IKmK1←aKH↓S\Ai!JAiQ%eHAi¬gVAo%iP~∃QQJAg=aQSgQSGCi∃HAgK9g←ef↓C]HA∃]H[K→MKGi=ef@QQQJA∃A_['i¬]M←e⊂A⊃C]⊂X~∃GUeeK]QYrAE∃S]NA⊃KmKY=aKHX↓C]HAQ↑@EG1←gJAQQJAY=←`DA=\AiQ∃SdAG=]ie←0~∃C]⊂AS]i∃OeCi∀AiQJ↓←mKe¬YXAG=]ie←0AS]i<ABAQ%OP[Y∃mKXA
←[[C9HAYC9OkCO∀~∃gk
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¬gWfA%]GYk⊃JAS]QKOeCQS←\A=LAiQ∀AMYKaSEYJ4∃K]H5a←S]PAG←]Qe←YY∃HAe←	←hAS9i↑AB↓[C]k→CGikIS]NA∃]mSe=][K]PAC]H~∃[k1iR[e=E←hA
←←aKICiS←8]8\~(~∃9πIKMKe∃]GKf4∀~∃9(b\A∂∃mCei∃dXA.9∧\X@	βiiSQkIJA
←]ie=XA←L↓BA
Y∃qSEY∀XA'a%]]S]≤XA)←I←SIC0~∃≠C9]KHAMaCGJ↓'iCi%←\XD↓!P]λ8A)QKis, 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, Charlottesville,
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. 146-160.

7. Rosenthal, D. and Cannon, R.H., "Experiments with Noncolocated Control of
Flexible Structures," presented at the 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 of Guidance and
Control, Volume 3, Number 6, November-December 1980.

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, Vol. 12, pp. 95-109, 1977.\.

\J12. Johnston, A., "Optical Proximity Sensors for Manipulators," JPL TM-33-612,
May 1973.

13. Johnston, A., "An Experiment in Manipulator Control with Proximity Sensors,"
JPL TM-33-678, April 1974.

14. Roderick, M., "Discrete Control of a Robot Arm," Artificial Intelligence
Laboratory, Stanford University, Memo AIM-287, CS-571, August 1976.

15. Scheinman, V.P., "Design of a Computer Controlled Manipulator," Artificial
Intelligence Laboratory, Stanford University, Memo AIM 92, 1969.\.

\J16. Craig, J., and Raibert, M., "A Systematic Method for Hybrid Position/
Force Control of a Manipulator," PRoc. 1979 IEEE Computer SOftware
Applications Conference, Chicago, IL, November 1979.

17* Salisbury, J.K., "Active Stiffness Control of a Manipulator in Cartesian
Coordinates," IEEE Conference On Decision and Control, Albuquerque, NM,
December 1980.

18. Paul, R.L., an Wu, C.H., "Manipulator Compliance Based on Joint Torque
Control", IEEE Conference On Decision and Control, Albuquerque, NM,
December 1980.

19. Paul, R. et al, "Advanced Industrial Robot Control Systems," School of
Electrical Engineering, Purdue University, TR-EE-78-25, May 1978.\.
\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
techniques for this situation use only colocated sensors, and include
compensators with notch type frequency response to reduce resonant feedback
and so called robust controllers designed to achieve control in the face of 
uncertain resonance frequency.  These designs of necessity sacrifice performance
at the nominal structural parameters to maintain satisfactory performance at
the worst case values.  If end point sensing is to be used, they will not
work at all. 

Recent results in adaptive control theory combined with improvements in 
electronics and especially
microprocessor cost to performance ratios make the introduction of adaptive
controllers feasible provided that some remaining problems can be solved.
It is the aim of this proposal to suggest work that promises to contribute
significantly to those solutions.\.

\JBrief work statements of the project components are as follows:\.

\ja) Apply the pole placement self-tuning regulator algorithm to physical
systems in the Center laboratories and compare its performance to robust
(fixed) control, open loop gain scheduling, and closed loop (phase-locked
loop) gain scheduling.\.

\jb) Identify the critical parameters of structured uncertainty in the
laboratory set-up and develop means to systematically simplify the
adaptive algorithm to consider only these critical parameters.\.

\jc) Study the stability of variables and convergence of parameters in the
explicit pole placement adaptive algorithm modified to permit only
bounded controls and specified bounded output excursions.\.

\jd) Study the performance of existing algorithms and the design of new
ones in an environment of unstructured uncertainty.  Our eventual goal
will be a specification of bounds on the unstructured uncertainty within
which the adaptive control will be effective.\.

\,
\CAdaptive Control of Flexible 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 effects are found in servomechanisms for printers, plotters,
tape drives, hard copy terminals, in the computer industry
alone; comparable problems exist in machine tools and all manner of materials
handling and positioning operations.

In this latter field, a new dimension is added when one turns to the control
of robots.  In addition to  the standard variety of feedback problems
in positioning flexible members,
there are additional complications based on the nature
of the robot: neither the mechanical properties of the load nor the
trajectory of the commanded position is known to the device designer
beforehand.  Moreover, in future robots, control using end-point sensing
could add greatly to capability.  Thus, the robot presents an order of
magnitude increase in the uncertainty about such data as resonant
frequencies and other parameters in the equation of motion.  The
problem is to obtain the maximum level of performance in terms of speed
and precision of positioning, in the face of substantial uncertainty concerning
the equation of motion, especially in regards to lightly damped resonant
motion brought on by the flexibility of the mechanism.\.

\,
\JII The Role of Adaptive Control:  The problem of control of flexible
mechanisms may be expressed mathematically as that of control of a transfer
function described by\.


		G(s)  =  G\∪o\⊗(s;\f7Q)(1+l(s))		(1)

\JIn Eq. 1, the transfer function G\∪o\⊗ represents the dynamic equation of
motion based on a lumped approximation to the bending modes but with the
frequencies of resonance and other parameters which may vary collected into
a parameter vector, \f7Q.  This vector represents the structured uncertainty
of the problem.  If \f7Q were known, then G  would be known.  On the other hand,
l(s) represents the unstructured uncertainty of the problem.  The order of
l(s) and the form of l(s) are entirely unknown;  only the facts that l(s)
is stable, and for s=j\f7w  ,|l|j\f7w| for some 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.  Befkrehand, a design of the control
is done for each of the important ranges of the parameters and a table or
schedule of control gains versus critical parameter is made.  Thus, when the
environment is measured, the controller looks to the schedule and sets the
gains accordingly.  When the assumptions of gain scheduling are satisfied,
the method is inexpensive and effective.  When the assumptions are not
satisfied, as when the dimensions of O are large, then the table becomes
prohibitively large and alternative methods considered.

The two principal categories of adaptive control studied over the past
decade are the model reference adaptive control (MRAC) and the self tuning
regulator (STR). While the original philosophy of these two methods wac
different, the evolution of algorithms and stability proofs has been such
that the two schemes are now seen as essentially equivalent.  In the MRAC,
an external model representing ideal achievable response is driven by the
same command applied to the control system.  The output error formed by
the difference between model output and system output is formed.  An
algorithm is used which adjusts the controller gains so as to minimize this
error.  In the STR, on the other hand, the philosophy is to separate modelling
from control, namely to identify the system parameters.  In the original
scheme, the parameters were identified by a recursive least squares
algorithm and the control based on minimum variance. Astrom describes
alterjatives both for identification and foR control.\.

\JInnumerous examples, primarily taken from the process industries,
the STR has been found to be effective and to lead to significant
improvements over dixed control laws howevep they are designed.\.
\BIII  In recent 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
parameters, the control maintained stability and after 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 added, 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 extremely large excursions before it
converged to good control.

o Even when the system was changed to an open-loop unstable condition, if the
unstructured uncertainty was not too large, the control was effective.\.

\JThe results of this preliminary study were promising but greater understanding
is necessary before such systems can be realistically applied.  Several
remaining problems are:

1) The present theory does not permit bounding the control effort or taking action
if the output exceeds limits.  The algorithm design and convergence proofs need
to be extended to cover this case.

2) The present algorithms are based on measuring all the parameters of the system.
If the dynamic coefficient are themselves a function of a smaller number of
critical parameters such as a load mass or spring stiffness, then the algorithm
should be structured so as to simplify to just estimation of the critical
parameters.  This result would give us a continuum between gain scheduling and
adaptive control.

3) The algorithm used of explicit model identification and pole placement and
design treats the case of zeros in the unstable region, but does not have a
theory for the case of unstructured uncertainty.  The question of discovering
a bound on l for stability of an adaptive algorithm is very important to study.

These three theoretical questions coupled with a simulation and laboratory
implementation study constitute the work project proposed to advance the
control of flexible mechanisms by adaptive control.\.


\CReferences

1. Johnson, Franklin, Foss, Monopoli, and Stein; 1981 JACC, Charlottesville, VA.;
Control Society Magazine, September 1981, CDC 1981, San Diego, CA.

2. Astrom, K.J., Plenary Session 6, 1981 IFAC, Kyoto, Japan.
\F2\CPROJECT 6: INTEGRATED SENSORS

\F0\CSummary

\JA research project is proposed to investigate the use of silicon integrated
circuit technology to achieve ultraminiature pressure sensors.  A thin
silicon diaphragm, which deflects in response to ambient pressure changes,
is used as one plate of a variable capacitance pressure transducer.  The
capacitor is fabricated in the same small silicon chip with an integrated
circuit which immediately converts changes in capacitance to changes in
frequency or period of a digital waveform.  This signal can then be
communicated to remote locations without loss of fidelity.  The silicon
chip may contain an array of pressure sensors as well as other types of
sensors such as temperature, electrical potential, light and strain sensors.\.

\CBackground

\JFor the past decade the Stanford Integrated Circuits Laboratory has been
active in research dealing with a variety of integrated sensors.  A monolithic
image sensor was developed for use in a reading aid for the blind (1) which also
included a miniature piezoelectric tactile display.  Several forms of Dkppler
ultrasonic flowmeters have been demonstrated (2,3). A novel silicon gas chromatograph
has been demonstrated (4). Novel miniature microelectrode arrays for use in an
auditory prosthesis havE been described (5).  In addition, both piezoresistive (6)
and capacitive (7) silicon pressure transducers have been investigated.\.

\CObjective

\JThe principal objective of this project is to continue research aimed toward
ultraminiature (e.g. 1 x 1 x .1 mm) pressure transducers capable of sensing a
wide range of rapidly changing pressures in a variety of ambients.  A secondary
objective is to integrate with the pressure transducer, additional transducers
for pressure, temperature, electrical potential, light, strain, pH, etc.
measurements to form a multisensor chip.\.

\CApproach

\JThe feasibility of the basic approach to be pursued has been established with the
initial demonstration of an integrated sensor based upon a silicon diaphragm
capacitive pressure transducer (7).  This transducer was fabricated in the same
silicon chip with integrated circuitry to convert pressure-induced changes in
diaphragm position to changes in the period of an astable multivibrator.
The digital output signal of the multivibrator can be transmitted to any 
convenient location without contamination of the pressure measurement 
information.\.

\JAnalyses of the ultimate physical limits on sensitivity and size of silicon
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 and J.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, Ohio, 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.\.
\F2\CPROJECT 7
\COPTICAL METHODS IN ROBOTIC SENSORY SYSTEMS

\F0\JPresent sensory systems used in robotic vision systems, regularly incorporate
CCD devices and television cameras coupled to a digital computer.  Location and
object recognition are often based on feature extraction using digital image
processing techniques.  These systems rely heavily on feature detection, such as
edge detection, in the course of recognizing and location objects.  Even
for relatively simple objects the number of operations required to perform a
specific task is often so large that present systems require several seconds
to locate and recognize such simple objects as, for instance, door hinges.
The slowness of these systems is mainly due to the serial nature of the operations.
Of course, several processors can be connected in parallel using, for instance,
VLSI processors such as systolic arrays.  However, optical processors are
inherently capable of performing operations in parallel.  Optical systems
therefore have the promise of being inherently much faster than digital
devices.  In terms of accuracy, optical processors often are inferior to
digital processors; however in many of the tasks presently performed by
digital sensory systems, accuracy is not important and images are often
thresholded into binary images.  Therefore, it appears that sensory systems
incorporating both optical and digital systems have the promise of greatly
improving the speed of elementary recognition tasks.

We propose to investigate the use of optical processors in recognition systems.
A considerable expertise has been developed in our laboratory in the area of
optical processors and coherent optical techniques.  We intend to build on this
strength.  A very promising area of research involves degenerate four wave
mixing in photorefractive crystals.  It has been demonstrated that real time
coherent edge reconstruction can be performed with BSO crystals.  Within
milliseconds a high contrast object can be reconstructed holographically
into an edge-enhanced image.  We propose to investigate the merits and 
limitations of the technique, in particular the performance of the system
for objects of low contrast and complicated geometrical shapes.\.

\JA crucial element in all optical processors of the kind described here is the
holographic storage element.  Currently we are investigating several
photorefractive materials with the objective to improve the recording and
retrieval time of holographic data.  We propose to expand this work with
special emphasis placed on materials useful for robotic recognition systems.
The key feature of holographic recognition systems is the number of data
points that have to be processed.  In order to describe a three dimensional
object with n  data points, only 2n  analog holographic datapoints are needed.
Therefore the use of holography is very attractive in those applications 
where speed is important.\.

\COutline of the method

\JThe objective of the research is to device a measuring scheme by which the
topology of complex three-dimensional objects can be compared with respect
to a master copy which is either real or for which a three-dimensional
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 hologram 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.

The hologram is stored on  photographic film during the early stages of the
research, but ultimately electro-optic crystals should be used to provide
real-time capabilities.  The interferogram data will be analyzed using a
video camera and either a digital computer or an optical processor.\.

\JAdditional data characterizing the machined product can be obtained from
speckle photographs.  In particular, surface roughness and scratches
directly influence the statistical properties of the speckle pattern.

The accuracy of the method will principally depend on the space-bandwidth-
product of the digital hologram, the wavelength of the light used and
the accuracy with which the object and reference hologram can be aligned
as well as the precision of the data reduction scheme.  Accurate registration
of the holograms is crucial, and several potentiallq useful methods will be
examined duRing the course of the investigation.  It is anticipated that the
overall resolution and accuracy of the method will be similar to results
obtained in other applications of holographic interferometry.  Accuracies
of one-tenth to one-hundredth of a wavelength are commonlly achieved,
but these figures by no means represent the ultimate attainable results.
With proper care orders-of-magnitude better accuracies can be achieved.

At present extensive facilities exist in the Durand buIlding for performing
most of the proposed tasks.
A digital image processing facility based on a VAX 11-780 computer is
available and can be used for the majority of the image processing work
and the generation of the digital hologram.  Several lasers and
optical equipment as well as a fully equiped darkroom are available too.
It is anticipated however that some additional equipment will be needed
for executing special purpose tasks.\.
\F2\CADMINISTRATION

\F0\JProfessor Robert Cannon will be director of the
Center of Excellence in Aerospace Automation 
in assembly, test, and rework for aerospace manufacturing.
Professor Cannon will also be director of CAMS.
The Center headquarters will be located in Durand Building.

Day to day administration will be carried out by the director who
will be aided by an administrator to be hired at the Senior Research
Associate Level. Detailed administration will be carried out by the administrator.
A full time secretary will aid in administration.

Month to month administration will be directed by a steering committee
including heads of two departments.  The steering committee will be
composed of the head of the department of Mechanical Engineering, Prof William
Reynolds, the head of Aeronautics and Astronautics, Prof 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 and other system software provide unusual
user facilities.  High quality printing and graphics devices provide
publication facilities which are supported by software 
developed at the AI laboratory (PUB, TEX for
mathematical publication, and POX).
Graphics printing devices include: the XEROX Graphics Printer (XGP),
XEROX Dover Printer
(high resolution bit raster), Varian 22" printer/plotter (bit raster),
Canon laser beam printer, and Alphatype photo composition printer.
Extensive graphics packages exist for vector graphics, gray scale and
overlay, for display and for hard copy.\.

\JThe main computer is a Digital Equipment Corporation KL10 with 11 megabytes
of 36 bit words.  It has 8 drives of Ampex 3330-11 discs, 10.5x10↑9 bits.
Peripherals include a DataProducts printer, a Calcomp plotter, two 7 track
tape drives, and 4 Dectape drives.\.

\JThere are 53 displays with 32 channels of Datadisc digital raster memory,
6 III vector displays, 3 Imlac vector displays, 35 Datamedia character
displays, 15 teletype terminals, and 5 TI terminals.  The Datadisc displays
are interconnected by a digital switch which allows overlay of channels.
The Datadisc supports graphics and gray scale by overlay of channels.
The primaary graphics and gray scale display device is a Grinnell 
raster buffer display with 512x512 pixels with 36 bits per pixel.\.

\JA DEC KA10 serves as peripheral processor. A DEC PDP-11/45 with 80 kwds
of 16 bit memory and with an SPS-41 array processor acts as a real-time
processor for robotics.  A TI multiprocessor system also is used for robotics.\.

\CSCORE

\JSCORE is a DECSYSTEM-2060 running
TOPS-20.  SCORE includes 1024K words of main memory and 800 million
bytes of online storage.  SCORE supports 64 local and dial-access terminals,
and ARPAnet access.  It is jointly owned by the departments of
Computer Science,
Electrical Engineering, and Operations Research.  All students in a degree
program in Computer Science have access to SCORE.  SCORE is operated by
the Computer Science Department.\.

\CSUMEX

\JSUMEX is a dual processor DECsystem-1060 running TENEX.  It is a national
facility owned by the National Institutes of Health and managed by a
national governing board.  Applications of artificial intelligence to
problems in medicine and biology are the prime research foci of this
facility.  Students whose 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 clusters 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 EXPERIMENTAL 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 a black and white channel are some of the possible configurations.
The display system has an arithmetic processor and tv digitizer.\.

\JThe robotics system will be a distributed system which communicates
over an Ethernet [Metcalfe 76].  There will be a few additional direct interfaces.
The Ethernet is a coax cable with about 2 megabit rate and a simple protocol.  
This scheme requires only one hardware interface and one software interface for each
new device instead of a hardware and software interface for every pair of 
devices.\.

\JDigitized stereo images may be viewed and processed at a stereo station.
The station is comprised of a pair of black and white monitors, 17" Conrac QQA-17C
high resolution video monitors, and a modified Old Delft III scanning
stereoscope.  The Grinnell display system provides video to the stereo station monitors.
The cursor can be manipulated by trackball
control through the PDP-11 and PDP-10 computers.\.

\F2\CBUDGET



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\F2APPENDIX 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 contributing in 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 Understanding, USC
   Russell Taylor - IBM
   Brian Carlisle - President, Unimation West
   Gerald Agin - Prof, bio-engineering, Carnegie-Mellon University
   Bruce Shimano - Unimation West
   Richard "Lou" Paul - Prof, Purdue University
   Kenneth Waldron - Prof, Ohio State University
   Warren Seering - Asst Prof, MIT
   Charles Spaulding - engineer, Unimation West
   Bruce Bullock - leader Image Understanding, Hughes (one year visit)
   J.M.Tenenbaum - Schlumberger
   Bob Bolles - SRI
   Rod Brooks - MIT
   Hans Moravec - Robotics Institute, CMU
   Walton Perkins - GM
   Michael Kelly - Prof, Georgia Tech
   Irwin Sobel - Columbia Univ
   Ruzena Bajcsy - Prof, Univ of Pennsylvania
   Lynn Quam - Schlumberger
   S. Ganapathy - Assoc Prof, Univ of Michigan
   Marsha Jo Hannah - Lockheed
   Bruce Baumgart - consultant
   C.R.Lui - Prof, Purdue Univ
   Lester Earnest - President, Imagen
   Donald Gennery - JPL
   Barry Soroka - Asst Prof, USC
   R.F. Finkel - Assoc Prof, Univ of Wisconsin
   Anthony Sword - SRI
   Tom Garvey - SRI
   A.Gill - Technion, Israel
   Lung-Wen Tsai - GM Research Labs
   G. Falk - Prof, Rutgers
   Patrick MacVicar-Whelan - Boeing
   Karl Pingle - ESL
   Maria Gini - Electrotecnico, Milan, Italy
   Giusepina Gini - Electrotecnico, Milan, Italy
   R.A.Schmidt, Jr 
   A. Kay - Xerox
   Michael Roderick - Teledyne
   Arthur Thomas - ADAC 
   William Gilbert - Texas Instruments
   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 Structures
  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
  (Mathews, Newkirk)
\F0
\JThe following courses in Electrical Engineering relate to those
interested in automation, assembly, and inspection:\.
\F4
EE 261 The Fourier Transform and its Applications
  (Goodman)
EE 262 Two Dimensional Imaging
  (Bracewell)
EE 263 Introduction to Digital Signal Processing
  (Widrow, Rockmore)
EE 271 Introduction to VLSI Systems
  (Mathews, Newkirk)
EE 278 Introduction to Statistical Signal Processing
  (Inan, Hellman)
EE 373 Adaptive Systems
  (Widrow)
EE 377 Statistical Recognition and Robustness
  (Cover)
EE 378A  Linear Estimation Theory
  (staff)
\F0
\JThe following are courses in Mechanical Engineering relevant
to automation and manufacturing science:\.
\F4
ME 101 Visual Thinking
  (McKim)
ME 103 Manufacturing Technology
  (Beach)
ME 103D Engineering Drawing
  (Boyle)
ME 116A,B,C Advanced Product Design
  116A (Maggridge)
  116B (Verplank)
  116C (Kelley)
ME 119 Design of Production Processes
  (Beach, DeBra)
ME 161 Engineering Vibration
  (Piziali)
ME 212 Computer-Aided Design
  (Wilde)
ME 218A An Introduction to Microcomputer Architecture and 
        Assembly Language Programming
  (Leifer)
ME 218B Smart Product Design
  (Leifer)
ME 218C Advanced Smart Product Design
  (Leifer)
\F0
\JThe following are typical courses for a series in Automatic Control
and Dynamics of Physical Systems:\.
\F4
Credits Course	 Title
3	E  104   Dynamic Response (remedial)
  (Cannon)
3	E  105   Intro Controls				
  (Franklin, Cannon)
4	E  206	 Control Design and Synthesis
  (Bryson)
4	E  207   Digital Control I
  (Breakwell, DeBra, Bryson)
3	E  208   Digital Control II
  (Franklin)
3	E  209   On-off Control Logic
  (staff)
3	AA 242   Classical Dynamics
  (DeBra)
3	AA 278A  Optimal Control
  (Breakwell, Bryson)
\CTypical MS Program for an ME Student preparing for automatic assembly
\F4
Credits	Course						Area
3       AA 242   Classical Dynamics			Dynamics
3	E  105   Intro Controls				Controls
4	E  206	 Control Design and Synthesis
4	E  207   Digital Control I
3	E  208   Digital Control II
6	ME 218A,B Smart Products			Design
3	ME 222	  Kinematics
3	CS 223	  AI					AI
9	CS 227A,B,C Robotics		
6	ME 200A,B  Linear Algebra and PDE		Math
1		   Seminar				ME

\CTypical MS Program for an engineer preparing for automatic assembly

Credits	Course						Area
3       AA 242   Classical Dynamics			Dynamics
3	E  105   Intro Controls				Controls
4	E  206	 Control Design and Synthesis
4	E  207   Digital Control I
3	E  208   Digital Control II
6	AA 278A,B Optimal Control			
10      CS 108A,B  Fundamentals of Computation
9	CS 227A,B,C Robotics				AI
6	ME 200A,B  Linear Algebra and PDE		Math

\CTypical MS Program for a CS student with Robotics and Automatic Control
3	CS 222   LISP					AI
3       CS 223   Intro to AI				
4       CS 227A,B,C  Robotics
3       CS 137    Numerical Analysis
3       CS 143    Compiler Construction
3       M  	  Topology				Math
3	E  105	  Intro Control				Control
4	E  207	  Digital Control I			
3	E  208	  Digital Control II			
3	AA 242	  Dynamics				Dynamics
1	CS 200    Seminar
\F0
\F0\CComputer Science Courses

\JThe initial Computer Science courses are under discussion to 
restructure typical sequences.  The revised course series may be
better for students who are not specializing in
Computer Science.  Details of course offerings may change.

The department has strength in artificial intelligence, combinatorics and
analysis of algorithms, design of computer and programming systems,
mathematical theory of computation, numerical analysis, computational
complexity theory, and computational linguistics.  Related research
and courses in optimization and mathematical programming are conducted in 
the department of Operations Research; courses and research in switching
theory, logic design of digital systems, VLSI design, and some aspects of
computer systems are conducted in the Electrical Engineering department.

Since computer science is interdisciplinary, students are encouraged
to take appropriate course series in other departments.  There is no
bachelor's degree in Computer Science.  Students who wish to enter
the field are encouraged to major in Mathematics, or Mathematical
Sciences, Electrical Engineering, or one of the sciences.  They should
include courses 107, 109A, 109B or 111, 137A, 144A, 144B and 155.\.

\JThree large systems are available to all students in the University,
LOTS, a DEC 2060 time-sharing system, LESS, another DEC 2060 system,
and CIT's IBM 3033 system.  While LOTS and LESS have no charges,
charges are made for the CIT system.  There are more large
systems available to students of Computer Science: SCORE, a DEC 2060 system
and SAIL, a DEC KL-10 system.  All CS students receive accounts on one
or both machines.  In addition, there are other research machines available
to members of various research groups: SUMEX,
a dual DEC 1060 system running TENEX; and several VAX 11/780.  The department
will receive major additions of equipment beginning in 1982 including
SUN work stations, LISP machines, and personal VAX 11/750 systems.  
Computing facilities should be excellent then.\.

\CComputer Science course titles
\F4
CS 105  Introduction to Computing; 
  (staff)     (assumes no mathematical background)
CS 106  Introduction to Computing; 
  (staff)     (assumes mathematical background)
CS 107  Systematic Programming
  (Brown)
CS 108A,B  Fundamentals of Computation
  (Reid)
CS 109A Assembly Language Programming
  (Ehrman)
CS 109B DEC System-20 Assembly Language Programming
  (Gorin)
CS 111  Introduction to Computer Organization, Machine 
        and Assembly Languages
  (staff)
CS 112  Digital Computer Organization
  (staff)
CS 135  Numerical Methods
  (Golub, Schreiber)
CS 137A,B,C Numerical Analysis
  137A (Schreiber, Golub)
  137B (Oliger)
  137C (Oliger)
CS 142  Language Features and their Implementation
  (Reid)
CS 143  Compilers
  (Hennessy)
CS 144A,B,C Data Structures
  144A (Ullman)
  144B (Floyd)
  144C (Knuth)
CS 145  File and Database Systems 
  (Wiederhold)
CS 150 Introduction to Combinatorial Theory
  (staff)
CS 151 Introduction to Discrete Mathematics
  (Tobagi)
CS 154 Formal Languages
  (Floyd)
CS 155 Concrete Mathematics
  (staff)
CS 156 Introduction to the Mathematical Theory of Computation
  (staff)
CS 157 Deductive Aspects of Computer Programming
  (Manna, Waldinger)
CS 191  Software Engineering Laboratory
  (Reid)
CS 193 Digital Logic Laboratory
  (staff)
CS 194 Microcomputer Laboratory
  (staff)

CS 200  Department Lecture Series
CS 204  Problem Seminar
  (Knuth)
CS 206  Recursive Programming and Proving
  (McCarthy)
CS 211  Logic Design
  (Iyer, Clegg, Crockett)
CS 212  Processor Design
  (Iyer, Lu, Clegg)
CS 221A,B  Computer-Based Medical Decision Aids
  (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 Seminar
  (staff)
CS 340  Programming Systems Seminar
  (staff)
CS 341  Computer-Aided Design of Digital Systems
  (vanCleemput)
CS 342  Program Verification
  (Luckham)
CS 343  Topics in Concurrent Programming
  (Owicki)
CS 344  Computer Communication Networks
  (Tobagi)
CS 345  Database Research Seminar
  (Wiederhold)
CS 350  Theory of Computation Seminar
  (staff)
CS 355  Combinatorics Seminar
  (staff)
CS 370  Artificial Intelligence and Language Seminar
  (staff)
CS 443  Concurrent Systems for Artificial Intelligence
  (Hewitt)
CS 445  Topics in Computational Geometry 
  (Guibas)
\F2\CAPPENDIX 3: AFFILIATES PROGRAMS

\F0\JThere are affiliates programs in the following departments:\.

\jComputer Science -- 30 firms in the Computer Forum program;\.

\jCenter for Integrated Systems -- 17 industrial sponsors;\.

\jAeronautics and Astronautics -- 10 firms in the Affiliates Program;\.

\jMechanical Engineering, Design Division -- 10 firms;\.

\jMechanical Engineering, Thermosciences -- details not known;\.

\jElectrical Engineering, Computer Systems Laboratory -- participates
with Computer Science department in the Computer Forum program;\.

\jElectrical Engineering, Solid-State Electronics -- 35 firms;\.

\jElectrical Engineering, Information Systems Lab -- 23 firms.\.

\JIn addition, the affiliates program of the Industrial Automation Department
of SRI has 31 member firms.\.

\JThe following is a merged list of affiliates, excluding the Thermosciences
and Solid-State Electronics Programs, totaling 63 firms:
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,
Siemens, AG,
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.\.

\,
\JAs 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.\.
outtakes
  generic operations
    parts presentation, parts acquisition, parts mating

 Tradional
methods of training robots provide no mechanisms for relating sensor data
to tasks in sophisticated sensor-controlled actions.

Project 2 has the objective of developing integrated systems and
high level modules (task level) for assembly and test,
high level software and expert systems for
task level executive functions and planning, within
Computer Science, Artificial Intelligence (AI) and Mechanical 
Engineering.  This project
builds on two working systems which are at the forefront of robotic
research.  Project 3 aims at
developing an integrated system for test and rework in electronic circuits, 
addressing the rework problem directly. The project is based on an existing
advanced AI system.  Projects 4 and 5 aim at developing modules for efficient,
high performance control of  compliant manipulators with sensory  control,
especially with  visual  tracking.   Projects  4 and  5  would  extend  an
established, world-class research effort in automatic control and dynamics
of physical systems which has produced significant results.
Projects 6 and 7 aim at developing sensor technology: modules for contact
and visual sensing.  Projects 6 builds on an existing sensor program in 
the exceptionally strong Center for Integrated systems.

5) develop simulation systems, off-line programming, and planning systems to 
aid in designing assembly systems, and aid in design of products for assembly.
 extend AL  and ACRONYM  to aid in  cutting
programming  time for assembly;
2) integrated systems for flexible, programmable  automation and robotics
including programming systems;
2) intelligent model-based systems for programming assembly and test from
Computer-Aided Design (CAD) data bases;
4) task level sensor-controlled manipulation including cooperative
assembly requiring multiple motion devices;
Programmable inspection and test systems, and on
integrated programmable assembly systems
under computer control, with intelligence and sensing.
Proposed research includes programs in expert systems, high level software
and planning, task level  executive functions,  motion level  dynamics and
control for sensor-controlled programmable devices, especially robots, and
sensor development.   These are  central  technology areas  for  assembly,
inspection and
test, and rework.   Technology for aerospace production in small batch lots
should be programmable, flexible, and adaptive.  Stanford already has a very
strong research effort in programmable, flexible, and adaptive systems
for assembly and inspection; in addition, we collaborate with SRI 
which also has a strong effort in technology in these areas.