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C00005 00003	\C\F2PROPOSAL 
C00009 00004	\JPast and current research have been devoted
C00013 00005	\JMembers of the Center are heavily involved with stereo vision
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C00022 00007	\C\F2Personnel\F0
C00025 00008	\CORGANIZATIONAL ARRANGEMENTS
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\C\F2PROPOSAL 
\CFOR ESTABLISHMENT OF
\CTHE STANFORD ADVANCED AUTOMATION CENTER\F0



\JWe propose to establish the Stanford Advanced Automation Center
as a joint activity of the Computer Science and Mechanical Engineering
departments.  The Center would function as a focus for research
combining robotics, computer vision, sensory systems, and computer-aided-design.
The Center
is intended to provide adequate computation and experimental facilities for these
research areas, particularly for computer-aided-design.
The Center would also coordinate a joint Master's Degree, MS-CSME,
between Computer Science and Mechanical Engineering.  The specifics of
this academic program will be developed and submitted to the Graduate
Division for the appropriate review and approvals.\.

\JThe activities of the Center will concentrate on basic research
oriented toward applications in manufacturing, rehabilitation of 
handicapped people, electric power generation, space, and cartography.
A selection of potential applications illustrates the range of choice
of research and applications.\.


\C\F2RESEARCH ACTIVITIES\F0

\JThe proposed Center would include research supported at the
level of about $700,000 now, and additional support estimated at
$450,000  in the next 18 months from several new sources of support.
This is in addition to other
research support of members of the proposed Center for activities
not included in the Center.  Current support comes from
National Science Foundation (Division of Applied Research), NASA,
and ARPA-DOD.  Funding is anticipated from the Veterans 
Administration for rehabilitation,
from NSF (Engineering) and from the Electric Power Research Institute
for teleoperator research.\.

\JThe applications discussed below center on basic research in a few
key areas, involving sensors, computers and mechanical systems.\.

\JCurrent research in robotics at the Stanford Artificial Intelligence Laboratory
has produced the Scheinman arm, which may become the first mass-produced robot.  
Work in manipulator design has proceeded in collaboration with Prof. Roth
of mechanical engineering.  The software system for
that robot is based on an early programming system developed at the
AI Lab.  The AI Lab has developed a Very High Level Language for industrial
assembly, the AL language. 
Development of an export version of AL to be distributed by a manufacturer
of robots will be investigated.\.

\JPast and current research have been devoted
to computer control of robots.  Sensory/motor control is particularly
important.  Sensors, interfaces, and measurement software have been developed
and are under further development. 
The theoretical and experimental background of Prof. DeBra and the Guidance
and Control Lab will be important in this area.
 Algorithms for control and high level
language for force control are current research topics.\.

\JParts modeling is important in a broad range of manufacturing, robotics,
and vision.    A Computer-Aided Design effort
has been underway at the AI Lab, coupled with utilization of parts modeling in computer
vision and Very High Level Language for robotics.  This effort will be
coupled with the Design Division of Mechanical Engineering.\.

\JA strong program in computer vision has been supported over a 12 year
period at the AI Lab.   Considerable effort has gone into laser ranging
and automated stereo vision. 
The group has also contributed to representation of shape and its use
in recognizing complex objects.
Prof Levinthal and Dr. Liebes have led the Mars Viking
Lander imaging team and built an interactive stereo ranging facility.\.




\F2\CAPPLICATIONS

\C\F2Manufacturing\F0

\JWithin manufacturing, special emphasis is given to topics which relate
to local industry, particularly semiconductor and electronics
industries.  One such topic is visual inspection in semiconductor processing.
There are about ten such stages in production.  Computer vision would
accomplish not only rejection of defects, but provide a repeatable 
way of controlling
the production process to increase yield, while recording types of defects
and locations for separate analysis.
Another area of interest is programmable automation of batch electronic
assembly.  Currently, automation for electronic assembly is inflexible,
and automation is possible only in large production volume.  
For instrumentation, computers, medical, aerospace and other high technology
devices in moderate volume production, little conventional automation is used.\.

\JMembers of the group are currently conducting research in software
systems for robotics in manufacturing.
We have built the AL language for industrial assembly and are
currently extending Very High Level Language facilities of AL.
Research in force sensing, computer sensory/motor control, and High Level
Language for sensory/motor control are important areas of interest.\.

\JMembers of the Center are heavily involved with stereo vision
and its applications to machine control and inspection.
Inspection may be a major area for  automation in manufacturing.
Until recently, the costs of sensors, interfacing, and computers
were so high that only simple automated inspection was possible.
Because automated inspection technology is not developed, in those
cases in which humans
don't perform well, opportunities for increasing productivity and
quality control are lost.  Humans have great perceptual skills
but they tire rapidly in repetitive tasks.  Their perceptual
skills do not help with many non-visual or exotic sensors.
There is a need for 100% inspection and certification of safety-related
products such as brakes.
 Humans are not very fast, accurate, or reliable in
recording and communicating results of inspection.  Consequently
there are large areas of industrial production for which neither
human nor automated inspection is adequate.  Development of
automated inspection may make a major impact in solving problems
for which no reasonable solutions now exist.\.

\JWe have also carried out research in Computer-Aided Design.
Considerable research has been done in modeling of mechanical parts
and use of parts models in computer vision and robotics.  It is
expected that mechanical CAD will play an important part in integrating
software and sensing for manufacturing.
Related work of others at the AI Lab and EE dept in
electronic CAD is making an impact in semiconductor production and electronic
design.  The SUDS
system from the AI Lab and its programmer have been adopted by 
Digital Equipment Corporation for internal production.  
A new structured CAD system for electronic circuits appears equally
promising.\.

\C\F2Electric Power Generation\F0

\JRecent incidents with power shutdowns in nuclear electric power
stations have highlighted the technical problems of servicing reactors.
Work is currently done in a radioactive environment by humans.  Advanced
capabilities for remote operation with man in the loop offer opportunities
to lower hazards to workers, lower the cost, and increase the level of
maintenance.  On-line monitoring and maintenance are being evaluated.
This class of problem is generic, in the sense that fossil fuel power
plants would benefit from the technology.  Now inspection is not required.
In the future, it is expected that inspection will be required.  The
environment expected with liquefaction schemes is hostile, with large
amounts of carcinogens and high temperatures.\.

\JPattern recognition applied to non-destructive testing is another
important area for maintenance of electric power stations.  Work in this
field offers the possibility of collaboration with current research
being carried out by Prof. Kino and others in the Ginzton Laboratory.\.

\C\F2Rehabilitation\F0

\JThe proposed Center would interact with the Veterans Administration
Rehabilitation 
Engineering Center, which is expected to be established in Palo Alto.
Members of the Center would carry out research leading to development
of tactile sensing and control for prosthetics.  They would also
participate in research on software control of manipulators
for quadriplegics.  A guidance device for the blind is being considered.
Other areas under consideration are biped walking aids and exercisers
for disabled patients.\.

\C\F2Remote Sensing  and Photointerpretation\F0

\JMembers of the Center have led in  research in stereo vision and
scene analysis.  Automation of cartography for USGS and DMA depends on
further development of automated stereo.  The field of computer stereo
vision is developing very rapidly.  Agricultural surveys require
improved computer vision which may come from scene analysis and structural
pattern recognition.  The development of automated aids to photointerpretation 
requires stereo vision and model-based vision.\.

\C\F2Space Applications\F0

\JCommunication bandwidth limitations require considerable local autonomy
in a projected Mars Rover mission.  Our current research in stereo vision
and model-building for guidance and navigation make it appear that these 
capabilities will increase performance of a Rover mission significantly.\.

\JThe construction and maintenance of satellite communication systems
(large antenna structures)
appears likely to benefit from advanced teleoperator technology, both
stereo vision and manipulation.  The cost of a man-hour in space and
exposure to radiation belts are factors in seeking to increase
worker productivity.  The same technology would be useful for other
large space structures such as solar power stations, should they
be built.\.

\C\F2Undersea Mineral Development\F0

\JTeleoperator technology offers the possibility of undersea oil
drilling and ore mining.\.

\C\F2Personnel\F0

\JThe Center would include from Computer Science:
Dr. Thomas O. Binford, Prof. Elliott Levinthal, Dr. Sidney Liebes, Jr.,
Prof. John McCarthy and Prof. Edward Feigenbaum.   Profs McCarthy
and Feigenbaum will serve in an advisory capacity.\.

\JMembers from Mechanical Engineering include:
Prof. Bernard Roth, Prof. Daniel DeBra, Prof. Larry Leifer,
and Prof. Philip Barkan.\.




\C\F2Space Requirements\F0

\JTotal office space and facilities space required are estimated
below.  Approximately 5200 sq ft are required now.
These numbers are expected to grow with  increases in funding, to
an estimated 7500 sq ft in two years.\.

\JOffice space is required for a staff of 25 people.  Laboratory
space is required for a PDP11/45 system and a TI 990/10, both with
disks and peripherals, and for a hand/eye laboratory
containing two manipulators, several tv cameras, 
an experimental workspace containing tooling for assemblies,
and a moving belt.  A DEC 2040 system will be sought for the Center
to provide adequate computer resources.\.

1. Faculty and Senior Scientists 4@175 = 700
2. Graduate Students 4 students/office,
     12 students 3 offices @ 200   =600
3. Secretarial support 2 @100 = 200
4. Research Assoc. 4 @ 160 = 640
5. Programers 2 @ 80 = 160
6. Eng. Tech 1 @ 150 = 150
7. Main computer Room/Laboratory = 1700
8. Conf/Seminar/ Library = 400
9. Small conf.= 200
10. Utility/office supplies = 180
11. Storage = 200
Total = 5130 sq. ft.
\CORGANIZATIONAL ARRANGEMENTS

\JThe administration of the Center will be under the 
direction of an Executive Committee. The Executive Committee will
be composed of three members chosen by the Chairman of the Computer
Science Department, three members chosen by the Chairman of the 
Mechanical Engineering Department, and one member chosen by the 
Chairman of the Electrical Engineering Department. This latter 
member is to assure the necessary liason with related interests of 
the joint program of the computer Science Department and Electrical 
Engineering.\.

\JThe functions of the Executive Committee include the following:\.
\j1. Select a Director for the Center;\.
\j2. Recommend and, where appropriate approve, appointments of Adjunct
Professors, Senior Research Associates, and Research Associates;\.
\j3. Approve the Academic program;\.
\j4. Set guidelines for the overall directions of the research 
program and the submission of proposals;\.
\j5. Approve general policies necessary for the operation of the
Center.\.

\JThere shall be two methods of submitting proposals for 
sponsored projects. The first applies to  proposals which have no 
requirements for additional committments of space under departmental 
control or which do not change the committments of departmental 
faculty. These proposals, in addition to being signed by the Principal
Investigator, must be approved by the Director of the Center and the 
Vice-Provost for Research Affairs. Proposals which do not meet these
criteria must in addition be approved by the Chairmen of the 
Departments involved and the Deans of the corresponding Schools.
Copies of all proposals and reports shall be sent to all members
of the Executive Committee.\.

\JThe initial  full-time professional staff billets shall be 
as follows: three Adjunct Professors, one Senior Research Scientist,
and  three Research Scientists. These shall be members of
either the Department of Mechanical Engineering or the Computer Science
Department depending on the professional background and expertise of
the individual. All other staff shall be members of the 
same department as the Director of the Center.\.

\JProfessor Levinthal's present appointment as Adjunct Professor
in the Department of Genetics will be transferred to the Computer
Science Department. It is anticipated that Dr. Thomas O. Binford  
will be recommended for appointment as Adjunct Professor in Mechanical
Engineering. No search will be initiated to fill the third Adjunct
Professorship billet until the program in the Center is established  
and such a search is approved by the Executive Committee of the Center.
The search committee shall be chosen by the chairman of the 
Department in which the appointment will be held. These three 
appointments shall be  supplemental to the present 
allocation of billets to the departments involved in the Center's 
program.\.

\JAppointments and promotion to Senior Research Scientist 
shall have the approval of the Executive Committee of the Center and shall
then follow the normal proceedure for the department involved.    
All other appointments and promotions require the approval of the 
Director of the Center and the individual Department involved. Salary 
reviews are the responsibility of the Director of the Center and the 
relevant Department.\.

I have the following numbers which are based on the space Program
for the Margaret Jacks Hall. They are base on my guesses about the 
number of people who are in each catergory.
1. Faculty and Senior Scientists 5@175 = 875
2. Graduate Students 4 students/office , 8 students 2 offices @ 200
	=400
3. Secretarial support 2 @100 = 200
$. Research Assoc. 4 @ 160 = 640
5. Programers 4 @ 80 = 320
6. eng. Tech 2 @ 150 = 300
7. Main computer Room/Laboratory = 1700
8. Conf/Seminar/ Library = 400
9. Small conf.= 200
10. utility/office supplies = 180
11. Storage = 200
Total = 5415 sq. ft.
This adds up to 25 people which agrees approximately with your
estimate of intial number. I would guess that the progam could
double with a fifty % increase in space. Based on these numbers I 
would ask for 5500 sg. ft. initially with the possibility of 
expansion gradually over a two year period to 8500. This allows
doubling of categories 1-6.Let me know what the break-down is 
of people who now compose the group,and your comments on above.
-------
students 12
PhD level 4, staff 3



students NSF 6, ARPA 3, NASA 2, indep 1
Binford			
Enrico Pagello
Henri Prade		
Eugene Salamin
PhD
PhD
           		Goldman		
        		Mujtaba
       			Salisbury
			Nabavi

						Arnold  ARPA
						Brooks ARPA
						Greiner ARPA
                                                Peter Blicher
						Moravec NASA
						Gennery NASA

			Norman Haas
Gini ?
Gini ?

I have the following numbers which are based on the space Program
for the Margaret Jacks Hall. They are base on my guesses about the 
number of people who are in each catergory.
1. Faculty and Senior Scientists 4@175 = 700
2. Graduate Students 4 students/office, 12 students 3 offices @ 200
	=600
3. Secretarial support 2 @100 = 200
$. Research Assoc. 4 @ 160 = 640
5. Programers 2 @ 80 = 160
6. eng. Tech 1 @ 150 = 150
7. Main computer Room/Laboratory = 1700
8. Conf/Seminar/ Library = 400
9. Small conf.= 200
10. utility/office supplies = 180
11. Storage = 200
Total = 5130 sq. ft.
This adds up to 25 people which agrees approximately with your
estimate of intial number. I would guess that the progam could
double with a fifty % increase in space. Based on these numbers I 
would ask for 5500 sg. ft. initially with the possibility of 
expansion gradually over a two year period to 8500. This allows
doubling of categories 1-6.Let me know what the break-down is 
of people who now compose the group,and your comments on above.
-------
students 12
PhD level 4, staff 3



students NSF 6, ARPA 3, NASA 2, indep 1
Binford			
Enrico Pagello
Henri Prade		
Eugene Salamin
PhD
PhD
           		Goldman		
        		Mujtaba
       			Salisbury
			Nabavi

						Arnold  ARPA
						Brooks ARPA
						Greiner ARPA
                                                Peter Blicher
						Moravec NASA
						Gennery NASA

			Norman Haas
Gini ?
Gini ?