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␈↓␈↓↓␈↓α␈↓β␈↓ ↓H
␈↓ F␈β↓␈↓α[1]
␈↓ ∧!␈ββ`␈↓&␈↓αCOMPUTER INTEGRATED ASSEMBLY SYSTEMS␈↓)¬⊃
␈↓ ¬/␈β∧I␈↓↓Work Plan   -   February 1976
␈↓ ελ␈βπ'␈↓Stanford University
␈↓ ¬4␈βπm␈↓Artificial Intelligence Laboratory
␈↓ D␈β↓␈↓α[2]
␈↓ ε
␈β↓H␈↓&␈↓αINTRODUCTION␈↓)¬⊃
␈↓ α,␈βαT␈↓The␈α∪Computer␈α∪Integrated␈α∪Assembly␈α∪Systems␈α∪project␈α∪began␈α∪with␈α∪the␈α∩goal␈α∩of␈α∩making␈α∩a
␈↓ α,␈βαw␈↓practical␈α
language␈α
for␈α
programmable␈α
assembly␈α
(called␈αAL),␈αmuch␈αas␈αAPT␈αis␈αa␈αstandard␈αfor
␈↓ α,␈ββ~␈↓numerically-controlled␈α∀machining.␈α∀The␈α∀emphasis␈α∀of␈α∀the␈α∀research␈α∀is␈α∀on␈α∀simplifying␈α∪the
␈↓ α,␈ββ=␈↓programming␈α∃and␈α∃increasing␈α∃the␈α∃capability␈α∃of␈α∃programmable␈α∃assembly␈α∀and␈α∀inspection
␈↓ α,␈ββ`␈↓systems␈α
to␈α
perform␈α
a␈α
broad␈α
class␈α
of␈α
assembly␈α
operations.
␈↓ α,␈β∧&␈↓This␈αwork␈αfollowed␈αthe␈αearly␈αdesign␈αand␈αdevelopment␈αof␈αthe␈αScheinman␈αmanipulator␈αand␈αa
␈↓ α,␈β∧I␈↓manipulator␈α∪programming␈α∩system␈α∩called␈α∩WAVE.␈α∩In␈α∩1973␈α∩the␈α∩system␈α∩was␈α∩tested␈α∩with␈α∩a
␈↓ α,␈β∧l␈↓program␈α
which␈α
assembled␈α
an␈α
automobile␈α
water␈α
pump.
␈↓ ¬␈β¬2␈↓αPast Activity and Current Work Plan
␈↓ α,␈β¬T␈↓β     ⊂αααααααααααααααααααααααααααααααααααααααααααααααααααααααααααααααα⊃
␈↓ α,␈β¬w␈↓β     ~               PAST               NOW               FUTURE      ~
␈↓ α,␈βε~␈↓β     ~   ααααARMSαααα→~                  ~                   ~        ~
␈↓ α,␈βε=␈↓β     ~   ααααSENSORSααβααααα→            ~                   ~        ~
␈↓ α,␈βε`␈↓β     ~   ααααWAVEαααα→~                  ~                   ~        ~
␈↓ α,␈βπβ␈↓β     ~              ααβααααααααααALααααααβααααααααααα→       ~        ~
␈↓ α,␈βπ&␈↓β     ~         αααααα→~                ααβααAPPLICATIONSαααα→~        ~
␈↓ α,␈βπI␈↓β     ~                ~αααααVERIFICATIONαβααVISIONαααααααααα→~        ~
␈↓ α,␈βπl␈↓β     ~                ~                  ~ααBIN PICKINGααααα→~        ~
␈↓ α,␈βλ∂␈↓β     %αααααααααααααααααααααααααααααααααααααααααααααααααααααααααααααααα$
␈↓ α,␈βλV␈↓While␈α
WAVE␈α
evolved␈α
incrementally␈αto␈αaid␈αin␈αmanipulator␈αresearch,␈αAL␈αwas␈αdesigned␈αas␈αa
␈↓ α,␈βλy␈↓working␈α∂model␈α∂of␈α∂a␈α∂practical␈α∞software␈α∞system␈α∞for␈α∞programmable␈α∞assembly␈α∞automation.␈α∞AL
␈↓ α,␈β	≤␈↓has␈α⊂now␈α⊂been␈α⊂largely␈α⊂implemented,␈α⊂and␈α⊂tests␈α⊂of␈α⊂AL␈α⊂on␈α∂trial␈α∂assemblies␈α∂have␈α∂begun.␈α∂We
␈↓ α,␈β	?␈↓believe␈αthat␈αAL␈αis␈αapplicable␈αfor␈αexpressing␈αassembly␈αoperations␈αfor␈α
programmable␈α
assembly
␈↓ α,␈β	b␈↓devices␈α≡ranging␈α≡from␈α≡special-purpose␈α≡automation␈α≥(with␈α≥programmable␈α≥control)␈α≥to
␈↓ α,␈β
¬␈↓general-purpose␈α
manipulators.
␈↓ α,␈β
K␈↓Our current subgoals are:
␈↓ α|␈β
n␈↓completion␈α
of␈α
the␈α
AL␈α
language␈α
for␈α
assembly␈α
and␈α
inspection;
␈↓ α|␈β⊃␈↓relating␈α
AL␈α
to␈α
real␈α
world␈α
assembly␈α
and␈α
inspection;
␈↓ α|␈β4␈↓extending␈α
AL␈α
to␈α
meet␈α
real␈α
world␈α
requirements.
␈↓ α,␈βz␈↓We␈α∪summarize␈α∩below␈α∩some␈α∩design␈α∩requirements␈α∩for␈α∩AL␈α∩to␈α∩be␈α∩practical␈α∩in␈α∩industry,␈α∩as
␈↓ α,␈β≥␈↓recommended␈α
by␈α
our␈α
industrial␈α
steering␈α
committee.
␈↓ α,␈βb␈↓β             ⊂αααααααααααααααααααααααααααααααααααααααααααααααα⊃
␈↓ α,␈β
¬␈↓β             ~   # DESIGN OBJECTIVES FOR ASSEMBLY SYSTEM      ~
␈↓ α,␈β
(␈↓β             ~       # COST EFFECTIVE EXECUTION               ~
␈↓ α,␈β
K␈↓β             ~       # ASSEMBLY DEVICE INDEPENDENCE           ~
␈↓ α,␈β
n␈↓β             ~       # COMPUTER INDEPENDENCE                  ~
␈↓ α,␈β∞⊃␈↓β             ~       # RAPID PROGRAMMING AND DEBUGGING        ~
␈↓ α,␈β∞4␈↓β             ~       # MINIMAL EXPERTISE TO PROGRAM           ~
␈↓ α,␈β∞W␈↓β             %αααααααααααααααααααααααααααααααααααααααααααααααα$
␈↓ D␈β↓␈↓α[3]
␈↓ α,␈β↓H␈↓An␈α
objective␈α
is␈α
to␈α
build␈α
a␈α
system␈α
for␈α
inspection␈α
and␈α
vision
␈↓ α|␈βα∞␈↓which␈α
works␈α
without␈α
special␈α
preparation␈α
of␈α
objects␈α
and␈α
environment
␈↓ α|␈βαT␈↓for␈α
tasks␈α
for␈α
which␈α
images␈α
are␈α
nearly␈α
alike␈α
(VERIFICATION␈α
VISION)
␈↓ α|␈ββ~␈↓and␈αfor␈αpicking␈αa␈αpart␈αfrom␈αa␈αbin␈αof␈αidentical␈αparts␈αand␈αplacing␈αthe␈αpart␈αin␈αan
␈↓ α|␈ββ=␈↓assembly␈α
(BIN␈α
PICKING)
␈↓ α|␈β∧β␈↓with␈α
execution␈α
time␈α
and␈αmemory␈αsize␈αwhich␈αare␈αnear␈αpractical␈αand␈αwith␈αsimple
␈↓ α|␈β∧&␈↓programming.
␈↓ ε1␈β∧l␈↓&␈↓αAPPROACH␈↓)¬⊃
␈↓ α,␈β¬2␈↓A␈α
key␈α
design␈α
criterion␈αis␈αrapid␈αprogramming␈αof␈αassembly␈αsystems␈αby␈αproduction␈αworkers.␈αA
␈↓ α,␈β¬U␈↓simple␈αmeans␈αof␈αprogramming␈αa␈αmanipulator␈αis␈αto␈αguide␈αit␈αthrough␈αthe␈αmotions␈αand␈αrecord
␈↓ α,␈β¬x␈↓the␈α∂positions.␈α∂The␈α∂advantages␈α∂of␈α∞guiding␈α∞through␈α∞the␈α∞motions␈α∞can␈α∞be␈α∞kept␈α∞by␈α∞building␈α∞a
␈↓ α,␈βε≠␈↓guiding␈αsystem␈α(which␈αis␈α
a␈α
simple␈α
program)␈α
in␈α
a␈α
language␈α
like␈α
WAVE␈α
or␈α
AL.␈α
We␈α
propose␈α
to
␈↓ α,␈βε>␈↓eliminate␈α⊂unnecessary␈α⊂guiding␈α⊂steps␈α∂and␈α∂to␈α∂provide␈α∂programming␈α∂facilities␈α∂which␈α∂are␈α∂not
␈↓ α,␈βεa␈↓possible␈α
by␈α
guiding.
␈↓ α,␈βπ'␈↓Guiding␈α
is␈α
not␈α
needed␈α
to␈α
specify␈αthe␈αsame␈αposition␈αrepeatedly␈α(e.g.␈αa␈αscrew␈αdispenser),␈αor␈αto
␈↓ α,␈βπJ␈↓specify␈α_positions␈α_which␈α↔can␈α↔be␈α↔obtained␈α↔from␈α↔previous␈α↔assemblies␈α↔or␈α↔models␈α↔(from
␈↓ α,␈βπm␈↓computer-aided␈α∪design),␈α∪or␈α∪to␈α∩specify␈α∩positions␈α∩which␈α∩can␈α∩be␈α∩found␈α∩using␈α∩sensing.␈α∩AL
␈↓ α,␈βλ⊂␈↓provides␈α
for␈α
each␈α
of␈αthese␈αsimplifications.␈αIn␈αthe␈αpump␈αassembly␈αwhich␈αwe␈αperformed,␈αonly
␈↓ α,␈βλ3␈↓one-sixth␈α
of␈α
the␈α
guiding␈α
steps␈α
were␈α
really␈α
needed.
␈↓ α,␈βλy␈↓Guiding␈α∂specifies␈α∂absolute␈α∂positional␈α∂information.␈α∂Sensing␈α∞and␈α∞dynamics␈α∞require␈α∞extended
␈↓ α,␈β	≤␈↓guiding␈α∃systems,␈α∃i.e.␈α∃with␈α∀control␈α∀specified␈α∀by␈α∀skeleton␈α∀programs,␈α∀with␈α∀positional␈α∀data
␈↓ α,␈β	?␈↓supplied␈α∞by␈α∞guiding,␈α∞and␈α∞with␈α∞specification␈α∞of␈α∞force␈α
and␈α
time.␈α
Voice␈α
input,␈α
a␈α
library,␈α
or␈α
a
␈↓ α,␈β	b␈↓button␈αbox␈αof␈αfunctions␈α(i.e.␈αa␈αsimple␈αkeyboard)␈αare␈αall␈αmeans␈αto␈αinput␈αthese␈αprograms.␈αOur
␈↓ α,␈β
¬␈↓approach␈α∞is␈α∞to␈α∞provide␈α∞a␈α∞high␈α∞level␈α
language␈α
for␈α
manipulation␈α
with␈α
a␈α
library␈α
of␈α
assembly
␈↓ α,␈β
(␈↓operations␈αand␈αwith␈αguiding.␈αUsers␈αwould␈αprogram␈αat␈αtwo␈αlevels.␈αThe␈αhigher␈αlevel␈α
is␈α
writing
␈↓ α,␈β
K␈↓the␈α
skeleton␈α
text␈α
programs␈α
appropriate␈α
for␈α
a␈α
class␈α
of␈α
products␈α
(e.g.␈α
all␈α
rotors␈α
of␈α
one␈α
design
␈↓ α,␈β
n␈↓and␈α
different␈α
sizes).␈α
The␈α
lower␈α
level␈α
is␈α
fleshing␈α
out␈α
the␈α
skeleton␈α
by␈α
guiding␈α
on␈α
the␈α
shop␈α
floor.
␈↓ α,␈β4␈↓Our␈α∞approach␈α∞to␈α∞inspection␈α∞and␈α∞vision␈α∞is␈α∞to␈α∞provide␈α∞for␈α∞two␈α∞levels␈α∞of␈α∞programming.␈α∞The
␈↓ α,␈βW␈↓first␈α
is␈α
in␈α
a␈α
high␈α
level␈α
language␈α
for␈α
inspection␈α
with␈αa␈αlibrary␈αof␈αinspection␈αoperations.␈αThe
␈↓ α,␈βz␈↓second␈α⊃level␈α⊃is␈α⊃"teaching␈α⊃by␈α⊃showing"␈α⊂using␈α⊂an␈α⊂interactive␈α⊂system␈α⊂and␈α⊂automatic␈α⊂feature
␈↓ α,␈β≥␈↓selection.␈α∂The␈α∂use␈α∂of␈α∂stereo␈α∞provides␈α∞depth␈α∞information␈α∞necessary␈α∞for␈α∞grasping␈α∞and␈α∞visual
␈↓ α,␈β@␈↓control.␈α∃Other␈α∃work␈α∃on␈α∀inspection␈α∀uses␈α∀binary␈α∀images␈α∀to␈α∀minimize␈α∀program␈α∀size␈α∀and
␈↓ α,␈βc␈↓computation.␈αIt␈αis␈αoften␈αpossible␈αto␈αprepare␈αindustrial␈αscenes␈αwith␈αhigh␈αenough␈αcontrast␈αthat
␈↓ α,␈β
ε␈↓thresholding␈α∞to␈α∞obtain␈α∞binary␈α∞images␈α∞is␈α∞reliable.␈α∞We␈α∞have␈α∞shown␈α∞that␈α∞by␈α∞using␈α∞gray␈α
scale
␈↓ α,␈β
)␈↓images,it␈α∂is␈α∂possible␈α∂to␈α∂work␈α∂with␈α∂unprepared␈α∞scenes,␈α∞at␈α∞small␈α∞cost␈α∞in␈α∞additional␈α∞time␈α∞and
␈↓ α,␈β
L␈↓memory.
␈↓ A␈β↓␈↓α[4]
␈↓ ¬␈␈β↓H␈↓&␈↓αPROJECT STATUS␈↓)¬⊃
␈↓ α,␈βα∞␈↓The␈α⊗AL␈α⊗system␈α⊗is␈α⊗designed,␈α⊗a␈α⊗zeroth␈α⊗level␈α⊗implementation␈α∃is␈α∃working,␈α∃and␈α∃a␈α∃short
␈↓ α,␈βα1␈↓applications␈αtest␈αhas␈αbeen␈αdone.␈αThe␈αcurrent␈αimplementation␈αis␈αable␈αto␈α
move␈α
one␈α
arm.␈α
There
␈↓ α,␈βαT␈↓are␈α∀essentially␈α∀complete␈α∀versions␈α∪of␈α∪all␈α∪elements␈α∪of␈α∪the␈α∪system,␈α∪but␈α∪without␈α∪debugging
␈↓ α,␈βαw␈↓facilities.␈α∪The␈α∪runtime␈α∪system␈α∪is␈α∪on␈α∪a␈α∪PDP11/45␈α∩computer.␈α∩The␈α∩design␈α∩of␈α∩AL␈α∩proved
␈↓ α,␈ββ~␈↓adequate␈α≡for␈α≡implementation,␈α≡without␈α≡requiring␈α≡major␈α≡design␈α≡changes.␈α≡Extensive
␈↓ α,␈ββ=␈↓documentation␈α
has␈αbeen␈αpublished␈αin␈αthe␈αmost␈αrecent␈αgroup␈αprogress␈αreport␈αand␈αin␈αAI␈αLab
␈↓ α,␈ββ`␈↓memos␈α
AIM-274␈α
and␈α
AIM-275.
␈↓ α,␈β∧&␈↓An␈αinteractive␈α
system␈α
simplifies␈α
the␈α
input␈α
of␈α
AL␈α
object␈α
models␈α
by␈α
using␈α
the␈α
manipulator␈α
as␈α
a
␈↓ α,␈β∧I␈↓tool␈α⊂to␈α⊂point␈α⊂to␈α⊂features.␈α⊂The␈α⊂system␈α⊂has␈α⊂been␈α⊂designed␈α⊂and␈α⊂a␈α∂partial␈α∂implementation␈α∂is
␈↓ α,␈β∧l␈↓working.␈α⊂Another␈α∂program␈α∂has␈α∂been␈α∂written␈α∂which␈α∂determines␈α∂the␈α∂position␈α∂of␈α∂workpieces
␈↓ α,␈β¬∂␈↓from␈αsymbolic␈αgeometric␈αconstraints.␈αThe␈αmanipulator␈αcontrol␈αsystem␈αhas␈αbeen␈αmodeled␈αand
␈↓ α,␈β¬2␈↓a␈αsystem␈αwhich␈αsearches␈αfor␈αgood␈αcontrol␈αparameters␈αhas␈αbeen␈αdeveloped.␈αAs␈αa␈αresult␈αof␈αthe
␈↓ α,␈β¬U␈↓modeling␈α⊃of␈α⊃the␈α⊃control␈α⊃system,␈α⊃modified␈α⊃forms␈α⊃of␈α⊃the␈α⊃equations␈α⊃were␈α⊃found␈α⊂which␈α⊂are
␈↓ α,␈β¬x␈↓insensitive␈α
to␈α
the␈α
servo␈α
sampling␈α
interval␈α
and␈α
to␈α
changes␈α
in␈α
inertia.
␈↓ α,␈βε>␈↓A␈α∂simple␈α∂inspection␈α∂system␈α∂has␈α∂been␈α∂designed,␈α∂implemented,␈α∂and␈α∂tested␈α∂on␈α∂stored␈α∂images.
␈↓ α,␈βεa␈↓The␈α
system␈α
is␈α
programmed␈α
very␈α
simply␈α
by␈α
choosing␈α
among␈α
features␈α
selected␈αby␈αthe␈αsystem,
␈↓ α,␈βπ∧␈↓or␈αadding␈αa␈αfew␈αfeatures␈αindicated␈αby␈αa␈αcursor.␈αThe␈αsize␈αof␈αthe␈αruntime␈αsystem␈α
is␈α
12k␈α
(36␈α
bit
␈↓ α,␈βπ'␈↓words)␈αand␈αthe␈αexecution␈αtime␈αis␈αabout␈α0.6␈αseconds␈α(both␈αestimated␈αfor␈αan␈αoptimized␈αversion
␈↓ α,␈βπJ␈↓of␈α
the␈α
current␈α
program␈α
and␈α
for␈α
a␈α
typical␈α
task).
␈↓ α,␈βλ⊂␈↓In␈α∞the␈α∞early␈α∞months␈α∞of␈α∞this␈α∞contract,␈α∞several␈α∞subassemblies␈α∞of␈α
a␈α
two␈α
stroke␈α
gasoline␈α
engine
␈↓ α,␈βλ3␈↓were␈α∂performed,␈α∞with␈α∞an␈α∞emphasis␈α∞on␈α∞the␈α∞use␈α∞of␈α∞sensing␈α∞to␈α∞simplify␈α∞setup␈α∞of␈α∞assembly.␈α∞A
␈↓ α,␈βλV␈↓hinge␈α∞assembly␈α∞was␈α
carried␈α
out␈α
using␈α
two␈α
manipulators␈α
in␈α
synchronized␈α
(non-simultaneous
␈↓ α,␈βλy␈↓motion).
␈↓ ¬␈␈β	≤␈↓αWhere Are We Now?
␈↓ α,␈β	>␈↓β                 ⊂αααααααααααααααααααααααααααααααααααααααα⊃
␈↓ α,␈β	a␈↓β                 ~                                        ~
␈↓ α,␈β
∧␈↓β                 ~   # AL SYSTEM                          ~
␈↓ α,␈β
'␈↓β                 ~      # DESIGN COMPLETED                ~
␈↓ α,␈β
J␈↓β                 ~      # IMPLEMENTATION LEVEL0 COMPLETED ~
␈↓ α,␈β
m␈↓β                 ~      # DOCUMENTATION COMPLETED         ~
␈↓ α,␈β⊂␈↓β                 ~      # FIRST APPLICATIONS TEST DONE    ~
␈↓ α,␈β3␈↓β                 ~                                        ~
␈↓ α,␈βV␈↓β                 ~   # MODELING                           ~
␈↓ α,␈βy␈↓β                 ~      # LOCUS DETERMINATION WORKING     ~
␈↓ α,␈β≤␈↓β                 ~      # OBJECT MODEL EDITOR BUILT       ~
␈↓ α,␈β?␈↓β                 ~      # CONTROL SYSTEM MODELED          ~
␈↓ α,␈βb␈↓β                 ~                                        ~
␈↓ α,␈β
¬␈↓β                 ~   # VERIFICATION VISION                ~
␈↓ α,␈β
(␈↓β                 ~      # DESIGN COMPLETED                ~
␈↓ α,␈β
K␈↓β                 ~      # SIMPLE SYSTEM IMPLEMENTED       ~
␈↓ α,␈β
n␈↓β                 ~      # OFFLINE TESTS DONE              ~
␈↓ α,␈β∞⊃␈↓β                 ~                                        ~
␈↓ α,␈β∞4␈↓β                 %αααααααααααααααααααααααααααααααααααααααα$
␈↓ C␈β↓␈↓α[5]
␈↓ α,␈β↓H␈↓If␈α⊂the␈α⊂work␈α∂is␈α∂supported,␈α∂we␈α∂foresee␈α∂that␈α∂several␈α∂open␈α∂research␈α∂questions␈α∂will␈α∂have␈α∂been
␈↓ α,␈β↓k␈↓answered.␈α
Also␈α
prototype␈α
systems␈α
will␈α
exist␈α
as␈α
examples␈α
for␈α
building␈α
production␈α
systems.
␈↓ ελ␈βα1␈↓αWhere Will We Be?
␈↓ α,␈βαS␈↓β            ⊂αααααααααααααααααααααααααααααααααααααααααααααααααα⊃
␈↓ α,␈βαv␈↓β            ~                                                  ~
␈↓ α,␈ββ→␈↓β            ~   # ANSWERS TO QUESTIONS                         ~
␈↓ α,␈ββ<␈↓β            ~      # HOW GOOD IS HIGH LEVEL ASSEMBLY LANGUAGE? ~
␈↓ α,␈ββ←␈↓β            ~      # CAN VISUAL INSPECTION BE DONE WITH NOISE? ~
␈↓ α,␈β∧α␈↓β            ~      # HOW GOOD IS VISUAL INSPECTION?            ~
␈↓ α,␈β∧%␈↓β            ~      # IS BIN PICKING FEASIBLE?                  ~
␈↓ α,␈β∧H␈↓β            ~                                                  ~
␈↓ α,␈β∧k␈↓β            ~   # PROTOTYPE SYSTEMS                            ~
␈↓ α,␈β¬∞␈↓β            ~      # AL SYSTEM                                 ~
␈↓ α,␈β¬1␈↓β            ~      # ASSEMBLY APPLICATIONS MACRO LIBRARY       ~
␈↓ α,␈β¬T␈↓β            ~      # GENERAL RUNTIME SYSTEM                    ~
␈↓ α,␈β¬w␈↓β            ~      # INTERACTIVE PROGRAMMING SYSTEM            ~
␈↓ α,␈βε~␈↓β            ~      # INSPECTION SYSTEM                         ~
␈↓ α,␈βε=␈↓β            ~      # BIN PICKING ALGORITHM                     ~
␈↓ α,␈βε`␈↓β            ~                                                  ~
␈↓ α,␈βπβ␈↓β            %αααααααααααααααααααααααααααααααααααααααααααααααααα$
␈↓ ε(␈βπm␈↓&␈↓αWORK PLAN␈↓)¬⊃
␈↓ α,␈βλ3␈↓The␈α
work␈α
plan␈α
for␈α
the␈α
next␈α
two␈α
years␈α
is␈α
summarized␈α
in␈α
the␈α
figure␈α
below:
␈↓ ε@␈βλy␈↓αWork Plan
␈↓ α,␈β	≠␈↓β            ⊂αααααααααααααααααααααααααααααααααααααααααααααααααα⊃
␈↓ α,␈β	>␈↓β            ~                                                  ~
␈↓ α,␈β	a␈↓β            ~   # COMPLETING AND EXTENDING THE AL SYSTEM       ~
␈↓ α,␈β
∧␈↓β            ~      # THE BASIC AL SYSTEM                       ~
␈↓ α,␈β
'␈↓β            ~      # INTERACTIVE PROGRAMMING AND DEBUGGING     ~
␈↓ α,␈β
J␈↓β            ~      # COMPLIANT MOTIONS AND TWO ARM COOPERATION ~
␈↓ α,␈β
m␈↓β            ~      # INTEGRATING VISUAL INSPECTION             ~
␈↓ α,␈β⊂␈↓β            ~      # BIN PICKING                               ~
␈↓ α,␈β3␈↓β            ~                                                  ~
␈↓ α,␈βV␈↓β            ~   # RELATING AL TO THE REAL WORLD                ~
␈↓ α,␈βy␈↓β            ~      # GROUP TECHNOLOGY IN ASSEMBLY ANALYSIS     ~
␈↓ α,␈β≤␈↓β            ~      # DESIGN REVIEW OF AL                       ~
␈↓ α,␈β?␈↓β            ~      # TECHNOLOGY TRANSFER                       ~
␈↓ α,␈βb␈↓β            ~                                                  ~
␈↓ α,␈β
¬␈↓β            %αααααααααααααααααααααααααααααααααααααααααααααααααα$
␈↓ α,␈β
L␈↓ 
␈↓ D␈β↓␈↓α[6]
␈↓ ∧∃␈β↓H␈↓αCOMPLETING AND EXTENDING THE AL SYSTEM
␈↓ ∧@␈βα∞␈↓COMPLETING AND EXTENDING BASIC AL
␈↓ α,␈βαT␈↓The␈αimplementation␈αof␈αthe␈αAL␈α
compile␈α
time␈α
and␈α
runtime␈α
systems␈α
is␈α
essentially␈α
complete.␈α
The
␈↓ α,␈βαw␈↓AL␈α∞parser␈α∞is␈α∞nearly␈α∞completed.␈α∞Most␈α∞types␈α∞of␈α∞motion␈α
statements␈α
can␈α
be␈α
compiled␈α
now␈α
and
␈↓ α,␈ββ~␈↓code␈α
for␈α
the␈α
remainder␈α
is␈α
being␈α
completed.␈α
The␈α
facility␈αfor␈αdeclaring␈αand␈αusing␈αprocedures
␈↓ α,␈ββ=␈↓will␈α⊃be␈α⊃implemented.␈α⊂The␈α⊂AL␈α⊂design␈α⊂did␈α⊂not␈α⊂include␈α⊂lists,␈α⊂arrays,␈α⊂and␈α⊂records,␈α⊂but␈α⊂they
␈↓ α,␈ββ`␈↓probably␈α
will␈α
be␈α
implemented.
␈↓ ∧π␈β∧&␈↓INTERACTIVE PROGRAMMING AND DEBUGGING
␈↓ α,␈β∧l␈↓Extensive␈α
experience␈α
has␈α
shown␈α
that␈α
the␈α
debugging␈α
process␈α
is␈α
vastly␈αmore␈αtime-consuming
␈↓ α,␈β¬∂␈↓than␈α⊂people␈α⊂are␈α⊂willing␈α⊂to␈α⊂admit.␈α⊂In␈α⊂AL,␈α⊂this␈α⊂problem␈α∂is␈α∂accentuated␈α∂because␈α∂the␈α∂system
␈↓ α,␈β¬2␈↓interacts␈α∩with␈α∩the␈α∩real␈α∩world␈α∩in␈α∩real␈α∩time␈α∩and␈α∩because␈α∩there␈α⊃are␈α⊃two␈α⊃computers␈α⊃and␈α⊃a
␈↓ α,␈β¬U␈↓language␈αhierarchy.␈αThe␈αALAID␈αsubsystem␈αwill␈αprovide␈αinteractive␈αdebugging␈αat␈αeach␈αlevel
␈↓ α,␈β¬x␈↓in␈α∂the␈α∂language␈α∞hierarchy.␈α∞In␈α∞industry,␈α∞with␈α∞the␈α∞spread␈α∞of␈α∞microprocessors,␈α∞multi-machine
␈↓ α,␈βε≠␈↓hierarchies␈α∪will␈α∪be␈α∪usual␈α∪and␈α∪debugging␈α∪systems␈α∩like␈α∩ALAID␈α∩will␈α∩have␈α∩wide␈α∩potential
␈↓ α,␈βε>␈↓application.
␈↓ α,␈βπ∧␈↓Every␈α∩system␈α⊃for␈α⊃manipulator␈α⊃programming␈α⊃uses␈α⊃guiding␈α⊃through␈α⊃the␈α⊃motions␈α⊃which␈α⊃is
␈↓ α,␈βπ'␈↓adequate␈α∪for␈α∩pure␈α∩position␈α∩specification.␈α∩Symbolic␈α∩programs␈α∩are␈α∩also␈α∩used:␈α∩voice␈α∩input;
␈↓ α,␈βπJ␈↓subroutine␈αor␈αmacro␈αlibraries;␈α
force-controlled␈α
motions;␈α
relative␈α
coordinate␈α
systems.␈α
The␈α
issue
␈↓ α,␈βπm␈↓is␈α
not␈α
whether␈α
to␈α
use␈α
guiding␈α
or␈αsymbolic␈αprogramming,␈αsince␈αeveryone␈αnow␈αuses␈αboth,␈αbut
␈↓ α,␈βλ⊂␈↓how␈α⊂to␈α⊂combine␈α⊂the␈α⊂two.␈α⊂The␈α⊂interactive␈α∂object␈α∂modeling␈α∂system␈α∂described␈α∂in␈α∂our␈α∂recent
␈↓ α,␈βλ3␈↓progress␈α
report␈α
shows␈α
part␈α
of␈α
a␈α
system␈α
to␈α
do␈α
that.␈αThe␈αinteractive␈αprogramming␈α(advanced
␈↓ α,␈βλV␈↓guiding)␈α∂system␈α∂will␈α∂be␈α∂completed␈α∂to␈α∂simplify␈α∂making␈α∂the␈α∞symbolic␈α∞skeleton␈α∞of␈α∞a␈α∞program
␈↓ α,␈βλy␈↓(whether␈α
from␈α
voice␈α
or␈α
text)␈α
to␈α
be␈α
filled␈α
in␈α
by␈α
guiding.
␈↓ ¬\␈β	?␈↓COMPLIANT MOTION
␈↓ α,␈β
¬␈↓Some␈α∪industrial␈α∪applications␈α∪need␈α∩force-controlled␈α∩compliant␈α∩motions.␈α∩Compliance␈α∩using
␈↓ α,␈β
(␈↓sensing␈α∞is␈α∞also␈α∞an␈α∞important␈α∞means␈α∞of␈α∞coordinating␈α∞two␈α∞or␈α∞more␈α
devices,␈α
although␈α
we␈α
will
␈↓ α,␈β
K␈↓consider␈α∞only␈α∞pairwise␈α∞coordination.␈α∞In␈α∞handling␈α∞large␈α
parts␈α
it␈α
may␈α
be␈α
more␈α
economical␈α
to
␈↓ α,␈β
n␈↓use␈α∂two␈α∂manipulators␈α∂than␈α∂a␈α∂single␈α∂very␈α∂strong␈α∂manipulator␈α∞or␈α∞hand.␈α∞In␈α∞many␈α∞tasks,␈α∞two
␈↓ α,␈β⊃␈↓cooperating␈α
manipulators␈α
with␈α
three␈α
degrees␈αof␈αfreedom␈αmight␈αbe␈αpreferable␈αto␈αa␈αsingle␈αsix
␈↓ α,␈β4␈↓degree␈α
of␈α
freedom␈α
device.
␈↓ α,␈βz␈↓It␈α∪is␈α∪important␈α∪to␈α∪have␈α∪language␈α∪facilities␈α∪for␈α∪coordination␈α∩of␈α∩several␈α∩devices.␈α∩To␈α∩test
␈↓ α,␈β≥␈↓whether␈α
the␈α
language␈α
facilities␈α
in␈α
AL␈α
for␈α
compliant␈α
motions␈α
and␈α
coordinated␈αmotion␈αreally
␈↓ α,␈β@␈↓work␈α⊂and␈α⊂whether␈α⊂they␈α⊂are␈α∂adequate␈α∂for␈α∂assembly␈α∂requires␈α∂completing␈α∂the␈α∂interfacing␈α∂of
␈↓ α,␈βc␈↓sensing␈α
hardware␈α
and␈α
an␈α
interface␈α
for␈α
the␈α
second␈α
arm.
␈↓ ∧F␈β
)␈↓INSPECTION AND VERIFICATION VISION
␈↓ α,␈β
o␈↓We␈α
have␈α
shown␈α
that␈αthe␈αexecution␈αtime␈αand␈αmemory␈αsize␈αof␈αour␈αexperimental␈αprogram␈αfor
␈↓ α,␈β∞∩␈↓visual␈α∞inspection␈α∞are␈α∞almost␈α
practical,␈α
and␈α
that␈α
programming␈α
is␈α
simple.␈α
The␈α
system␈α
will␈α
be
␈↓ α,␈β∞5␈↓integrated␈αwith␈αmanipulation,␈αand␈αwill␈αbe␈αextended␈αby␈αadding␈αstereo␈αand␈αstructural␈α
relations
␈↓ α,␈β∞X␈↓of␈αparts.␈αWe␈αplan␈αto␈αanalyze␈αinspection␈αtasks␈αto␈αsee␈αwhich␈α
class␈α
of␈α
tasks␈α
can␈α
be␈α
performed␈α
by
␈↓ α,␈β∞{␈↓that␈α
system.
␈↓ D␈β↓␈↓α[7]
␈↓ ε#␈β↓H␈↓BIN PICKING
␈↓ α,␈βα∞␈↓It␈αis␈αcommon␈αindustrial␈αpractice␈αto␈αput␈αparts␈αfor␈αassembly␈αin␈αa␈αbin␈αat␈αthe␈αwork␈αstation.␈αThe
␈↓ α,␈βα1␈↓automation␈αof␈αmuch␈αof␈αassembly␈α(without␈αradical␈αrebuilding)␈αrequires␈α
a␈α
capability␈α
for␈α
taking
␈↓ α,␈βαT␈↓one␈α⊂part␈α⊂from␈α⊂a␈α⊂bin␈α⊂and␈α⊂placing␈α∂the␈α∂part␈α∂in␈α∂an␈α∂assembly.␈α∂That␈α∂is␈α∂now␈α∂only␈α∂possible␈α∂in
␈↓ α,␈βαw␈↓special␈α∞cases.␈α∞For␈α∞small␈α∞and␈α∞simple␈α∞parts,␈α∞feeders␈α∞can␈α∞be␈α∞designed␈α∞if␈α∞production␈α∞volume␈α
is
␈↓ α,␈ββ~␈↓large.␈α⊂SRI␈α∂accomplishes␈α∂picking␈α∂parts␈α∂from␈α∂bins␈α∂by␈α∂using␈α∂a␈α∂magnetic␈α∂hand␈α∂which␈α∂grasps
␈↓ α,␈ββ=␈↓until␈α
it␈α
has␈α
picked␈α
up␈αa␈αsingle␈αpart,␈αplaces␈αit␈αon␈αa␈αviewing␈αposition,␈αvisually␈αdetermines␈αthe
␈↓ α,␈ββ`␈↓orientation,␈α∪then␈α∪grasps␈α∪the␈α∪part␈α∪and␈α∪positions␈α∪it.␈α∪Waiting␈α∪for␈α∩vision␈α∩and␈α∩unnecessary
␈↓ α,␈β∧β␈↓repositioning␈αcaused␈αby␈αpoor␈αgrasping␈αpositions␈αslow␈αdown␈α
the␈α
assembly␈α
operation.␈α
Delays␈α
of
␈↓ α,␈β∧&␈↓that␈α
scale␈α
make␈α
a␈α
big␈α
difference␈α
in␈α
cost-effectiveness.
␈↓ α,␈β∧l␈↓It␈αis␈αproposed␈αto␈αuse␈αvision␈αto␈αguide␈αthe␈αmanipulator␈αto␈αpick␈αout␈αsingle␈αparts␈αfrom␈α
a␈α
heap␈α
of
␈↓ α,␈β¬∂␈↓identical␈α⊃parts␈α⊃in␈α⊃a␈α⊃bin.␈α⊃During␈α⊃the␈α⊂period␈α⊂of␈α⊂the␈α⊂contract,␈α⊂the␈α⊂vision␈α⊂functions␈α⊂will␈α⊂be
␈↓ α,␈β¬2␈↓implemented␈αbut␈αnot␈αnecessarily␈αinterfaced␈αto␈αthe␈αarm.␈αThe␈α
visual␈α
execution␈α
time␈α
is␈α
intended
␈↓ α,␈β¬U␈↓to␈αbe␈αabout␈α1␈αsecond,␈α
overlapped␈α
with␈α
manipulation.␈α
The␈α
vision␈α
will␈α
not␈α
delay␈α
manipulation.
␈↓ α,␈β¬x␈↓The␈α
orientation␈αwill␈αbe␈αdetermined,␈αpermitting␈αa␈αgood␈αgrasping␈αposition␈αto␈αbe␈αchosen␈αwhen
␈↓ α,␈βε≠␈↓possible.␈α
In␈α
order␈α
to␈α
guide␈α
the␈α
manipulator␈α
to␈αpick␈αparts␈αfrom␈αa␈αbin,␈αthe␈αvision␈αsystem␈αwill
␈↓ α,␈βε>␈↓determine␈α⊂the␈α⊂position␈α⊂and␈α∂orientation␈α∂of␈α∂parts␈α∂using␈α∂stereo␈α∂vision.␈α∂Except␈α∂where␈α∂objects
␈↓ α,␈βεa␈↓touch,␈αthey␈α
will␈α
be␈α
separated␈α
by␈α
depth␈α
discontinuities,␈α
observable␈α
in␈α
stereo.␈α
The␈α
initial␈α
system
␈↓ α,␈βπ∧␈↓will␈α
be␈α
regarded␈α
as␈α
successful␈α
if␈α
execution␈α
time␈α
is␈α
under␈α
three␈α
seconds␈α
and␈α
it␈αis␈αreasonably
␈↓ α,␈βπ'␈↓clear␈α
how␈α
to␈α
speed␈α
up␈α
the␈α
process.
␈↓ ∧n␈βπm␈↓αRELATING AL TO THE REAL WORLD
␈↓ ∧∪␈βλ3␈↓GROUP TECHNOLOGY IN ASSEMBLY ANALYSIS
␈↓ α,␈βλy␈↓Group␈αTechnology␈αcan␈αbe␈α
broadly␈α
defined␈α
as␈α
the␈α
realization␈α
that␈α
many␈α
problems␈α
are␈α
similar,
␈↓ α,␈β	≤␈↓and␈αthat,␈αby␈αgrouping␈αsimilar␈αproblems,␈αa␈αsingle␈αsolution␈αcan␈αbe␈αfound␈αto␈αa␈αset␈αof␈αproblems,
␈↓ α,␈β	?␈↓thus␈α⊃saving␈α⊃time␈α⊃and␈α⊃effort.␈α⊃Parts␈α⊃classification␈α⊃in␈α⊃manufacturing␈α⊃is␈α⊃an␈α⊃example␈α⊂of␈α⊂the
␈↓ α,␈β	b␈↓application␈αof␈αGroup␈αTechnology␈αin␈αparts␈αproduction.␈αSo␈αfar␈αthere␈αis␈αno␈αsystematic␈αeffort␈αin
␈↓ α,␈β
¬␈↓applying␈α
the␈α
principle␈α
of␈α
Group␈α
Technology␈α
in␈α
assembly␈α
analysis.
␈↓ α,␈β
K␈↓We␈α∀intend␈α∀to␈α∀apply␈α∪the␈α∪principle␈α∪of␈α∪Group␈α∪Technology␈α∪in␈α∪assembly␈α∪analysis␈α∪through
␈↓ α,␈β
n␈↓classifying␈α∩the␈α∩elements␈α∩of␈α∩assembly␈α∩tasks␈α∩and␈α∩assembly␈α∩devices.␈α∩Assembly␈α∩task␈α∩analysis
␈↓ α,␈β⊃␈↓includes␈αclassification␈αof␈αgeometry␈αof␈α
matching␈α
elements,␈α
clearance,␈α
orientations,␈α
sequence,␈α
etc.
␈↓ α,␈β4␈↓Device␈α∂analysis␈α∂includes␈α∂the␈α∂classification␈α∂of␈α∞manipulator␈α∞motions,␈α∞commands,␈α∞tooling,␈α∞jigs
␈↓ α,␈βW␈↓and␈αfixtures,␈αetc.␈αThe␈α
analysis␈α
will␈α
be␈α
carried␈α
out␈α
through␈α
case␈α
studies,␈α
emphasizing␈α
assembly
␈↓ α,␈βz␈↓planning.␈α
Specific␈α
work␈α
includes␈α
the␈α
following:
␈↓ α|␈β≥␈↓1.␈α∂Study␈α∂the␈α∂segmentation␈α∂of␈α∂assembly␈α∂into␈α∂functional␈α∂segments,␈α∞such␈α∞as␈α∞parts
␈↓ α|␈β@␈↓palletization,␈α
handling,␈α
storage␈α
and␈α
retrieval.
␈↓ α|␈βc␈↓2.␈α∩Analyze␈α∩assembly␈α∩task␈α∩elements␈α∩and␈α∩study␈α∩the␈α∩feasibility␈α⊃and␈α⊃needs␈α⊃of␈α⊃a
␈↓ α|␈β
ε␈↓classification␈α
system␈α
based␈α
on␈α
the␈α
analysis.
␈↓ α|␈β
)␈↓3.␈α∂Develop␈α∂a␈α∂frequency␈α∂distribution␈α∂of␈α∂different␈α∂task␈α∂elements␈α∂for␈α∂a␈α∂group␈α∞of
␈↓ α|␈β
L␈↓representative␈α
products.
␈↓ α|␈β
o␈↓4.␈α
Analyze␈α
assembly␈α
sequences.
␈↓ α|␈β∞∩␈↓5.␈α
Study␈α
assembly␈α
configurations,␈α
including␈α
mechanical␈α
manipulators.
␈↓ α|␈β∞5␈↓6.␈α
Study␈α
the␈α
AL␈α
language.
␈↓ α|␈β∞X␈↓7.␈α
Develop␈α
an␈α
assembly␈α
planning␈α
system.
␈↓ α|␈β∞{␈↓8.␈α
Review␈α
design␈α
requirements␈α
for␈α
assembly␈α
software␈α
and␈α
possibly␈α
for␈α
hardware.
␈↓ C␈β↓␈↓α[8]
␈↓ ελ␈β↓H␈↓DESIGN REVIEW
␈↓ α,␈βα∞␈↓The␈αAL␈αsystem␈αcan␈αbe␈αregarded␈αas␈αa␈αfamily␈αof␈αsystems␈αwhich␈αprovide␈αdifferent␈αfunctions␈αto
␈↓ α,␈βα1␈↓different␈αusers.␈αA␈αpurpose␈αof␈αthe␈αdesign␈αreview␈α
is␈α
to␈α
determine␈α
how␈α
to␈α
modularize␈α
the␈α
system
␈↓ α,␈βαT␈↓to␈α
tailor␈α
it␈α
to␈α
a␈α
variety␈α
of␈α
requirements.␈α
From␈αthis␈αstandpoint,␈αthe␈αdesign␈αreview␈αof␈αthe␈αAL
␈↓ α,␈βαw␈↓system␈αwill␈αevaluate␈αwhich␈α
parts␈α
of␈α
the␈α
system␈α
are␈α
valuable,␈α
and␈α
which␈α
require␈α
improvement.
␈↓ α,␈ββ~␈↓Since␈α
the␈α
emphasis␈α
is␈α
on␈α
modularity,␈α
the␈α
examination␈α
will␈α
focus␈α
on␈α
details␈α
of␈αmodules␈αand
␈↓ α,␈ββ=␈↓interfaces,␈α
and␈α
not␈α
limit␈α
itself␈α
to␈α
a␈α
system␈α
"black␈α
box"␈α
evaluation.
␈↓ α,␈β∧β␈↓A␈α
selection␈α
of␈α
typical␈α
subtasks␈α
will␈α
be␈α
examined␈α
to␈α
determine:
␈↓ α|␈β∧&␈↓FUNCTION:␈α
Can␈α
they␈α
be␈α
done␈α
in␈α
AL?
␈↓ α|␈β∧I␈↓PERFORMANCE:␈α
What␈α
is␈α
the␈α
speed␈α
and␈α
reliability?
␈↓ α|␈β∧l␈↓STRUCTURE:␈α
What␈α
are␈α
possible␈α
implementation␈α
structures?
␈↓ α|␈β¬∂␈↓COST:␈α
Which␈α
implementations␈α
are␈α
cost-effective?
␈↓ α|␈β¬2␈↓MODULARITY,␈α∩EVOLUTION:␈α∩Which␈α∩implementations␈α∩solve␈α∩a␈α∩variety␈α⊃of
␈↓ α|␈β¬U␈↓problems?
␈↓ α|␈β¬x␈↓PROGRAMMING␈α
EASE:␈α
How␈α
difficult␈α
is␈α
the␈α
programming?
␈↓ α,␈βε>␈↓A␈α∂detailed␈α∂examination␈α∂along␈α∂these␈α∂lines␈α∂went␈α∂into␈α∂the␈α∂AL␈α∂design,␈α∂and␈α∂it␈α∞is␈α∞now␈α∞time␈α∞to
␈↓ α,␈βεa␈↓review␈α∃the␈α∃conclusions.␈α∃Gedanken␈α∃(thought)␈α∃experiments␈α∃are␈α∃the␈α∀preferred␈α∀method␈α∀of
␈↓ α,␈βπ∧␈↓evaluation␈α∞because␈α
they␈α
offer␈α
the␈α
quickest␈α
feedback␈α
into␈α
the␈α
design␈α
and␈α
implementation␈α
of
␈↓ α,␈βπ'␈↓AL.␈α∃It␈α∃is␈α∃necessary,␈α∃however,␈α∃to␈α∃evaluate␈α∀AL␈α∀in␈α∀the␈α∀context␈α∀of␈α∀the␈α∀harsh␈α∀reality␈α∀of
␈↓ α,␈βπJ␈↓applications␈α∪tests.␈α∪For␈α∪this␈α∪purpose␈α∪it␈α∪is␈α∩desirable␈α∩to␈α∩choose␈α∩some␈α∩standard␈α∩benchmark
␈↓ α,␈βπm␈↓applications␈αwhich␈α
involve␈α
a␈α
range␈α
of␈α
assembly␈α
operations␈α
that␈α
are␈α
statistically␈α
comparable␈α
to
␈↓ α,␈βλ⊂␈↓those␈αfound␈αin␈αindustry.␈αPerhaps␈αthe␈αNSF␈αcommittee␈αshould␈αdefine␈αthree␈αor␈αfour␈αsuch␈αtasks,
␈↓ α,␈βλ3␈↓and␈α∂NSF␈α∂supported␈α∂assembly␈α∂groups␈α∂should␈α∂attempt␈α∂to␈α∂perform␈α∞these␈α∞tasks␈α∞in␈α∞a␈α∞spirit␈α∞of
␈↓ α,␈βλV␈↓friendly␈α
competition.
␈↓ ¬<␈β	≤␈↓TECHNOLOGY TRANSFER
␈↓ α,␈β	b␈↓↓Export Subset of AL
␈↓ α,␈β
(␈↓The␈α
laboratory␈α
will␈α
make␈α
AL␈α
available␈α
to␈α
those␈α
laboratories␈α
which␈α
have␈α
requested␈α
it.␈α
The
␈↓ α,␈β
K␈↓group␈α∪will␈α∩initiate␈α∩an␈α∩evaluation␈α∩of␈α∩a␈α∩standard␈α∩runtime␈α∩system␈α∩at␈α∩the␈α∩current␈α∩level␈α∩of
␈↓ α,␈β
n␈↓software␈α↔technology␈α↔for␈α↔the␈α↔RANN␈α↔community␈α↔and␈α↔users␈α↔of␈α↔Scheinman␈α↔arms.␈α↔The
␈↓ α,␈β⊃␈↓evaluation␈αwould␈αconsider␈αthe␈αneeds␈αof␈αboth␈αcommunities␈αand␈αdetermine␈αwhether␈αa␈αcommon
␈↓ α,␈β4␈↓language␈α
would␈α
fit␈α
the␈α
needs␈α
of␈α
a␈αlarge␈αenough␈αsubset␈αto␈αbe␈αworth␈αthe␈αeffort.␈αIf␈αa␈αcommon
␈↓ α,␈βW␈↓system␈αis␈αpossible,␈αthere␈αwill␈αbe␈αa␈αpayoff␈αin␈αa␈αbetter␈αdebugged␈αsystem,␈αdirect␈αtransfer␈αof␈αcode
␈↓ α,␈βz␈↓and␈α
hardware␈α
interfaces,␈α
and␈α
more␈α
laboratories␈αcontributing␈αto␈αbuilding␈αof␈αthe␈αsystem.␈αIt␈αis
␈↓ α,␈β≥␈↓not␈α∂expected␈α∂that␈α∂AL␈α∂will␈α∂be␈α∂adopted␈α∂whole.␈α∂However,␈α∂the␈α∞AL␈α∞system␈α∞has␈α∞been␈α∞carefully
␈↓ α,␈β@␈↓designed␈αand␈αimplemented,␈αand␈αit␈αis␈αexpected␈αthat␈αlarge␈αparts␈αof␈αAL␈αwould␈αbe␈αincorporated
␈↓ α,␈βc␈↓into␈αsuch␈αa␈αcommon␈αsystem.␈αIt␈αis␈αproposed␈αonly␈αto␈αevaluate␈αand␈αdesign␈αthe␈αstandard␈αsystem.
␈↓ α,␈β
ε␈↓Actual␈α
implementation␈α
would␈α
be␈α
negotiated␈α
separately␈α
when␈α
more␈α
information␈α
is␈α
available.
␈↓ α,␈β
L␈↓↓Requirements for a Full Version of AL
␈↓ α,␈β∞∩␈↓There␈αis␈αnow␈αa␈αpromising␈αapproach␈αto␈αexporting␈αthe␈αAL␈αsystem.␈αA␈α"computer␈αindependent"
␈↓ α,␈β∞5␈↓version␈αof␈αSAIL␈αis␈αnow␈αavailable.␈αThe␈αAL␈αsystem␈αis␈αwritten␈αin␈αSAIL␈αand␈αcould␈αbe␈αmodified
␈↓ α,␈β∞X␈↓to␈α∂run␈α∂on␈α∂a␈α∂128k␈α∞PDP11␈α∞class␈α∞machine␈α∞with␈α∞disk.␈α∞AL␈α∞would␈α∞be␈α∞restructured␈α∞for␈α∞memory
␈↓ α,␈β∞{␈↓management.␈α
The␈α
modification␈α
to␈α
AL␈α
appears␈α
to␈α
be␈α
an␈α
effort␈α
of␈α
one␈α
man␈α
year␈α
or␈α
less.
␈↓ D␈β↓␈↓α[9]
␈↓ α,␈β↓H␈↓↓"Computer Independent" SAIL
␈↓ α,␈βα∞␈↓A␈α
portable␈α
version␈α
of␈α
SAIL␈α
is␈α
in␈α
use␈α
now,␈α
with␈α
many␈α
of␈α
the␈α
features␈αof␈αstandard␈αSAIL.␈αIt
␈↓ α,␈βα1␈↓has␈α∞successfully␈α∞compiled␈α∞code␈α∞for␈α∞IBM␈α∞360,␈α∞Nova␈α
2,␈α
Eclipse,␈α
PDP11␈α
and␈α
PDP10␈α
systems.
␈↓ α,␈βαT␈↓We␈α⊂plan␈α∂to␈α∂implement␈α∂it␈α∂for␈α∂our␈α∂PDP11/45␈α∂and␈α∂will␈α∂have␈α∂some␈α∂experience␈α∂with␈α∂it.␈α∂The
␈↓ α,␈βαw␈↓group␈α
may␈α
eventually␈α
adopt␈α
that␈α
SAIL␈α
as␈α
its␈α
standard.
␈↓ α,␈ββ=␈↓↓Product Assembly
␈↓ α,␈β∧β␈↓The␈αlaboratory␈αwill␈αprovide␈αfacilities␈αfree␈αfor␈αone␈αmonth␈αperiods␈αto␈αindustrial␈αstaff␈αmembers
␈↓ α,␈β∧&␈↓delegated␈αby␈αtheir␈αfirms␈αto␈αcarry␈α
out␈α
assembly␈α
of␈α
products␈α
using␈α
the␈α
facilities␈α
of␈α
the␈α
Artificial
␈↓ α,␈β∧I␈↓Intelligence␈α↔Laboratory.␈α↔The␈α↔laboratory␈α↔will␈α↔provide␈α↔machine␈α⊗time,␈α⊗office␈α⊗space␈α⊗and
␈↓ α,␈β∧l␈↓consultation␈α
with␈α
staff␈α
of␈α
the␈α
laboratory.
␈↓ ε6␈β¬∂␈↓&␈↓αSCHEDULE␈↓)¬⊃
␈↓ α,␈β¬U␈↓The␈α
schedule␈α
for␈α
the␈α
next␈α
two␈α
years␈α
is␈α
summarized␈α
in␈α
the␈α
figure␈α
below:
␈↓ εO␈βε≠␈↓αSchedule
␈↓ α,␈βε=␈↓β ⊂ααααααααααααααααααααααααααααααααααααααααααααααααααααααααααααααααααααααα⊃
␈↓ α,␈βε`␈↓β ~     July 76           Jan 77            July 77           Jan 78      ~
␈↓ α,␈βπβ␈↓β ~        ~                 ~                 ~                 ~        ~
␈↓ α,␈βπ&␈↓β ~0    2     4     6     8    10    12    14    16    18    20    22   24~
␈↓ α,␈βπI␈↓β ~     ~     ~     ~     ~     ~     ~     ~     ~     ~     ~     ~     ~
␈↓ α,␈βπl␈↓β ~αααααβαααBASIC AL LEVEL 1ααααβαααα→~     ~     ~     ~     ~     ~     ~
␈↓ α,␈βλ∂␈↓β ~     ~     ~     ~     ~     ~     ~ααααEXTEND ALααα→~     ~     ~     ~
␈↓ α,␈βλ2␈↓β ~αααALAIDαααβαααα→~     ~     ~     ~     ~     ~     ~     ~     ~     ~
␈↓ α,␈βλU␈↓β ~     ~     ~     ~αααααβαααααβααINTERACTIVE PROGRAMMINGααααβαααααβαααα→~
␈↓ α,␈βλx␈↓β ~ααFORCE HARDWARE→~     ~     ~     ~     ~     ~     ~     ~     ~     ~
␈↓ α,␈β	≠␈↓β ~     ~     ~     ~ααFORCE EXPERIMENTSααα→~     ~     ~     ~     ~     ~
␈↓ α,␈β	>␈↓β ~αααααβαααSECOND ARMααααβαααααβαααααβαααα→~     ~     ~     ~     ~     ~
␈↓ α,␈β	a␈↓β ~     ~     ~     ~     ~     ~     ~     ~αααCOORDINATION EXPERIMENTSα→~
␈↓ α,␈β
∧␈↓β ~αααINSPECTIONααα→~αααWITH STEREOαα→~     ~     ~     ~     ~     ~     ~
␈↓ α,␈β
'␈↓β ~ααααSTEREO FOR BIN PICKINGαααβαααα→~ααα3D MODELSαααα→~αααBIN PICKINGαα→~
␈↓ α,␈β
J␈↓β ~αααααβαααANALYZE ASSEMBLIESααβαααα→~     ~     ~     ~     ~     ~     ~
␈↓ α,␈β
m␈↓β ~     ~     ~     ~     ~     ~     ~αααααβαANALYZE ASSEMBLY SYSTEMSααα→~
␈↓ α,␈β⊂␈↓β ~αααααβαααDESIGN REVIEWαβαααααβαααα→~     ~     ~     ~     ~     ~     ~
␈↓ α,␈β3␈↓β ~αααEVALUATE STANDARD SYSTEMααβαααα→~     ~     ~     ~     ~     ~     ~
␈↓ α,␈βV␈↓β %ααααααααααααααααααααααααααααααααααααααααααααααααααααααααααααααααααααααα$