COMMENT ⊗   VALID 00008 PAGES
C REC  PAGE   DESCRIPTION
C00001 00001
C00002 00002			Outline for Visitors
C00004 00003			Objectives
C00005 00004		OUTLINE OF TALK AT ROCHESTER CONF NSF-RANN GRANTEES
C00012 00005		AL STRUCTURES--MANIPULATION CONTROL
C00015 00006			SENSORS AND CONTROL
C00016 00007			VISUAL FEEDBACK
C00018 00008			DESCRIPTORS
C00020 ENDMK
C⊗;
		Outline for Visitors


AUTOMATION  Industrial Assembly		
  Language-AL			 
  Sensing-touch,force,visual	    
  Planning
    very high level language
  Analysis of Assembly
    Task Execution
  Visual Feedback
    Execution Program
    Strategy Program

PERCEPTION  Description not Recognition
  Representation-"Generalized Cones"
    Part/whole, primitives--smoothly changing cross sections
    Formalism "generalized translational invariance"
    Spine, Cross Section
  Descriptive Mechanisms--dictated by representation
    description of parts: Axis, cross sections on boundaries
    description of wholes: joint descriptions
  Indexing into visual memory--Using very large visual memory
    Summary description to index to subclass of similar objects
  Recognition-detailed matching of models vs description
    dolls, toy horses

OUTDOOR SCENES	Moravec,Quam,Hannah,Nevatia,Pingle&Thomas
  Motion parallax depth maps
    feature detection
    matching on coarse/fine images

VISION LANGUAGE - semantics of problem domain and language
  representation
    image domain (2d), object domain (3d), relations and control (graph)
		Objectives
APPLICATIONS				SCIENTIFIC
assembly				programming systems
inspection				classes of problems, not single problems
computerization of industry		representation
dangerous materials/environments	computational complexity
maintenance aids			description in presence of noise
semi-autonomous vehicle navigation	understanding of biological systems
	planetary exploration		basic subsystems
	rpv
photointerpretation
	intelligence
	earth survey
cartography
biomedical imaging
	OUTLINE OF TALK AT ROCHESTER CONF; NSF-RANN GRANTEES




I'LL SHOW A MAP OF THE PROJECT AND HOW IT FITS TOGETHER



Our project is to design and build a language for assembly
and build up a knowledge base of descriptors for assembly.

This is version 2.  Version 1 was the manipulation language, WAVE
which was used for the pump assembly.


VIEWGRAPH of pump assembly station from GEOMED manual.

Structure of an assembly system
MINI			MAXI
runtime			compile-time
optimize performance	optimize user interface
minimal cost		low usage (whenver run change), low cost
special case		general
dedicated		time-shared


ACCOMPLISHMENTS



AL DESIGN
	Finkel, Taylor, Bolles, Paul,Feldman
	Design Criteria
	Mechanisms to meet Criteria
	Implementation of Mechanisms
	Examples of AL code

AL Design Criteria		MECHANISMS IN CAPS
	1. Simple Programming by Production Staff
		PLANNING SYSTEM
	2. Clear Descriptor Structure
		DESCRIPTOR STUDY
	3. Sensory Control of Devices
		SENSORS & CONTROL
		VISUAL FEEDBACK
	4. Inspection, Implicit and explicit
		VISION
	5. Optimized cost/benefit EXECUTION
		MINI/MAXI SYSTEM
	6. Research Vehicle
	7. Generality
		DESCRIPTORS, PLANNING
	8. Clean System Structure--Computer Science Inputs
	   Transportable--SAIL

VIEWGRAPHS OF AL DESIGN CRITERIA



MECHANISMS TO MEET DESIGN CRITERIA
	1. PLANNING SYSTEM
	2. DESCRIPTOR STUDY
	3. SENSORS & CONTROL
	4. VISUAL FEEDBACK

1. SIMPLE PROGRAMMING BY PRODUCTION STAFF
	language system-high level,
	man-machine interface-non-intelligent
	experience base-assembly library and primitives
		symbolic data base
	intelligent interface
	descriptors
	capability

	man-machine interface-non-intelligent
		"learning by doing"
		analog and voice inputs, etc.
		graphics

	intelligent interface--planning system
		VERY HIGH LEVEL LANGUAGE
		APPLIED AI		AI FOR THE PEOPLE
		collision detection
		collision avoidance
		very high level language
	
	very high level language
		design criteria-sample problems
		mechanisms
		implementation
		solutions to problems

	design criteria
		assembly level→manip level commands
		error detection-compile time/runtime
		model-based--industry works w/ models
		contingency
		user interface
	sample problems
		relieve user of book-keeping details
		use of implicit knowledge--inserting two screws in pump assembly
			fixes location of pump top and location of other screws
		use of libraries and special case operations
		satisfying preconditions--assembly sequences
		planning for sensing
		gathering knowledge
		taking advice/asking advice/explaining decisions to user

	VERY HIGH LEVEL LANGUAGE--PLANNING SYSTEM
	MECHANISMS
		descriptors--what are they in detail??
		constraints--locus info
		planning model
			level a: planning values, location, attachment
			level b: loci errors&tolerance, preconditions
		propagating planning values through control structures
		successive refinement--specialist/bureaucrat
			consistent sequences, preconditions
			shares much wih all other strategy work
		collision detection/avoidance
			compile time: can be slow
			run-time: must be fast
		explicit special cases
			shaft in hole; plane faces
		information gathering module
			sensing, symbolic info from user
		library of primitives

	symbolic vs learning by doing: why both are necessary



	LOCUS & CONSTRAINT INFORMATION--KEEPING TRACK OF WHERE
		POSITION SEMANTICS
		PROBLEMS:
		How to grasp?
		How to position workpiece to avoid awkward location?
		How to use implicit knowledge?  (Locating two screws
			in pump assembly fixes location of others)
		How to gather positional info?
		
		MECHANISMS
		translate symbolic constraints to math constraints
		solve math constraint systems numerically
		special case solutions

	SUCCESSIVE REFINEMENT
		PROBLEMS:
		Avoid unnecessary putting down tools and picking up
		What operations follow?  What is a good locaiion for
			workpiece.
		Fasten down pump top before removing pins.
		Using pins and other tools.
		MECHANISMS
		instantiation of specialist processes to establish preconditions
		bureaucrat processes to interface and resolve requirements
		pre-requisite graph

	AL STRUCTURES--MANIPULATION CONTROL

motion specification,sensing, synchrony

specify trajectories: sampled or parametric equation (TRACING)
	position/orientation, velocity, time, force
	maintaining orientation, velocity
force control
runtime locations ≠ planning value--trajectory modification at runtime
	limits to possible trajectory modification
conditions for interrupt--CONDITION MONITORS
	ON condition DO expression;
APPROACH/DEPARTURE FRAMES
SIMULTANEOUS MOTION
	coordinated, synchronized, cooperative
SEARCH, CENTER
external devices--OPERATE



CODE EXAMPLES

MOVE yellow TO p
  WITH DEPARTURE p1
  WITH APPROACH p2
  VIA p3 WHERE
	VELOCITY = v3
	DURATION = t3
	FORCE = f3
  ON FORCE>fmax DO STOP;


COORDINATED MOTION
	COORDINATED FRAMES
	CO-BEGIN/CO-END
	SIGNAL/WAIT

CODE EXAMPLE
MOVE [yellow:blue] TO [p1:]
  VIA [p2: ] WHERE condition
  COORDINATING LOC(blue)=LOC(yellow)+ ⊗.blue- ⊗.yellow;

  alternatively, use force control of coordination
  WITH FORCE =[:0] ALONG LOC(blue)-LOC(yellow)

COBEGIN
  MOVE yellow TO py
  WAIT sb
  MOVE blue TO pb
  SIGNAL sb
  ........
  ........
  COEND

CONDITION MONITORS
  ON condition DO expression
  ENABLE/DISABLE
  DEFER
  CRITICAL/UNCRITICAL
  EVENT e


DATA TYPES
  DIMENSION kg,cm,sec,force,torque
  VECTORS (with dimension or dimensionless)
  COORDINATE FRAMES
  COORDINATE TRANSFORMS
  PLANES
  PLANNING VALUES -- planning frame
    planning force vectors,...

AFFIX/UNFIX FRAMES
  RIGIDLY(symmetric)

PARTIAL TIME ORDERING

COMPILE TIME CONSTRUCTS--PLANNING VALUES, ETC
  ATOMS
  FORMS
  ASSERT/DENY       ASSERTED

CONDITIONAL CONTROL
  PLAN IF.... ELSE
  PLAN FOREACH
  CHECK....

SAVE/RETRIEVE











		SENSORS AND CONTROL


			IMPLEMENTED
FORCE					TOUCH
		sensor hardware
		interface hardware
		interface software
20gm force	sensitivity		1gm,6 sensors/finger
		extra wires on arm


			TO BE DONE
overload protection			design and build new fingers
		mount on arm
theoretical force analysis		analysis of texture
					analysis of shape by touch
testing sensitivity of force control	testing sensitivity of touch sensors
testing adequacy of force analysis
		AL LANGUAGE PRIMITIVES


VIEWGRAPH OF FORCE SENSOR
		VISUAL FEEDBACK
	
DESIGN CRITERIA--SAMPLE PROBLEMS
  "Screw in hole in distributor case
  real objects, curved, etc
  dirty, glare, shadows
  rapid execution < 1 sec
  repetitive, small translations, rotations; essentially 2d
  convenient programming
  automatic generation

MECHANISMS
  primitves (description) curve match, correlation, intensity contour,
    edge operator, stereo,...
  representation - curve, 2d mosaic, 3d symbolic/functional, grid, model graph
  strategy: model graph, cost evaluation; locus
  human interface: keyboard 2d input; graphics and overlay; VISION LANGUAGE
  hand held camera

VIEWGRAPH OF SCREW IN HOLE

SOLUTION EXAMPLE
  Don't locate hole directly-"needle in haystack"
  locate long curve easily; verticals equally well.
  Verify long curve
  locate another feature if necessary to predict hole closely
  zero in on hole

		DESCRIPTORS

DESCRIPTORS are used in
  planning system
  visual feedback
  graphics
  analysis of assembly

DESCRIPTORS of
  shape
  space
  function
  causality
  control structures
  strategies
  errors/tolerancing
  inter-relations
  dynamics/constraints

assembly,vision,inspection,display,scheduling,optimization&costing,
modelling,feasibility,fabrication:casting,press,sheet metal,machining;
collision and disaster detection/avoidance

APPROACH-MECHANISM
  task→subtask→math representation
  spine-cross section
  parts and tools
  causal relations
  function
  structure/articulation
  environment
  space
  system structure
  control/strategies/program
  errors/locus/statistics/tolerancing
  inter-relations
  fastening
  constraints/dynamics
  symbolic math