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Assembly and Task Planning, 1999. (ISATP '99) Proceedings of the 1999 IEEE International Symposium on

24-24 July 1999

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Displaying Results 1 - 25 of 78
  • Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)

    Publication Year: 1999
    Request permission for commercial reuse | PDF file iconPDF (475 KB)
    Freely Available from IEEE
  • Author index

    Publication Year: 1999, Page(s):465 - 466
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    Freely Available from IEEE
  • Using hybrid cc to simulate multi-tier peg-in-hole problems

    Publication Year: 1999, Page(s):307 - 312
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (396 KB)

    Many robotic assembly tasks can be viewed as multi-tier peg-in-hole, or “peg-in-maze” problems. Such tasks are hybrid system control problems since they combine continuous movement with event detection. This paper presents Hybrid cc as a software tool for simulating hybrid systems and uses it to simulate two-dimensional multi-tier peg-in-hole problems View full abstract»

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  • Information models to support the interaction between design for assembly and assembly process planning

    Publication Year: 1999, Page(s):39 - 44
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (432 KB)

    Sharing of information is an important issue in supporting the improvement in product development. The use of information models is an approach to support the intensive share of information required in concurrent engineering through the life cycle of the product. The paper explores the definition of the structure of information models for supporting the related processes of design for assembly and... View full abstract»

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  • A hybrid systems approach to force-guided robotic assemblies

    Publication Year: 1999, Page(s):301 - 306
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (736 KB)

    Assemblies with uncertainties exceeding the assembly tolerance require the use of compliance control combined with search strategies for parts alignment. Automating such assemblies requires a general framework that allows various search strategies to be combined at a higher-level of planning and yet be compatible with low-level compliance control. We examine these issues with a hybrid systems appr... View full abstract»

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  • Micro-assembly planning with van der Waals force

    Publication Year: 1999, Page(s):32 - 38
    Cited by:  Papers (19)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (556 KB)

    Investigates a new aspect of fine motion planning for the micro-domain. As parts approach 1-10 μm or less in outside dimensions, interactive forces such as van der Waals and electrostatic forces become major factors that greatly change the assembly sequence and path plans. It has been experimentally shown (Miyazaki and Sato, 1996, and Koyano and Sato, 1996) that assembly plans in the micro-doma... View full abstract»

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  • Toward adaptive assembly sequence planner

    Publication Year: 1999, Page(s):350 - 355
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (440 KB)

    The paper describes the concpet of adaptive heuristic assembly planner (AHAP). AHAP has the ability to automatically extract specific knowledge about the assembly from previous planning sessions and the ability to use this constructed knowledge for guiding future planning sessions. The benefits of such a possibility are increased efficiency, since the experience would help to find the optimal asse... View full abstract»

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  • Failure recovery planning in assembly based on acquired experience: learning by analogy

    Publication Year: 1999, Page(s):294 - 300
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (632 KB)

    For complex tasks in flexible manufacturing as well as service applications, robots need to reason about the tasks and the environment in order to make decisions. This paper presents a method for recovering from execution failures based on analogies with previous failure recovery episodes. The basic principles that explain the success of a failure recovery strategy are extracted based on several d... View full abstract»

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  • A general approach for simulating robots for flexible material handling

    Publication Year: 1999, Page(s):211 - 218
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (640 KB)

    Kinematic modelling of robots and flexible material simulation have been an important aspect in robotic research issues over the last years. In this article a new approach for the design of arbitrary gripper and robot architectures are presented. It is shown how these robot systems can be simulated based on the presented design structure. Further, the integration of flexible material simulation is... View full abstract»

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  • Learning assembly sequence plans using functional models

    Publication Year: 1999, Page(s):1 - 7
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1028 KB)

    The representation of knowledge about assembled objects is a fundamental requirement, if computer systems are used to supervise construction tasks. Depending on the complexity of the task and the characteristics of the objects forming its basis the process of modeling may be burdensome. We introduce a method to model classes of assemblies instead of individual assembled objects. Based on functiona... View full abstract»

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  • Hierarchical constraint satisfaction for high-level dimensional inspection planning

    Publication Year: 1999, Page(s):374 - 380
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (568 KB)

    Coordinate measuring machines (CMMs) are very precise Cartesian robots that are used for dimensional inspection. High-level inspection planning for a CMM involves spatial reasoning, to determine how to orient the part on the CMM, which probes to use, how to orient the probes, and what measurements to perform. Current planners are incomplete or only solve the problem partially. In this work, we map... View full abstract»

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  • Micropart feature design for improving visually servoed assemblability

    Publication Year: 1999, Page(s):26 - 31
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1084 KB)

    Development of hybrid MEMS devices has demonstrated a need for automatic microassembly strategies. Visual servoing techniques have shown great promise as a control strategy capable of submicron precision while compensating many of the problems that exist in the micro domain, including thermal expansion of assembly devices and imprecisely modeled and calibrated sensors and actuators. This project d... View full abstract»

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  • A framework for automating cost estimates in assembly processes

    Publication Year: 1999, Page(s):100 - 105
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (520 KB)

    When a product concept emerges, the manufacturing engineer is asked to sketch out a production strategy and estimate its cost. The engineer is given an initial product design, along with a schedule of expected production volumes. The engineer then determines the best approach to manufacturing the product comparing a variety of alternative production strategies. The engineer must consider the capit... View full abstract»

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  • Fast bending sequence planning for progressive press-working

    Publication Year: 1999, Page(s):344 - 349
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (484 KB)

    Manufacturing process planning of the product, especially planning of the bending sequence is the most critical task in designing the press-working line. Three acceleration methods of the bending sequence planning are proposed. First, bending operations in the progressive press-working must comply some topological constraints of a port. These constraints are used as filters for excluding infeasibl... View full abstract»

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  • Application of screw theory to motion analysis of assemblies of rigid parts

    Publication Year: 1999, Page(s):75 - 80
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (532 KB)

    Screw theory is well known to do kinematic computations. Recently it has been used to create kinematic models of assembly features so allowing assembly analysis. Motion limit analysis uses the mathematics of screw theory to model the ability of mechanical assembly features to allow or constrain rigid body motions in six degrees of freedom. A user of this theory is able to determine the directions ... View full abstract»

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  • Determining near optimal interference-free polyhedral configurations for stacking

    Publication Year: 1999, Page(s):286 - 293
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (720 KB)

    This paper uses a configuration space (c-space) approach to finding a satisfactory stack of polyhedral parts; we tested this method with industrial sheet metal parts. The optimal configuration for a new part, added to an existing stack, minimizes distance from a user-specified desired position, lies inside a given c-space region and, avoids interference with parts already in the stack. We present ... View full abstract»

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  • Optimal motions of redundant manipulators with state equality constraints

    Publication Year: 1999, Page(s):181 - 185
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (292 KB)

    An approach to the time optimal control of a kinematically redundant manipulator subject to state equality constraints is proposed. The solution is based on an approximation of the prior control set by means of a strictly convex set, with arbitrary accuracy in the Hausdorff sense. This approach produces continuous optimal controls which may be used to provide nominal inputs for online control. Fur... View full abstract»

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  • Sequence evaluation and personnel planning with HoME

    Publication Year: 1999, Page(s):454 - 458
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (360 KB)

    HoME (holistic matrix evaluation) is a software tool for decision support and resource planning for assembly line sequencing and balancing. HoME is based on new method in visualization, where know how from experts can be integrated either by experts themselves or in fuzzy logic applications. Thereby the planner is relieved from routine work. HoME makes use of a discrete event simulation model, whi... View full abstract»

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  • Capturing the assembly process planning rationale within an aerospace industry

    Publication Year: 1999, Page(s):319 - 324
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (436 KB)

    Aerospace is a knowledge intensive industry. The knowledge is dependent on the legacy systems and approaches within the industry. The industry has developed a core competency in aerostructure assembly in the UK. This competency has been developed over many years and from vast experience. This has resulted in a particularly knowledge intensive product development process and placed great dependency... View full abstract»

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  • A feature-based framework for attachment level snap-fastener design in product design for automated assembly

    Publication Year: 1999, Page(s):51 - 56
    Cited by:  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (456 KB)

    With the emerging global markets, success in the industry is determined by rapid product innovation, providing new quality products from a single platform, cutting product development costs and time. Since design effort consumes most of the product development time, the need to reduce design cycle time is vital in being competitive. The paper describes a feature-based framework for attachment leve... View full abstract»

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  • Fourier analysis of robot trajectories in random tasks

    Publication Year: 1999, Page(s):192 - 197
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (380 KB)

    A new method for the study and optimization of manipulator trajectories is developed. The novel feature resides on the modeling formulation. Standard system descriptions are based on a set of differential equations which, in general, require laborious computations and may be difficult to analyze. Moreover, the derived algorithms are suited to `deterministic' tasks, such as those appearing in a rep... View full abstract»

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  • A vision based error-corrective algorithm for flexible parts assembly

    Publication Year: 1999, Page(s):205 - 210
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (452 KB)

    For successful assembly of flexible parts, informations about their deformation as well as possible misalignments between the holes and their mating parts are essential. Such informations can be acquired from visual sensors. In the case of deformable part assembly, the corrective assembly motion to compensate for such misalignments needs to be determined from the measured informations. Since this ... View full abstract»

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  • Selective disassembly: representation and comparative analysis of wave propagation abstractions in sequence planning

    Publication Year: 1999, Page(s):129 - 134
    Cited by:  Papers (4)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (572 KB)

    This paper analyses the problem of removing one or more components of an assembly, defined as selective disassembly, and presents geometric abstractions and representations for automated selective disassembly analysis of geometric models. Based on the number of target components to be disassembled from an assembly (A) of n components, the selective disassembly (SD) problem is categorized into thre... View full abstract»

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  • The knowledge representation and programming for robotic assembly task

    Publication Year: 1999, Page(s):256 - 261
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (372 KB)

    Presents a knowledge representation and programming method for robotic assembly tasks. The methodology is explained through robotic assembly tasks with position and force control. The state space of assembly objects is abstractly defined using a qualitative landmark which consists of the state of an object and a robot. The current state and sensor input determines the next robot action, and the st... View full abstract»

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  • Constraint programming approach to solve facility layout design problems

    Publication Year: 1999, Page(s):368 - 373
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (492 KB)

    We propose a methodology to solve the facility layout design problem by using constraint logic programming (CLP), which has proved to be a technology that gives good results when applied to a combinatorial problem optimisation. Methods to solve facility layout problems have to deal with a large set of factors, namely sales and production estimations, manufacturing process compatibilities, delivery... View full abstract»

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