APPENDIX A: GLOSSARY - Springer978-1-4613-2533-8/1.pdf · APPENDIX A: GLOSSARY ... A video picture with many shades of brightness. gripper. An actuator, gripper, ... ALGOL, FORTRAN,

APPENDIX A: GLOSSARY

active accommodation. Integration of sensors, control, and robot motion to achieve alternation of a robot's preprogrammed motions in response to sensed forces. Used to stop a robot when forces reach set levels, or to perform force feedback tasks like insertions, door opening and edge tracing. active illumination. Illumination that can be varied automatically to extract more visual information from a scene, e.g., by turning lamps on and off, by adjusting brightness, by projecting a pattern on objects in the scene, or by changing the color of the illumination. adaptable. Capable of making self-directed corrections. In a robot this is often accomplished with the aid of visual, force or tactile sensors. algorithm. A prescribed set of well-defined rules or processes or mathematical equations for the solution of a problem in a finite number of steps. artificial intelligence. The capability of a machine to perform human-like intelli­gence functions such as learning, adapting, reasoning and self correction. assembly robot. A robot designed, programmed, or dedicated to putting together parts into subassemblies or complete products. automation. Automatically controlled operation of an apparatus, process or system by mechanical or electronic devices that take the place of human observation, effort and decision. bang-bang robot. A simple robot, often with only two or three degrees of freedom, which transfers items from place to place by means of point-to-point moves. Little or no trajectory control is available. Often referred to as a "bang-bang" robot. cam. An acronym for Computer Aided Manufacturing. A device with one or more lobes (projections) which, as it moves, operates levers or switches that cause mechanical or electrical functions. cartesian coordinate robot. A robot whose manipulator are degrees of freedom are defined primarily by cartesian coordinates. CCD camera. A solid-state television camera which uses charge coupled device (CCD) technology. cell. A manufacturing unit consisting of two or more work stations or machines and the materials transport mechanisms and storage buffers which interconnect them. cell control. A module in the ICAM control hierarchy that controls a cell. The cell control module is controlled by a center control module, if one exists. Otherwise it is controlled by a factory control level. center. A manufacturing unit consisting of two or more cells and the materials transport and storage buffers which interconnect them.

358 Appendix A: Glossary

CID camera. A solid-state television camera which uses charge injection device (CID) technology. computer-aided design (CAD). The use of a computer to assist in the creation of modification of a design. computer-aided manufacture (CAM). The use of computer technology in the management, control, and operation of manufacturing. computer-managed parts manufacture (CMPM). Computer-aided manufacture of discrete parts, usually when a number of processing and product transport operations are coordinated by computer. computer numerical control (CNC). The use of a dedicated mini or microcomputer to implement the numerical control function. Uses local data input from devices such as paper tape, magnetic tape cassette, or floppy disk. contact sensor. A device capable of sensing mechanical contact. continuous path control. A control scheme whereby the inputs or commands specify every point along a desired path of motion. control hierarchy. A relationship of sensory processing elements whereby the results of lower level elements are utilized as inputs by higher level elements. cylindrical coordinate system. A coordinate system which defines the position of any point in terms of an angular dimension, a radial dimension, and a height from a reference plane. These three dimensions specify a point on a cylinder. data base. A large collection of records stored on a computer system from which specialized data may be extracted, organized, and manipulated by a program. Any organized and structured collection of data in memory. degree of freedom. One of a limited number of ways in which a point or a body may move or in which a dynamic system may change, each way being expressed by an independent variable and all required to be specified of the physical state of the body or system is to be completely defined. derivative control. Control scheme whereby the actuator drive signal is propor­tional to the time derivative of the difference between the input and the measured actual output. direct numerical control (DNC). The use of a computer for distribution of part program data via data lines to a plurality of remote NC machine tools. end effector. An actuator, gripper, or mechanical device attached to the wrist of a manipulator by which objects can be grasped or otherwise acted upon. envelope. The set of points representing the maximum extent or reach of the robot hand or working tool in all directions. The work envelope can be reduced or restricted by limiting devices which establish limits that will not be exceeded in the event of any foreseeable failure of the robot or its controls. The maximum distance which the robot can travel after the limit device is actuated will be considered the basis for defining the restricted (or reduced) work envelope. exoskeleton. An articulated mechanism whose joints correspond to those of a human arm, and, when attached to the arm of a human operator, will move in correspondence to his/her arm. Exoskeleton devices are sometimes instrumented and used for master-slave control of manipulators. fiber optics. A communication technique where information is transmitted in the form of light over a transparent fiber material such as a strand of glass. Advantages are noise free communication not susceptible to electromagnetic interference.

Appendix A: Glossary 359 flexible manufacturing. Production with machines capable of making a different product without retooling or any similar changeover. Flexible manufacturing is usually carried out with numerically controlled machine tools, robots, and conveyors under the control of a central computer. floating-point representation. A number representation system in which each number, as represented by a pair of numerals, equals one of those numerals times a power of an implicit fixed position integer base, where the power is equal to the implicit base raised to the exponent represented by the other numeral. force sensor. A sensor capable of measuring the forces and torques exerted by a robot at its wrist. Such sensors usually contain six or more independent sets of strain gauges plus amplifiers. Computer processing (analog or digital) converts the strain readings into three orthogonal torque readings in an arbitrary coordinate system. When mounted in the work surface, rather than the robot's wrist, such a sensor is often called a pedestal sensor. gray-scale picture. A video picture with many shades of brightness. gripper. An actuator, gripper, or mechanical device attached to the wrist of a manipulator by which objects can be grasped or otherwise acted upon. group technology. A system for coding parts based on similarities in geometrical shape or other characteristics of the parts. The grouping of parts into families based on similarities in their production so that the parts of a particular family could then be processed together. heuristic problem-solving. The ability to plan and direct its actions to achieve higher order goals. hierarchical control. A distributed control technique in which the controlling processes are arranged in a hierarchy. high-level language. Programming language that generates machine codes from problem or function oriented statements. ALGOL, FORTRAN, PASCAL, and BASIC are four commonly used high-level languages. A single functional statement may translate into a series of instructions or subroutines in machine language, in contrast to a low-level assembly language in which statements translate on a one-for-one basis. industrial robot. A reprogrammable, multi-functional manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for the performance of a variety of tasks. intelligent robot. A robot which can be programmed to make performance choices contingent on sensory inputs. internal sensor. A sensor for measuring displacements, forces, or other variables internal to the robot. lead through. Programming or teaching by physically guiding the robot through the desired actions. The speed of the robot is increased when programming is complete. level of automation. The degree to which a process has been made automatic. Relevant to the level of automation are questions of automatic failure recovery, the variety of situations that will be automatically handled, and the situation under which manual intervention or action by humans is required. Iimited-degree-of-freedom robot. A robot able to position and orient its end effector in fewer than six degrees of freedom.

360 Appendix A: Glossary linear-array camera. A solid state television camera which has only one row of photosensitive elements. linear interpolation. A function automatically performed in the control that defines the continuum of points in a straight line based on only two taught coordinate positions. All calculated points are automatically inserted between the taught coordinate positions upon playback. locomotion. Some means of moving around in a specified environment. macro. Programming with instructions (equivalent to a specified sequence of machine instructions) in a source language. magnetic core memory. A configuration of magnetic beads, strung on current carrying conductors which retain magnetic polarization for the purpose of storing and retrieving data. major motion axes. These axes may be dcscribed as the number of independent directions the arm can move the attached wrist and end effector relative to a point of origin of the manipulator such as the base. The number of robot arm axes required to reach world coordinate points is dependent on the design of robot arm configuration. manipulation. The process of controlling and monitoring data table bits or words by means of the user's program in order to vary application functions. The movement of reorientation of objects, such as parts or tools. numerical control (NC). A technique that provides for the automatic control of a machine tool from information prerecorded in symbol form representing every detail of the machining sequence. open-loop robot. A robot that incorporates no feedback, i.e., no means of comparing actual output to commanded input of position or rate. optic sensor. A device or system that converts light into an electrical signal. pattern recognition. Description or classification of pictures or other data structures into a set of classes or categories; a subset of the subject artificial intelligence. perception. The ability to sense by sight, touch, or some other means, its environment, and to understand it in terms of a task-e.g., the ability to recognize an obstruction or find a designated object in an arbitrary location. photo-isolator. A solid state device which allows complete electrical isolation between the field wiring and the controller. pick-and-place robot. A simple robot, often with only two or three degrees of freedom, which transfers items from place to place by means of point-to-point moves. Little or no trajectory control is available. Often referred to as a bang-bang robot. point-to-point control. A control scheme whereby the inputs or commands specify only a limited number of points along a desired path of motion. The control system determines the intervening path segments. polar coordinate system. A coordinate system, two of whose dimensions are angles, the third being a linear distance from the point of origin. These three coordinates specify a point on a sphere. presence sensing device. A device designed, constructed and installed to create a sensing field or area around a robot which will detect an intrusion into such field or area by a person, robot, etc. programmable controller. A solid state control system which has a user program-

Appendix A: Glossary 361 mabie memory for storage of instructions to implement specific functions such as: 110 control logic, timing, counting, arithmetic, and data manipulation. A pro­grammable controller consists of a central processor, input/output interface, memory, and programming device which typically uses relay-equivalent symbols. The programmable controller is purposely designed as an industrial control system which can perform functions equivalent to a relay panel or a wired solid state logic control system. proprioceptors. On robotics the term means sensing the posture of a mechanical manipulator, legs or other jointed mechanism. proximity sensor. A device that senses that an object is only a short distance (e.g., a few inches or feet) away, and/or measures how far away it is. Proximity sensors work on the principles of triangulation of reflected light, elapsed time for reflected sound, intensity induced eddy currents, magnetic fields, back pressure from air jets, and others. repeatability. Closeness of agreement of repeated position movement, under the same conditions, to the same location. robot. A mechanical device which can be programmed to perform some task of manipulation or locomotion under automatic control. robot systems. A "robot system" includes the robot hardware and software, consisting of the manipulator, power supply, and controller; the end effector(s); any equipment, devices, and sensors the robot is directly interfacing with; any equipment, devices and sensors required for the robot to perform its task; and any communications interface that is operating and monitoring the robot, equipment, and sensors. (This definition excludes the rest of the operating system hardware and software). sensory control. Control of robot based on sensor readings. Several types can be employed. Sensors used in threshold tests to terminate robot activity or branch to other activity. Sensors used in a continuous way to guide or direct changes in robot motions. Sensors used to monitor robot progress and the check for task completion or unsafe conditions; and sensors used to retrospectively update robot motion plans prior to the next cycle. sensory-controlled robot. A robot whose program sequence can be modified as a function of information sensed from its environment. Robot can be servoed or non­servoed. sensory hierarchy. A relationship of sensory processing elements whereby the results of lower level elements are utilized as inputs by higher level elements. sequence robot. A robot whose motion trajectory follows a present sequence of positional changes. servo-controlled robot. A robot driven by servomechanisms, i.e., motors whose driving signal is a function of the difference between commanded position and/or rate and measured actual position and/or rate. Such a robot is capable of stopping at or moving through a practically unlimited number of points in executing a programmed trajectory. smart sensor. A sensing device whose output signal is contingent upon mathematical or logical operations which are based upon internal data or additional sensing devices. spherical coordinate robot. A robot whose manipulator arm degrees of freedom are defined primarily by spherical coordinates.

362 Appendix A: Glossary

spherical coordinate system. A coordinate system, two of whose dimensions are angles, the third being a linear distance from the point of origin. These three coordinates specify a point on a sphere. structured light. Illumination which is projected in a particular geometrical pattern. supervisory control. A control scheme whereby a person or computer monitors and intermittently reprograms, sets subgoals or adjusts control parameters of a lower level automatic controller, while the lower level controller performs the control task continuously in real time. supervisory-controlled robot. A robot incorporating a hierarchical control scheme, whereby a device having sensors, actuators, and a computer, and capable of autonomous decision-making and control over short periods and restricted conditions, is remotely monitored and intermittently operated directly or reprog­rammed by a person. symbolic control. Pertaining to control by communication of discrete alpha-numeric or pictorial symbols that are not physically isomorphic with the variables being controlled, usually by a human operator. A device for effecting such control. tactile. Perceived by the touch, or having the sense of touch. tactile sensor. A transducer which is sensitive to touch. teach. To move a robot to or through a series of points to be stored for the robot to perform its intended task. teleoperator. A device having sensors and actuators for mobility and/or manipula­tion, remotely controlled by a human operator. A teleoperator allows an operator to extend his sensory-motor function to remote or hazardous environments. videcon. An electron tube device used in a television camera to convert an optical image into an electrical signal through the scanning of an electron beam over a photosensitive window. vision optical system. A device, such as a camera, which is designed, constructed and installed to detect intrusion by a person into the robot restricted work envelope and which could also serve to restrict a robot work envelope. weighted value. The numerical value assigned to any single bit as a function of its position in the code word. working envelope. The set of points representing the maximum extent or reach of the robot hand or working tool in all directions. The work envelope can be reduced or restricted by limiting devices which establish limits that will not be exceeded in the event of any foreseeable failure of the robot or its controls. The maximum distance which the robot can travel after the limit device is actuated will be considered the basis for defining the restricted (or reduced) work envelope.

APPENDIX B : BIBLIOGRAPHY

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364 Appendix B: Bibliography

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366 Appendix B: Bibliography

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INDEX

Note: Page numbers in italics refer to illustrations.

Abstrips Robotics Expert System, 313 accuracy

manipulators, 250--2 acoustic proximity sensors, 151-2 acoustic range finders, 153 acoustic range sensors, 8, 157 ACRONYM,77, 128, 191, 192-3 actuators

design, 121-2 robots, 24(l--l

adhesive spraying, 17, 229-30 AGE, 302, 303 Allis-Chalmers, 347 Allison, 348 ALPS,2X8 AM Program, 304 AMORD,65 analogical representations, 44 anthropomorphic manipulator movement,

99 arc welding, 19, 111.231 arms, 14-15,227 ARPA, 39 ARPANET,33 artificial intelligence

applications, 38-9, 69-72 aspects of machine vision, 162 compared with conventional program-

ming, 31-2 computational facilities, 65-6 computers for, 66--8 history, 33-9 industrial applications, 79 languages, 65 machine vision and, 223 onion model, 39-40 programming needs, 56--7 research participants, 72-4 robots and, 2-5 social impact, 81-2 suggested research, 124-5

Artificial Intelligence Corporation, 3X,76 Artificial Intelligence Handbook, 39, 42, 75 ASEA IRB 6L12, 246 ASK, 282 assembly

automatic, 125 robot applications, 111

augmented transition networks, 268, 291-2 Automatix, 22, 234

automotive industry effects of robotics, 86

A YCO-Lycoming, 348, 349-50 AYCO-Williamsport,347 averaging

noise screening, 149-50 backtracking

problem solving, S3

BBN,62 BEDE,2X4 beliefs

modeling, 270 natural language modeling and, 263 natural language processing and, 261

binary images segmentation, 183

blackboard approach to machine vision, 172

Boyer and Moore Theorem Prover, 49 buffer storage

CIMS,33S Bureau of Labor Statistics, 89

CAD,23 CAl,MA computer aided design visual

presentation, 188 Cambridge University, 35 cameras, solid-state, 6, 155-6 capacity flexibility

using CIMS, 320 capital equipment

CIMS, 318-9 Carnegie-Mellon University, 130--1 Cartesian coordinate manipulators, 236--8 Cartesian manipulator movement, 99 carts

pallet movement, 332-3 case frames

knowledge representation, 265 Caterpillar Tractor Company, 347, 348, 352-4 certainty factors, 305 charged-coupled device, 103 charged-injection device, 103 Cheesbrough-Ponds,88 chip handling

CIMS, 345 CIMS, 142,316--17

advantages, 318-20 control systems, 335-42

370 Index

CIMS continued examples, 349-54 implementation, 322-5 installed in USA, 347-8 nature of, 317-18 off-line components, 349 prospects, 354-6 sensors for, 150-5 suitable manufacturing processes, 320-1 system description, 326-8 system elements, 325-49 tooling, 344-5

Cincinnati Mi1acron, 22,107,234 Cincinnati Milacron T', 21,233,237 Cincinnati Milacron Variable Mission

System, 332 classification

expert systems, 304 cleaning

CIMS,349 cleaning stations

CIMS,331 closed loop robotic units, 103 CMU,309 Cognex,210 cognitive structures

representation, 261-2 Common LISP, 62, 75 common sense

reasoning, 49-50 communication, 35

robotics research, 125 compliance

manipulators, 256-9 computational logic, 34, 46-8 computer aided instruction, 80-1 computer control

robots, 20-1 computer integrated manufacturing

see CIMS computer programs

compared with artificial intelligence, 31-2 for language understanding, 261-2

computer-aided design, 23, 188 computer-aided instruction

natural language and, 270 computer-aided manufacturing, 188 computers

artificial intelligence, 66-8 learning by, 81 machine vision applications, 167 parallel processing, 80

conceptual dependency knowledge representation, 265-6 theory for natural language, 45-6

conditional branching LISP, 60-1

cones, generalized three-dimensional representation, 187

constraint propagation problem solving, 307

context-free grammar, 263 continuous path robots, 99-100 control

manipulators, 122-3

Control Automation CA V - 1000 machine vision system, 7

Control Automation Inc Mini Sembler, 18 control stations

CIMS,331 control systems

CIMS,335-42 controllers

manipulators, 245 robots, 96-9

coolant CIMS,345

corners image features, 176

costs robots, 141

cylinders, generalized three-dimensional representation, 187

cylindrical coordinate manipulators, 238 cylindrical coordinate robot

work envelope, 244 cylindrical manipulator movement, 99

DARPA,36 DARPA Image Understanding Program,

213 Dartmouth College, 32 data, deferred

in task programs, 148-9 data distribution

CIMS software, 341 databases

expert systems, 297, 303-5 natural language access to, 25-6

DBAP, 282 de burring

in CIMS, 349 DEC, 38 DEC operating systems, 62 DEC PDP-IO, 57 DECPDP-11,57 DEC system-lO, 66 DEC system-20, 66 DEC VAX, 57, 66-7 declarative representations

of knowledge, 265 deductive reasoning, 48 defect detection

machine vision, 10 Defense Advance Research Project Agency,

36 DENDRAL, 37, 76, 304 Detroit Diesel Allison, 350-2 Deveilbiss-Tralfa TR-3500 industrial

finishing robot, 229 dexterity

end effectors, 122 difference reduction, 51 DIP-METER ADVISOR, 38, 76 direct labor costs

using CIMS, 319 direct representations, 44 discourse

natural language processing, 270, 291

Index 371

disproving problem solving, 53

domain knowledge, 31-2 visual systems and, 174-5

drive systems robots, 240--1

dynamic performance manipulators, 246--7

Eaton-Kenway Robokarrier XK, 332 eddy-current proximity sensors, 150 edge detection, 214 edges

extraction, 177-9 image features, 173-5, 176

effecting, 3-4 electric manipulators

compliance, 257 electrically actuated robots, 240-1 electrostatic proximity sensors, 151 ELIZA,33 ellipsis

semantic processing, 265 employees

CIMS and, 345-6 robot installation and, 113-14

EMYCIN,302 end effectors, 101

dexterity, 122 En~lish-Japanese machine translation, 2X4 environment

influencing, 5 knowledge of. 4

EPISTLE, 286, 292 EUFID,2X2 EURISKO, 305 Europe

robot manufacture, 107 robotics research, 139

event-driven production systems, 55-6

EW AB engineering workpiece handling conveyor system, 343

expert systems, 2X-30, 75-6, 295-6 architecture, 29X-305 current, 309, 310-2 design, 305-9 elements, 296--X programming, 302 prospects, 79 research,73-4 robotics applications, 309, 314-15

Fairchild CCD machine vision system 7 fiber optics '

touch sensors, 105-6 Fifth Generation Computer Project, 39, 64,

68,69,72,75,80,264,294 filtering

noise screening, 149 First-Order Predicate Logic, 62-3, 64 fixtures

CIMS,343-4 fluidic proximity sensors, 151

force compliance and, 256

force sensors, 154 resolution, 124

force/torque sensors, 6, X, 156--7 frames

data structures, 44-5 knowledge representation, 266

France, 139 FRANZLISP,62 functions

definition, in LISP, 60 fuzzy set theory, 305-6

game playing artificial intelligence research, 33

GCA/CIMROC Teach Pendant, 98 GCA/XR 50 Series robot, 126 GE Optomation II, 161,206 General Electric machine vision and control

system, 159 General Electric Walking Truck 24 231 232 ' , ,

General Motors, XX, 107 General Problem Solver, 34 general purpose robotic units, 102-3 Generating

processes, 5 geometric representation, 124 Germany, 139 Giddings and Lewis, 34X, 352-4 global heuristic search

edge extraction, 178-9 GM CONSIGHT, IX3 GMF RO~JOtics Corporation spraying

painting system, 17 goal-regression

problem solving, 53-4 goals

natural language modeling and, 263 grammar, 263-4 graphs

three-dimensional representation, 18X guessing

problem solving, 307-8

Ham Industries, 210, 211 Ham visual sensor camera, 156 handling operations

manipulators, 230 simple, 18

hands,227 manipulators, 15

HARPY, 37 health and safety

robot installation, 116--17 hearing

sensors, 106 HEARSA Y II, 36--7 HEARSAY III, 302 heuristic knowledge

in expert systems, 295, 297 heuristic search, 41-2

artificial intelligence, 31-2 edge extraction, 178-9

372 Index

hierarchical approach to machine vision, 172

hierarchical bottom-up approach to machine vision, 170--1

hierarchical control structure CIMS,336--S

hierarchical generate and test problem solving, 306--7

hierarchical planning, 52 hierarchical resolution

problem solving, 30S hierarchical top-down approach

to machine vision, 171-2 high-level processing, 21S, 220 high-level vision, 11, 160--1 Hobart arc welding system, 230 Horn clauses

in PROLOG, 63, 64 Hough Transform, 179 Hueckel Operator, 177 human vision, 214, 217,219

relation to machine vision, 165-8 hydraulic actuated robots, 240 hydraulic manipulators

compliance, 256--8 hysteresis

compliance and, 256--7

IBM 33,107 image input analysis, 104--5 image processing, 34, 162 image understanding, 168-70 imager chips, 103 images

structured, 104--5 industrial processes

machine vision applications, 167 industrial production

USA, 85-7 inference

natural language understanding, 290 information

interpretation, 4--5, 27-8 information processing, visual

theory, 165-8 Ingersoll-Rand, 347 inspection systems

CIMS, 346, 348, 349 machine vision, 200--2

inspection tasks machine vision applications, 167

integrated circuits automated visual analysis, 200--2

INTELLECT, 38, 76, 287, 292 intelligence, 35 intclligent robots

feasibility, 78-80 interference

sensors, 149-50 INTERLISP, 62, 67, 75 International Harvester, 348 International Joint Conference on Artificial

Intelligence, 32 interpretation, 4--5

information, 27-8

machine vision systems, 180--2 IR-NLI,282 Italy, 139

Japan Fifth Generation Computer Project, 39,

64,68,69,72,75,80,264,294 robot industry, 92-5 robot manufacture, 107, 108 robotics research, 119-20, 127-8

Japan Industrial Robotic Association, 91, 111.119

joint position sensors, 8-9 jointed arm manipulators, 236

movement, 99 work envelope, 241-5, 244

KAMP, 286 KAS,302 Kearney and Trecker, 333, 347, 348, 349-50 KLAUS, 285 knowledge

acquisition, 219, 221,223 base, in expert systems, 295, 297, 303-5 contextual,35-6 domain, 31-2,174--5 engineering, 37 modeling, 270 natural language processing, 260-1 of environment, 4 representation, 36, 42-6, 125,265-6,292-3

Kuku Autoflex robot systems, 226

labor costs, 86, 319 labor force

effects of robots, 87-9 Lambda machine. 67,68 language

human, 290 in context, 290-1 spoken, 28

Laplacian Operator, 177 laser interferometric gauges, 153 laser range finders. 8 laser range sensors, 157 lead-through programming. 98 least commitment

problem solving, 307 light sources

optical sensors. 150 Lighthill Report, 35 line following

edges extraction. 177-8 line foremen

CIMS,346 linear matched filtering

edges extraction, 177 LISP, 39, 57, 59-62,64.68-9 LISP Machines Inc., 67, 68 list processing, 57-9 load/unload stations

ClMS,330-1 loaders

ClMS,346

local thresholding edges extraction, 177

location systems machine vision, 202-5

locomotion, 23-5, 231-2 logic, 46--8

knowledge representation, 265 logical inference, 48-9 logical representation

of knowledge base, 42-3 LOOPS, 68 low-level features

of images, 175-6 low-level processing

visual images, 214-15, 217-11L 220 low-level vision, 11-12, 161 LRCMT,284 LSP Machine LISP, 62 LUNAR, 275, 276

Machine Intelligence Corporation Model 3030,12

machine translation, 32-3, 76 EEC project, 294

machine vision, 6, 9-12, 34,103-5,123-4, 155-6,158-62,233

applications, 38, 167 basic paradigms, 170-2 commercial systems, 76--8, 160,205-11 definition, 162-3 developers, 212 hardware, 222 industrial applications, 79 levels of representation, 173-5 limitations, 215-16 origins, 163-5 prospects, 222-5 recognition and location systems, 202-5 relation to human vision, 165-8 representation methods, 175-80 research, 73-4,134,191-9,213,219-21 segmentation and interpretation, 180-2 sensors, 20 state of the art, 214-16 systems, 199-205 unsolved problems, 217-19

machining stations CIMS, 328-30

machinists CIMS, 346

Mack robot gripper, 100 MACLlSP, 62, 75 MACSYMA,33 magnetic-field proximity sensors, 150-1 management

CIMS and, 321-2 robot installation and, 113

manipulators, 13-23,226--36 compliance, 256--9 configurations, 236--9 control, 22, 122-3 controllers, 245 design, 121-2 dynamic properties, 246--59 modular, 127

Index

programming languages, 22-3 robots, 99-101 work volume, 241-5

marketing robots, 142

materials handling CIMS, 331-5 robot applications, 111

meaning context-dependent, 26 semantic processing, 264-6 words, 260

means-ends analysis, 34, 51 META-DENDRAL,304 MICROPLANNER,65 microswitches

touch sensors, 154 middle-level processing

visual images, 218, 220 military applications

artificial intelligence, 81 machine vision, 167 robots, 112

MIT,22,33,62, 80, 129-30,234,309 MIT LISP machine, 67, 68 mobility

robots, 125-7 modulation

noise screening, 149 MOLGEN, 38, 75 monitoring

robot processes, 125 Montague Grammar, 264 Moog high performance actuator, 122 morphology

words, 260 MOSAIC, 199 Motoman L-lOW robot, 230 MYCIN, 37, 49, 303, 305

NASA,213 National Bureau of Standards, 146 National Bureau of Standards/Air Force

ICAM Workshop on Robot Interfaces, 127

National Science Foundation, 213 natural language, 260-2

applications, 261 commercial systems, 76 complexities, 290-3 conceptual dependency theory, 45-6 context of utterances, 26 modeling, 262-3 processing, 25-8, 270-88 prospects, 79-80, 293-4 research, 73-4, 125

373

research and development, 275, 282-90 restricted,292

natural representations, 44 navigation, 231 Nippon Telegram and Telephone

Corporation, 294 NLMENU,288 NLP + DBAP, 282

374 Index no world models

natural language, 262 NOAH Robotics Expert System, 314 nOIse

screening, 149-50 NOMAD,283 non-linear filtering

edges extraction, 177. 178 noun phrases

transition networks. 266-9

Object Recognition Systems, 207-8 object tracking

image processing, 189-90 Octek Robot Vision Module 2200, 207 Odetics Inc walking machine, I3, 24. 231,

232 off-line programming. 115 Office of Technology Assessment, 89 Ohio State University. 24 ONCOCIN,76 operational flexibility

using CIMS. 320 OPS 5~302 optical proximity sensors, 150 Optomation II, 10.161 organization

CIMS and. 321-2 oscillations

manipulators. 247-8 OWL,271

paint spraying, 17, Ill, 229-30 pallet movement

in CIMS, 332-4 pallets

CIMS, 342-3 PAM. 275. 281 Parker. Hannitin Corporation actuators. 240 parse trees. 269

sentence analysis. 263 parsing. 266-9. 291-2 part positioning

robot installation. 115 part transport

CIMS.331-5 partially sighted aids

machine vision, 167 pattern recognition. 34. 124. 162. 163-4 pattern-matching

in PROLOG. 64 PEARL. 287 PhD Inc smart robot grippers. 14. 16 photodiode array. 103 phrase structure grammar. 263 pick and place robotic units. 102 pixels. 175-6 PLANES. 275.277 PLANNER. 65 planning

for CIMS. 322-5 techniques. 52

plausible reasoning problem solving, 307-8

plug-in programming. 99

pneumatically actuated robots. 241 point-to-point robotic units. 100-1 polar manipulator movement. 99 Polaroid acoustic range finder. 152. 153 polyhedral models

three-dimensional representation. 187 POP-2.65 position information. 148-9 posture

sensing. 8-9 pragmatic analysis

natural language processing. 270 predicate logic. 47-8

first-order. 62-3. 64 knowledge representation. 42-3

predicates LISP. 60

preference semantics, 269 prepositional phrases

semantic processing. 265 pressure sensors, 8,157 printed circuit boards

automated visual analysis, 200-2 problem reduction. 51 problem solving. 35

efficiency. 51-6 expert systems. 305-9 non-deductive, 50-6

procedural models three-dimensional representation, 188-9

procedural representations, 43-4 of knowledge. 265

product quality using CIMS. 319-20

production requirements changing. 319

production rules, 43-4, 54-6 productivity

robot installation, 117 USA. 85-7

programming object-orientated,67-8 robots, 96-9, 114-5, 124 top-down structure, 6t;

programming languages manipulators. 22-3

programming software manipulators, 234-5

PROLOG. 39, 49, 57, 62-5, 68, 69, 75 property lists, 44 propositional logic, 46-7 proprioception. 8-9, 157 propulsion, 231

locomotion systems, 24 Prospector, 49 proximity sensors, 150-2 pseudo-reduction

problem solving, 53 PUFF. 76 Purdue University, 22 puzzles

artificial intelligence research. 33-4

QA3, 34, 65 QA4,65

QLlSP,65 quadtree representation

images, 183

RAND Corporation, 68 range sensors, 8, 152-3, 157 reasoning, 27-8, 35

common sense, 49-50 intelligent systems, 5

reasoning, plausible problem solving, 307-8

recognition systems machine vision, 202-5

recursive functions LISP, 61

regions extraction, 180 image features, 173-5, 176 image segmentation, 104 representation, 183--4

remote sensing, 167 repeatability

manipulators, 252-6 representation .

visual images, 218-19,220-1 resolution, 34

theorem proving, 48 retraining

for robot installation, 114 Rhode Island University

robotics research, 131 RI,38 RL,76 ROBOT, 76,175,178,275,278 Robot Institute of America, 83, 91 Robot Vision Systems Inc, 210 Robotic Vision Systems Inc Model 400 3-D

vision seani tracker, 19 robots, 83-5

applications, 108-11 artificial intelligence and, 2-5 configurations, 236-9 costs, 141 current research, 127-40 definitions, 94 desired improvements, 119 effects on labor force, 87-9 Europe, 107 expert system applications, 309, 314-15 functional categories, 102-3 growth potential, 90-6 implementation, 113-18 Japan, 92-5, 107, 108 marketing, 142 materials handling systems, 333-5 mobility, 125-7 productivity, 85-7 programming, 124 prospects, 111-13, 140-5 research needs, 118-26 sensor-controlled, 146-57 size, 141-2 standardized interfaces, 127 system elements, 96-101 USA,107-8

Index

world population, 91-6 Rockwell,347 roller conveyors

pallet movement, 333 ROSIE, 302 rotationally insensitive operators

edges extraction, 177 rubber sheets

tactile sensors, 154 rules

knowledge bases, 303--4

safety robot installation, 116-17

SAIL,65 SAM, 275, 280 SAVVY, 287 scanning laser rangers, 8 scene analysis, 164 Schlumberger, 38, 72 scripts

data structures, 44-5 knowledge representation, 266

search spaces large, 306-9

searching artificial intelligence, 40-2

segmentation machine vision systems, 180-2 visual images, 214-15

semantic networks, 43 knowledge representation, 265

semantic primitives, 45-6 semantic processing, 264-6 sensing, 3--4, 219, 221,223 sensitivity

sensors, 149-50 sensors, 6-9, 103-6, 146-57

for CIMS, 150-5 prospects, 140-1 sensitivity, 149-50

sentences analysis, 263 structure, 260

service industries robot applications, 112

servo-controlled robotic units, 99, 100 servo mechanisms

manipulators, 248-9 shading

interpretation, 186-7 shape

interpretation, 186-7 SHRDLU, 36, 271, 272 SI Handling, 333 silicon rubber

tactile sensors, 105 Smalltalk

language, 68 smell

sensor detection, 106

375

Society of Manufacturing Engineers, 89, 90 software

CIMS, 338-42 manipulators, 234-5

376

software continued robot control, 20-1

solid-state cameras, 6, 155-6 SOPHIE, 270, 271,273 Soviet Union, 139-40 space

robot applications, 112, 114 spatial resolution

manipulators, 249-50. 252 Speak and Spell, 38 Spectron Engineering Inc., 208-9 speech

sensors, 106 speech acts, 290 speech recognition, 79-80 spherical coordinate manipulators, 238-9 spherical coordinate robot

work envelope, 244 spherical manipulator movement, 99 SPICE software, 67 spoken language, 28 spot welding, 111 spray painting, 84 SRI, 37, 39, 309 SRI Abstrips Robotics Expert System. 313 SRI International. 22, 133.234 SRI NOAH Robotics Expert System. 314 SRI Shakey, 24 SRI Vision Module, 37,183.205 stability

manipulators, 247-9 Stanford University, 21, 37,128,234.309 Stark Draper, Charles, Lab. Inc .. 133 steering

locomotion systems, 24 steering methods, 231 Straight Talk, 287 strain gauges, 154 stress sensors, 153-4 Sunstrand Aviation, 347 surface characteristics

recovery, 184-7 surface fi tting

edges extraction, 177 surface structures

sentences, 263 surfaces

image recognition, 189 Sweden, 139 symbolic descriptions

three-dimensional representation, 188 syntactic ambiguity, 290 system monitoring

CIMS software, 341-2

tactile sensors, 6, 8, 153-4. 156-7 task force

CIMS, 322, 324 task programs, 148 TDUS, 271, 274, 275 teach boxes, 98 TEAM, 283 TEIRESIAS, 302, 303 teleoperation, 19-20,231 tellurometers, 153

Index

template matching parsing, 266

terrain, uneven, 126 Texas Instruments. 38 TEXT,285 text

natural language processing, 270-1 texture

property of image, 176 theorem proving

logical inference, 48-9 nature of PROLOG, 62-3

three-dimensional representation. 187-9 three-dimensional modeling

vision systems, 223 time

expert systems. 308-9 tool motion

manipulators, 229 tool position

recording, 255-6 tooling

CIMS. 330, 344-5 top-down refinement

problem solving, 308 TOPIC, 286 torque

compliance and, 256 torque sensors. 154 touch-sensitive capacitance buttons, 151 touch sensors, 105-6, 153-4

resolution, 124 tracking

image processing, 189-90 training

sensors, 148-9 transformational grammar, 263-4 transition networks

parsing, 266-9 truth values

propositional logic, 46-7 two-dimensional representations

of surface features, 173 visual images, 183-4

unemployment effects of robots, 88-9

uncertainty dealing with, 305-6

Unimate robot, 102 Unimation 2000B, 239 Unimation/Westinghouse. 22,107,234 Unimation/Westinghouse Model 2100, 14 United Auto Workers, 87 United Kingdom, 139 UNITS, 302 University of Florida

robotics research, 131 University of Michigan, 89, 90 UNIX operating system, 66 unloading

CIMS,330-1 US Defense Science Board, 38, 81 USA

CIMS installed, 247-8

USA continued commercial research, 132-5 government research, 135-9 productivity, 85-7 research needs, 120-1 robot manufacture, 107 robotics research, 128-39 university research, 128-32

user interface expert systems, 297-8

variables LISP, 60

VAX computer systems, 38 vertical turret lathes

in CIMS, 328, 330 Videometrix,209 vision

see machine vision VISIONS, 77,191,194--5 visual image

representation, 183-4 visual information, 148-9 visual information

processing theory, 165-8 speed, 124

visual sensors, 6, 155-6 visual tracking

image processing, 189-90 volumes

image recognition, 189 volumetric models

three-dimensional representation, 187-8 Volvo material handling systems, 23

Index

walk-through programming, 97 walking

robots, 231,232 walking machines, 24 Weidner System, 287 welding, 142-3

377

White-Sundstrand Corporation, 347, 350--2 wire frame models

three-dimensional representation, 187 word sense

semantics, 269 words

ambiguity, 290 meaning and morphology, 260

work envelope robot installation, 114

work force CIMS, 345-6

work stations CIMS,328-31

work-in-process using CIMS, 319

workpiece routing CIMS software, 240, 341

workplace analysis, 109-10

world natural language processing and, 263,291

XEROX, 1100 series, 67 XEROX operating systems, 62 XEROX-PARC, 62, 68

ZETA LISP, 68