A database design for the runtime environment of a robotic workcell

Intelligent robotic workcell activities have come to require a database framework for arranging, storing and accessing information in real-time about the workcell environment in a standard way. After a brief introduction to the theory of databases (DB), we examine the general topic of robotic workcells, identify characteristics typical of robotic applications, and then present a survey of DB-related work in the robotics domain. We then construct a set of design constraints based on our analysis of robotic applications, and describe a suitable software architecture. The paper concludes with a discussion of experience gained with two generations of DB implementations.     

Rapid response manufacturing through a rapidly reconfigurable robotic workcell

This article describes the development of a component-based technology robot workcell that can be rapidly configured to perform a specific manufacturing task. The workcell is conceived with standard and inter-operable components including actuator modules, rigid link connectors and tools that can be assembled into robots with arbitrary geometry and degrees of freedom. The reconfigurable “plug-and-play” robot kinematic and dynamic modeling algorithms are developed. These algorithms are the basis for the control and simulation of reconfigurable robots. The concept of robot configuration optimization is introduced for the effective use of the rapidly reconfigurable robots. Control and communications of the workcell components are facilitated by a workcell-wide TCP/IP network and device-level CAN-bus networks. An object-oriented simulation and visualization software for the reconfigurable robot is developed based on Windows NT. Prototypes of the robot workcells configured to perform the light-machining task and the positioning task are constructed and demonstrated.     

Assembly scheduling for an integrated two-robot workcell

An assembly sequence planning scheme, giving the time optimal solution for a two-robot cell, is presented. The scheme is based on dynamic programming, and the time optimum assembly sequence is generated in two stages. In stage one, an initial candidate sequence is derived. The stage-one algorithm is computationally efficient, the complexity being O(logn/k), where n is the number of elements in k groups. It also gives near-optimal results. Expression for the lower bounds for the total assembly time are derived in order to assess the departure from optimality of the stage-one sequence. In stage two, the initial candidate sequence is optimized using an iterative technique to yield the time optimal sequence. The scheme is extended to account for precedence constraints. It can also be extended for assembly cells with more than two robots. The scheme is tested using computer simulations, and some test results are presented. For the problems solved (typically involving 20 elements), the computational times were less than 5 sec in an Apollo 300 workstation.     

On the development of a robotic workcell for sanitary ware spray glazing

This paper describes planning activities that need to be undertaken before the implementation of robotic workcells for sanitary ware spray glazing operations. An existing economic justification model that can be used to evaluate the economic feasibility of these workcells is also modified.     

Constructing an integrated visual programming environment

This paper presents an object-oriented architecture, called the Model-View-Shape (MVS) architecture, for constructing an Integrated Visual Programming Environment (IVPE), whose constituent tools deal with (fine-grained) language semantics, as well as a mass of graphics-drawing activities. This architecture enforces a layered and loosely-coupled structure, so that the user-interface part of components may be more independent, maintainable, and reusable than those proposed in the original model-view-controller architecture. An MVS class hierarchy, systematically constructed using C++, can be reused and extended with new semantics to rapidly develop new tools for an existing IVPE, or even an IVPE supporting more than one language. The present editors developed can be used to construct programs by specifying the associated flow information in explicit (visual) or implicit (textual) ways, while the (incremental) flow analysers can help analyse incomplete program fragments to locate and inform the user of possible errors or anomalies during programming. © 1998 John Wiley & Sons, Ltd.     

A programming environment for real-time control of distributed multiple robotic systems

In recent years there has been great interest in robot software control architectures. However, although many interesting solutions have been presented, most of the research problems tackled related to a single robot perception, navigation and action in everyday environments. Instead, most of the practical applications of mobile robotics for service tasks in civilian environments consist of systems composed of multiple robots communicating with each other, with external sensing and actuating devices, and with external supervising workstations. RoboCup offers a great opportunity to deal with this problem. In fact the software architecture of a robot soccer player must allow successful intra-robot integration of the different activities (visual perception, path planning, strategy planning, motion control, etc.) spanning many different types of representation (raw sensor data, images, symbolic plans, etc.) and it must also guarantee successful inter-robot integration by supporting communication and cooperation. This paper focuses on this problem, presenting ETHNOS-IV - a programming environment for the design of a real-time control system composed of different robots, devices and external supervising or control stations - which has been successfully used within the Italian ART robot team in the RoboCup-99 competition. ETHNOS provides support from three main point of views which will be addressed in detail: inter-robot and intra-robot communication, realtime task scheduling, and software engineering and code reuse. Experimental results illustrating the advantages of this approach will also be presented.     

A syntax-directed integrated programming environment for developing simd supercomputer software

The increasing availability and use of supercomputers has highlighted the need for better software development techniques and tools. Supercomputers have traditionally been extensively used by engineers and scientists whose preference for Fortran is well established and recognized. However, in the parallel environment offered by the latest configurations of supercomputers, more sophisticated languages and tools are required. The present experiment is concerned with devising a syntax-directed integrated programming environment based on the language Actus, which enables a user to develop and debug programs before submitting them to an actual supercomputer. Actus is a high-level, Pascal-like language, with SIMD parallel processing features. It enables the user to ignore the idiosyncrasies of the chosen supercomputer by abstracting the parallel processing detail to a higher level. The editing, compilation and testing phases of program development are all integrated, providing a single consistent interface for all activities relating to program development.     

Dynamic systems modelling and development of robotic applications in a visual programming environment

In this paper we describe our approach to modelling dynamic systems behaviour and its application to an industrial environment. A complete programming environment is described through an account of the rationale and modus operandi of the system. Our objective is to help managers, designers, engineers and software developers to understand dynamic systems behaviour through modelling. Examples of systems modelling are given and an industrial application of the programming environment for automatic food handling involving machine vision, virtual sensors and robot manipulation control is described.     

An integrated environment for requirements engineering

An integrated environment for requirements engineering that supports participatory development activities is described. The environment helps ensure quality by supporting and encouraging group participation and interaction. The computer-supported cooperative-work environment supports the development and analysis of system-and-software-level requirements for large, complex applications. It encompasses and coordinates all aspects of requirements development, from conceptual inspiration, through planning, to specific project details. Case studies of groups using this environment show it can support requirements engineering for groups of users determining system-level requirements for large, complex systems     

An integrated hierarchical programming approach for industrial planning

This paper describes of prototype of a microcomputer implementation of an integrated multicriteria expert support system (MCESS). The system is an interactive, comprehensive, and easy to use tool to support the manager in project selection and resource allocation. The MCESS combines the capabilities of goal programming, the analytic hierarchy process, net present value analysis, and a spreadsheet.

The literature on modeling with spreadsheets and on software integration is reviewed. Goal programming, a multicriteria decision making technique is described and the analytic hierarchy process is shown to be able to overcome some of its limitations. The structure of the MCESS is described. An illustration of its use in industrial planning is presented.     

An integrated mathematical programming model for offset planning

The ability of a company to compete successfully in a global environment often extends beyond the ability to sell a product at a given price or service level. International “deals” are often based upon the company's ability to provide access to international markets (economic benefits), be perceived as socially responsible and meet political requirements. These requirements come in the form of offset, industrial participation or countertrade. Unfortunately, these factors cannot be measured in quantitative terms, but rather qualitative objectives. This paper presents the development of a quantitative model using multicriteria mathematical programming methods.This paper deals with the development of an integrated quantitative model for offset (countertrade) planning. The model includes multiple conflicting goals with inconsistent units requiring prioritization. As common in today's business environment, a single methodology for solving problems is insufficient. This paper discusses a case in which business decision-makers can take existing models from analytic hierarchy process (AHP) in socio-economic literature and apply it to the well-established goal programming model for an empirical example, based on the data obtained from the U.S. aerospace companies. The model is solved by a Micro Management Science computer software and its result is analyzed. The model validation is performed by sensitivity and factor analyses.     

Object-oriented programming for robotic manipulator simulation

Using an object-oriented programming approach, ROBOOP, a robotic manipulator simulation package which is both platform and vendor independent, compares favourably against a package requiring similar coding effort. Performance tests show that with ROBOOP the class inverse dynamics of a 6-DOF robot can be computed in less than 5 ms with a Pentium 100 MHz computer     

An integrated CAD environment for low-power design

This CAD environment supports a high-level approach to power reduction, emphasizing optimizations at the algorithm and architecture levels of abstraction. An integrated set of analysis and optimization tools spans the design hierarchy, allowing the designer to make a systematic, top-down exploration and refinement of solutions in the area-time-power design space. In a case study-a low-power implementation of a digital bandpass filter-the CAD environment and tools yield more than an order of magnitude savings in power     

GAUSSX: An integrated environment for GAUSS

This paper considers the boundary between classical statistical packages on the one hand, and programming languages on the other. The former are easy to use, but relatively inflexible, while the latter are very flexible, but have steep learning curves. A new class of software is now being developed that allows both flexibility, and ease-of-use. This concept is illustrated by the program GAUSSX, which provides an econometric shell for GAUSS.     

An integrated environment for teaching computer architecture

A major problem in teaching computer architecture and organization courses is how to help students make the cognitive leap that connects their theoretical knowledge with practical experience. Numerous researchers involved in computer architecture and organization education have tackled this problem, resulting in a variety of educational tools for computer system simulation. The tools differ greatly in scope, target architecture complexity, simulation level, and user interface. The available educational systems vary in how they handle digital system simulation. They usually offer tools for creating hardware component libraries, viewing simulation results, and conducting statistical analysis of system performance. Available systems range from sophisticated ones, for complex analysis, to simpler ones that are more readily understood by users, both instructors and students. Beyond system simulation, an educational system should support three key objectives. First, it must cover an extensive range of computer architecture and organization topics. Second, it should graphically depict a computer system, from the block level to the register-transfer level. Third, it must provide the means to follow system functions at the program, instruction, and clock cycle levels     

An integrated environment for organisational decision support

The challenges and requirements associated with the provision of organisational decision support are presented with the aim of supporting the through-life development of network enabled capability (NEC) systems. These requirements were compiled through a review of pertinent literature as well as through a series of workshops held with the industrial sponsor of this research – BAE Systems. An architecture is described here for organisational decision support that was developed from the requirements and was subsequently used to create a prototype integrated decision support environment (IDSE). The IDSE was developed incrementally, adding functionality relating to the provision of organisational decision support (DS) with the performance evaluation after each development stage. A scenario and associated case-study were developed within the NECTISE project and presented here, which allowed the demonstration and evaluation of the first prototype IDSE within four separate live simulations. The evaluation feedback from BAE Systems and the Ministry of Defence representatives suggests that the architecture and prototype implementation of the IDES for the provision of organisational decision support are both relevant and mature for future industrial application.