XXXIX

Contents

List of Abbreviations ................................................................................. LXI

Part A Development and Impacts of Automation

1 Advances in Robotics and Automation: Historical PerspectivesYukio Hasegawa ...................................................................................... 3References .............................................................................................. 4

2 Advances in Industrial Automation: Historical PerspectivesTheodore J. Williams ................................................................................ 5References .............................................................................................. 11

3 Automation: What It Means to Us Around the WorldShimon Y. Nof.......................................................................................... 133.1 The Meaning of Automation ........................................................... 143.2 Brief History of Automation ........................................................... 263.3 Automation Cases .......................................................................... 283.4 Flexibility, Degrees, and Levels of Automation ................................ 393.5 Worldwide Surveys: What Does Automation Mean to People? .......... 433.6 Emerging Trends ........................................................................... 473.7 Conclusion .................................................................................... 513.8 Further Reading ............................................................................ 51References .............................................................................................. 52

4 A History of Automatic ControlChristopher Bissell ................................................................................... 534.1 Antiquity and the Early Modern Period ........................................... 534.2 Stability Analysis in the 19th Century .............................................. 564.3 Ship, Aircraft and Industrial Control Before WWII ............................ 574.4 Electronics, Feedback and Mathematical Analysis ........................... 594.5 WWII and Classical Control: Infrastructure ....................................... 604.6 WWII and Classical Control: Theory ................................................. 624.7 The Emergence of Modern Control Theory ....................................... 634.8 The Digital Computer ..................................................................... 644.9 The Socio-Technological Context Since 1945 .................................... 654.10 Conclusion and Emerging Trends .................................................... 664.11 Further Reading ............................................................................ 67References .............................................................................................. 67

XL Contents

5 Social, Organizational, and Individual Impacts of AutomationTibor Vámos ............................................................................................ 715.1 Scope of Discussion:

Long and Short Range of Man–Machine Systems ............................. 725.2 Short History ................................................................................. 745.3 Channels of Human Impact ............................................................ 755.4 Change in Human Values ............................................................... 765.5 Social Stratification, Increased Gaps ............................................... 785.6 Production, Economy Structures, and Adaptation............................ 815.7 Education ..................................................................................... 865.8 Cultural Aspects ............................................................................. 885.9 Legal Aspects, Ethics, Standards, and Patents ................................. 885.10 Different Media and Applications of Information Automation .......... 905.11 Social Philosophy and Globalization ............................................... 915.12 Further Reading ............................................................................ 91References .............................................................................................. 92

6 Economic Aspects of AutomationPiercarlo Ravazzi, Agostino Villa............................................................... 936.1 Basic Concepts in Evaluating Automation Effects ............................. 966.2 The Evaluation Model .................................................................... 976.3 Effects of Automation in the Enterprise .......................................... 986.4 Mid-Term Effects of Automation..................................................... 1026.5 Final Comments ............................................................................ 1116.6 Capital/Labor and Capital/Product Ratios

in the Most Important Italian Industrial Sectors .............................. 113References .............................................................................................. 115

7 Impacts of Automation on PrecisionAlkan Donmez, Johannes A. Soons............................................................ 1177.1 What Is Precision? ......................................................................... 1177.2 Precision as an Enabler of Automation ........................................... 1187.3 Automation as an Enabler of Precision ........................................... 1197.4 Cost and Benefits of Precision ........................................................ 1197.5 Measures of Precision .................................................................... 1207.6 Factors That Affect Precision ........................................................... 1207.7 Specific Examples and Applications in Discrete Part Manufacturing .. 1217.8 Conclusions and Future Trends ....................................................... 124References .............................................................................................. 125

8 Trends in AutomationPeter Terwiesch, Christopher Ganz ............................................................ 1278.1 Environment ................................................................................. 1288.2 Current Trends............................................................................... 1308.3 Outlook ......................................................................................... 1408.4 Summary ...................................................................................... 142References .............................................................................................. 142

Contents XLI

Part B Automation Theory and Scientific Foundations

9 Control Theory for Automation: FundamentalsAlberto Isidori.......................................................................................... 1479.1 Autonomous Dynamical Systems .................................................... 1489.2 Stability and Related Concepts ....................................................... 1509.3 Asymptotic Behavior ...................................................................... 1539.4 Dynamical Systems with Inputs ...................................................... 1549.5 Feedback Stabilization of Linear Systems ........................................ 1609.6 Feedback Stabilization of Nonlinear Systems .................................. 1639.7 Tracking and Regulation ................................................................ 1699.8 Conclusion .................................................................................... 172References .............................................................................................. 172

10 Control Theory for Automation – Advanced TechniquesIstván Vajk, Jeno Hetthéssy, Ruth Bars ...................................................... 17310.1 MIMO Feedback Systems ................................................................ 17310.2 All Stabilizing Controllers ............................................................... 17610.3 Control Performances .................................................................... 18110.4 H2 Optimal Control......................................................................... 18310.5 H∞ Optimal Control ....................................................................... 18510.6 Robust Stability and Performance .................................................. 18610.7 General Optimal Control Theory ...................................................... 18910.8 Model-Based Predictive Control ..................................................... 19110.9 Control of Nonlinear Systems ......................................................... 19310.10 Summary ...................................................................................... 196References .............................................................................................. 197

11 Control of Uncertain SystemsJianming Lian, Stanislaw H. Zak .............................................................. 19911.1 Background and Overview ............................................................. 20011.2 Plant Model and Notation .............................................................. 20311.3 Variable-Structure Neural Component ............................................ 20311.4 State Feedback Controller Development .......................................... 20911.5 Output Feedback Controller Construction ........................................ 21111.6 Examples ...................................................................................... 21311.7 Summary ...................................................................................... 216References .............................................................................................. 217

12 Cybernetics and Learning AutomataJohn Oommen, Sudip Misra ...................................................................... 22112.1 Basics ........................................................................................... 22112.2 A Learning Automaton ................................................................... 22312.3 Environment ................................................................................. 22312.4 Classification of Learning Automata................................................ 22412.5 Estimator Algorithms ..................................................................... 22812.6 Experiments and Application Examples .......................................... 232

XLII Contents

12.7 Emerging Trends and Open Challenges ........................................... 23312.8 Conclusions ................................................................................... 234References .............................................................................................. 234

13 Communication in Automation, Including Networkingand WirelessNicholas Kottenstette, Panos J. Antsaklis................................................... 23713.1 Basic Considerations ...................................................................... 23713.2 Digital Communication Fundamentals ............................................ 23813.3 Networked Systems Communication Limitations ............................. 24113.4 Networked Control Systems ............................................................ 24213.5 Discussion and Future Research Directions...................................... 24513.6 Conclusions ................................................................................... 24613.7 Appendix ...................................................................................... 246References .............................................................................................. 247

14 Artificial Intelligence and AutomationDana S. Nau ............................................................................................ 24914.1 Methods and Application Examples ................................................ 25014.2 Emerging Trends and Open Challenges ........................................... 266References .............................................................................................. 266

15 Virtual Reality and AutomationP. Pat Banerjee ........................................................................................ 26915.1 Overview of Virtual Reality and Automation Technologies ................ 26915.2 Production/Service Applications ..................................................... 27115.3 Medical Applications ..................................................................... 27315.4 Conclusions and Emerging Trends .................................................. 276References .............................................................................................. 277

16 Automation of Mobility and NavigationAnibal Ollero, Ángel R. Castaño ................................................................ 27916.1 Historical Background .................................................................... 27916.2 Basic Concepts .............................................................................. 28016.3 Vehicle Motion Control................................................................... 28316.4 Navigation Control and Interaction with the Environment ............... 28516.5 Human Interaction ........................................................................ 28816.6 Multiple Mobile Systems ................................................................ 29016.7 Conclusions ................................................................................... 292References .............................................................................................. 292

17 The Human Role in AutomationDaniel W. Repperger, Chandler A. Phillips ................................................. 29517.1 Some Basics of Human Interaction with Automation ....................... 29617.2 Various Application Areas .............................................................. 297

Contents XLIII

17.3 Modern Key Issues to Consider as Humans Interact with Automation 29917.4 Future Directions of Defining Human–Machine Interactions ............ 30117.5 Conclusions ................................................................................... 302References .............................................................................................. 302

18 What Can Be Automated? What Cannot Be Automated?Richard D. Patton, Peter C. Patton ............................................................ 30518.1 The Limits of Automation ............................................................... 30518.2 The Limits of Mechanization .......................................................... 30618.3 Expanding the Limit ...................................................................... 30918.4 The Current State of the Art ............................................................ 31118.5 A General Principle ........................................................................ 312References .............................................................................................. 313

Part C Automation Design: Theory, Elements, and Methods

19 Mechatronic Systems – A Short IntroductionRolf Isermann.......................................................................................... 31719.1 From Mechanical to Mechatronic Systems ....................................... 31719.2 Mechanical Systems and Mechatronic Developments ....................... 31919.3 Functions of Mechatronic Systems .................................................. 32119.4 Integration Forms of Processes with Electronics .............................. 32319.5 Design Procedures for Mechatronic Systems .................................... 32519.6 Computer-Aided Design of Mechatronic Systems ............................. 32819.7 Conclusion and Emerging Trends .................................................... 329References .............................................................................................. 329

20 Sensors and Sensor NetworksWootae Jeong .......................................................................................... 33320.1 Sensors ......................................................................................... 33320.2 Sensor Networks ............................................................................ 33820.3 Emerging Trends ........................................................................... 346References .............................................................................................. 347

21 Industrial Intelligent RobotsYoshiharu Inaba, Shinsuke Sakakibara ..................................................... 34921.1 Current Status of the Industrial Robot Market ................................. 34921.2 Background of the Emergence of Intelligent Robots ........................ 35021.3 Intelligent Robots.......................................................................... 35221.4 Application of Intelligent Robots .................................................... 35921.5 Guidelines for Installing Intelligent Robots ..................................... 36221.6 Mobile Robots ............................................................................... 36221.7 Conclusion .................................................................................... 36321.8 Further Reading ............................................................................ 363References .............................................................................................. 363

XLIV Contents

22 Modeling and Software for AutomationAlessandro Pasetti, Walter Schaufelberger (Δ) ........................................... 36522.1 Model-Driven Versus Reuse-Driven Software Development.............. 36622.2 Model-Driven Software Development ............................................. 36822.3 Reuse-Driven Software Development ............................................. 37222.4 Current Research Directions ........................................................... 37722.5 Conclusions and Emerging Trends .................................................. 380References .............................................................................................. 380

23 Real-Time Autonomic AutomationChristian Dannegger ................................................................................ 38123.1 Theory .......................................................................................... 38223.2 Application Example: Modular Production Machine Control ............. 38523.3 Application Example: Dynamic Transportation Optimization ............ 39123.4 How to Design Agent-Oriented Solutions for Autonomic Automation.. 40223.5 Emerging Trends and Challenges .................................................... 402References .............................................................................................. 404

24 Automation Under Service-Oriented GridsJackson He, Enrique Castro-Leon .............................................................. 40524.1 Emergence of Virtual Service-Oriented Grids ................................... 40624.2 Virtualization ................................................................................ 40624.3 Service Orientation ........................................................................ 40824.4 Grid Computing ............................................................................. 41424.5 Summary and Emerging Challenges ................................................ 41424.6 Further Reading ............................................................................ 415References .............................................................................................. 416

25 Human Factors in Automation DesignJohn D. Lee, Bobbie D. Seppelt.................................................................. 41725.1 Automation Problems .................................................................... 41825.2 Characteristics of the System and the Automation ........................... 42225.3 Application Examples and Approaches to Automation Design .......... 42425.4 Future Challenges in Automation Design ........................................ 429References .............................................................................................. 432

26 Collaborative Human–Automation Decision MakingMary L. Cummings, Sylvain Bruni ............................................................. 43726.1 Background .................................................................................. 43826.2 The Human–Automation Collaboration Taxonomy (HACT) ................. 43926.3 HACT Application and Guidelines .................................................... 44226.4 Conclusion and Open Challenges .................................................... 445References .............................................................................................. 446

Contents XLV

27 TeleoperationLuis Basañez, Raúl Suárez ........................................................................ 44927.1 Historical Background and Motivation ............................................ 45027.2 General Scheme and Components .................................................. 45127.3 Challenges and Solutions ............................................................... 45427.4 Application Fields .......................................................................... 45927.5 Conclusion and Trends ................................................................... 464References .............................................................................................. 465

28 Distributed Agent Software for AutomationFrancisco P. Maturana, Dan L. Carnahan, Kenwood H. Hall ....................... 46928.1 Composite Curing Background ........................................................ 47128.2 Industrial Agent Architecture ......................................................... 47328.3 Building Agents for the Curing System ............................................ 47528.4 Autoclave and Thermocouple Agents .............................................. 47728.5 Agent-Based Simulation ................................................................ 47828.6 Composite Curing Results and Recommendations ............................ 48028.7 Conclusions ................................................................................... 48428.8 Further Reading ............................................................................ 484References .............................................................................................. 485

29 Evolutionary Techniques for AutomationMitsuo Gen, Lin Lin .................................................................................. 48729.1 Evolutionary Techniques ................................................................ 48829.2 Evolutionary Techniques for Industrial Automation ......................... 49229.3 AGV Dispatching in Manufacturing System ...................................... 49429.4 Robot-Based Assembly-Line System ............................................... 49729.5 Conclusions and Emerging Trends .................................................. 50129.6 Further Reading ............................................................................ 501References .............................................................................................. 501

30 Automating Errors and Conflicts Prognostics and PreventionXin W. Chen, Shimon Y. Nof ...................................................................... 50330.1 Definitions .................................................................................... 50330.2 Error Prognostics and Prevention Applications ................................ 50630.3 Conflict Prognostics and Prevention ............................................... 51230.4 Integrated Error and Conflict Prognostics and Prevention ................ 51330.5 Error Recovery and Conflict Resolution............................................ 51530.6 Emerging Trends ........................................................................... 52030.7 Conclusion .................................................................................... 521References .............................................................................................. 522

XLVI Contents

Part D Automation Design: Theory and Methods for Integration

31 Process AutomationThomas F. Edgar, Juergen Hahn ............................................................... 52931.1 Enterprise View of Process Automation ........................................... 52931.2 Process Dynamics and Mathematical Models ................................... 53131.3 Regulatory Control ......................................................................... 53331.4 Control System Design ................................................................... 53431.5 Batch Process Automation ............................................................. 53831.6 Automation and Process Safety ...................................................... 54131.7 Emerging Trends ........................................................................... 54331.8 Further Reading ............................................................................ 543References .............................................................................................. 543

32 Product AutomationFriedrich Pinnekamp................................................................................ 54532.1 Historical Background .................................................................... 54532.2 Definition of Product Automation................................................... 54632.3 The Functions of Product Automation ............................................. 54632.4 Sensors ......................................................................................... 54732.5 Control Systems ............................................................................. 54732.6 Actuators ...................................................................................... 54832.7 Energy Supply ............................................................................... 54832.8 Information Exchange with Other Systems ...................................... 54832.9 Elements for Product Automation ................................................... 54832.10 Embedded Systems........................................................................ 55432.11 Summary and Emerging Trends ...................................................... 557References .............................................................................................. 558

33 Service AutomationFriedrich Pinnekamp................................................................................ 55933.1 Definition of Service Automation .................................................... 55933.2 Life Cycle of a Plant ....................................................................... 55933.3 Key Tasks and Features of Industrial Service ................................... 56033.4 Real-Time Performance Monitoring ................................................ 56233.5 Analysis of Performance ................................................................ 56333.6 Information Required for Effective and Efficient Service .................. 56333.7 Logistics Support ........................................................................... 56633.8 Remote Service.............................................................................. 56733.9 Tools for Service Personnel ............................................................. 56833.10 Emerging Trends: Towards a Fully Automated Service ...................... 568References .............................................................................................. 569

34 Integrated Human and Automation SystemsDieter Spath, Martin Braun, Wilhelm Bauer............................................... 57134.1 Basics and Definitions ................................................................... 57234.2 Use of Automation Technology ....................................................... 579

Contents XLVII

34.3 Design Rules for Automation .......................................................... 58534.4 Emerging Trends and Prospects for Automation .............................. 594References .............................................................................................. 596

35 Machining Lines AutomationXavier Delorme, Alexandre Dolgui, Mohamed Essafi, Laurent Linxe,Damien Poyard ........................................................................................ 59935.1 Machining Lines ............................................................................ 60035.2 Machining Line Design................................................................... 60335.3 Line Balancing .............................................................................. 60535.4 Industrial Case Study ..................................................................... 60635.5 Conclusion and Perspectives .......................................................... 615References .............................................................................................. 616

36 Large-Scale Complex SystemsFlorin-Gheorghe Filip, Kauko Leiviskä ...................................................... 61936.1 Background and Scope .................................................................. 62036.2 Methods and Applications ............................................................. 62236.3 Case Studies .................................................................................. 63236.4 Emerging Trends ........................................................................... 634References .............................................................................................. 635

37 Computer-Aided Design, Computer-Aided Engineering,and VisualizationGary R. Bertoline, Nathan Hartman, Nicoletta Adamo-Villani .................... 63937.1 Modern CAD Tools .......................................................................... 63937.2 Geometry Creation Process ............................................................. 64037.3 Characteristics of the Modern CAD Environment .............................. 64237.4 User Characteristics Related to CAD Systems .................................... 64337.5 Visualization ................................................................................. 64437.6 3-D Animation Production Process ................................................. 645References .............................................................................................. 651

38 Design Automation for MicroelectronicsDeming Chen ........................................................................................... 65338.1 Overview....................................................................................... 65338.2 Techniques of Electronic Design Automation ................................... 65738.3 New Trends and Conclusion ........................................................... 665References .............................................................................................. 667

39 Safety Warnings for AutomationMark R. Lehto, Mary F. Lesch, William J. Horrey ......................................... 67139.1 Warning Roles ............................................................................... 67239.2 Types of Warnings ......................................................................... 67639.3 Models of Warning Effectiveness .................................................... 680

XLVIII Contents

39.4 Design Guidelines and Requirements ............................................. 68439.5 Challenges and Emerging Trends .................................................... 690References .............................................................................................. 691

Part E Automation Management

40 Economic Rationalization of Automation ProjectsJosé A. Ceroni .......................................................................................... 69940.1 General Economic Rationalization Procedure .................................. 70040.2 Alternative Approach to the Rationalization of Automation Projects. 70840.3 Future Challenges and Emerging Trends

in Automation Rationalization ....................................................... 71140.4 Conclusions ................................................................................... 712References .............................................................................................. 713

41 Quality of Service (QoS) of AutomationHeinz-Hermann Erbe (Δ) ......................................................................... 71541.1 Cost-Oriented Automation ............................................................. 71841.2 Affordable Automation .................................................................. 72141.3 Energy-Saving Automation ............................................................ 72541.4 Emerging Trends ........................................................................... 72841.5 Conclusions ................................................................................... 731References .............................................................................................. 732

42 Reliability, Maintainability, and SafetyGérard Morel, Jean-François Pétin, Timothy L. Johnson ............................. 73542.1 Definitions .................................................................................... 73642.2 RMS Engineering ........................................................................... 73842.3 Operational Organization and Architecture for RMS ......................... 74142.4 Challenges, Trends, and Open Issues .............................................. 745References .............................................................................................. 746

43 Product Lifecycle Managementand Embedded Information DevicesDimitris Kiritsis ........................................................................................ 74943.1 The Concept of Closed-Loop PLM .................................................... 74943.2 The Components of a Closed-Loop PLM System ................................ 75143.3 A Development Guide for Your Closed-Loop PLM Solution ................ 75543.4 Closed-Loop PLM Application ......................................................... 76143.5 Emerging Trends and Open Challenges ........................................... 763References .............................................................................................. 764

44 Education and Qualification for Control and AutomationBozenna Pasik-Duncan, Matthew Verleger................................................ 76744.1 The Importance of Automatic Control in the 21st Century ................. 76844.2 New Challenges for Education ........................................................ 768

Contents XLIX

44.3 Interdisciplinary Nature of Stochastic Control .................................. 76944.4 New Applications of Systems and Control Theory ............................. 77044.5 Pedagogical Approaches ................................................................ 77244.6 Integrating Scholarship, Teaching, and Learning............................. 77544.7 The Scholarship of Teaching and Learning ...................................... 77544.8 Conclusions and Emerging Challenges ............................................ 776References .............................................................................................. 776

45 Software ManagementPeter C. Patton, Bijay K. Jayaswal ............................................................. 77945.1 Automation and Software Management ......................................... 77945.2 Software Distribution..................................................................... 78145.3 Asset Management ........................................................................ 78645.4 Cost Estimation ............................................................................. 78945.5 Further Reading ............................................................................ 794References .............................................................................................. 795

46 Practical Automation SpecificationWolfgang Mann....................................................................................... 79746.1 Overview....................................................................................... 79746.2 Intention ...................................................................................... 79846.3 Strategy ........................................................................................ 80046.4 Implementation ............................................................................ 80346.5 Additional Impacts ........................................................................ 80346.6 Example ....................................................................................... 80446.7 Conclusion .................................................................................... 80746.8 Further Reading ............................................................................ 807References .............................................................................................. 808

47 Automation and EthicsSrinivasan Ramaswamy, Hemant Joshi ..................................................... 80947.1 Background .................................................................................. 81047.2 What Is Ethics, and How Is It Related to Automation? ...................... 81047.3 Dimensions of Ethics ..................................................................... 81147.4 Ethical Analysis and Evaluation Steps ............................................. 81447.5 Ethics and STEM Education ............................................................. 81747.6 Ethics and Research....................................................................... 82247.7 Challenges and Emerging Trends .................................................... 82547.8 Additional Online Resources .......................................................... 82647.A Appendix: Code of Ethics Example .................................................. 827References .............................................................................................. 831

L Contents

Part F Industrial Automation

48 Machine Tool AutomationKeiichi Shirase, Susumu Fujii .................................................................... 83748.1 The Advent of the NC Machine Tool ................................................. 83948.2 Development of Machining Center and Turning Center .................... 84148.3 NC Part Programming .................................................................... 84448.4 Technical Innovation in NC Machine Tools ....................................... 84748.5 Key Technologies for Future Intelligent Machine Tool ...................... 85648.6 Further Reading ............................................................................ 857References .............................................................................................. 857

49 Digital Manufacturing and RFID-Based AutomationWing B. Lee, Benny C.F. Cheung, Siu K. Kwok ............................................ 85949.1 Overview....................................................................................... 85949.2 Digital Manufacturing Based on Virtual Manufacturing (VM) ............ 86049.3 Digital Manufacturing by RFID-Based Automation ........................... 86449.4 Case Studies of Digital Manufacturing and RFID-Based Automation.. 86749.5 Conclusions ................................................................................... 877References .............................................................................................. 879

50 Flexible and Precision AssemblyBrian Carlisle ........................................................................................... 88150.1 Flexible Assembly Automation ....................................................... 88150.2 Small Parts .................................................................................... 88650.3 Automation Software Architecture .................................................. 88750.4 Conclusions and Future Challenges ................................................. 89050.5 Further Reading ............................................................................ 890References .............................................................................................. 890

51 Aircraft Manufacturing and AssemblyBranko Sarh, James Buttrick, Clayton Munk, Richard Bossi ........................ 89351.1 Aircraft Manufacturing and Assembly Background ........................... 89451.2 Automated Part Fabrication Systems: Examples .............................. 89551.3 Automated Part Inspection Systems: Examples................................ 90351.4 Automated Assembly Systems/Examples ......................................... 90551.5 Concluding Remarks and Emerging Trends ...................................... 908References .............................................................................................. 909

52 Semiconductor Manufacturing AutomationTae-Eog Lee............................................................................................. 91152.1 Historical Background .................................................................... 91152.2 Semiconductor Manufacturing Systems

and Automation Requirements ...................................................... 91252.3 Equipment Integration Architecture and Control ............................. 91452.4 Fab Integration Architectures and Operation................................... 921

Contents LI

52.5 Conclusion .................................................................................... 925References .............................................................................................. 925

53 Nanomanufacturing AutomationNing Xi, King Wai Chiu Lai, Heping Chen ................................................... 92753.1 Overview....................................................................................... 92753.2 AFM-Based Nanomanufacturing ..................................................... 93053.3 Nanomanufacturing Processes ....................................................... 93753.4 Conclusions ................................................................................... 944References .............................................................................................. 944

54 Production, Supply, Logistics and DistributionRodrigo J. Cruz Di Palma, Manuel Scavarda Basaldúa................................ 94754.1 Historical Background .................................................................... 94754.2 Machines and Equipment Automation for Production ..................... 94954.3 Computing and Communication Automation for Planning

and Operations Decisions............................................................... 95154.4 Automation Design Strategy ........................................................... 95454.5 Emerging Trends and Challenges .................................................... 95554.6 Further Reading ............................................................................ 958References .............................................................................................. 959

55 Material Handling Automation in Productionand Warehouse SystemsJaewoo Chung, Jose M.A. Tanchoco........................................................... 96155.1 Material Handling Integration ........................................................ 96255.2 System Architecture ....................................................................... 96455.3 Advanced Technologies.................................................................. 96955.4 Conclusions and Emerging Trends .................................................. 977References .............................................................................................. 977

56 Industrial Communication ProtocolsCarlos E. Pereira, Peter Neumann.............................................................. 98156.1 Basic Information .......................................................................... 98156.2 Virtual Automation Networks ......................................................... 98356.3 Wired Industrial Communications .................................................. 98456.4 Wireless Industrial Communications ............................................... 99156.5 Wide Area Communications ........................................................... 99356.6 Conclusions ................................................................................... 99556.7 Emerging Trends ........................................................................... 995?? Further Reading ............................................................................ 997References .............................................................................................. 998

57 Automation and Robotics in Mining and Mineral ProcessingSirkka-Liisa Jämsä-Jounela, Greg Baiden ................................................. 100157.1 Background .................................................................................. 100157.2 Mining Methods and Application Examples..................................... 1004

LII Contents

57.3 Processing Methods and Application Examples ............................... 100557.4 Emerging Trends ........................................................................... 1009References .............................................................................................. 1012

58 Automation in the Wood and Paper IndustryBirgit Vogel-Heuser ................................................................................. 101558.1 Background Development and Theory ............................................ 101558.2 Application Example, Guidelines, and Techniques .......................... 101858.3 Emerging Trends, Open Challenges ................................................. 1024References .............................................................................................. 1025

59 Welding AutomationAnatol Pashkevich ................................................................................... 102759.1 Principal Definitions ...................................................................... 102759.2 Welding Processes ......................................................................... 102859.3 Basic Equipment and Control Parameters ....................................... 103159.4 Welding Process Sensing, Monitoring, and Control .......................... 103359.5 Robotic Welding ............................................................................ 103559.6 Future Trends in Automated Welding ............................................. 103859.7 Further Reading ............................................................................ 1039References .............................................................................................. 1039

60 Automation in Food ProcessingDarwin G. Caldwell, Steve Davis, René J. Moreno Masey, John O. Gray ........ 104160.1 The Food Industry ......................................................................... 104260.2 Generic Considerations in Automation for Food Processing .............. 104360.3 Packaging, Palletizing, and Mixed Pallet Automation ...................... 104660.4 Raw Product Handling and Assembly.............................................. 104960.5 Decorative Product Finishing.......................................................... 105460.6 Assembly of Food Products – Making a Sandwich............................ 105560.7 Discrete Event Simulation Example ................................................. 105660.8 Totally Integrated Automation ....................................................... 105760.9 Conclusions ................................................................................... 105860.10 Further Reading ............................................................................ 1058References .............................................................................................. 1058

Part G Infrastructure and Service Automation

61 Construction AutomationDaniel Castro-Lacouture........................................................................... 106361.1 Motivations for Automating Construction Operations ....................... 106461.2 Background .................................................................................. 106561.3 Horizontal Construction Automation ............................................... 106661.4 Building Construction Automation.................................................. 106861.5 Techniques and Guidelines

for Construction Management Automation ..................................... 1070

Contents LIII

61.6 Application Examples .................................................................... 107361.7 Conclusions and Challenges ........................................................... 1076References .............................................................................................. 1076

62 The Smart BuildingTimothy I. Salsbury .................................................................................. 107962.1 Background .................................................................................. 107962.2 Application Examples .................................................................... 108362.3 Emerging Trends ........................................................................... 108862.4 Open Challenges............................................................................ 109062.5 Conclusions ................................................................................... 1092References .............................................................................................. 1092

63 Automation in AgricultureYael Edan, Shufeng Han, Naoshi Kondo .................................................... 109563.1 Field Machinery............................................................................. 109663.2 Irrigation Systems ......................................................................... 110163.3 Greenhouse Automation ................................................................ 110463.4 Animal Automation Systems........................................................... 111163.5 Fruit Production Operations ........................................................... 111663.6 Summary ...................................................................................... 1121References .............................................................................................. 1122

64 Control System for Automated Feed PlantNick A. Ivanescu ...................................................................................... 112964.1 Objectives ..................................................................................... 112964.2 Problem Description ...................................................................... 113064.3 Special Issues To Be Solved ............................................................ 113164.4 Choosing the Control System .......................................................... 113164.5 Calibrating the Weighing Machines ................................................ 113264.6 Management of the Extraction Process ........................................... 113364.7 Software Design: Theory and Application ........................................ 113364.8 Communication ............................................................................. 113664.9 Graphical User Interface on the PLC ................................................ 113664.10 Automatic Feeding of Chicken ........................................................ 113764.11 Environment Control in the Chicken Plant ...................................... 113764.12 Results and Conclusions................................................................. 113864.13 Further Reading ............................................................................ 1138References .............................................................................................. 1138

65 Securing Electrical Power System OperationPetr Horacek ............................................................................................ 113965.1 Power Balancing ........................................................................... 114165.2 Ancillary Services Planning ............................................................ 1153References .............................................................................................. 1162

LIV Contents

66 Vehicle and Road AutomationYuko J. Nakanishi .................................................................................... 116566.1 Background .................................................................................. 116566.2 Integrated Vehicle-Based Safety Systems (IVBSS) ............................. 117166.3 Vehicle Infrastructure Integration (VII) ............................................ 117666.4 Conclusion and Emerging Trends .................................................... 117766.5 Further Reading ............................................................................ 1178References .............................................................................................. 1180

67 Air Transportation System AutomationSatish C. Mohleji, Dean F. Lamiano, Sebastian V. Massimini ...................... 118167.1 Current NAS CNS/ATM Systems Infrastructure .................................... 118367.2 Functional Role of Automation in Aircraft for Flight Safety

and Efficiency ............................................................................... 119467.3 Functional Role of Automation in the Ground System

for Flight Safety and Efficiency ....................................................... 119567.4 CNS/ATM Functional Limitations with Impact

on Operational Performance Measures ........................................... 119667.5 Future Air Transportation System Requirements

and Functional Automation ........................................................... 120367.6 Summary ...................................................................................... 1211References .............................................................................................. 1212

68 Flight Deck AutomationSteven J. Landry....................................................................................... 121568.1 Background and Theory ................................................................. 121568.2 Application Examples .................................................................... 121768.3 Guidelines for Automation Development ........................................ 122668.4 Flight Deck Automation in the Next-Generation Air-Traffic System .. 123468.5 Conclusion .................................................................................... 123668.6 Web Resources .............................................................................. 1236References .............................................................................................. 1237

69 Space and Exploration AutomationEdward Tunstel ........................................................................................ 124169.1 Space Automation/Robotics Background ......................................... 124269.2 Challenges of Space Automation .................................................... 124369.3 Past and Present Space Robots and Applications ............................. 124869.4 Future Directions and Capability Needs........................................... 125069.5 Summary and Conclusion............................................................... 125169.6 Further Reading ............................................................................ 1251References .............................................................................................. 1252

70 Cleaning AutomationNorbert Elkmann, Justus Hortig, Markus Fritzsche ..................................... 125370.1 Background and Cleaning Automation Theory ................................. 125470.2 Examples of Application ................................................................ 1256

Contents LV

70.3 Emerging Trends ........................................................................... 1263References .............................................................................................. 1263

71 Automating Information and Technology ServicesParasuram Balasubramanian .................................................................. 126571.1 Preamble ...................................................................................... 126571.2 Distinct Business Segments ............................................................ 126771.3 Automation Path in Each Business Segment ................................... 126871.4 Information Technology Services .................................................... 127371.5 Impact Analysis ............................................................................. 128071.6 Emerging Trends ........................................................................... 1281References .............................................................................................. 1282

72 Library AutomationMichael Kaplan ....................................................................................... 128572.1 In the Beginning: Book Catalogs and Card Catalogs ......................... 128572.2 Development of the MARC Format and Online Bibliographic Utilities 128672.3 OpenURL Linking and the Rise of Link Resolvers .............................. 129072.4 Future Challenges .......................................................................... 129672.5 Further Reading ............................................................................ 1296References .............................................................................................. 1297

73 Automating Serious GamesGyula Vastag, Moshe Yerushalmy ............................................................. 129973.1 Theoretical Foundation and Developments:

Learning Through Gaming.............................................................. 129973.2 Application Examples .................................................................... 130373.3 Guidelines and Techniques for Serious Games ................................ 130673.4 Emerging Trends, Open Challenges ................................................. 130973.5 Additional Reading ....................................................................... 1310References .............................................................................................. 1310

74 Automation in Sports and EntertainmentPeter Kopacek .......................................................................................... 131374.1 Robots in Entertainment, Leisure, and Hobby ................................. 131574.2 Market .......................................................................................... 133074.3 Summary and Forecast .................................................................. 1330?? Further Reading ............................................................................ 1331References .............................................................................................. 1331

Part H Automation in Medical and Healthcare Systems

75 Automatic Control in Systems BiologyHenry Mirsky, Jörg Stelling, Rudiyanto Gunawan, Neda Bagheri,Stephanie R. Taylor, Eric Kwei, Jason E. Shoemaker, Francis J. Doyle III....... 133575.1 Basics ........................................................................................... 1335

LVI Contents

75.2 Biophysical Networks .................................................................... 133775.3 Network Models for Structural Classification.................................... 134075.4 Dynamical Models ......................................................................... 134275.5 Network Identification................................................................... 134675.6 Quantitative Performance Metrics................................................... 134975.7 Bio-inspired Control and Design .................................................... 135375.8 Emerging Trends ........................................................................... 1354References .............................................................................................. 1354

76 Automation and Control in Biomedical SystemsRobert S. Parker ....................................................................................... 136176.1 Background and Introduction ........................................................ 136176.2 Theory and Tools ........................................................................... 136476.3 Techniques and Applications ......................................................... 136976.4 Emerging Areas and Challenges ...................................................... 137376.5 Summary ...................................................................................... 1375References .............................................................................................. 1375

77 Automation in Hospitals and HealthcareBrandon Savage ...................................................................................... 137977.1 The Need for Automation in Healthcare .......................................... 138077.2 The Role of Medical Informatics ..................................................... 138277.3 Applications .................................................................................. 138977.4 Conclusion .................................................................................... 1396References .............................................................................................. 1396

78 Medical Automation and RoboticsAlon Wolf, Moshe Shoham........................................................................ 139778.1 Classification of Medical Robotics Systems ...................................... 139878.2 Kinematic Structure of Medical Robots............................................ 140378.3 Fundamental Requirements from a Medical Robot .......................... 140478.4 Main Advantages of Medical Robotic Systems .................................. 140478.5 Emerging Trends in Medical Robotics Systems ................................. 1405References .............................................................................................. 1406

79 Rotary Heart Assist DevicesMarwan A. Simaan .................................................................................. 140979.1 The Cardiovascular Model .............................................................. 141079.2 Cardiovascular Model Validation .................................................... 141479.3 LVAD Pump Model .......................................................................... 141579.4 Combined Cardiovascular and LVAD Model ...................................... 141679.5 Challenges in the Development of a Feedback Controller

and Suction Detection Algorithm .................................................... 141879.6 Conclusion .................................................................................... 1420References .............................................................................................. 1420

Contents LVII

80 Medical InformaticsChin-Yin Huang....................................................................................... 142380.1 Background .................................................................................. 142380.2 Diagnostic–Therapeutic Cycle ......................................................... 142480.3 Communication and Integration .................................................... 142580.4 Database and Data Warehouse....................................................... 142680.5 Medical Support Systems ............................................................... 142780.6 Medical Knowledge and Decision Support System ........................... 142980.7 Developing a Healthcare Information System .................................. 143080.8 Emerging Issues ............................................................................ 1431References .............................................................................................. 1432

81 Nanoelectronic-Based Detection for Biology and MedicineSamir M. Iqbal, Rashid Bashir .................................................................. 143381.1 Historical Background .................................................................... 143381.2 Interfacing Biological Molecules ..................................................... 143481.3 Electrical Characterization of DNA Molecules on Surfaces ................. 143881.4 Nanopore Sensors for Characterization of Single DNA Molecules ....... 144181.5 Conclusions and Outlook ................................................................ 1447References .............................................................................................. 1447

82 Computer and Robot-Assisted Medical InterventionJocelyne Troccaz....................................................................................... 145182.1 Clinical Context and Objectives ....................................................... 145182.2 Computer-Assisted Medical Intervention ........................................ 145282.3 Main Periods of Medical Robot Development .................................. 145482.4 Evolution of Control Schemes ......................................................... 145882.5 The Cyberknife System: A Case Study ............................................... 145982.6 Specific Issues in Medical Robotics ................................................. 146182.7 Systems Used in Clinical Practice .................................................... 146282.8 Conclusions and Emerging Trends .................................................. 146382.9 Medical Glossary ........................................................................... 1463References .............................................................................................. 1464

Part I Home, Office, and Enterprise Automation

83 Automation in Home AppliancesT. Joseph Lui ............................................................................................ 146983.1 Background and Theory ................................................................. 146983.2 Application Examples, Guidelines, and Techniques ......................... 147283.3 Emerging Trends and Open Challenges ........................................... 148183.4 Further Reading ............................................................................ 1483References .............................................................................................. 1483

84 Service Robots and Automation for the Disabled/LimitedBirgit Graf, Harald Staab ......................................................................... 148584.1 Motivation and Required Functionalities ........................................ 1486

LVIII Contents

84.2 State of the Art .............................................................................. 148684.3 Application Example: the Robotic Home Assistant Care-O-bot ......... 149384.4 Application Example: the Bionic Robotic Arm ISELLA ........................ 149684.5 Future Challenges .......................................................................... 1499References .............................................................................................. 1499

85 Automation in Education/Learning SystemsKazuyoshi Ishii, Kinnya Tamaki ................................................................ 150385.1 Technology Aspects of Education/Learning Systems ......................... 150385.2 Examples ...................................................................................... 151185.3 Conclusions and Emerging Trends .................................................. 1523References .............................................................................................. 1524

86 Enterprise Integration and InteroperabilityFrançois B. Vernadat................................................................................ 152986.1 Definitions and Background .......................................................... 153086.2 Integration and Interoperability Frameworks ................................. 153286.3 Standards and Technology for Interoperability ................................ 153386.4 Applications and Future Trends ...................................................... 153586.5 Conclusion .................................................................................... 1537References .............................................................................................. 1537

87 Decision Support SystemsDaniel J. Power, Ramesh Sharda .............................................................. 153987.1 Characteristics of DSS ..................................................................... 154087.2 Building Decision Support Systems ................................................. 154487.3 DSS Architecture ............................................................................ 154687.4 Conclusions ................................................................................... 154787.5 Further Reading ............................................................................ 1547References .............................................................................................. 1548

88 Collaborative e-Work, e-Business, and e-ServiceJuan D. Velásquez, Shimon Y. Nof ............................................................. 154988.1 Background and Definitions .......................................................... 154988.2 Theoretical Foundations of e-Work

and Collaborative Control Theory (CCT) ............................................ 155288.3 Design Principles for Collaborative e-Work, e-Business,

and e-Service ............................................................................... 156288.4 Conclusions and Challenges ........................................................... 157188.5 Further Reading ............................................................................ 1572References .............................................................................................. 1573

89 e-CommerceClyde W. Holsapple, Sharath Sasidharan ................................................... 157789.1 Background .................................................................................. 157889.2 Theory .......................................................................................... 158089.3 e-Commerce Models and Applications ............................................ 1585

Contents LIX

89.4 Emerging Trends in e-Commerce .................................................... 159189.5 Challenges and Emerging Issues in e-Commerce ............................. 1592References .............................................................................................. 1594

90 Business Process AutomationEdward F. Watson, Karyn Holmes ............................................................. 159790.1 Definitions and Background .......................................................... 159890.2 Enterprise Systems Application Frameworks .................................... 160690.3 Emerging Standards and Technology .............................................. 160990.4 Future Trends ................................................................................ 161090.5 Conclusion .................................................................................... 1611References .............................................................................................. 1611

91 Automation in Financial ServicesWilliam Richmond ................................................................................... 161391.1 Overview of the Financial Service Industry ...................................... 161491.2 Community Banks and Credit Unions .............................................. 161691.3 Role of Automation in Community Banks and Credit Unions ............ 161991.4 Emerging Trends and Issues ........................................................... 162591.5 Conclusions ................................................................................... 1626References .............................................................................................. 1626

92 e-GovernmentDieter Rombach, Petra Steffens................................................................. 162992.1 Automating Administrative Processes ............................................. 162992.2 The Evolution of e-Government ..................................................... 163092.3 Proceeding from Strategy to Roll-Out: Four Dimensions of Action .... 163392.4 Future Challenges in e-Government Automation ............................ 1639References .............................................................................................. 1641

93 Collaborative Analytics for Astrophysics ExplorationsCecilia R. Aragon ..................................................................................... 164593.1 Scope............................................................................................ 164593.2 Science Background....................................................................... 164693.3 Previous Work ............................................................................... 164893.4 Sunfall Design Process ................................................................... 164993.5 Sunfall Architecture and Components ............................................. 165093.6 Conclusions ................................................................................... 1667References .............................................................................................. 1669

Part J Appendix

94 Automation StatisticsJuan D. Velásquez, Xin W. Chen, Sang Won Yoon, Hoo Sang Ko .................. 167394.1 Automation Statistics ..................................................................... 167494.2 Automation Associations................................................................ 1684

LX Contents

94.3 Automation Laboratories Around the World .................................... 168894.4 Automation Journals from Around the World .................................. 1696

Acknowledgements ................................................................................... 1703About the Authors ..................................................................................... 1707Detailed Contents ...................................................................................... 1735Subject Index ............................................................................................. 1777