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Birendra Prasad (Editor)
CAD/CAM Robotics and Factories of the Future Volume III: Robotics and Plant Automation
3rd International Conference on CAD/CAM Robotics and Factories of the Future (CARS and FOF'88) Proceedings
With 171 Figures
Springer Verlag Berlin Heidelberg New York London Paris Tokyo Hong Kong
Birendra Prasad (Editor)
CAD/CAM Robotics and Factories of the Future Volume III: Robotics and Plant Automation
3rd International Conference on CAD/CAM Robotics and Factories of the Future (CARS and FOF'88) Proceedings
With 171 Figures
Springer Verlag Berlin Heidelberg New York London Paris Tokyo Hong Kong
Editorial Board Chairman
Birendra Prasad Senior Engineering StafT Artificial Intelligence Services Technical System Development Electronic Data Systems General Motors Post Box 7019 Troy, MI 48007-7019
Editors: S. N. Dwivedi R. Mahajan
Associate Editors: S.Aggarwal M. F. Carter S. Ganesan G. P. Herring P. K. Khosla M. Staroswiecki W. M. Spurgeon M. 1. Tracy 1. M. Vranish M. B. Zaremba
A. 1. G. Babu A. F. D'Souza K. Ghosh K. S. Kane R. Stapp R. Sodhi B. Thacker D. A. Vincent D. E. Wisnosky Y. F. Zheng
ISBN 978-3-642-52328-1 ISBN 978-3-642-52326-7 (eBook) DOI 10.1007/978-3-642-52326-7
This work is subject to copyright. AII rightsare reserved, whetherthe whole orpartofthe material is concerned, specifically the rights oftranslation, reprinting, re-use ofillustrations, broadcasting, reproduction on microfilms or in other ways, and storage in data banks. Duplication of this publication orparts thereofis only permitted underthe provisions ofthe German Copyright Law of September 9, 1965, in its version of June 24, 1985, and a copyright fee must always be paid. Violations fali under the prosecution act of the German Copyright Law.
© Springer-Verlag Berlin, Heidelberg 1989 Softcover reprint of the hardcover Ist edition 1989
The use of registered names, trademarks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use.
2161130205432\0 - Printed on acid-free paper
Conference Objective
Improving cost competitiveness and remaining abreast in high technology are some of the challenges that are faced by an enterprise in the modern times. In this context, the roles of engineering, manufacturing and plant automation are becoming important factors to enhance productivity and profitability, and thereby increase market share and product quality. The commuter automobile, actively controlled car, the u.s. space station, the unmanned platform, and commercial space ventures are all real life examples of a few explorations now being undertaken on earth and space - requiring a greater dependence by people on machines. Complete shop floor automation - a "lights out" plant may be unrealistic to many but automating and integrating the engineering and manufacturing process, where it makes sense from a cost/benefit stand point, are certainly viable undertakings.
Hence, the objective of the Third International Conference on CAD/CAM, Robotics and Factories of the Future (FOF) is to bring together researchers and practitioners from government, industries and academia interested in the multi-disciplinary and inter-organizational productivity aspects of advanced manufacturing systems utilizing CAD/CAM, CAE, CIM, Parametric Technology, AI, Robotics, AGV technology, etc.. It also addresses productivity enhancement issues of other hybrid automated systems that combine machine skills and human intelligence in both manufacturing (aerospace, automotive, civil, electrical, mechanical, industrial, computer, chemical, etc.) and in nonmanufacturing (such as forestry, mining, service and leisure, process industry, medicine and rehabilitation) areas of application. Such an exchange is expected to significantly contribute to a better understanding of the available technology, its potential opportunities and challenges, and how it can be exploited to foster the changing needs of the industries and the marketplace.
Conference Objective
Improving cost competitiveness and remaining abreast in high technology are some of the challenges that are faced by an enterprise in the modern times. In this context, the roles of engineering, manufacturing and plant automation are becoming important factors to enhance productivity and profitability, and thereby increase market share and product quality. The commuter automobile, actively controlled car, the u.s. space station, the unmanned platform, and commercial space ventures are all real life examples of a few explorations now being undertaken on earth and space - requiring a greater dependence by people on machines. Complete shop floor automation - a "lights out" plant may be unrealistic to many but automating and integrating the engineering and manufacturing process, where it makes sense from a cost/benefit stand point, are certainly viable undertakings.
Hence, the objective of the Third International Conference on CAD/CAM, Robotics and Factories of the Future (FOF) is to bring together researchers and practitioners from government, industries and academia interested in the multi-disciplinary and inter-organizational productivity aspects of advanced manufacturing systems utilizing CAD/CAM, CAE, CIM, Parametric Technology, AI, Robotics, AGV technology, etc.. It also addresses productivity enhancement issues of other hybrid automated systems that combine machine skills and human intelligence in both manufacturing (aerospace, automotive, civil, electrical, mechanical, industrial, computer, chemical, etc.) and in nonmanufacturing (such as forestry, mining, service and leisure, process industry, medicine and rehabilitation) areas of application. Such an exchange is expected to significantly contribute to a better understanding of the available technology, its potential opportunities and challenges, and how it can be exploited to foster the changing needs of the industries and the marketplace.
Conference Scope
The conference included the following areas of active research and application:
CAED: CAD, CAT, FEM, Kinematics, Dynamics, Simulation, Analysis, Computer Graphics, Off-line Programming
CIM: CAD/CAM, CNC/DNC, FMS, AGV, Integration of CNC, Interactions between Robotics, Control, vision, AI, Machine Intelligence, and other Automation Equipments, and Communications Standards
Design/Build Automation: Parametric Programming, Design, Sensitivity, optimization, Variational Geometry, Generic Modeling, Identification, Design Automation, Value Engineering" Art to Part, Quality, Cost & Producibility
Knowledge Automation: Artificial Intelligence, Expert Systems
Robotics: Mechanical Design, Control, Trajectory Planning, Mobility, End Effecters, Maintenance, Sensory Devices, Work Cells, Applications, Testing and Standardization
Factory of the Future: Planning of Automation, Management, organization, Accounting, Plant Design, Informative Systems, Productivity Issues, Socioeconomic Issues, Education, Seminars and Training.
Conference Theme
The theme of the 3rd International Conference was:
C4 (CAD/CAM/CAE/CIM) Integration, RobotiCS, and Factory Automation for improved productivity and cost containment.
Conference Scope
The conference included the following areas of active research and application:
CAED: CAD, CAT, FEM, Kinematics, Dynamics, Simulation, Analysis, Computer Graphics, Off-line Programming
CIM: CAD/CAM, CNC/DNC, FMS, AGV, Integration of CNC, Interactions between Robotics, Control, vision, AI, Machine Intelligence, and other Automation Equipments, and Communications Standards
Design/Build Automation: Parametric Programming, Design, Sensitivity, optimization, Variational Geometry, Generic Modeling, Identification, Design Automation, Value Engineering" Art to Part, Quality, Cost & Producibility
Knowledge Automation: Artificial Intelligence, Expert Systems
Robotics: Mechanical Design, Control, Trajectory Planning, Mobility, End Effecters, Maintenance, Sensory Devices, Work Cells, Applications, Testing and Standardization
Factory of the Future: Planning of Automation, Management, organization, Accounting, Plant Design, Informative Systems, Productivity Issues, Socioeconomic Issues, Education, Seminars and Training.
Conference Theme
The theme of the 3rd International Conference was:
C4 (CAD/CAM/CAE/CIM) Integration, RobotiCS, and Factory Automation for improved productivity and cost containment.
Conference Organization
SPONSOR International Society for Productivity Enhancement (ISPE), USA
ENDORSING SPONSORS
Association for Computing Machinery (ACM) , USA
National Science Foundation (NSF), USA
Society of Automotive Engineers (SAE), USA
Automotive Industry Action Group (AIAG), USA
Robotic Industries Association (RIA), USA
Electronic Data Systems (EDS) , General Motors Corporation, USA
The International Association of Vehicle Design (IAVD), UK
International Society for Computational Methods in Engineering (ISCME), UK
American Institute of Aeronautics and Astronautics (MI) (AlAA), USA
American society of civil Engineers (MI) (ASCE), USA
center for Robotics and Advanced Automation (CRAA), Oakland University, USA
American Society of Engineering Education (ASEE), USA
Engineering Economics Division (EED-ASEE), USA
Japan Technology Transfer Association (JTTAS)
American Society of Engineers from India (ASEI), USA
Michigan Society of Architects (MSA), USA
CAD/CIM Alert, Massachussetts, USA
Automation and Robotics Research Institute,
University of Texas at Arlington, TX, USA
Conference Organization
SPONSOR International Society for Productivity Enhancement (ISPE), USA
ENDORSING SPONSORS
Association for Computing Machinery (ACM) , USA
National Science Foundation (NSF), USA
Society of Automotive Engineers (SAE), USA
Automotive Industry Action Group (AIAG), USA
Robotic Industries Association (RIA), USA
Electronic Data Systems (EDS) , General Motors Corporation, USA
The International Association of Vehicle Design (IAVD), UK
International Society for Computational Methods in Engineering (ISCME), UK
American Institute of Aeronautics and Astronautics (MI) (AlAA), USA
American society of civil Engineers (MI) (ASCE), USA
center for Robotics and Advanced Automation (CRAA), Oakland University, USA
American Society of Engineering Education (ASEE), USA
Engineering Economics Division (EED-ASEE), USA
Japan Technology Transfer Association (JTTAS)
American Society of Engineers from India (ASEI), USA
Michigan Society of Architects (MSA), USA
CAD/CIM Alert, Massachussetts, USA
Automation and Robotics Research Institute,
University of Texas at Arlington, TX, USA
Committee Chairpersons
COMMITTEE CHAIRPERSONS: Conference General Chairperson: Dr. Biren Prasad, Electronic Data Systems, GM, USA Program Chairpersons: Dr. Suren N. Dwivedi, UWV, USA; William R. Tanner, Cresap Manufacturing Cons., USA Doug Owen, EDS, USA
Technical Chairpersons: Rakesh Mahajan, Deneb Robotics, Inc., USA; Dr. Jean M. MalIan, EDS, USA
International Chairpersons: Dr. Ario Romiti, Politechnico di Torino, ITALY ; Dr. Marcel Staroswiecki, Universite De Lille, FRANCE; Dr. Jon Trevelyan, Computational Mechanics Institute, UK
Panel Session Chairpersons: Dr. Frank Bliss, EDS, USA; Dr. Subra Ganesan, Oakland university, USA
Workshops Chairperson: Dr. Pradeep K. Khosla, Carnegie Mellon university, USA
video/Tech Display Chairperson: Dr. Addagatla J. G. Babu, university of South Florida, USA
Student Session Chairperson: Dr. Hamid R. Parsaei, university of Louisville, USA
Exhibits Chairpersons: Jon Keith Parmentier, Tektronix Inc., USA; Forrest D. Brummett, GM, USA
Receptions Chairperson: Umesh B. Rohatgi, Charles S. Davis Associates Inc., USA; Dr. Bhagwan D. Dashairya, Inventors Council of Michigan, Ann Arbor, MI, USA
Administration Chairperson: Dr. Prakash C. Shrivastava, GM, USA
Conference Directory: Dr. Yogi Anand, Consultant, Rochester Hills, MI, USA
Committee Chairpersons
COMMITTEE CHAIRPERSONS: Conference General Chairperson: Dr. Biren Prasad, Electronic Data Systems, GM, USA Program Chairpersons: Dr. Suren N. Dwivedi, UWV, USA; William R. Tanner, Cresap Manufacturing Cons., USA Doug Owen, EDS, USA
Technical Chairpersons: Rakesh Mahajan, Deneb Robotics, Inc., USA; Dr. Jean M. MalIan, EDS, USA
International Chairpersons: Dr. Ario Romiti, Politechnico di Torino, ITALY ; Dr. Marcel Staroswiecki, Universite De Lille, FRANCE; Dr. Jon Trevelyan, Computational Mechanics Institute, UK
Panel Session Chairpersons: Dr. Frank Bliss, EDS, USA; Dr. Subra Ganesan, Oakland university, USA
Workshops Chairperson: Dr. Pradeep K. Khosla, Carnegie Mellon university, USA
video/Tech Display Chairperson: Dr. Addagatla J. G. Babu, university of South Florida, USA
Student Session Chairperson: Dr. Hamid R. Parsaei, university of Louisville, USA
Exhibits Chairpersons: Jon Keith Parmentier, Tektronix Inc., USA; Forrest D. Brummett, GM, USA
Receptions Chairperson: Umesh B. Rohatgi, Charles S. Davis Associates Inc., USA; Dr. Bhagwan D. Dashairya, Inventors Council of Michigan, Ann Arbor, MI, USA
Administration Chairperson: Dr. Prakash C. Shrivastava, GM, USA
Conference Directory: Dr. Yogi Anand, Consultant, Rochester Hills, MI, USA
Committees'Roster
PROGRAM COMMITTEE
Dr. Sudhlr Aggarwal, Boll Communications FIo .. arch, USA
Dr. John S. Bora., University of Maryland, USA
Dr. Marc Bocquet, UnlversIte' Ubre De Bruxelles, BELGIUM
Thoma. H. Calatl, EDS, USA
James P. Cale, GM, USA
Michael F. Carter, GM, USA
Dr. M. CotsalUs, UGRA CEN·FAR, FRANCE
J. P. Crostln, DDREET, FRANCE
Kenneth A. Crow, Western Data Systems, USA
Dr. A. F. D·Souzl, liT, USA
Cath.rlne Far.gon, DDREET, FRANCE
Michael J. Frelllng, T.ktronlx Lab., USA
Dr. Ramana V. Grandhl, Wright Stat. University, USA
Jack B. Harrison, Th. Hands-on JrT Inc., USA
Dr. Gil)' P. Harring, US Po.tal Service, USA
Dr. Jack Horgan, ArIes T.chnology, USA
Dr. Mlng C. Huang, EDS, USA
Dr. Ichlro Inou., NEC Corp., JAPAN
William B. Johnson, Rockw.1I Int.rnatlonal, USA
Dr. SonJay Joshi, Pennsylvania Stat. Unlverslty, USA
Richard B. Katnlk, GM, USA
Dr. Rakesh K. Kepanla, VPI & Stat. UnIv.rsIty, USA
Gerald A. Kast.n, ANA Toch Corp., USA
Prof. F. ramura, University of Tokyo, JAPAN
Dr. Andrew Kusiak, University of Manitoba, CANADA
Dr. Hsln·YI Lal, Nol1h Carolina Ag. & T.ch. Stat. Unlv.rslty, USA
Dr. Polya Uu, Slomon. Corp., USA
Dr. Sur.sh M. Mangrulkar, Ford Motor Co., USA
Dwight Morgan, GMF Robotic., USA
Dr. Michael Muld.r, Unlvorslty of Pol1land, USA
Ya.uo Nagai, institute of New Generation Comput.r Tochnology, JAPAN
Dr. Shlg.o Nakagakl, To.hlba Fuchu Works, JAPAN
Dr. Laszlo Nemos, CSIRO, AUSTRALIA
Dr. EfstraUo. Nikolaldl., VPI & State University, USA
Dr. Mlcha.1 D. 011", University 01 South Carolina, USA
La.t.r Ottlng.r, THP Inc., USA
Dr. FIoJshekar D. Oza, University of Aorlda, USA
Dr. Sudhakar Paldy, Rochester Institute of T.chnology, USA
Pro!. V. M. Ponomaryov, Academy of Sciences, USSR
M.C. Por1mann, INRJA.Lorralne, FRANCE
J.M. Proth, INRJA.Lorralne, FRANCE
Prof. J. G. Postalro, Unlversite' De Ulle, FRANCE
Dr. TIm Pryor, Oi"racto, Ltd., CANADA
Prof. J. Ragot, Unlverslte' De Nancy, FRANCE
Ar1hur O. Rog.rs, Int.grated Automallon Corp., USA
Joseph D. Romano, A. T. Kearney, USA
Dr. Anll Solgal, Tufts University, USA
Dr. Sunil Solgal, Worcester PoIyt.chnlc Instltut., USA
Harshad Shah, Eagle Technology Inc., USA
Dr. Ram P. Sharma, West.rn Michigan University, USA
Dr, Kang G. Shin, Unlv.rslty of Michigan, USA
Anthony R. Skomra, Automation Technology Products, USA
Dr. William M. Spurg.on, University of Michigan Dearborn, USA
Dr. FIoJ S. Sodhi, New Jersey Inslltute of Technology, USA
RIck Stapp, Auto Simulations Inc, USA
Dr. FIoJan Surl, University of Wisconsin, USA
Dr. Bharat Thacker, Universal Computer Application., USA
Dr • .Ioa Torok, Rochester institute of Technology, USA
Michael J. Tracy, Smith Hinchman & Gryli. Associates Inc, USA
Dr. H. S. Tzou, University of Kantucky, USA
Don H. Turner, Ar1hur Young & Co., USA
Donald A. Vincent, RIA, USA
Dr. Hsu·Pln Bon Wang, University of Bu"alo, USA
Dr. Petor Ward, SORe engineering Services Ltd., UK
Dr. Ronald I.. Webst.r, Mol1on Thlokol Inc., USA
Dr. Tony Woo, National ScIence Foundallon, USA
Dr. W.I Uang Xu, BoIJlng InsIlM. of Aeronautic. & AstronluUca, PRe
Dr. Y. F. Zheng, Clemson University, USA
Dr. William J. Zdebllck, Metcut Rei. Associates, USA
Dr. John S. Zuk, Brooklyn Polytechnic Unlver.Ity, USA
Committees'Roster
PROGRAM COMMITTEE
Dr. Sudhlr Aggarwal, Boll Communications FIo .. arch, USA
Dr. John S. Bora., University of Maryland, USA
Dr. Marc Bocquet, UnlversIte' Ubre De Bruxelles, BELGIUM
Thoma. H. Calatl, EDS, USA
James P. Cale, GM, USA
Michael F. Carter, GM, USA
Dr. M. CotsalUs, UGRA CEN·FAR, FRANCE
J. P. Crostln, DDREET, FRANCE
Kenneth A. Crow, Western Data Systems, USA
Dr. A. F. D·Souzl, liT, USA
Catherine Faregon, DDREET, FRANCE
Michael J. Frelllng, Tektronix Lab., USA
Dr. Ramana V. Grandhl, Wright State University, USA
Jack B. Harrison, The Hands-on JrT Inc., USA
Dr. Gil}' P. Harring, US Po.tal Service, USA
Dr. Jack Horgan, ArIes Technology, USA
Dr. Mlng C. Huang, EDS, USA
Dr. Ichlro Inoue, NEC Corp., JAPAN
William B. Johnson, Rockwell international, USA
Dr. SonJay Joshi, Pennsylvania State Unlverslty, USA
Richard B. Katnlk, GM, USA
Dr. Rakesh K. Kepanla, VPI & State UniversIty, USA
Gerald A. Kasten, ANA Toch Corp., USA
Prof. F. ramura, University of Tokyo, JAPAN
Dr. Andrew Kusiak, University of Manitoba, CANADA
Dr. Hsln·YI Lal, Nol1h Carolina Ag. & Tech. State University, USA
Dr. Polya Uu, Slomon. Corp., USA
Dr. Suresh M. Mangrulkar, Ford Motor Co., USA
Dwight Morgan, GMF Robotic., USA
Dr. Michael Mulder, Unlvorslty of Pol1land, USA
Ya.uo Nagai, institute of New Generation Computer Tochnology, JAPAN
Dr. Shlgeo Nakagakl, To.hlba Fuchu Works, JAPAN
Dr. Laszlo Nemos, CSIRO, AUSTRALIA
Dr. EfstraUo. Nikolaldl., VPI & State University, USA
Dr. Michael D. 011", University 01 South Carolina, USA
La.ter Ottinger, THP Inc., USA
Dr. FIoJshekar D. Oza, University of Aorlda, USA
Dr. Sudhakar Paldy, Rochester Institute of Technology, USA
Pro!. V. M. Ponomaryov, Academy of Sciences, USSR
M.C. Por1mann,INRIM.orralne, FRANCE
J.M. Proth, INfVA.Lorralne, FRANCE
Prof. J. G. Postalro, Unlversite' De Ulle, FRANCE
Dr. TIm Pryor, Oi"racto, Ltd., CANADA
Prof. J. Ragot, Unlverslte' De Nancy, FRANCE
Ar1hur O. Rogers, Integrated Automallon Corp., USA
Joseph D. Romano, A. T. Kearney, USA
Dr. Anll Solgal, Tufts University, USA
Dr. Sunil Solgal, Worcester Polytechnic institute, USA
Harshad Shah, Eagle Technology Inc., USA
Dr. Ram P. Sharma, Western Michigan University, USA
Dr, Kang G. Shin, University of Michigan, USA
Anthony R. Skomra, Automation Technology Products, USA
Dr. William M. Spurgeon, University of Michigan Dearborn, USA
Dr. FIoJ S. Sodhi, New Jersey Inslltute of Technology, USA
RIck Stapp, Auto Simulations Inc, USA
Dr. FIoJan Surl, University of Wisconsin, USA
Dr. Bharat Thacker, Universal Computer Application., USA
Dr • .Ioa Torok, Rochester institute of Technology, USA
Michael J. Tracy, Smith Hinchman & Gryli. Associates Inc, USA
Dr. H. S. Tzou, University of Kantucky, USA
Don H. Turner, Ar1hur Young & Co., USA
Donald A. Vincent, RIA, USA
Dr. Hsu·Pln Bon Wang, University of Bu"alo, USA
Dr. Petor Ward, SORe engineering Services Ltd., UK
Dr. Ronald L. Webstor, Mol1on Thlokol Inc., USA
Dr. Tony Woo, National ScIence Foundallon, USA
Dr. Wei Uang Xu, BoIJlng InsllMe of Aeronautic. & AstronluUca, PRe
Dr. Y. F. Zheng, Clemson University, USA
Dr. William J. Zdebllck, Metcut Rei. Associates, USA
Dr. John S. Zuk, Brooklyn Polytechnic Unlver.Ity, USA
x
ADVISORY COMMITTEE
Tony A!fuso, EDS, USA
Dr. Carlos A. Brebbla, Wessax InsUlule of Technology, UK
Dr. M. A. Dofgham, The Open University, UK
Dr. G. O. Dodd, GM Research Laboralorles, USA
Rudl Gem, EDS, USA
W. C. Hamann, Ford Molor Company, USA
Dr. PIerre Halen,lnlelligence loglclelle, FRANCE
Ru ... 11 F. Henke, Aulomatlon Technology Products, USA
Prof. K. iwala, Koba University, Japan
Dr. Munlr M. Kamal, GM Research Laboralorles, USA
Dr. Marshall M. Uh, National Science Foundation, USA
Dr. M. E. Merchanl, Melcul Research Assoclales, Inc., USA
Dr. Howard Moran, National Scion .. Foundation, USA
George E. Munson, University of California Santa Barbara, USA
Dr. Jay Nalhan, University of Scranlon, USA
Dr. G. J. Oiling, Chrysler Molors, USA
Dr. A. Pele .. , rNWA, FAG
Karen L Resmussen, GM, USA
Robart B. Schwartz, Fruehauf Corp., USA
Dennis E. Wlsnosky, Wlzdom Syslems Inc., USA
INDUSTRIAL COMMITIEE
W. Robart Buln, Ford Motor Company, USA
Edward J. Carl, rn, USA
Dr. Robart G. Dubansky, Chrysler Molor., USA
EUm Sam Ehong, Unlsys Corp., USA
EdwIn J. Fablszu, Jr., MSCICAD COMP Inc., USA
Dr. Henry H. Fong, MARC Analysis Research Corporation, USA
D. Galara, EDF/DEIVSEP, FRANCE
Dr. Dan G. Gallle, Davidson Resa.rch, USA
John E. GelI, Fruehauf CorpolaUon, USA
Dr. Abld Ghuman, Chrysler Motors, USA
Glenn R. Gramling, Hewlen·Pachard Company, USA
James D. Hock, GM, USA
Dr. Arun Jain, BP America Inc., USA
Dr. Hiroshi Kawanlshl, NEC Corporation, JAPAN
Dr. Kanl Kolhawala, EMRC, USA
Dr. Vlrendra Kumar, General Electric Company, USA
Dr. Peler A. Marks, Aulometlon Technology Products, USA
Dr. SanJay MiHal, Xerox, USA
Walla .. M. Murray, Morton Thlokollnc., USA
LaJo. Irnre Nagy, Ford Molor Company, USA
Rem G. Narula, Bechlel Corporation, USA
Dr. Frank Plonka, Chrysler Molors, USA
Denald L Smith, Ford Molor Company, USA
Dr. Gerald A. Thompson, Hughes Air .. afl Co.,USA
UNIVERSITY COMMITIEE
Dr. David Ardayfio, Wayne Slale University, USA
Dr. V.S. Chadda, Unlver.lty of Detroll, USA
Dr. John B. Cheatham, Jr., lice University, USA
Dr. Romn C. Dix, liinois InsUlule of Technology, USA
Dr. Joe G. Elsley, Unlver.'ty of Michigan, USA
Dr. Muke"" Gendhl, Michigan Slale University, USA
Dr. Kalyan Ghosh, Ecole Polytechnlque, CANADA
Dr. R. T. Hanko, VPI and Slale University, USA
Dr. C, B. Jenning., South Bank Polytechnic, UK
Dr. R. T. Johnson, UnIversity of Missouri, USA
Dr. Sleven H. I<Jm, Massachusansln.Ulule of Technology, USA
Dr. Robart O.loghcor, Massachusen. Inslilule of Technology, USA
Dr. Arch W. Naylor, University of Michigan, USA
Dr. Waller D. Pllkey, University of Virginia, USA
Dr. Paul G. Ranky, University of Surrey, UK
Dr. S. S. Rao, Purdue University, USA
Dr. Eugene I. Alvin, Wayne Slale University, USA
Dr. Rakesh Sagar, South Bank Polytechnic, UK
Dr. Haresh C. Shah, Stanford University, USA
Dr. Hanua Singh, Unlveralty of Windsor, ClWMJA
Dr. Ouvvuru Srlram, Massachusans Instllule of TodInoIogy, USA
Dr. K.s. Taraman, Lawrence InsOlute of Technology, USA
Dr. Naren R. Vlra, Howard University, USA
Dr. Wayne W. Wafter, Rochesler InsUlule of Technology, USA
Dr, Marek B, Zaremba, UnIverslle' Du auebec s' Hun, ClWMJA
Dr. MacleJ lOon.lskl, GMI Eng. & Managemenllnsl., USA
x
ADVISORY COMMITIEE
Tony A!fuso, EDS, USA
Dr. Carlos A. Brebbla, Wessax InsUlule of Technology, UK
Dr. M. A. Dofgham, The Open University, UK
Dr. G. O. Dodd, GM Research Laboralorles, USA
Rudl Gem, EDS, USA
W. C. Hamann, Ford Molor Company, USA
Dr. PIerre Halen,lnlelligence loglclelle, FRANCE
Ru ... 11 F. Henke, Aulomatlon Technology Products, USA
Prof. K. iwala, Koba University, Japan
Dr. Munlr M. Kamal, GM Research Laboralorles, USA
Dr. Marshall M. Uh, National Science Foundation, USA
Dr. M. E. Merchanl, Melcul Research Assoclales, Inc., USA
Dr. Howard Moran, National Scion .. Foundation, USA
George E. Munson, University of California Santa Barbara, USA
Dr. Jay Nalhan, University of Scranlon, USA
Dr. G. J. Oiling, Chrysler Molors, USA
Dr. A. Pele .. , rNWA, FAG
Karen L Resmussen, GM, USA
Robart B. Schwartz, Fruehauf Corp., USA
Dennis E. Wlsnosky, Wlzdom Syslems Inc., USA
INDUSTRIAL COMMITIEE
W. Robart Buln, Ford Motor Company, USA
Edward J. Carl, rn, USA
Dr. Robart G. Dubansky, Chrysler Molor., USA
EUm Sam Ehong, Unlsys Corp., USA
EdwIn J. Fablszu, Jr., MSCICAD COMP Inc., USA
Dr. Henry H. Fong, MARC Analysis Research Corporation, USA
D. Galara, EDF/DEIVSEP, FRANCE
Dr. Dan G. Gallle, Davidson Resa.rch, USA
John E. GelI, Fruehauf CorpolaUon, USA
Dr. Abld Ghuman, Chrysler Motors, USA
Glenn R. Gramling, Hewlen·Pachard Company, USA
James D. Hock, GM, USA
Dr. Arun Jain, BP America Inc., USA
Dr. Hiroshi Kawanlshl, NEC Corporation, JAPAN
Dr. Kanl Kolhawala, EMRC, USA
Dr. Vlrendra Kumar, General Electric Company, USA
Dr. Peler A. Marks, Aulometlon Technology Products, USA
Dr. SanJay MiHal, Xerox, USA
Walla .. M. Murray, Morton Thlokollnc., USA
LaJo. Irnre Nagy, Ford Molor Company, USA
Rem G. Narula, Bechlel Corporation, USA
Dr. Frank Plonka, Chrysler Molors, USA
Denald L Smith, Ford Molor Company, USA
Dr. Gerald A. Thompson, Hughes Air .. afl Co.,USA
UNIVERSITY COMMITIEE
Dr. David Ardayfio, Wayne Slale University, USA
Dr. V.S. Chadda, Unlver.lty of Detroll, USA
Dr. John B. Cheatham, Jr., lice University, USA
Dr. Romn C. Dix, liinois InsUlule of Technology, USA
Dr. Joe G. Elsley, Unlver.'ty of Michigan, USA
Dr. Muke"" Gendhl, Michigan Slale University, USA
Dr. Kalyan Ghosh, Ecole Polytechnlque, CANADA
Dr. R. T. Hanko, VPI and Slale University, USA
Dr. C, B. Jenning., South Bank Polytechnic, UK
Dr. R. T. Johnson, UnIversity of Missouri, USA
Dr. Sleven H. I<Jm, Massachusansln.Ulule of Technology, USA
Dr. Robart O.loghcor, Massachusen. Inslilule of Technology, USA
Dr. Arch W. Naylor, University of Michigan, USA
Dr. Waller D. Pllkey, University of Virginia, USA
Dr. Paul G. Ranky, University of Surrey, UK
Dr. S. S. Rao, Purdue University, USA
Dr. Eugene I. Alvin, Wayne Slale University, USA
Dr. Rakesh Sagar, South Bank Polytechnic, UK
Dr. Haresh C. Shah, Stanford University, USA
Dr. Hanua Singh, Unlveralty of Windsor, ClWMJA
Dr. Ouvvuru Srlram, Massachusans Instllule of TodInoIogy, USA
Dr. K.s. Taraman, Lawrence InsOlute of Technology, USA
Dr. Naren R. Vlra, Howard University, USA
Dr. Wayne W. Wafter, Rochesler InsUlule of Technology, USA
Dr, Marek B, Zaremba, UnIverslle' Du auebec s' Hun, ClWMJA
Dr. MacleJ lOon.lskl, GMI Eng. & Managemenllnsl., USA
INTERNATIONAL ORGANIZING COMMITTEE
BELGIUM
M. Becquel (Btu ... ls)
R. Gobin (leuven)
J. Peler. (leuven)
R. Snoeys (leuven)
H. Yen Brussel (leuven)
P Vanherck (leuven)
BRAZIL
Marla emina Camargo (Sanla Marla)
Edger Pereira (Porlo Alegre)
CANADA
B. Man •• Das (Calgary)
Mark B. Zaremba (Hull)
DENMARK
Ann Fabricius (lyngby)
FRANCE
BourJaullAlaln (Besancon)
Phlilipe Ptac\ (Besancon)
Marcel Slaroswlackl (Vilieneuvo·D'Ascq)
Claude Viebel (Evry)
INDIA
C. Amarnalh (Bombay)
P. C. Pandoy (Roorkoo)
Rakosh Sogor (DeIhl)
V. Singh (Varanasl)
N. Viswanadham (Bengaloto)
ITAlY
Arlo Romlll (Torino)
JAPm Yoshlakllchlkawa (Hitachi)
T. Yamashlla (Toblla)
NETHERlANDS
J. A. M. Willonborg (Utrechl)
PEOPLES REPUBLIC OF CHINA
OIxlen Zhang (BeiJing)
POLmD
A. Moreckl (Warsaw)
REPUBUC OF CHINA
Shul·Shong lu (Taipei)
ROMANIA
Voicu N. Chloreenu (Slghelu MarmaUel)
Mircea ivanescu (Cralova)
SPAIN
R. Cares (Madrid)
THAILmD
R. Sodenanda (Bangkok)
UNITED KINGDOM
John Billingsloy (Porlsmoulh)
Carlo. A. Brebbla (Southamplon)
M. A. Oorgham (Millon Keynes)
David G. Hughes (PIymoulh)
David Paul Slolen (Brlslol)
XI
INTERNATIONAL ORGANIZING COMMITTEE
BELGIUM
M. Becquel (Btu ... ls)
R. Gobin (leuven)
J. Peler. (leuven)
R. Snoeys (leuven)
H. Yen Brussel (leuven)
P Vanherck (leuven)
BRAZIL
Marla emina Camargo (Sanla Marla)
Edger Pereira (Porlo Alegre)
CANADA
B. Man •• Das (Calgary)
Mark B. Zaremba (Hull)
DENMARK
Ann Fabricius (lyngby)
FRANCE
BourJaullAlaln (Besancon)
Phlilipe Ptac\ (Besancon)
Marcel Slaroswlackl (Vilieneuvo·D'Ascq)
Claude Viebel (Evry)
INDIA
C. Amarnalh (Bombay)
P. C. Pandoy (Roorkoo)
Rakosh Sogor (DeIhl)
V. Singh (Varanasl)
N. Viswanadham (Bengaloto)
ITAlY
Arlo Romlll (Torino)
JAPm Yoshlakllchlkawa (Hitachi)
T. Yamashlla (Toblla)
NETHERlANDS
J. A. M. Willonborg (Utrechl)
PEOPLES REPUBLIC OF CHINA
OIxlen Zhang (BeiJing)
POLmD
A. Moreckl (Warsaw)
REPUBUC OF CHINA
Shul·Shong lu (Taipei)
ROMANIA
Voicu N. Chloreenu (Slghelu MarmaUel)
Mircea ivanescu (Cralova)
SPAIN
R. Cares (Madrid)
THAILmD
R. Sodenanda (Bangkok)
UNITED KINGDOM
John Billingsloy (Porlsmoulh)
Carlo. A. Brebbla (Southamplon)
M. A. Oorgham (Millon Keynes)
David G. Hughes (PIymoulh)
David Paul Slolen (Brlslol)
XI
Letter from the President, ISPE
Dear Participants and Guests;
1987-1988 was the best and the most fruitful year in the history ofISPE. With your continued support and co-operation, ISPE has seen considerable growth and popularity. You will agree that our focus is very much mainstream and activities are clearly aimed towards bringing all the pertinent issues found in technological, business, socio-economic, and organizational horizons for discussion and resolution.
After successful sponsorship of three conferences in the USA, ISPE is now sponsoring the Fourth International Conference at I.I.T. Delhi, India during December 19-22, 1989. I hope, with your active participation and support, the fourth conference is bound to be a success.
We would like you to know that your continued technical input, written to share constructive ideas and innovative development strategies have been our backbone. your involvement has been the key to our success but our continued growth requires more efforts. The society is constantly in need of creative ideas and experienced hands. So far, we have been carrying out the responsibilities with sustained contributions from a limited number of members. Now, we are requesting your cooperation and help.
With this letter, I extend a personal invitation to each of you to come up with fresh ideas and new ways of thinking - a partnership that can strengthen ISPE technical and financial foundations so that we could be more aggressive in promoting yours interests and improving the quality of life to which ISPE stands.
With good wishes,
Dr. Suren N. Dwivedi West Virginia University Morgantown, West Virginia
USA
Letter from the President, ISPE
Dear Participants and Guests;
1987-1988 was the best and the most fruitful year in the history ofISPE. With your continued support and co-operation, ISPE has seen considerable growth and popularity. You will agree that our focus is very much mainstream and activities are clearly aimed towards bringing all the pertinent issues found in technological, business, socio-economic, and organizational horizons for discussion and resolution.
After successful sponsorship of three conferences in the USA, ISPE is now sponsoring the Fourth International Conference at I.I.T. Delhi, India during December 19-22, 1989. I hope, with your active participation and support, the fourth conference is bound to be a success.
We would like you to know that your continued technical input, written to share constructive ideas and innovative development strategies have been our backbone. your involvement has been the key to our success but our continued growth requires more efforts. The society is constantly in need of creative ideas and experienced hands. So far, we have been carrying out the responsibilities with sustained contributions from a limited number of members. Now, we are requesting your cooperation and help.
With this letter, I extend a personal invitation to each of you to come up with fresh ideas and new ways of thinking - a partnership that can strengthen ISPE technical and financial foundations so that we could be more aggressive in promoting yours interests and improving the quality of life to which ISPE stands.
With good wishes,
Dr. Suren N. Dwivedi West Virginia University Morgantown, West Virginia
USA
ISPE Conference Mission
ISPE was founded in 1984 with the goal to accelerate the interna
tional exchange of ideas and scientific knowledge with absolutely no
barriers of disciplines or fields of technological applications. The
main objective of ISPE is to foster cross-fertilization of technology,
strategy and 4M resources (manpower, machine, money and management) to
enhance productivity - to increase profitability and competitiveness,
and thereby improve the quality of life on land, sea, air and space.
One of the aims of the society is to provide opportunities for contact
between members through national and international conferences, semi
nars, training courses and workshops. The Society also aims to create
a channel of communication between academic researchers, entrepre
neurs, industrial users and corporate managers.
ISPE embraces both the traditional and non-traditional fields of
engineering, manufacturing and plant automation, all areas of computer
technologies, strategic planning, business and control. Equal empha
sis is being placed on the cross-fertilization of emerging technolo
gies and effective utilization of the above 4M resources.
ISPE Conference Mission
ISPE was founded in 1984 with the goal to accelerate the interna
tional exchange of ideas and scientific knowledge with absolutely no
barriers of disciplines or fields of technological applications. The
main objective of ISPE is to foster cross-fertilization of technology,
strategy and 4M resources (manpower, machine, money and management) to
enhance productivity - to increase profitability and competitiveness,
and thereby improve the quality of life on land, sea, air and space.
One of the aims of the society is to provide opportunities for contact
between members through national and international conferences, semi
nars, training courses and workshops. The Society also aims to create
a channel of communication between academic researchers, entrepre
neurs, industrial users and corporate managers.
ISPE embraces both the traditional and non-traditional fields of
engineering, manufacturing and plant automation, all areas of computer
technologies, strategic planning, business and control. Equal empha
sis is being placed on the cross-fertilization of emerging technolo
gies and effective utilization of the above 4M resources.
Acknowledgements
The Third International Conference on CAD/CAM, Robotics and Factories of the Future (CARS & FOF '88) was hosted by the International Society for Productivity Enhancement (ISPE) and was endorsed by more than 18 societies, associations and international organizations. The conference was held in southfield, Michigan at Southfield Hilton Hotel during August 14-17, 1988. Over 450 people from 12 foreign countries attended. People from industries, universities, and government were all represented. Over 250 technical presentations organized into 11 forums (panels), 61 specialty sessions, 3 plenary sessions and 4 workshops were conducted during the four days program. six major symposia were concurrently held.
I wish to acknowledge with many thanks the contributions of all the authors who presented their work at the conference and submitted the manuscripts for publication. It is also my pleasure to acknowledge the role of keynote, banquet, and plenary sessions speakers whose contributions added greatly to the success of the conference. My sincere thanks to all sessions chairmen and sessions organizers. I believe that the series of the International Conferences on CAD/CAM, Robotics and Factories of the Future which emphasizes on crossfertilization of technology, strategy and 4M resources (manpower, machine, money and management) will have a major impact on the widespread use of productivity concepts - to increase profitability and competitiveness, and thereby improve the quality of life on land, sea, air and space.
I acknowledge with gratitude the help and the guidance received from the various organizing committees. I also wish to extend my gratitude to the sponsoring organizations. Grateful appreciations are due to student volunteers from Oakland university, Wayne state University, University of Detroit and University of Michigan for their enthusiastic participation and help in organizing this conference. Thanks are also due to all my colleagues, friends, and family members who extended their help in organizing this conference and making it a success. In particular, I acknowledge the help and cooperation extended by Electronic Data Systems (EDS) without which this would not have been possible.
I would like to appreciate the excellent work done by springerVerlag in publishing this proceedings.
B. Prasad Conference Chairman and Chief Editor
Acknowledgements
The Third International Conference on CAD/CAM, Robotics and Factories of the Future (CARS & FOF '88) was hosted by the International Society for Productivity Enhancement (ISPE) and was endorsed by more than 18 societies, associations and international organizations. The conference was held in southfield, Michigan at Southfield Hilton Hotel during August 14-17, 1988. Over 450 people from 12 foreign countries attended. People from industries, universities, and government were all represented. Over 250 technical presentations organized into 11 forums (panels), 61 specialty sessions, 3 plenary sessions and 4 workshops were conducted during the four days program. six major symposia were concurrently held.
I wish to acknowledge with many thanks the contributions of all the authors who presented their work at the conference and submitted the manuscripts for publication. It is also my pleasure to acknowledge the role of keynote, banquet, and plenary sessions speakers whose contributions added greatly to the success of the conference. My sincere thanks to all sessions chairmen and sessions organizers. I believe that the series of the International Conferences on CAD/CAM, Robotics and Factories of the Future which emphasizes on crossfertilization of technology, strategy and 4M resources (manpower, machine, money and management) will have a major impact on the widespread use of productivity concepts - to increase profitability and competitiveness, and thereby improve the quality of life on land, sea, air and space.
I acknowledge with gratitude the help and the guidance received from the various organizing committees. I also wish to extend my gratitude to the sponsoring organizations. Grateful appreciations are due to student volunteers from Oakland university, Wayne state University, University of Detroit and University of Michigan for their enthusiastic participation and help in organizing this conference. Thanks are also due to all my colleagues, friends, and family members who extended their help in organizing this conference and making it a success. In particular, I acknowledge the help and cooperation extended by Electronic Data Systems (EDS) without which this would not have been possible.
I would like to appreciate the excellent work done by springerVerlag in publishing this proceedings.
B. Prasad Conference Chairman and Chief Editor
Conference Proceedings
The papers included in this volume were presented at the Third International Conference on CAD/CAM, Robotics and Factories of the Future (CARS & FOF '88) held in Southfield, Michigan, USA during August 14-17, 1988.
CARS & FOF '88 featured 11 panels, 6 symposia and 4 workshops. The symposia covered six specific themes of productivity tracks (representing foundations of connectivity) in "The Look of the Future in Automated Factories". Under each symposium, several key sessions were planned, focussing both on the opportunities and challenges of new or emerging technologies and the applications. Over 250 papers from over 12 countries covering a wide spectrum of topics were presented in the following six symposia:
Symposium I: CAED - Product & Process Design
Symposium II: CIM & Manufacturing Automation
symposium III: Design/Build Automation
symposium IV: AI & Knowledge Automation
symposium V: Robotics & Machine Automation
symposium VI: Plant Automation & FOF
The conference proceedings are published in three bound volumes by Springer-Verlag. The three Volumes are:
Volume I: Integration of Design, Analysis and Manufacturing
Volume II: Automation of Design, Analysis and Manufacturing
Volume III: Robotics and Plant Automation
Volume I includes papers from symposia I and II, Volume II includes papers from symposia III and IV, and Volume III includes papers from Symposia V and VI. The papers presented in the panel sessions and plenary sessions are distributed to the Volumes based upon the subject matters. The complete list of papers for all volumes are included at the end of each volume.
Conference Proceedings
The papers included in this volume were presented at the Third International Conference on CAD/CAM, Robotics and Factories of the Future (CARS & FOF '88) held in Southfield, Michigan, USA during August 14-17, 1988.
CARS & FOF '88 featured 11 panels, 6 symposia and 4 workshops. The symposia covered six specific themes of productivity tracks (representing foundations of connectivity) in "The Look of the Future in Automated Factories". Under each symposium, several key sessions were planned, focussing both on the opportunities and challenges of new or emerging technologies and the applications. Over 250 papers from over 12 countries covering a wide spectrum of topics were presented in the following six symposia:
Symposium I: CAED - Product & Process Design
Symposium II: CIM & Manufacturing Automation
symposium III: Design/Build Automation
symposium IV: AI & Knowledge Automation
symposium V: Robotics & Machine Automation
symposium VI: Plant Automation & FOF
The conference proceedings are published in three bound volumes by Springer-Verlag. The three Volumes are:
Volume I: Integration of Design, Analysis and Manufacturing
Volume II: Automation of Design, Analysis and Manufacturing
Volume III: Robotics and Plant Automation
Volume I includes papers from symposia I and II, Volume II includes papers from symposia III and IV, and Volume III includes papers from Symposia V and VI. The papers presented in the panel sessions and plenary sessions are distributed to the Volumes based upon the subject matters. The complete list of papers for all volumes are included at the end of each volume.
Preface
The complete shop floor automation - a "lights out factory", where workers initially set up all machines, turn off the lights, lock the door and the machine churns up the parts - remains an unfulfilled dream. Yet when we look at the enormity of the process of automation and integration even for the most simply conceived part factory, we can recognize that automation has been applied and is being applied, more so when it made sense from a cost/benefit standpoint. It is our nature to be dissatisfied with near term progress, but when we realize how short a time the tools to do that automation have been available, the progress is clearly noteworthy - considering the multitudes of factors and the environment we have to deal with. Most of the automation problems we confront in today's environment are multidisciplinary in nature. They require not just the knowledge and experience in various distinct fields but good cooperation from different disciplined organizations to adequately comprehend and solve such problems. In Volume III we have many examples that reflect the current state of the art techniques of robotics and plant automation.
The papers for Volume III have been arranged in a logical order of automation planning, automated assembly, robot programming and simulation, control, motion coordination, communication and networking to factories of the future. It is a measure of the times and the multidisciplinary nature of the problems, we encounter, that a significant number of papers fit into more than a single category. A fictitious paper entitled "CAD-Based Computer simulation of the Dynamic Behavior of a Flexible Fixturing System Using the Finite Element Method for the Purpose of Monitoring Tool Wear to Develop Preventive Maintenance Schedules" only mildly exaggerates the breadth of categories often encountered in a single paper. This also illustrates the multidisciplinary nature of problems dealt with.
In Volume III, the various topics are arranged in a manner that, while providing bits and pieces of current research emphasis, the papers reflect their relations to a larger picture - the robotics (machines) and plant automation. With such arrangement, the editors have provided a certain amount of direction and flow as the reader proceeds from paper to paper.
Preface
The complete shop floor automation - a "lights out factory", where workers initially set up all machines, turn off the lights, lock the door and the machine churns up the parts - remains an unfulfilled dream. Yet when we look at the enormity of the process of automation and integration even for the most simply conceived part factory, we can recognize that automation has been applied and is being applied, more so when it made sense from a cost/benefit standpoint. It is our nature to be dissatisfied with near term progress, but when we realize how short a time the tools to do that automation have been available, the progress is clearly noteworthy - considering the multitudes of factors and the environment we have to deal with. Most of the automation problems we confront in today's environment are multidisciplinary in nature. They require not just the knowledge and experience in various distinct fields but good cooperation from different disciplined organizations to adequately comprehend and solve such problems. In Volume III we have many examples that reflect the current state of the art techniques of robotics and plant automation.
The papers for Volume III have been arranged in a logical order of automation planning, automated assembly, robot programming and simulation, control, motion coordination, communication and networking to factories of the future. It is a measure of the times and the multidisciplinary nature of the problems, we encounter, that a significant number of papers fit into more than a single category. A fictitious paper entitled "CAD-Based Computer simulation of the Dynamic Behavior of a Flexible Fixturing System Using the Finite Element Method for the Purpose of Monitoring Tool Wear to Develop Preventive Maintenance Schedules" only mildly exaggerates the breadth of categories often encountered in a single paper. This also illustrates the multidisciplinary nature of problems dealt with.
In Volume III, the various topics are arranged in a manner that, while providing bits and pieces of current research emphasis, the papers reflect their relations to a larger picture - the robotics (machines) and plant automation. With such arrangement, the editors have provided a certain amount of direction and flow as the reader proceeds from paper to paper.
Contents
CHAPTER I: Planning for Automation
Introduction ••••.•••••.••••••••••••••••••••••••••••••••••••••• 1 The Automated Manufacturing Project: Understanding Management's Concern
R. Holmberg ••••••••••.••••••....••..•..••••••••••••••••••••• 3 strategic Planning for the Factory of the Future
M. Izadi, E. Karbassioon, and M. Toosi •••••••••••••••••••••• 8 I.1 Automated systems .••.•.••••••••••••••••••••••••••••••••••••••• 13
Human Performance in Man-Robot System Y. Beauchamp, T.J. Stobbe, and K. Ghosh ••••••••••••••••••••• 15
Review of Determining/optimizing a Robot's Process Capability B.C. Jiang, and J.T. Black .••.••..•.•..••••••••••••••••••••• 21
Automated Data Collection Workstation for Inventory Management S. Ganesan, and K. Athappilli ••••••••••••••••••••••••••••••• 27
Investigation of Computer-Aided Control of a Waterjet Robotic Workcell
E.S. Geskin, W.L. Chen, and W.T. Lee •••••••••••••••••••••••• 32 Automatic Decentralized Allocation of AGVs in a Cellular System
S.P. Rana, S. Taneja, and A. Vashishta •••.•••••••••••••••••• 37 Implementing a Transition Manager in the AMRF Cell Controller
B.A. Catron ••••••••••••••••••••••••••••••••••••••••••••••••• 42
Chapter II: Automated Assembly
Introduction ••••••••••...••••.••••••••••.•••.••••••••••••••••• 47 Investigation of Automatic Assembly Methods
A. Harnoy ••••••••••••••.•••••••••••••••••••••••••••••••••••• 49 The Interrelationship of Parts Classification and Gripper Design for Automated Assembly
F.L. Bracken, G.E. Insolia, and E.W. Zimmers, Jr ••••••.••••• 54 CARA - The Next Generation
C. Kosta, M. Miller, and P. Krolak •••••••••••••••••••••••••• 59 Pin Assembly by Robot
Z. Mehdi, R. Sagar, and T.P. Sattar ••••••••••••••••••••••••• 64 Automated Robotic Cell Configuration for Electronics Assembly
G.G. Raman, and T.-C. Chang •••••••••••••••••••••••••••.••.•• 70
Contents
CHAPTER I: Planning for Automation
Introduction ••••.•••••.••••••••••••••••••••••••••••••••••••••• 1 The Automated Manufacturing Project: Understanding Management's Concern
R. Holmberg ••••••••••.••••••....••..•..••••••••••••••••••••• 3 strategic Planning for the Factory of the Future
M. Izadi, E. Karbassioon, and M. Toosi •••••••••••••••••••••• 8 I.1 Automated systems .••.•.••••••••••••••••••••••••••••••••••••••• 13
Human Performance in Man-Robot System Y. Beauchamp, T.J. Stobbe, and K. Ghosh ••••••••••••••••••••• 15
Review of Determining/optimizing a Robot's Process Capability B.C. Jiang, and J.T. Black .••.••..•.•..••••••••••••••••••••• 21
Automated Data Collection Workstation for Inventory Management S. Ganesan, and K. Athappilli ••••••••••••••••••••••••••••••• 27
Investigation of Computer-Aided Control of a Waterjet Robotic Workcell
E.S. Geskin, W.L. Chen, and W.T. Lee •••••••••••••••••••••••• 32 Automatic Decentralized Allocation of AGVs in a Cellular System
S.P. Rana, S. Taneja, and A. Vashishta •••.•••••••••••••••••• 37 Implementing a Transition Manager in the AMRF Cell Controller
B.A. Catron ••••••••••••••••••••••••••••••••••••••••••••••••• 42
Chapter II: Automated Assembly
Introduction ••••••••••...••••.••••••••••.•••.••••••••••••••••• 47 Investigation of Automatic Assembly Methods
A. Harnoy ••••••••••••••.•••••••••••••••••••••••••••••••••••• 49 The Interrelationship of Parts Classification and Gripper Design for Automated Assembly
F.L. Bracken, G.E. Insolia, and E.W. Zimmers, Jr ••••••.••••• 54 CARA - The Next Generation
C. Kosta, M. Miller, and P. Krolak •••••••••••••••••••••••••• 59 Pin Assembly by Robot
Z. Mehdi, R. Sagar, and T.P. Sattar ••••••••••••••••••••••••• 64 Automated Robotic Cell Configuration for Electronics Assembly
G.G. Raman, and T.-C. Chang •••••••••••••••••••••••••••.••.•• 70
XVIII
Chapter III: Robot Programming and simulation
Introduction •••..•.....••.................•..••••.••.••••••••• 75 ADAR : A New Vision of Tasks Programming for Robotized Industrial Workcell
A. Haurat, and J.-L. Perrard .............•.••...•••..••••••. 77 Robot Systems Software
I.J. Cox, D.A. Kapilow, W.J. Kropft, and J.E. Shapiro •••.••• 82 The simulation of a Manufacturing Cell
F.L. Severance, and R. Tanner •......•••••••.••••••••••••••.• 89 GROSS - Graphic Robot Simulation System
H.-J. Bullinger, R. Menges, and J. Warschat .••••.••••••••••• 95 Kinematic Simulation of Robotic Systems
J.L. Hill, and S.-D. Tang ..••....•..•.•.•..•••..•••.•.•••••. 100 Simulation of Compliant Motions with Uncertainty
S.J. Buckley ..•...........••••..••••••••••••.•••.••••••••••• 105
Chapter IV: Kinematics, Dynamics and Path Planning
Introduction ....••.....•••••••••••••..•..•••••..•••••••••••••• 111 A New Departure in Programmable Robotic Manipulators
G.N. Sandor, D. Kohli, and T.-C. Weng •••••..•••..••••••••••• 11J Tunnel Following Problem of an Autonomous LHD Vehicle Operating in an Underground Mine
R. Hurteau, G. Chevrette, and A. Piche .....•....••.••.•••••• 120 A Robot Kinematic Gripper
J. Jeswiet, T.N. Moore, and W. Nshama ••••••••••••••••••••••• 125 A Kinematic Study of a Robot ~nd a Dextrous Hand
R.S. Solanki, K.S. Rattan, I. Kaleps, and W. Repperger .•••.• lJ2 Inverse Kinematic Analysis of Moving Base Robot with Redundant Degrees of Freedom
P.S. Dutta, and T.-L. Wong •..•..•...•..•...••••.••••••...••• 1J9 Real-Time Obstacle Avoidance for Fast Mobile Robots
J. Borenstein, and Y. Koren .•.•••••••••.•••••••••••.•••••••. 144 Modeling, Trajectory Coordination, Control and Simulation of the Multiarm System
M.M. Bayoumi, and L. Mo •••••.••....•.•.•••••.••••..•••••••.• 149 Dynamic Characteristics of a PUMA 560 Manipulator, and a Complementary Tracking Control Strategy
P.V. Nagy .............••..•..........•.••••••.•••...•••••... 155 Kinematic Model Sensitivity to Geometrical Parameters Errors and its Impact on Robot Precision
M. Becquet, J.-M. Renders, and E. Ponslet •.•.••.••••••••.••• 160 Flexible Manufacturing Using Modular Robotic Wrists
M.H. Ang Jr., and V.D. Tourassis ..•.•.•••.•.•••.•••••••••••• 166
XVIII
Chapter III: Robot Programming and simulation
Introduction •••..•.....••.................•..••••.••.••••••••• 75 ADAR : A New Vision of Tasks Programming for Robotized Industrial Workcell
A. Haurat, and J.-L. Perrard .............•.••...•••..••••••. 77 Robot Systems Software
I.J. Cox, D.A. Kapilow, W.J. Kropft, and J.E. Shapiro •••.••• 82 The simulation of a Manufacturing Cell
F.L. Severance, and R. Tanner •......•••••••.••••••••••••••.• 89 GROSS - Graphic Robot Simulation System
H.-J. Bullinger, R. Menges, and J. Warschat .••••.••••••••••• 95 Kinematic Simulation of Robotic Systems
J.L. Hill, and S.-D. Tang ..••....•..•.•.•..•••..•••.•.•••••. 100 Simulation of Compliant Motions with Uncertainty
S.J. Buckley ..•...........••••..••••••••••••.•••.••••••••••• 105
Chapter IV: Kinematics, Dynamics and Path Planning
Introduction ....••.....•••••••••••••..•..•••••..•••••••••••••• 111 A New Departure in Programmable Robotic Manipulators
G.N. Sandor, D. Kohli, and T.-C. Weng •••••..•••..••••••••••• 11J Tunnel Following Problem of an Autonomous LHD Vehicle Operating in an Underground Mine
R. Hurteau, G. Chevrette, and A. Piche .....•....••.••.•••••• 120 A Robot Kinematic Gripper
J. Jeswiet, T.N. Moore, and W. Nshama ••••••••••••••••••••••• 125 A Kinematic Study of a Robot ~nd a Dextrous Hand
R.S. Solanki, K.S. Rattan, I. Kaleps, and W. Repperger .•••.• lJ2 Inverse Kinematic Analysis of Moving Base Robot with Redundant Degrees of Freedom
P.S. Dutta, and T.-L. Wong •..•..•...•..•...••••.••••••...••• lJ9 Real-Time Obstacle Avoidance for Fast Mobile Robots
J. Borenstein, and Y. Koren .•.•••••••••.•••••••••••.•••••••. 144 Modeling, Trajectory Coordination, Control and Simulation of the Multiarm System
M.M. Bayoumi, and L. Mo •••••.••....•.•.•••••.••••..•••••••.• 149 Dynamic Characteristics of a PUMA 560 Manipulator, and a Complementary Tracking Control Strategy
P.V. Nagy .............••..•..........•.••••••.•••...•••••... 155 Kinematic Model Sensitivity to Geometrical Parameters Errors and its Impact on Robot Precision
M. Becquet, J.-M. Renders, and E. Ponslet •.•.••.••••••••.••• 160 Flexible Manufacturing Using Modular Robotic Wrists
M.H. Ang Jr., and V.D. Tourassis ..•.•.•••.•.•••.•••••••••••• 166
XIX
Chapter V: Object Recognition, Imaging and Sensors
Introduction •••••••••••••.•••••••••••••••••••.•••••••••••••••• 171 3-D Modeling for Robotic Tactile Object Recognition
P.K. Allen •••••••••••••.•••••••••••••••••••••••••••••••••••• 173 An Imaging Proximity Sensor for Robotic Inspection and Assembly
G. F. Mauer •.•••••••••...•••••••••••••••••••••••••••••••••••• 178 A Sensor System for Determining position and Orientation of Robot Targets
J.B. Cheatham, P.L. Weiland, and C.K. WU ..•••••••••••••••••• 183 Learning Shape Features using a Binary Tree Classifier
R.E. Haskell, and B. Mirshab •••••••••••••••••••••••••••••••• 188 Measurement System for Testing Magnetic Parameters of Thin Amorphous Ribbons and Metrologic Parameters of Displacement Sensor Using Amorphous Ribbons
M. Kozak, E. Misiuk, and P. Karkoszka •••••••••••••••.•••••••• 193 An Experimental Autonomous Articulated Robot That can Learn
A.S. Mohamed, and W.W. Armstrong .••••••••••••••••••••••••••• 198 Development of 3-D Imaging Systems for Postal Automation
G.L. Garcia ••.......•••.••••••••••.•••.••••••••••••••••••••• 209 Mailpiece Manipulation on the Basis of Partial Shape Information J. Decurtins, and P.G. Mulgaonkar ••.•••••••••••••••••••••••••• 217 singulation of Irregular Objects by Adaptive Robotics and Sparse .Range Imagery
B.R. Frederick, and W.R. Ealy •.•.•.•.••••••.•••••••••••••••• 225 A Multiview Image Acquisition System for Postal Parcels
J.H. Kremers, and P.G. Mulgaonkar ••••••••..••••••••••••••••• 235
XIX
Chapter V: Object Recognition, Imaging and Sensors
Introduction •••••••••••••.•••••••••••••••••••.•••••••••••••••• 171 3-D Modeling for Robotic Tactile Object Recognition
P.K. Allen •••••••••••••.•••••••••••••••••••••••••••••••••••• 173 An Imaging Proximity Sensor for Robotic Inspection and Assembly
G. F. Mauer •.•••••••••...•••••••••••••••••••••••••••••••••••• 178 A Sensor System for Determining position and Orientation of Robot Targets
J.B. Cheatham, P.L. Weiland, and C.K. WU ..•••••••••••••••••• 183 Learning Shape Features using a Binary Tree Classifier
R.E. Haskell, and B. Mirshab •••••••••••••••••••••••••••••••• 188 Measurement System for Testing Magnetic Parameters of Thin Amorphous Ribbons and Metrologic Parameters of Displacement Sensor Using Amorphous Ribbons
M. Kozak, E. Misiuk, and P. Karkoszka •••••••••••••••.•••••••• 193 An Experimental Autonomous Articulated Robot That can Learn
A.S. Mohamed, and W.W. Armstrong .••••••••••••••••••••••••••• 198 Development of 3-D Imaging Systems for Postal Automation
G.L. Garcia ••.......•••.••••••••••.•••.••••••••••••••••••••• 209 Mailpiece Manipulation on the Basis of Partial Shape Information J. Decurtins, and P.G. Mulgaonkar ••.•••••••••••••••••••••••••• 217 singulation of Irregular Objects by Adaptive Robotics and Sparse .Range Imagery
B.R. Frederick, and W.R. Ealy •.•.•.•.••••••.•••••••••••••••• 225 A Multiview Image Acquisition System for Postal Parcels
J.H. Kremers, and P.G. Mulgaonkar ••••••••..••••••••••••••••• 235
xx
Chapter VI: Control
Introduction •...•••...•.••••.••..••.•.........••.•.••.••••••.• 243 Application of Kalman Filters to Assembly Signature Monitoring Using Empirical Process Models
P.J. Eagle, and L.H. Tabrizi •••••••••.••••.•.•••.•••••.•••.• 245 Autonomous Distributed Control Through Flexible Communications
B. Meandzija, and W. P.-C. Ho ....•.•.•.••..••.•••••••••••••• 250 Non-Homogenous Redundancy Management for Fault Tolerant Robots
G. Toye, and L.J. Leifer .................................... 255 Reflex-Action position Control and Two-Arm Load-Sharing Force Control with Adaptive Load Apportioning
J.N. Anderson ••..••••......•.••••.••••.••...••.•.••••••••••• 260 Performance Implications of Rendezvous in the Design of Multi-Task Robotic Systems
M.B. Zaremba, and J.W. Miernik .•.••....•••••...•.•.•••••.••• 269 A Microprocessor Based Speed ed Controller and Data Processor for Dynamic Testing of Rotor Blades
T.S. Balasubramanian, G. Raghumurthy, and S. Ganesan •••.•.•• 274 A DSP Microprocessor Based Workstation for Expert Control
S. Ganesan ................................................... 281
Chapter VII: Motion Coordination
Introduction ................................................... 287 Lifting of an Object by Coordination of Two Planar Robots
R.E. Goddard, K. Laroussi, and H. Hemami •...••••.••••••••••• 289 Dynamics and Coordination of Multiple Robot Arms Moving a Common Task object
G. Rodriguez, M.H. Milman, and K. Kreutz •••••••••••••••••••• 291 Coupling of a Robotic Language with a Supervisor for a Simultaneous Adaptive Control of Two Robots
D. Jolly, R. Ferhati, M. Bayart, and M. Staroswiecki •..••..• 296
xx
Chapter VI: Control
Introduction •...•••...•.••••.••..••.•.........••.•.••.••••••.• 243 Application of Kalman Filters to Assembly Signature Monitoring Using Empirical Process Models
P.J. Eagle, and L.H. Tabrizi •••••••••.••••.•.•••.•••••.•••.• 245 Autonomous Distributed Control Through Flexible Communications
B. Meandzija, and W. P.-C. Ho ....•.•.•.••..••.•••••••••••••• 250 Non-Homogenous Redundancy Management for Fault Tolerant Robots
G. Toye, and L.J. Leifer .................................... 255 Reflex-Action position Control and Two-Arm Load-Sharing Force Control with Adaptive Load Apportioning
J.N. Anderson ••..••••......•.••••.••••.••...••.•.••••••••••• 260 Performance Implications of Rendezvous in the Design of Multi-Task Robotic Systems
M.B. Zaremba, and J.W. Miernik .•.••....•••••...•.•.•••••.••• 269 A Microprocessor Based Speed ed Controller and Data Processor for Dynamic Testing of Rotor Blades
T.S. Balasubramanian, G. Raghumurthy, and S. Ganesan •••.•.•• 274 A DSP Microprocessor Based Workstation for Expert Control
S. Ganesan ................................................... 281
Chapter VII: Motion Coordination
Introduction ................................................... 287 Lifting of an Object by Coordination of Two Planar Robots
R.E. Goddard, K. Laroussi, and H. Hemami •...••••.••••••••••• 289 Dynamics and Coordination of Multiple Robot Arms Moving a Common Task object
G. Rodriguez, M.H. Milman, and K. Kreutz •••••••••••••••••••• 291 Coupling of a Robotic Language with a Supervisor for a Simultaneous Adaptive Control of Two Robots
D. Jolly, R. Ferhati, M. Bayart, and M. Staroswiecki •..••..• 296
XXI
Chapter VIII: Communication and Networking
Introduction •••••••••••••••••••••••••••••••••••••••••••••••••• 301 Fiber optic Factory of the Future
R.H. Appleby •...•.•.••••••••••••••.••••••••••••••••••••••••• 303 MAP/TOP Functionality from User Perspective
B. Thacker ••••••••••••••.••••••••••••••••••••••••••••••••••• 308 Robot Support System for Automotive Manufacturing using MAP communication Standards
R.B. Keil, and C.D. Groff ••••••••••••••••••••••••••••••••••• 313
Chapter IX: Factories of the Future - Plant Organization
Introduction •••.•.••••••..•••••••••••••••••••••••••••••••••••• 321 A Cross-Decomposition Method for Layout systems and Scheduling Problem
M.-C. Portmann, and J.-M. Proth ••••••••••••••••••••••••••••• 323 Extraction of Flowshop Type Lines From a Set of working Processes M. Happiette, and M. Staroswiecki •••••••.••••••••••••••••••••• 328 Modeling Multistage Production Systems by Timed Petri Nets
H.P. Hillion •••••••••••.•••••••••••••••••••••••••••••••••••• 333 Modeling Cellular Manufacturing Systems by Using Petri Nets
S.H. Teng, and J.T. Black •••••...•..•••••••••••••••••••••••• 338 Modeling of Production Systems by continuous Petri Nets
H. Alla, and R. David ••••..••..•..•••••••..••••••••••••••••• 344 Specification and composition of Relativized Models of Real-Time Systems
S. Aggarwal, B. Gopinath, and P. Uppaluru .•••••••••••••••••• 349 waterjet Cutting Systems for Factories of the Future
D.J. Gerhardt, and R.G. Ferguson •.•••.••••••••••••••••••••••• 358
Chapter X: Future Trends
Introduction •••••••••••••••••••••••••••••••••••••••••••••••••• 363 Beyond CIM - A Computer optimized Manufacturing System
G.J. Hess ••••••••••••••••••••••••••••••••••••••••••••••••••• 365 Proposed ANSI/RIA Mechanical Interface Standards: For Industrial Robots
H.A. Alceel ••••••••••••.••••••••••••••••••••••••••••••••••••• 370 Robots Beyond the Factory
W.L. Whittaker •••••••••••.••••••.••••••••••••••••••••••••••• 375 Guidelines and Rules for Automated Assembly by Robots in space
S.N. Dwivedi, S. srivastava and G. Jones •••••••••••••••••••• 381
contents of Volume I ••••••••••••••••••••••••••••••••••••••••••••• 389 Contents of Volume II •••.••••••••••••••••••••••••••••••••••••••••• 394 Author Index •••••••••••••.••.•••••••••••••••••••.••••••••••••••••• 398
XXI
Chapter VIII: Communication and Networking
Introduction •••••••••••••••••••••••••••••••••••••••••••••••••• 301 Fiber optic Factory of the Future
R.H. Appleby •...•.•.••••••••••••••.••••••••••••••••••••••••• 303 MAP/TOP Functionality from User Perspective
B. Thacker ••••••••••••••.••••••••••••••••••••••••••••••••••• 308 Robot Support System for Automotive Manufacturing using MAP communication Standards
R.B. Keil, and C.D. Groff ••••••••••••••••••••••••••••••••••• 313
Chapter IX: Factories of the Future - Plant Organization
Introduction •••.•.••••••..•••••••••••••••••••••••••••••••••••• 321 A Cross-Decomposition Method for Layout systems and Scheduling Problem
M.-C. Portmann, and J.-M. Proth ••••••••••••••••••••••••••••• 323 Extraction of Flowshop Type Lines From a Set of working Processes M. Happiette, and M. Staroswiecki •••••••.••••••••••••••••••••• 328 Modeling Multistage Production Systems by Timed Petri Nets
H.P. Hillion •••••••••••.•••••••••••••••••••••••••••••••••••• 333 Modeling Cellular Manufacturing Systems by Using Petri Nets
S.H. Teng, and J.T. Black •••••...•..•••••••••••••••••••••••• 338 Modeling of Production Systems by continuous Petri Nets
H. Alla, and R. David ••••..••..•..•••••••..••••••••••••••••• 344 Specification and composition of Relativized Models of Real-Time Systems
S. Aggarwal, B. Gopinath, and P. Uppaluru .•••••••••••••••••• 349 waterjet Cutting Systems for Factories of the Future
D.J. Gerhardt, and R.G. Ferguson •.•••.••••••••••••••••••••••• 358
Chapter X: Future Trends
Introduction •••••••••••••••••••••••••••••••••••••••••••••••••• 363 Beyond CIM - A Computer optimized Manufacturing System
G.J. Hess ••••••••••••••••••••••••••••••••••••••••••••••••••• 365 Proposed ANSI/RIA Mechanical Interface Standards: For Industrial Robots
H.A. Akeel ••••••••••••.••••••••••••••••••••••••••••••••••••• 370 Robots Beyond the Factory
W.L. Whittaker •••••••••••.••••••.••••••••••••••••••••••••••• 375 Guidelines and Rules for Automated Assembly by Robots in space
S.N. Dwivedi, S. srivastava and G. Jones •••••••••••••••••••• 381
contents of Volume I ••••••••••••••••••••••••••••••••••••••••••••• 389 Contents of Volume II •••.••••••••••••••••••••••••••••••••••••••••• 394 Author Index •••••••••••••.••.•••••••••••••••••••.••••••••••••••••• 398
Invited Lectures
Keynote Speech: Eric Mittelstadt, President and Chief Executive Officer, GMF Robotics Auburn Hills, MI, USA
Banquet Speech: Senator Carl Levin, Chairman, Senate Small Business Sub Committee on Innovation, Technology and Productivity, US Senate, washington, DC, USA
Plenary Sessions: A Case for Computer Integrated Manufacturing
J. Tracy O'Rourke, President and Chief Executive Officer, Allen Bradley Co., Rockwell International, pittsburgh, PA, USA
Future Trends in AI/Robotics - A Pragmatic View Randall P. Shumaker, Director, Navy Center for Applied Research in AI, Washington, DC, USA
Future of Engineering Design Practice Kenneth M. Ragsdell, Director, Design Productivity Center, University of Missouri, Columbia, MO, USA
A New Departure in Programmable Robotic Design G.N. Sandor, Research Professor and Director, M.E. Design and Rotordynamics Labs, University of Florida, Gainesville, FL, USA
Cost Management as the Criterion for Integrated Design and Manufacturing
Ali Seireg, Mechanical Engineering Department, University of Wisconsin, Madison, WI, USA
Earth Observing Satellite system Gerald A. Soffen, Director, NASA Program Planning, Goddard Space Flight Center, Greenbelt, MD, USA
Rapid Response to Competition Raj Reddy, University Professor of Computer Science and Director Robotics Institute, Carnegie Mellon University, pittsburgh, PA, USA
Engineering Research Centers - A Vision for the 90's Howard Moraff, Program Director, Cross-Disciplinary Research, National Science Foundation, washington, DC, USA
Robots Beyond the Factory W.L. Whittaker, Robotic Institute, Carnegie Mellon university, Pittsburgh, PA, USA
Invited Lectures
Keynote Speech: Eric Mittelstadt, President and Chief Executive Officer, GMF Robotics Auburn Hills, MI, USA
Banquet Speech: Senator Carl Levin, Chairman, Senate Small Business Sub Committee on Innovation, Technology and Productivity, US Senate, washington, DC, USA
Plenary Sessions: A Case for Computer Integrated Manufacturing
J. Tracy O'Rourke, President and Chief Executive Officer, Allen Bradley Co., Rockwell International, pittsburgh, PA, USA
Future Trends in AI/Robotics - A Pragmatic View Randall P. Shumaker, Director, Navy Center for Applied Research in AI, Washington, DC, USA
Future of Engineering Design Practice Kenneth M. Ragsdell, Director, Design Productivity Center, University of Missouri, Columbia, MO, USA
A New Departure in Programmable Robotic Design G.N. Sandor, Research Professor and Director, M.E. Design and Rotordynamics Labs, University of Florida, Gainesville, FL, USA
Cost Management as the Criterion for Integrated Design and Manufacturing
Ali Seireg, Mechanical Engineering Department, University of Wisconsin, Madison, WI, USA
Earth Observing Satellite system Gerald A. Soffen, Director, NASA Program Planning, Goddard Space Flight Center, Greenbelt, MD, USA
Rapid Response to Competition Raj Reddy, University Professor of Computer Science and Director Robotics Institute, Carnegie Mellon University, pittsburgh, PA, USA
Engineering Research Centers - A Vision for the 90's Howard Moraff, Program Director, Cross-Disciplinary Research, National Science Foundation, washington, DC, USA
Robots Beyond the Factory W.L. Whittaker, Robotic Institute, Carnegie Mellon university, Pittsburgh, PA, USA
