Table Of ContentExpert Systems and Robotics
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Series F: Computer and Systems Sciences Vol. 71
Expert Systems and Robotics
Edited by
Timothy Jordanides
Department of Electrical Engineering
California State University
1250 Bellflower Boulevard, Long Beach, CA 90840-5005, USA
Bruce Torby
Department of Mechanical Engineering
California State University
1250 Bellflower Boulevard, Long Beach, CA 90840-5005, USA
Springer-Verlag
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Hong Kong Barcelona Budapest
Published in cooperation with NATO Scientific Affairs Division
Proceedings of the NATO Advanced Study Institute on Expert Systems and
Robotics, held in Corfu, Greece, July 15-27,1990.
Additional material to this book can be downloaded from
http://extra.springer.com
ISBN-13:978-3-642-76467-7 e-ISBN-13:978-3-642-76465-3
001: 10.1007/978-3-642-76465-3
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Preface
The area of control systems is a fairly mature area within electrical engineering. It emphasizes the
formality and generality of mathematical modeling. Recently, a significant amount of activity has
occurred in the area of intelligent machines. The functions of an intelligent control system combine
the high-level decision making of the digital computer with the advanced mathematical modeling and
synthesis techniques of systems theory. It may be thought of as a fusion of operations research,
artificial intelligence, and control theory.
The areas of intelligent machines or robotic systems is of enormous technological and economic
interest in the NATO countries as competition in productivity intensifies. The readers of this volume
will find some research work already accomplished in the analytical theory of intelligent machines,
work in progress and of current interest and some specific examples for further research.
The papers in this volume range from the most theoretical to some descriptions of very practical
working robots. Besides the main lectures and the twenty-four short papers presented, many group
meetings were held at the Conference to allow the opportunity for active participation of everyone
present in this Conference. The group meetings gave us the flexibility to accomplish many things
which would not be feasible in a lecture setting. The task of reducing the dynamism and enthusiastic
discussions of those meetings to writing was not an easy one. Nonetheless, the proceedings of those
group meetings are found in Section VI. In Section I, three papers on Vision are presented, with
sensors covered in Section II. The fusion of Expert Systems and Robotics as manifested by software
and hardware implementations and simulation of new designs is found in Section III. In Section IV,
the theory of Intelligent Machines as well as specific examples of Robot Control are found. We have
found the large number of example systems included here to be invaluable in understanding
Intelligent Control. The section on Applications (section VI) includes some interesting practical
industrial examples.
It was the general opinion of all who attended the Conference that this Advanced Study Institute
was important and valuable to their on-going research projects. Everyone saw the need of having
further institutes on the same subject. The lectures and short papers presented were of exceptional
quality and the editors would like to thank all the contributers for their strong efforts. We hope that
the lectures, papers and group discussions summarized here will lead to further advances in the
design, theory, and control of intelligent machines.
Timothy lordanides
Director, ASI Expert Systems and Robotics
Introductory Conference Remarks
Welcome to the 1990 Advanced Study Institute on Expert Systems and Robotics. An ASI, as most
of you probably know, is an international, high level, advanced "summer school" in an area of current
interest to the NATO member countries. Now, some of you may wonder why we call this a summer
school as many of the participants here have important positions in industry, academia, and
government. I hope that you perceive this term "school" here in the broadest possible sense. After
having spent 26 years in university teaching, I still consider myself a student in the sense that Socrates
called himself a perennial student when he said, "Y'IlQaa1C<a> a,i cS\cSaoK<a>I"VOC;" (I am always
learning as I get older).
During the next two weeks, I hope that all of you, whether lecturer or participant, will bring to
this assembly the curiosity of a student along with the expertise of your particular area. Those of you
who are young scientists in the area of Expert Systems and Robotics will find a wealth of information
to take home with you. My hope is, that even those of you who are at the forefront of your
discipline will go away in two weeks with at least one new question or one new idea that you did not
think about before. Ideas are the commodity of our business. Many successful companies started
on one single new idea. I would like to welcome everybody to express and share your interests and
ideas with each other during the next two weeks.
We have an outstanding scientific program. The papers to be presented range from the most
theoretical to some very practical working examples of robots. Besides the main lectures and the
twenty-four short papers, many group meetings scheduled typically in the afternoons will allow the
opportunity for active participation of everyone present in this Conference. The group meetings will
give us the fleXibility to accomplish many things which would not be feasible in a lecture setting:
1. Allow the opportunity for everyone in this ASI to provide their input and their expertise
which eventually will be filtered by the group leader and presented to the assembly.
2. Provide an efficient forum to deal with the interdisciplinary and complex subject of Expert
Systems and Robotics.
3. Foster the creation of professional links among the members of the group, as we get to know
each other professionally.
4. Allow the introduction of poster sessions. Everyone here is welcome to suggest additional
topics for discussion. If sufficient interest is expressed on any issue which is not covered in
the agenda, we will find time to discuss it. This is your Institute, and your interest and
participation will contribute to its success.
Timothy 10rdanides
Director
Concluding Conference Remarks
As this ASI has come to a successful conclusion in this wonderful setting of the island of Corfu,
Greece, the editorial task of categorizing the proceedings is at hand. The main areas outlined in the
announcement of the Institute were:
* Expert systems in design and implementation of intelligent robots
* Computer vision as applied to robots (machine perception)
* Theory and application of intelligent control
* Methods of dealing with uncertain systems.
The constructive interaction between the participants provided the opportunity for information
dissemination in some depth in the following areas:
* Vision and Image Analysis
* Robotic Sensory Systems
* SoftwarelHardware Systems/Simulation which encompasses expert systems considerations
* Robot Control which includes the theory of Intelligent Machines and Applications.
One of the most pleasant tasks of the Director at the conclusion of an ASI is to acknowledge the
contributions of individuals and institutions to the success of the meeting. I would like to thank my
co-directors, Profs. Gianni Casale and Spyros Tzafestas, co-editor Prof. Bruce Torby, Prof. Ger
Honderd, and of course the NATO Scientific Affairs Committee that provided the funding without
which this meeting would not have been possible. Above all, the active and enthusiastic participation
of all individuals, both lecturers and participants, was pivotal to the success of this meeting. The
names of all individuals present is appended in this volume.
Timothy Jordanides
Director
Table of Contents
Preface ................................................................................................... V
Introductory Conference Remarks ................................................................... VII
Concluding Conference Remarks ................................................................... VIII
I. Vision and Image Analysis
Gestalt-based Approach to Robot Vision .............................................................. 1
P.W. Besslieh and H. Biissmann
Matching: Check Points within the Framework of a Knowledge-based
Visual Inspection System .............................................................................. 35
M.P. Carlsohn and L. Gruber
Stereoscopic Vision for AGV Guidance .............................................................. 53
B. Dimitriadis and K. Papanikolaou
Hierarchical Methods for Robot Vision .............................................................. 63
W.G. Kropatseh
II. Robotic Sensory Systems
Geometric Modeling Aspects on Vision and Ultrasonic Range Sensing
for Robotic Applications .............................................................................. 111
U. Nunes, 1. Dias and A. Trac;a de Almeida
Sensor Planning for the Error Diagnosis of Robot Assembly Tasks ............................ 127
1. Raezkowsky and K. Seueken
III. Software/Hardware, System Simulation
Computer Aided Analysis of Robot Arm Dynamics and
Adaptive Control Schemes ........................................................................... 135
A. Akmehmet and A. Kuzueu
A Programming Environment for Sensor-Controlled Robots .................................... 155
R.M. Blomme and 1.M. Van Campenhout
Symbolic Simulation of Sensory Robot Programs ................................................ 171
V. Caglioti and M. Somalvieo
Expert Systems and Multiple Criteria Decision Support .......................................... 191
1. C[(maeo, C.H. Antunes, 1.P. Costa, A.G. Martins and A.T. Almeida
x
Signal Representation Issues in Neural-Network Modeling of
Perceptual Properties .................................................................................. 205
V.C. Georgopoulos and D. Preis
Robot Control with Procedural Expert System .................................................... 217
GR. Meijer, T L. Mai, E. Gaussens, L.O. Hertzberger and F. Arlabosse
Rapid Interference Detection ......................................................................... 233
J.S. Hemmerle, E. Levent Gursoz and F.B. Prinz
Prolog Language -CADSD Package Interfacing Procedures:
Applications to Heuristic Identification and Control of Dynamic Systems ..................... 243
H. Nguyen-Phu
Intelligent Cooperation for Robotics ................................................................ 259
E. Oliveira, RF. Silva and C. Ramos
The Oxford Robot World Model ..................................................................... 275
B. Triggs and S. Cameron
The Blackboard Architecture in Knowledge-Based Robotic Systems ........................... 285
S. Tzafestas and E. Tzafestas
Implementation of Specific Robotic Functions Directly in Hardware ........................... 319
IN. Lygouras, B.G. Mertzios and N.C. Voulgaris
The 3DP Real-Time Motion-Control Computer .................................................... 341
Y. Wang, A. Mangaser, S. Jordan, P. Srinivasan and S. Butner
IV. Robot Control
A Knowledge-Based Controller for a PWR -Type Nuclear Power Plant ........................ 355
H. Levent Akin
Telepresence and Intelligent Control for a Legged Locomotion Robot .......................... 377
M.Armada
Robust Adaptive Control of Robotic Manipulators ................................................ 397
A.G. Chassiakos and P.A. Ioannou
About Qualitative Robot Control ..................................................................... 419
Ph. Coiffet, J. Zhao, J. Zhou, F. Wolinski, P. Novikoff and D. Schmit
Motion Estimation from Target Tracking ........................................................... 445
J. Frau, V. Llario and J. Codina
Robust Control of Robotic Manipulators .......................................................... .459
F.Hamano
Automatic Determination of Quasi-Time Optimal Joint Trajectories
and Adaptive Control for a Robotic Arm .......................................................... .487
Y. I stefanopulos and L. Casagrande
XI
A Robust Approach for the Control of Robotic Manipulators:
Predictive Control ..................................................................................... 515
O. Kaynak
Analysis of Cooperating Robot Manipulators on a Mobile Platform ............................ 533
S.H. Murphy, J.T. Wen and G.N.Saridis
On the Theory ofIntelligent Machines .............................................................. 551
G.N. Saridis
Symbolic Computation for Robot Design .......................................................... 581
C. Vibet
Neural Net System for Adaptive Robot Control ................................................... 60 1
K. Warwick
V. Applications
On-line Scheduling and Planning of Robots and Presses ......................................... 609
A. Crespo, F. Barber and P. Albertos
Knowledge-Based Process Planning, Scheduling and Error Recovery
in Robotized Assembly ............................................................................... 619
A. Delchambre, P. Gaspart, D. Coupez and P.R. Glibert
Complete Garment Assembly Using Robots ....................................................... 641
I. Gibson, P.M. Taylor, A.J. Wilkinson, G.S. Palmer and M.B. Gunner
A Model-Based Expert System for the Diagnosis of Faults in a Robot
System for Cleaning Castings ........................................................................ 655
T. HUlmer and K. Hormann
Genghis: An Intelligent Autonomous Mobile Robot .............................................. 663
M.M. Simpson and T. Jordanides
Benefits of Expert Robots: Intelligence vs. Skill .................................................. 673
K. Klwdabandehloo
Evaluation of Applicative Assembly Design, Supported by
Expert Systems ........................................................................................ 699
A. Rovetta, E. Zamponi, V.F. Romano and R. Sala
VI. Reports of Group Meetings
Group Findings: Vision and Image Analysis as Applied to
Intelligent Modules .................................................................................... 719
I. Gibson
Computer-Aided Process Planning in Robotic-Based CIM Systems ............................ 721
L.E. Weiss
Current Issues and Future Developments of Intelligent Robots .................................. 725
K. Klwdabandehloo
