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Expert Systems and Robotics NATO ASI Series Advanced Science Institutes Series A series presenting the results of activities sponsored by the NATO Science Committee, which aims at the dissemination of advanced scientific and technological knowledge, with a view to strengthening links between scientific communities. The Series is published by an international board of publishers in conjunction with the NATO Scientific Affairs Division A Life Sciences Plenum Publishing Corporation B Physics London and New York C Mathematical and· Kluwer Academic Publishers Physical Sciences Dordrecht, Boston and London D Behavioural and Social Sciences E Applied Sciences F Computer and Springer-Verlag Systems Sciences Berlin Heidelberg New York G Ecological Sciences London Paris Tokyo Hong Kong H Cell Biology Barcelona I Global Environmental Change NATo-pea DATABASE The electronic index to the NATO ASI Series provides full bibliographical references (with keywords and/or abstracts) to more than 30000 contributions from international scientists published in all sections of the NATO ASI Series. Access to the NATO-PCO DATABASE is possible in two ways: - via online FILE 128 (NATO-PCO DATABASE) hosted by ESRIN, Via Galileo Galilei, 1-00044 Frascati, Italy. - via CD-ROM "NATO-PCO DATABASE" with user-friendly retrieval software in English, French and German (© WTV GmbH and DATAWARE Technologies Inc. 1989). The CD-ROM can be ordered through any member of the Board of Publishers or through NATO-PCO, Overijse, Belgium. ~ 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 Berlin Heidelberg New York London Paris Tokyo 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 This work is subject to copyright. All rights are reserved. whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, re-use of illustrations, recitation, broadcasting, reproduction on microfilms or in other ways, and storage in data banks. Duplication of this publication or parts thereof is only permitted under the provisions of the German Copyright Law of September 9, 1965, in its current version, 1985, and a copyright fee must always be paid. Violations fall under the prosecution act of the German Copyright Law © Springer-Verlag Berlin Heidelberg 1991 Softcover reprint of the hardcover 1st edition 1991 45/3140-543210 ~ Printed on acid-free-paper 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
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