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Assembly and Task Planning, IEEE International Symposium on (1995)
Pittsburgh, Pennsylvania
Aug. 10, 1995 to Aug. 11, 1995
ISBN: 0-8186-6995-0
TABLE OF CONTENTS

Committees (PDF)

pp. xiii
Session A1.1: Assembly Representation and Modeling

Assembly as a noncooperative game of its pieces: the case of endogeneous disk assemblies (Abstract)

H.I. Bozma , Dept. of Electr. & Electron. Eng., Bogazici Univ., Istanbul, Turkey
C.S. Karagoz , Dept. of Electr. & Electron. Eng., Bogazici Univ., Istanbul, Turkey
D.E. Koditschek , Dept. of Electr. & Electron. Eng., Bogazici Univ., Istanbul, Turkey
pp. 0002

A new approach for the specification of assembly systems (Abstract)

H.L. Chau , Dept. of Comput. Sci., Hong Kong Univ. of Sci. & Technol, Hong Kong
E.J. Derrick , Dept. of Comput. Sci., Hong Kong Univ. of Sci. & Technol, Hong Kong
H.C. Shen , Dept. of Comput. Sci., Hong Kong Univ. of Sci. & Technol, Hong Kong
R.K. Wong , Dept. of Comput. Sci., Hong Kong Univ. of Sci. & Technol, Hong Kong
pp. 0009

Modeling and simulation of the assembly of snap joints (Abstract)

T. Meitinger , Lehrstuhl B fur Mech., Tech. Univ. Munchen, Germany
F. Pfeiffer , Lehrstuhl B fur Mech., Tech. Univ. Munchen, Germany
pp. 0015
Session A2.1: Task Planning I

Knowledge sharing for planning: the Knowledge Interchange Interface (Abstract)

V. Wong , Dept. of Electr. & Comput. Eng., Arizona Univ., Tucson, AZ, USA
J. Britanik , Dept. of Electr. & Comput. Eng., Arizona Univ., Tucson, AZ, USA
M. Marefat , Dept. of Electr. & Comput. Eng., Arizona Univ., Tucson, AZ, USA
pp. 0028

Plan representation and generation for manufacturing tasks (Abstract)

J. Rocha , Dept. de Engenharia Inf., Inst. Superior Engenharia do Porto, Portugal
C. Ramos , Dept. de Engenharia Inf., Inst. Superior Engenharia do Porto, Portugal
pp. 0022

Knowledge representation for automated process planning (Abstract)

D.N. Sormaz , Dept. of Comput. Sci., Univ. of Southern California, Los Angeles, CA, USA
B. Khoshnevis , Dept. of Comput. Sci., Univ. of Southern California, Los Angeles, CA, USA
pp. 0034
Session A1.2: Assembly Sequence Planning I

A structure-oriented method for generating good assembly sequence plans (Abstract)

S. Chakrabarty , Dept. of Comput. Sci., Texas A&M Univ., College Station, TX, USA
J. Welter , Dept. of Comput. Sci., Texas A&M Univ., College Station, TX, USA
pp. 0048

Lessons learned from a second generation assembly planning system (Abstract)

A.L. Ames , Intelligent Syst. & Robotics Center, Sandia Nat. Labs., Albuquerque, NM, USA
T.L. Calton , Intelligent Syst. & Robotics Center, Sandia Nat. Labs., Albuquerque, NM, USA
R.E. Jones , Intelligent Syst. & Robotics Center, Sandia Nat. Labs., Albuquerque, NM, USA
S.G. Kaufman , Intelligent Syst. & Robotics Center, Sandia Nat. Labs., Albuquerque, NM, USA
C.A. Laguna , Intelligent Syst. & Robotics Center, Sandia Nat. Labs., Albuquerque, NM, USA
R.H. Wilson , Intelligent Syst. & Robotics Center, Sandia Nat. Labs., Albuquerque, NM, USA
pp. 0041

A cellular automata representation for assembly simulation and sequence generation (Abstract)

S. Minami , Dept. of Mech. Eng., MIT, Cambridge, MA, USA
K.F. Pahng , Dept. of Mech. Eng., MIT, Cambridge, MA, USA
M.J. Jakiela , Dept. of Mech. Eng., MIT, Cambridge, MA, USA
A. Srivastava , Dept. of Mech. Eng., MIT, Cambridge, MA, USA
pp. 0056
Session A2.2: Manipulation Planning

Selection of hand configurations for power grasps (Abstract)

Yuru Zhang , Sch. of Eng. Sci., Simon Fraser Univ., Burnaby, BC, Canada
W.A. Gruver , Sch. of Eng. Sci., Simon Fraser Univ., Burnaby, BC, Canada
pp. 0073

On manipulation planning (Abstract)

J.M. Ahuactzin , Sch. of Eng. Sci., Simon Fraser Univ., Burnaby, BC, Canada
K. Gupta , Sch. of Eng. Sci., Simon Fraser Univ., Burnaby, BC, Canada
E. Mazer , Sch. of Eng. Sci., Simon Fraser Univ., Burnaby, BC, Canada
pp. 0067

Towards a task planning for deformable object manipulation-formulation and computation of linear object deformation (Abstract)

S. Hirai , Dept. of Mech. Eng. for Comput.-Controlled Machinery, Osaka Univ., Japan
H. Wakamatsu , Dept. of Mech. Eng. for Comput.-Controlled Machinery, Osaka Univ., Japan
K. Iwata , Dept. of Mech. Eng. for Comput.-Controlled Machinery, Osaka Univ., Japan
pp. 0080
Session A1.3: Assembly Evaluation and Execution I

Measuring the difficulty of assembly tasks from tool access information (Abstract)

A. Diaz-Calderon , Eng. Design Res. Center, Carnegie Mellon Univ., Pittsburgh, PA, USA
D. Navin-Chandra , Eng. Design Res. Center, Carnegie Mellon Univ., Pittsburgh, PA, USA
P.K. Khosla , Eng. Design Res. Center, Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 0087

Statistical measure of assemblability under the propagation of tolerances and clearances (Abstract)

Sukhan Lee , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
Chunsik Yi , Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
pp. 0094
Session A2.3: Process Planning

Case-based manufacturing process planning with integrated support for knowledge sharing (Abstract)

J. Britanik , Dept. of Electr. & Comput. Eng., Arizona Univ., Tucson, AZ, USA
M. Marefat , Dept. of Electr. & Comput. Eng., Arizona Univ., Tucson, AZ, USA
pp. 0107

A computer assisted process planning system based on optimization criteria compromises (Abstract)

A. Limaiem , Dept. of Mech. Eng., McMaster Univ., Hamilton, Ont., Canada
M. Ammar , Dept. of Mech. Eng., McMaster Univ., Hamilton, Ont., Canada
pp. 0101
Session A1.4: Fixturing I

Fixture foolproofing for polygonal parts (Abstract)

K. Penev , Programmable Autom. Lab., Univ. of Southern California, Los Angeles, CA, USA
A.A.G. Requicha , Programmable Autom. Lab., Univ. of Southern California, Los Angeles, CA, USA
pp. 0127

On the fixturing of non-prismatic workpieces under frictionless contact models (Abstract)

Yu-Che Chen , Dept. of Mech. Eng., Tulsa Univ., OK, USA
pp. 0121

Fixturing faceted parts with seven modular struts (Abstract)

R. Wagner , Inst. for Robotics & Intelligent Syst., Univ. of Southern California, Los Angeles, CA, USA
Yen Zhuang , Inst. for Robotics & Intelligent Syst., Univ. of Southern California, Los Angeles, CA, USA
K. Goldberg , Inst. for Robotics & Intelligent Syst., Univ. of Southern California, Los Angeles, CA, USA
pp. 0133
Session A2.4: Scheduling

Evaluating a contract net-based heterarchical scheduling approach for flexible manufacturing (Abstract)

A. Saad , Dept. of Electr. Eng., Vanderbilt Univ., Nashville, TN, USA
K. Kawamura , Dept. of Electr. Eng., Vanderbilt Univ., Nashville, TN, USA
G. Biswas , Dept. of Electr. Eng., Vanderbilt Univ., Nashville, TN, USA
M.E. Johnson , Dept. of Electr. Eng., Vanderbilt Univ., Nashville, TN, USA
A. Salama , Dept. of Electr. Eng., Vanderbilt Univ., Nashville, TN, USA
pp. 0147

FMS scheduling using Petri net modeling and a branch & bound search (Abstract)

S. Lloyd , Sch. of Eng., Sussex Univ., Brighton, UK
H. Yu , Sch. of Eng., Sussex Univ., Brighton, UK
N. Konstas , Sch. of Eng., Sussex Univ., Brighton, UK
pp. 0141
Session A1.5: Fine Motion Planning I

Geometric reasoning for fine motion planning (Abstract)

E. Cervera , Dept. of Comput. Sci., Jaume I Univ., Castello, Spain
A.P. del Pobil , Dept. of Comput. Sci., Jaume I Univ., Castello, Spain
pp. 0154
Session A2.5: Sensor Planning

Complete indexing strategies for sparse sensing techniques (Abstract)

A.S. Wallack , Cognex Corp., Natick, MA, USA
J.F. Canny , Cognex Corp., Natick, MA, USA
pp. 0179

An anthropomorphic binocular-vision planning for grasping parts by robots (Abstract)

Jae-Moon Chung , Dept. of Comput. Sci. & Commun. Eng., Kyushu Univ., Fukuoka, Japan
T. Nagata , Dept. of Comput. Sci. & Commun. Eng., Kyushu Univ., Fukuoka, Japan
pp. 0194
Session A1.6: Motion Planning for Articulated Robots

Towards efficient motion planning for manipulators with complex geometry (Abstract)

Caigong Qin , Comput. Lab. & Robotics Res. Group, Oxford Univ., UK
S. Cameron , Comput. Lab. & Robotics Res. Group, Oxford Univ., UK
A. McLean , Comput. Lab. & Robotics Res. Group, Oxford Univ., UK
pp. 0207

Very fast motion planning for dexterous robots (Abstract)

D. Challou , Dept. of Comput. Sci., Minnesota Univ., Minneapolis, MN, USA
M. Gini , Dept. of Comput. Sci., Minnesota Univ., Minneapolis, MN, USA
V. Kumar , Dept. of Comput. Sci., Minnesota Univ., Minneapolis, MN, USA
C. Olson , Dept. of Comput. Sci., Minnesota Univ., Minneapolis, MN, USA
pp. 0201

A 7-DOF practical motion planner based on sequential framework: theory and experiments (Abstract)

Kamal Kant Gupta , Sch. of Eng. Sci., Simon Fraser Univ., Burnaby, BC, Canada
pp. 0213
Session A2.6: Resource Planning

Assembly planning research at CSIRO Australia (Abstract)

S. Grewal , Div. of Manuf. Technol., CSIRO, Australia
P. Tran , Div. of Manuf. Technol., CSIRO, Australia
A. Bhaskare , Div. of Manuf. Technol., CSIRO, Australia
pp. 0226

Integrated assembly and resource planning in production line design (Abstract)

E. Falkenauer , CRIF-Research Centre for Belgian Metalworking Ind., Brussels, Belgium
A. Delchambre , CRIF-Research Centre for Belgian Metalworking Ind., Brussels, Belgium
pp. 0220
Session B1.1: Assembly Sequence Planning II

Generation of assembly sequences with ternary operations (Abstract)

F. Bonneville , Lab. d'Autom., Univ. de Franche-Comte, Besancon, France
J.M. Henrioud , Lab. d'Autom., Univ. de Franche-Comte, Besancon, France
A. Bourjault , Lab. d'Autom., Univ. de Franche-Comte, Besancon, France
pp. 0245

On assembly sequence planning using Petri nets (Abstract)

S. Caselli , Dipartimento di Ingegneria dell'Inf., Parma Univ., Italy
F. Zanichelli , Dipartimento di Ingegneria dell'Inf., Parma Univ., Italy
pp. 0239

An analytic approach for generation of assembly sequences with feasible trajectory (Abstract)

Seockhoon Bae , Dept. of Mech. Design & Production Eng., Seoul Nat. Univ., South Korea
Kunwoo Lee , Dept. of Mech. Design & Production Eng., Seoul Nat. Univ., South Korea
pp. 0250
Session B2.1: Task Planning II

Task negotiation for distributed manufacturing systems (Abstract)

C. Ramos , Inst. Superior de Engenharia, Inst. Politecnico do Porto, Portugal
pp. 0259

Task planning and project management using Petri nets (Abstract)

Jongwook Kim , Dept. of Electr. Comput. & Syst. Eng., Rensselaer Polytech. Inst., Troy, NY, USA
A.A. Desrochers , Dept. of Electr. Comput. & Syst. Eng., Rensselaer Polytech. Inst., Troy, NY, USA
A.C. Sanderson , Dept. of Electr. Comput. & Syst. Eng., Rensselaer Polytech. Inst., Troy, NY, USA
pp. 0265
Session B1.2: Assembly Evaluation and Execution II

Hierarchical control of flexible assembly systems for product families using object oriented Petri nets (Abstract)

M. Adamou , Lab. d'Autom., CNRS, Besancon, France
S.N. Zerhouni , Lab. d'Autom., CNRS, Besancon, France
A. Bourjault , Lab. d'Autom., CNRS, Besancon, France
pp. 0280

Using configuration and force sensing in assembly task planning and execution (Abstract)

R. Suarez , Inst. de Cibernetica, CSIC, Barcelona, Spain
L. Basanez , Inst. de Cibernetica, CSIC, Barcelona, Spain
J. Rosell , Inst. de Cibernetica, CSIC, Barcelona, Spain
pp. 0273

Flexible control system for robot assembly automation (Abstract)

Li-Chen Fu , Dept. of Comput. Sci. & Inf. Eng., Nat. Taiwan Univ., Taipei, Taiwan
L. Jann , Dept. of Comput. Sci. & Inf. Eng., Nat. Taiwan Univ., Taipei, Taiwan
pp. 0286
Session B2.2: Applications

An adaptive fuzzy logic controller for poly-tree structured workcell layouts (Abstract)

Ho Yim , Dept. of Mech. & Aerosp. Eng., Missouri Univ., Columbia, MO, USA
A.C. Butler , Dept. of Mech. & Aerosp. Eng., Missouri Univ., Columbia, MO, USA
pp. 0293

Locating and identifying components in an automatic manufacturing process (Abstract)

J.A. Ware , Glamorgan Univ., UK
R.A. Davies , Glamorgan Univ., UK
pp. 0299

Integration of metal cutting tool resharpening into manufacturing process planning (Abstract)

G. Petuelli , Univ. GH Paderborn, Soest, Germany
U. Mueller , Univ. GH Paderborn, Soest, Germany
pp. 0305
Session B1.3: Design For Assembly

The house of DFA (Abstract)

H.K. Rampersad , Sch. of Manage., Erasmus Univ., Rotterdam, Netherlands
pp. 0312

Comparative assembly planning during assembly design (Abstract)

G.J. Kim , Nat. Inst. of Stand. & Technol., Gaithersburg, MD, USA
S. Lee , Nat. Inst. of Stand. & Technol., Gaithersburg, MD, USA
G.A. Bekey , Nat. Inst. of Stand. & Technol., Gaithersburg, MD, USA
pp. 0319

Concurrent development of product families and assembly systems (Abstract)

P.C. Stadzisz , Lab. d'Autom., Univ. de Franche-Comte, Besancon, France
J.M. Henrioud , Lab. d'Autom., Univ. de Franche-Comte, Besancon, France
A. Bourjault , Lab. d'Autom., Univ. de Franche-Comte, Besancon, France
pp. 0327
Session B2.3: Motion Planning with Uncertainty

A path-space search algorithm for motion planning with uncertainties (Abstract)

L.A. Page , NYS Center for Adv. Technol. in Autom., Robotics & Manuf., Rensselaer Polytech. Inst., Troy, NY, USA
A.C. Sanderson , NYS Center for Adv. Technol. in Autom., Robotics & Manuf., Rensselaer Polytech. Inst., Troy, NY, USA
pp. 0334

Optimizing robot motion strategies for assembly with stochastic models of the assembly process (Abstract)

R. Sharma , Beckman Inst. for Adv. Sci. & Technol., Illinois Univ., Urbana, IL, USA
S.M. LaValle , Beckman Inst. for Adv. Sci. & Technol., Illinois Univ., Urbana, IL, USA
S.A. Hutchinson , Beckman Inst. for Adv. Sci. & Technol., Illinois Univ., Urbana, IL, USA
pp. 0341

An active prediction, planning and execution system for interception of moving objects (Abstract)

D. Hujic , Dept. of Mech. Eng., Toronto Univ., Ont., Canada
G. Zak , Dept. of Mech. Eng., Toronto Univ., Ont., Canada
E. Croft , Dept. of Mech. Eng., Toronto Univ., Ont., Canada
R.G. Fenton , Dept. of Mech. Eng., Toronto Univ., Ont., Canada
J.K. Mills , Dept. of Mech. Eng., Toronto Univ., Ont., Canada
B. Benhabib , Dept. of Mech. Eng., Toronto Univ., Ont., Canada
pp. 0347
Session B1.4: Fixturing II

Developing compatible grasp and fixture plans (Abstract)

W.F. Carriker , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
R.S. Mattikalli , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
P.K. Khosla , Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 0354

Fixture loading with sensor-based motion plans (Abstract)

K. Yu , Inst. for Robotics & Intelligent Syst., Univ. of Southern California, Los Angeles, CA, USA
K. Goldberg , Inst. for Robotics & Intelligent Syst., Univ. of Southern California, Los Angeles, CA, USA
pp. 0362

Proper clamping sequences in the fixturing of prismatic workpieces (Abstract)

Yu-Che Chen , Dept. of Mech. Eng., Tulsa Univ., OK, USA
pp. 0368
Session B2.4: Fine Motion Planning II

A neural network-based assembly algorithm for chamferless parts mating (Abstract)

Y.K. Park , Syst. Integration Dev. & Res. Center, Daewoo Electron. Co. Ltd., Seoul, South Korea
H.S. Cho , Syst. Integration Dev. & Res. Center, Daewoo Electron. Co. Ltd., Seoul, South Korea
pp. 0381

Derivation of contact states from geometric models of objects (Abstract)

Lixin Zhang , Dept. of Comput. Sci., North Carolina Univ., Charlotte, NC, USA
Jing Xiao , Dept. of Comput. Sci., North Carolina Univ., Charlotte, NC, USA
pp. 0375

A collision detection method for real time assembly simulation (Abstract)

Hyun Suk Kim , CAD/CAM Lab., Korea Inst. of Sci. & Technol., Seoul, South Korea
Heedong Ko , CAD/CAM Lab., Korea Inst. of Sci. & Technol., Seoul, South Korea
Kunwoo Lee , CAD/CAM Lab., Korea Inst. of Sci. & Technol., Seoul, South Korea
Chong-Won Lee , CAD/CAM Lab., Korea Inst. of Sci. & Technol., Seoul, South Korea
pp. 0387
Session B1.5: Motion Planning for Multiple Robots

Motion planning for multiple moving objects (Abstract)

Y.K. Hwang , Sandia Nat. Labs., Albuquerque, NM, USA
pp. 0400

Simplified motion planning strategies in flexible manufacturing (Abstract)

C. Mirolo , Dept. of Math. & Comput. Sci., Udine Univ., Italy
E. Pagello , Dept. of Math. & Comput. Sci., Udine Univ., Italy
Wen-Han Qian , Dept. of Math. & Comput. Sci., Udine Univ., Italy
pp. 0394

Real time planning method for multiple mobile robots (Abstract)

J. Ota , Dept. of Precision Machinery Eng., Tokyo Univ., Japan
T. Arai , Dept. of Precision Machinery Eng., Tokyo Univ., Japan
E. Yoshida , Dept. of Precision Machinery Eng., Tokyo Univ., Japan
D. Kurabayashi , Dept. of Precision Machinery Eng., Tokyo Univ., Japan
T. Mori , Dept. of Precision Machinery Eng., Tokyo Univ., Japan
pp. 0406
Session B2.5: Coordination

On-line planning of the pose of hand-eye system for determining the 3-D pose of a flexible object (Abstract)

Jong-Eun Byun , Dept. of Electr. Eng., Kyushu Univ., Fukuoka, Japan
T. Nagata , Dept. of Electr. Eng., Kyushu Univ., Fukuoka, Japan
pp. 0413

Time-optimal interception of objects moving along predictable paths (Abstract)

E.A. Croft , Dept. of Mech. Eng., British Columbia Univ., Vancouver, BC, Canada
R.G. Fenton , Dept. of Mech. Eng., British Columbia Univ., Vancouver, BC, Canada
B. Benhabib , Dept. of Mech. Eng., British Columbia Univ., Vancouver, BC, Canada
pp. 0419
Special Panel on Practical Approaches to Motion Planning

Robustness issues in path planning and control (Abstract)

R.A. Grupen , Dept. of Comput. Sci., Massachusetts Univ., Amherst, MA, USA
pp. 0429

Motion planning in virtual prototyping: practical considerations (Abstract)

Hsuan Chang , Corp. Res. & Dev., Gen. Electr. Co., Schenectady, NY, USA
pp. 0427

Current status and future research in motion planning (Abstract)

Y.K. Hwang , Sandia Nat. Labs., Albuquerque, NM, USA
pp. 0431

Author Index (PDF)

pp. 0433
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