http://www.ifac-papersonline.net/ en Copyright 06:05 PM Tuesday 07, 2012 IFAC-PapersOnline http://www.ifacpapersonline.com 06:05 PM Tuesday 07, 2012 06:05 PM Tuesday 07, 2012 ET webmaster@ifac-papersonline.net webmaster@ifac-papersonline.net http://www.ifac-papersonline.net/Detailed/38998.html 04:00 PM Wednesday 31, 1969 This paper deals with simple assembly/disassembly line balancing problems. We developed a heuristic algorithm for estimating the minimum number of workstations at a given cycle time. Although heuristic, the algorithm enables the search for exact solutions of balancing problems of intermediate size. This has been demonstrated by applying the method to task precedence graphs composed of up to 25 tasks. Not only the complete set of solutions with the minimum number of workstations was generated by the algorithm, but it also enabled the detection of the best solution with regard to the smoothness index, i.e. the optimally balanced task assignment. This has been obtained by reduction of the size of the search space via appropriate classification in sets of equivalent partial assignments were generated in the course of the calculation. We demonstrated the method on the basis of two different task precedence graphs that have been selected from the literature. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/38994.html 04:00 PM Wednesday 31, 1969 A known-optimal solution benchmark data set consisting of varying-size instances has been formulated for use in the evaluation and analysis of heuristics used to solve the disassembly line balancing problem. These scalable instances are easily modified to allow for consideration of larger or smaller workstation cycle times (or bin sizes) and also have application to assembly line balancing problems and to the general class of bin-packing problems. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/38997.html 04:00 PM Wednesday 31, 1969 Current assembly and disassembly networks create many challenges to the comprising enterprises due to their distributed nature. Furthermore, globalization has an added level of complexity for the cooperation between members of the supply networks. This article explores the implications of incorporating a Best-Matching protocol into the design of the extended framework Cooperation Requirement Planning (ECRP) in robotic assembly/disassembly. A Best-Matching enabled Cooperation Requirement Planning framework for enhanced conflict resolution and error recovery is developed. Recent research by PRISM Center members to facilitate ECRP is reviewed and expanded to include the benefits of incorporating best-matching into the decision making process. Implementation challenges to global networks are also discussed. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/38991.html 04:00 PM Wednesday 31, 1969 Sampling-based path planning algorithms are powerful tools for computing disassembly motions. This paper presents a variant of the RRT algorithm particularly devised for the disassembly of objects with articulated parts. Configuration parameters generally play two different roles in this type of problems: some of them are essential for the disassembly task, while others only need to move if they hinder the progress of the disassembly process. The proposed method is based on such a partition of the configuration parameters. Results show a remarkable performance improvement compared to standard path planning techniques. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/38992.html 04:00 PM Wednesday 31, 1969 An essential criterion for a disassembly system is the benefit it brings, that is the revenue brought by the retrieved parts and material, decreased by the cost of their retrieval. In the recycling industry the main problem is the uncertainty that occurs during the disassembly operations. A fast scheduling algorithm is proposed so as to optimize the income flow of the disassembly system taking into account alternative destructive operations. Two examples from industry are given. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/38995.html 04:00 PM Wednesday 31, 1969 End of Life Management (EOL) is currently a hot topic in the electronics industry. Currently mostly IT equipment and goods of consumer electronics are considered. In the nearest future automation equipment have also to be taken into account. There are three possibilities depending on the age and kind of the device: Resell - Reuse - Recycle called the "3R 's". For recycling fully or semi-automated disassembly will gain in importance in the nearest future especially for automation devices. Developers of automation devices have to take into account EOL because of regulations and laws as well as according to ethical codes contributing to protection of the environment. First ideas about EoL of selected equipment for process as well as manufacturing automation will be presented. As a case study industrial robots were selected. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/39002.html 04:00 PM Wednesday 31, 1969 Industrial application of machine vision is a multilayer problem which demands a great amount of expert knowledge, experiences and innovations. Usually the procedure is split into precise determination of tasks and goals, into machine vision component selection and working conditions component selecting of machine vision, and finally development of an automatic part handling system. This paper is focused on the machine vision tasks determination and influence of lighting on the inspection and measurement of EM stator. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/38996.html 04:00 PM Wednesday 31, 1969 In complex task domains such as assembly and disassembly, robots need to reason about the tasks and the environment in order to make decisions. Reasoning should be based on experience acquired by the robot through interaction with users and other robots. This paper focuses on the use of learned semantic structures for failure recovery in assembly, a classical problem that, nevertheless, is far from receiving from the robotics community the due attention. A method for failure recovery planning guided by learned semantic knowledge is described, formally analyzed and empirically evaluated. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/38985.html 04:00 PM Wednesday 31, 1969 http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/38990.html 04:00 PM Wednesday 31, 1969 We introduce techniques used to generate a complete disassembly-to-order (DTO) plan. DTO is a system where a variety of returned products are disassembled to fulfill the demand for specified numbers of components and materials. Complete DTO plan includes the optimal number of take-back products which maximize profit and minimize costs of the DTO system, the number of products to be sent through each disassembly station (non-destructive, destructive and mixed disassembly) including the type of disassembly to be performed (viz., complete or selective) and the optimal disassembly sequence of each product type to help minimize the complexities and the total disassembly time. Techniques implemented to solve the problem are Genetic Algorithm, Linear Physical Programming and refining algorithm. In this paper, we describe how these techniques can be combined to solve for a complete DTO plan. A numerical example is considered to illustrate the methodology. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/39005.html 04:00 PM Wednesday 31, 1969 This paper proposes a method to obtain grasping points oriented mainly to disassembly cooperative tasks. It is based in applying morphological operations to binary images, which represent the inertial plane of the product to be disassembled. The method is concern in disassembled application with two or more robotic manipulator working cooperatively, and in task in which robots interact with humans. It takes into consideration constraints like: load balance, cooperation type, and accessible surface. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/38999.html 04:00 PM Wednesday 31, 1969 Haptic devices allow the user to feel the reaction forces and torques that arise when the virtual object attached to the user-manipulated probe touches the other objects in the virtual environment. Additionally, the user may feel some guiding constraints and forces that aid him in the completion of a virtual task. Also, haptic devices are used as master devices in teleoperation tasks and may include force reflection from the real forces sensed by a force sensor located at the robot wrist. Both operation modes can be combined to set up an assisted teleoperation system able to execute assembly tasks. This paper proposes the use of path planning techniques based on harmonic functions to generate a guiding force that aids the user during the teleoperation. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/38993.html 04:00 PM Wednesday 31, 1969 The paper describes a networked fault-tolerant assembly system of job shop type containing multiple robotized stations operating under visual control. During the assembly process, the products are identified, located, qualified, and controlled by analyzing images from virtual cameras associated to stationary- and arm-mounted cameras. The holonic control architecture is formed by the following types of entities: a Global Assembly Scheduler generating Order Holons, a dual layer of Material Handling (Robot) Holons and Sensory Holons, and a System Monitoring & Database entity. These elements are embedded in a 3-layer computing & control structure, and interconnected by a 4-fold fault-tolerant communication network keeping track of assembly job execution. Implementing issues and experimental results are reported. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/38988.html 04:00 PM Wednesday 31, 1969 Assembly automation is a classical field and well known since the late seventies. Disassembly automation is quite new and comes up approximately 15 years ago. In this paper some ideas and recent research results dealing with "intelligent" automation of assembly and disassembly are presented. Assembly automation is a classical application field of robotics today. Robots will be more and more included in assembly cells. The flexibility of these cells offers possibilities to automate assembling and disassembling of small and medium series. An approach for increasing the efficiency of disassembly cells - disassembly families - discussed. First ideas to introduce mobile robots in disassembly are presented. The premises and new direction in development of assembly and disassembly systems conclude the paper. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/38986.html 04:00 PM Wednesday 31, 1969 http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/38989.html 04:00 PM Wednesday 31, 1969 This lecture introduces an overall framework for applications of Product Embedded Information Devices (PEID) such as RFID, sensors, on-board computers etc. in Product Lifecycle Management (PLM). Recently, with emerging technologies related to product identification and wireless mobile telecommunications, PLM provides a new environment that enables lifecycle actors to gather and analyze product lifecycle information, and make efficient decisions without spatial and temporal constraints. PEID applications in PLM are seen from two viewpoints: technical and business. To this end, an overall framework for PEID applications in PLM is proposed. It contains the definition of a PEID its specification and operation scenarios. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/39000.html 04:00 PM Wednesday 31, 1969 This paper presents an interactive computer simulator that can be used in the field of practical training in Robotics. The tool can provide basic training for workers as well as increase their knowledge about robotic concepts. The application offers a very user-friendly interface and a realistic environment which allows the practice of many robotic principles. It also introduces Easy Java Simulations (EJS for short), a Java-based tool which has been used to create the virtual laboratory. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/39004.html 04:00 PM Wednesday 31, 1969 Some devices that are containing LCD- screens with a flat bigger than 100 cm2 are sub-summed under the word LCD- devices. These products are: LCD- flat screen computers, LCD- flat screens, TV- screens, notebooks, display devices for computer games..... Their number will be increasing dramatically in the nearest future. In this contribution first ideas for "End of Life management - EoL" of such devices, especially possibilities for semi automated disassembly according to the technologies currently available, will be presented and shortly discussed. Main problems are currently the different sizes, the different materials and the "disassembly unfriendly" design. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/38987.html 04:00 PM Wednesday 31, 1969 http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/39001.html 04:00 PM Wednesday 31, 1969 The society demands are forcing manufacturing industry to reuse and recycle the products at the end of their life for ecological and economical reasons. Therefore, the design of flexible automated disassembly systems is becoming an imperative issue. These designs are usually performed using widespread simulators which are limited in their application to flexible automatic disassembly systems. Thus, new features are required to design, simulate, control and supervise this kind of systems. The aim of this paper is to introduce a virtual platform including the features needed to design and implement a prototype of a flexible automated disassembly system. Several disassembly processes are implemented in the platform showing its possibilities to be considered as a complete tool for prototyping flexible automated disassembly systems. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif http://www.ifac-papersonline.net/Detailed/39003.html 04:00 PM Wednesday 31, 1969 This paper discusses a method to evaluate the potential of texture analysis in the automated inspection and sorting of seeds. Two special procedures for image processing considered the most suitable for this aim are presented: one that allows to compute the energy of the sub bands of a Wavelet Transform, the other that determines the local and connected fractal dimension of an image. Then an interactive decision support system that uses for the classification of images the cumulative feature vector including the wavelet coefficients and the fractal dimension is described, together the procedure to take decisions on the image relevance. http://www.ifac-papersonline.net/static/luna/images/ifac/icon-download.gif