Smart Robots

Machine Vision.- Hierarchical Bottom-Up Approach.- Hierarchical Top-Down Approach.- Heterarchical Approach.- Blackboard Approach.- Levels of Representation.- Representation Methods and Techniques.- Low Level Features.- Extracting Edges and Areas.- Segmentation and Interpretation.- 2-D Representation, Description and Recognition.- Recovery of Intrinsic Surface Characteristics.- Higher Levels of Representation.- Tracking.- Research in Model-Based Machine Vision Systems.- Machine Vision Systems.- General Characteristics.- Machine Vision Inspection Systems.- Machine Vision Recognition and Location Systems.- Commercially Available Machine Vision Systems.- Developers of Machine Vision Systems.- Sources of Research Funding.- Summary of the State of the Art.- Human Vision.- Low and Intermediate Levels of Processing.- Machine Vision System Development.- Current Problems and Issues.- Research Needed.- Future Trends.- Conclusion.- 6. Robot Manipulators.- Configurations.- Jointed Arms.- Cartesian Coordinate.- Cylindrical Coordinate.- Spherical Coordinate.- Actuators.- Work Volume.- Common Work Volume Shape.- Limits on Work Volume.- Optimization.- Robot Controllers.- Dynamic Properties.- Dynamic Performance.- Stability.- Spatial Resolution.- Accuracy.- Repeatability.- Compliance.- 7. Natural Language Processing.- Natural Language Models.- Type A: No World Models.- Type B: Systems that Use Explicit World Models.- Type C: Systems that Include Information about the Goals and Beliefs of Intelligent Entities.- Grammar.- Semantic Processing.- Knowledge representation.- Parsing.- Semantics, Parsing and Understanding.- Natural Language Processing Systems.- Typical System Configurations.- Research Systems Under Development.- Commercial Systems.- Development Facilities.- Complexities of Natural Language Processing.- The Future for Natural Language Processing.- 8. Expert Systems for Robotics.- Fundamentals of Expert Systems.- Expert System Architecture.- The Knowledge Base.- Design Techniques.- Current Expert Systems.- Robotic Applications of Expert Systems.- 9. Computer Integrated Manufacturing.- What is a Computer Integrated Manufacturing System?.- CIMS Benefits.- When to Use CIMS Technology.- Challenges to Management and the Organization.- CIMS Acquisition.- Steps in the Acquisition of a CIMS.- Establishing the CIMS Task Force.- CIMS Implementation Plan.- The Request for Proposal.- Evaluations.- Description of Computer Integrated Manufacturing System Elements.- Detailed Description of a Computer Integrated Manufacturing System.- Work Stations.- Material Handling System.- Control System Software.- Other Significant Elements.- Three Example Computer Integrated Manufacturing Systems.- Kearney and Trecker CIMS at AVCO-Lycoming, Stratford, Connecticut.- Detroit Diesel Allison, Indianapolis, Indiana.- Giddings and Lewis CIMS at Caterpillar Tractor Company, Aurora, Illinois.- Projected Trends in CIMS Technology.- Appendix A: Glossary.- Appendix B: Bibliography.