Abstract: An assembly planning system that operates based on a recursive decomposition of assembly into subassemblies, and analyzes assembly cost in terms of stability, directionality, and manipulability to guide the generation of preferred assembly plans. The planning in this system incorporates the special processes, such as cleaning, testing, labeling, etc. that must occur during the assembly, and handles nonreversible as well as reversible assembly tasks through backward assembly planning. In order to increase the planning efficiency, the system avoids the analysis of decompositions that do not correspond to feasible assembly tasks. This is achieved by grouping and merging those parts that can not be decomposable at the current stage of backward assembly planning due to the requirement of special processes and the constraint of interconnection feasibility.

Abstract: A method for producing at least one three-dimensional body. Conditions for sensing at least one model are preset. The conditions includes at least an angle of at least one sensor with respect to a longitudinal axis of the model and a relationship between a rotation speed of the model and a speed of movement of the sensor and the model relative to each other in a direction parallel to the longitudinal axis of the model. The model is rotated while simultaneously moving at least one of the model and the sensor relative to each other in a direction parallel to the longitudinal axis of the model while simultaneously sensing a plurality of distances generated by interaction between the sensor and a surface of the model to obtain a first set of data. The preset conditions and the first set of data are transmitted to at least one control for controlling at least one working tool for producing the three-dimensional body.

Abstract: A seven-degree-of-freedom robot arm with a six-degree-of-freedom end effector is controlled by a processor employing a 6-by-7 Jacobian matrix for defining location and orientation of the end effector in terms of the rotation angles of the joints, a 1 (or more)-by-7 Jacobian matrix for defining 1 (or more) user-specified kinematic functions constraining location or movement of selected portions of the arm in terms of the joint angles, the processor combining the two Jacobian matrices to produce an augmented 7 (or more)-by-7 Jacobian matrix, the processor effecting control by computing in accordance with forward kinematics from the augmented 7-by-7 Jacobian matrix and from the seven joint angles of the arm a set of seven desired joint angles for transmittal to the joint servo loops of the arms. One of the kinematic functions constrains the orientation of the elbow plane of the arm. Another one of the kinematic functions minimizing a sum of gravitational torques on the joints.

Abstract: A method and apparatus for converting input symbols of a fixed length, to output symbols of a greater fixed length. Input symbols are received one at a time and are clocked into the staging register. When a new input symbol is loaded into the staging register, the contents of the first stage are moved to a second stage of the staging register. The new input symbol is loaded into the cells of the first stage. Multiplexers select the contents of cells of the staging register to form the output symbol. A modulo-x counter counts the incoming input symbols. The output of the counter determines which cells the multiplexer selects. Initially, the first stage of the staging register is preloaded with a predetermined pad symbol, and the modulo-x counter is preset. The first output symbol consists of a number of bits from the pad symbol and those bits of the first input symbol needed to complete the first output symbol.

Abstract: A radio communication device (100) receives a radio frequency (RF) signal comprising at least first, second, and third words which include message information and error correction information, wherein the second and third words are redundant words associated with the first word. A processing unit (120) included in the radio communication device (100) compares each corresponding bit of the first, second, and third words to determine, for each corresponding bit, which of first and second bit values is a majority bit value and generates a fourth word which includes a bit for each corresponding bit, wherein each bit of the fourth word has a value equivalent to the majority bit value corresponding thereto.

Abstract: A system and method for the repetitive selection of a group of items which utilizes a series of sensors associated mounted in a frame structure adjacent supplies of items so that the manual selection of an item or items from a supply can be monitored. A programable logic controller is utilized for allowing the system to be "taught" so that it can easily be used for the repetitive selection of many different desired groups of items without the necessity of rewiring or constructing a totally new device.

Abstract: A controller is provided for driving at least two systems in synchronization with one another. The controller provides a pseudoperiodic drive to drive the two systems at a desired frequency and to ensure that the two systems are synchronized. The pseudoperiodic drive can be produced by combining a periodic drive with a chaotic drive, noise drive or an incommensurate frequency drive. Any of these types of drives can be combined with the periodic drive by adding to or modulating the periodic drive. Thus, the controller can drive the two systems in phase with one another by using the same pseudoperiodic drive.

Abstract: A strip is displaced longitudinally with its edges parallel to a stationary machine centerline at a predetermined travel speed through a monitoring station and through a trimming station spaced downstream from the monitoring station and equipped with a pair of transversely offset trimming heads. The transverse offset of the strip edges relative to the machine centerline is continuously monitored at the monitoring station and respective outputs corresponding to the transverse offsets between the respective edges and the machine centerline at the monitoring station are produced. The time the strip takes to travel from the monitoring station to the trimming station is calculated based on the strip travel speed and the longitudinal spacing between the stations. The trimming heads are transversely displaced in accordance with the calculated time and the respective transverse edge offset such that the heads remain in contact with the strip. Continuous edge portions are thus cut from the strip with the heads.

Abstract: An optical disk having its disk inventory at the picker level is disclosed. The library includes two library controllers and four pickers. Each library controller maintains a list of the storage media in the entire library, but has no disk location inventory. The library controllers are not coupled to each other. Each picker has exclusive access to a set of storage cells and internal peripheral storage devices. In addition, the picker controller for each picker maintains the disk location inventory for the disks accessible by such picker. During a failure condition which prevents one library controller from accessing a particular storage medium, the other library controller can be signalled to attempt to access such storage medium. The overhead associated with maintaining two identical copies of the inventory in the library controllers is therefore eliminated.

Abstract: This invention relates to a position controlling method for a robot in which a residual vibration is suppressed during the position controlling of a horizontal multiple articulation robot or an orthogonal robot. High speed position control is possible. A sampling time is reduced by executing acceleration and deceleration with a discrete time state equation. Highly precise control for a robot is obtained by a method which determines the maximum movement amount from the movement amount of each axis at an input pulse number computing step. The method also seeks the number of input pulses moved at every sampling time in the case of no acceleration and deceleration. The method further seeks the input pulse of the axis except the axis of maximum movement amount from the number of input pulses. The aiming position of each axis at every sampling time is computed using the discrete time state equation. The present position of each axis is detected.

Abstract: A method for controlling a sorting apparatus of the type including a plurality of mobile carriages for the transport and unloading of objects transported, in which: a predetermined advance time "t" with respect to the moment of unloading, a signal is sent to the carriage which activates the unloading motor in accordance with a predetermined scale of acceleration and for a pre-set time interval. In return a confirmation signal is generated. In the absence of the confirmation, a new signal is sent analogous to the preceding one, so as to control the unloading with an advance time "t" reduced by an interval of .DELTA.t equal to the time period between the sending of the first and second control signal.

Abstract: Conventional Boolean Logic Control is augmented to provide enhanced diagnostics, monitoring, and fail safe operation for dynamic systems having distributed discrete-valued sensors and actuators. A decentralized model of a controlled system defines behavior and timing models for both sensors and actuators, termed Control Elements (CEs). Each CE has a first model for transition from state 0 to 1, and a second model for transition from state 1 to 0. Each behavioral model is defined by an Event Signature comprising a sequence of state changes in neighboring CEs. A continuous evaluation of event signatures is performed to compute a probability that a given CE will change state. An Expectation Function is used to check and enforce the correct behavior of a CE. A statistical temporal model predicts delays in the states of a CE as a function of its previous and current delays.

Abstract: An apparatus and method for configuring semiconductor jobs to achieve a desired level of set serviceability, in either probability or expectation, using a minimal number of wafers. The configuration problem is formulated as a mathematical optimization, where the serviceability level and yield losses, at chip, wafer and job levels, are explicitly considered. The problem is then reformulated by replacing the mathematically intractable service level constraints with tractable lower bounds. The reformulated mathematical optimization is efficiently solved using marginal allocation, giving good, feasible solutions to the original configuration program.

Abstract: A feedback apparatus used in combination with a programmable machine controller for a multi-spindle screw machine wherein each spindle has a corresponding machine tool mounted on a moveable servo slide. The feedback apparatus includes at least one measurement device that produces an electrical output indicative of a dimensional characteristic of each work piece. The measurement device data is inputted to a data analyzer that calculates average values and range for a predetermined subgroup number of work pieces. The analyzer provides this data electronically to a programmable offset device that determines new offset values for the machine tool slides to maintain the subgroup average values and range within predetermined limits. The feedback apparatus provides "on the fly" offset updates to the machine controller to compensate for average machine process performance as well as individual machine tool and spindle performance.

Abstract: A control system for a balancing machine has a main computer with a keypad and monitor, an auxiliary computer for managing the balance measurement and correction functions and sharing the same keypad and monitor. Each computer controls the machine through a programmable logic controller (PLC). A video sharing circuit allows direct coupling of each computer to the monitor and includes a switching function under control of the main computer via the PLC to determine which computer will control the monitor display. A dedicated key command on the keypad controls the switching of the monitor control. Software in each computer responds to the dedicated key command for monitor control and also enables response to all other keypad commands by the computer which currently controls the monitor.

Abstract: An exposure data organizing method, and an exposure apparatus operable in accordance with the method, organizes exposure data defining a composite pattern to be exposed. The composite pattern comprises at least one compressed, repeating exposure pattern and a non-compressed, non-repeating exposure pattern each comprising plural predefined unit deflection region to which respectively corresponding portions of the exposure data relate. The exposure patterns are relatively arranged in accordance with the composite pattern and respective, individual identifying members are assigned thereto.

Abstract: A method of operating a sand screw comprises: sensing speed of a sand screw delivering sand; determining a corrected delivery rate of sand, including converting the sensed speed of the sand screw into the corrected delivery rate of sand in response to predetermined sand screw delivery rate conversion data; and controlling the speed of the sand screw in response to the corrected delivery rate of sand. The sand screw delivery rate conversion data is based on first and second order polynomials defining the relationship between conventionally determined indicated sand screw delivery rates (i.e., using sand screw speed and a selected calibration factor) and actual delivery rates based on measured sand output.

Abstract: A device for verifying the correct employment of the yarns used by a textile machine, which enables improper use, inexact feed velocity of each yarn used and inexact length of the machine operating cycle to be indicated, and in addition measures the consumption of each yarn used for the fabric.

Abstract: An optimal control system for canceling the undesired responses of a linear istributed-parameter system in response to an input stimulus. The control system is optimally distributed and its design is based on the extension of the Pontryagin's maximum principle for a lumped-parameter system to a distributed-parameter system. The technique is to transform the stimulus-to-undesired-output transfer function of the distributed-parameter system into a multidimensional discrete state-space model, and to require a performance criterion to be defined. Theorems have been established to give conditions for asymptotic stability of the closed-loop distributed-parameter system, and to set up weighting factors for the performance criterion. An optimal distributed-control system can force the states of the distributed system to behave according to the prescribed performance criterion regardless of the boundary and initial conditions.

Abstract: When a non-contact tracing of a configuration of a three-dimensional model is carried out, the measurement axis of a tracer head is controlled to always be facing in an optimum direction with respect to a model surface by controlling the attitude of the tracer head, to thereby create tracing data of the configuration of the model. The tracer head is provided with two non-contact distance sensing units, and a normal vector of the model surface is determined based on a measurement value obtained by sampling tracing data supplied from the tracer head. At this time, the direction of a normal vector is determined from the outer product of surface vectors in a range in which the angle between an axial vector starting from a measurement point of the measurement axis of the tracer head and the normal vector at the measurement point does not exceed 90.degree.. The tracer head is controlled to be rotated in the direction toward a projection obtained by projecting the normal vector on a predetermined plane.