Abstract: In a pattern-matching network, such as a RETE, elapsed time for successive pattern matching operations is reduced by selectively priming predetermined ones of pattern-matching nodes, such as beta nodes, by caching stabilized computed delta input or argument values derived from ones of the predecessor nodes that appear not to change during the conduct of one of the tests in the node. The computed argument value caching occurs in an argument storing portion of any test to be conducted using a cached argument value. At any node, different tests may or may not be able to used cached argument values.

Abstract: A controller in which proportional integral (PI) arithmetic is effected on a deviation between a measurement or process signal from a process or controlled system and a control set value, and a resultant manipulation signal is outputted to the process. A waveform of the process signal or the deviation signal is observed. PI arithmetic parameters undergo self-tuning so that the measurement result becomes a preset response target.

Abstract: A stepping motor control and driving circuit is provided to control stepping motors used to move a manipulator robot. The stepping motor control receives digital desired velocity and acceleration data from a controller computer and uses those instructions to generate and maintain appropriate control signals. The drive circuit, operating in response to the control signal, uses a summing amplifier responsive to output voltage and current to control the output impedance of the circuit.

Abstract: An ultrasonic scanning system for testing large curved components of fiber/resin matrix composite material, the system ultrasonically testing these components with water jet probes caliper-mounted on the working arm of an industrial robot. The computer reads CAD data appertaining to the component, transfers it to robot-compatible form and delivers it on demand to the robot computer. The computer also reads the data output from the probe and reconciles it with the CAD data to yield as an output a quality map of the component. Instantaneous probe position on the surface of the work piece is computed from data on the starting position of the scanning movement of the probe, and the scanning velocity of the probe.

Abstract: A frequency control system is provided for controlling the radio frequency of a mechanically tuned coaxial magnetron under a wide variety of environmental conditions by initially tuning the magnetron according to resident tuning data and in response to a received frequency command signal, directly measuring the frequency of the magnetron output, comparing the frequency command signal with the actual frequency of each of a series of sampled output pulses, modifying a dynamically adapting calibration function according to any differences found during the comparison, retuning the magnetron according to the modified calibration function, and repeating the process to maintain the magnetron output frequency in agreement with frequency command signals. The coefficients of the calibration function converge to an optimum set of values within a few pulses.

Abstract: An ideal motion trajectory for a robot arm is first resolved into N successive linear segments comprising N+1 points. These N successive linear segments are then converted into a lesser number of linear robot arm linear motion sections in accordance with the predetermined position tolerance of the robot arm. The sum total of the linear robot arm motion arm. The lesser number of linear motion sections results in a substantial savings in data memory and at the same time tends to optimize an approximation of the ideal motion trajectory.

Abstract: Apparatus and method are provided for automatically controlling the position of one or more objects. The apparatus comprises a position control network which receives macro-type movement commands from a mainframe computer. The network includes a plurality of interface processors each adapted to provide a plurality of micro-commands in response to each macro-command. The micro-commands are supplied to motion controllers which in turn control the movement of servomotors. The servomotors position the object. Position encoders are provided to monitor the position of the objects and provide position data to the interface processor for transmission to the mainframe computer. A novel method is disclosed which employs the foregoing apparatus to provide synchronous motion of two or more objects.

Abstract: The process names of machining processes to be balance cut are registered in a parameter storage area (13a) in advance. If the name of the balance cutting process registered in the parameter storage area has been inputted in the machining process input step, a conversational frame calling for the tools of the first and second tool rests used in the balance cutting is displayed on a display unit (15) in the next used tool data input step.When there is a request to create first and second NC programs for respectively controlling the first and second tool rests using all of the conversationally inputted data, a processor (11) creates the first NC program for controlling the first tool rest in the order of the inputted machining processes, and inserts an instruction (e.g. a G-function instruction "G68") in front of NC data for executing the balance cutting process, which instruction is for moving its own tool rest in symmetrical fashion in synchronism with the other tool rest.

Abstract: A production process control system comprising a plurality of terminal devices and a central device connected to the terminal devices, each of the terminal devices at least including means for counting the amount of work done (i.e. output), means for entering a worker identifying code and means for transmitting the counted output and the entered worker identifying code to the central device, the central device at least having means for performing communications with each terminal device and means for storing the output and the worker identifying code transmitted from the terminal device as associated with each other.

Abstract: An improved system for controlling the operation of a cyclically moving shear mechanism, including a circuit for automatically synchronizing the cyclical actuation of a fluidic drive assembly to the timing of a related mechanism such as a glass gob feeder. The synchronizing circuit increases or decreases a "start delay time" each cycle if a Return sensor signal precedes or follows a Start signal, respectively. A count corresponding to the Start Delay period is adjusted within a single cycle by the amount required to bring the return sensor signal and the start signal back into synchronism in subsequent cycles.

Abstract: A method to control the discharge of wastewater to receiving waters includes using a site specific computer program model to predict the amount of wastewater which can be discharged to the receiving waters. A signal derived from the computer model is used for controlling values, sluice gates, or pumps to thereby control the discharge of the wastewater. The computer program model is provided with a series of equations dealing with physical, chemical and biological data and with site specific data of the receiving stream so that wastewater discharge is carried out on a real time basis.

Abstract: A controller for an apparatus for installing a mechanical tube plug includes a controller having a controller console remote from the tube installation site and a solenoid assembly located proximate to that site. The console includes switches and indicators for providing a rotation control signal to the apparatus. The solenoid assembly includes a circuit for receiving a torque indication signal from the apparatus and an alarm circuit for setting the torque at a predetermined upper limit in response to a signal input at said controller console. The circuit operates to terminate rotation control and disable the apparatus when said limit is reached. Other features of the controller are also disclosed.

Abstract: The method of regulation employs a simulation process for at least one state variable of an apparatus to be controlled and regulates the state variable. In the process, a curve of an operating characteristic having its base at an idle state value is traversed up to an operating state value. When re-regulating, the regulation process begins at the current value of the state variable. The value of the regulation variable corresponds to the idle state. This has the advantage of a defined initial point for re-regulation. A regulating device for performing the method of regulation comprises a series circuit containing an input circuit, a regulation circuit with a simulation device for regulating an apparatus as well as a control circuit for possible machines coupled to the apparatus. The simulation device is adjustable according to operating characteristics or apparatus parameters. Another regulating device fulfills the same function while employing a computer and correspondingly modified circuits.

Abstract: A computer implemented control system which includes interface circuitry by which signal intelligence is taken in to the computer from external devices such as sensors and is fed out from the computer to external devices such as actuators which correctively adjust controlled parameters. An interface circuit for each of the several external devices is made "universal" in that either an analog input, bistate input, analog output, or bistate output device may be connected to any given one of the terminal points. A voltage follower amplifier sends the intelligence signal to an output device through a low-cost diode, with negative feedback taken from the downstream side of the diode. When an input device is elected for a given terminal point, simple program editing assures that the diode will be reverse biased to isolate the amplifier from the input signal path.

Abstract: In the present invention, a method for compacting two modules on a planar field is disclosed. Each of the modules has an edge which is closest to the other module and are positioned, if extended, to intersect with one another. Each of the edges is characterized by two end points. The method comprises determining if the edges intersect by divergence or by convergence. A constraint between one of the end points of one edge and one of the end points of the other edge is then calculated. The modules are then moved in a direction until the corrdinates of one of the end points of one edge and one of the end points of the other edge are separated by no less than the calculated constraint.

Abstract: Based on an offset direction which indicates whether a laser beam (RB) is offset in a direction to the right side or left side of a travelling direction contained in a motion definition statement, and the direction of a curve at a corner portion (CN) of a laser beam path (b.sub.i,b.sub.i+1), it is determined whether an inner side or outer side of the beam path at the corner is a part (PT). If the inner side of the corner is a part, an NC part program for laser machining is created upon inserting a preset escape path (EP) in the corner portion of the beam path. If the outer side of the corner is a part, an NC part program for laser machining is created in such a manner that similarly set machining conditions prevail in preset machining condition modification intervals.

Abstract: A manufacturing system and method wherein a dynamic buffer region is maintained under computer control within a centralized region surrounded by individual machining stages. Robots, preferably mounted on rotating overhead bridge beams, function to feed the machine stages as well as accommodate for surges in the production sequence occasioned due to imbalances in cycling times, down time in the machine and the like. Computer control over the buffer region provides for the assignment and reassignment of storage locations therein for workpieces to maintain system production. Safety techniques are provided limiting operator access to individual machine stages for down time maintenance and function to assure that robots otherwise servicing the down machine stage are excluded from that machine region.

Abstract: Package wrapping machine infeed conveyor and film web control utilize an infeed conveyor position signal compared to film web signal to adjust the film web letoff to the article in feed conveyor to deliver the article and the film web to a film forming location in register. A processor outputs a digital signal to a motor speed controller which will increase or decrease the feed web letoff rate. Input from the infeed conveyor may be processed by the processor to perform forward or reverse correction as necessary to synchronize the infeed conveyor with the film web letoff.

Abstract: A machine vision process and apparatus for reading a plurality of separated figures, such as the hole-position diagram of a printed-circuit board; the apparatus comprises an X-Y table to be moved on a plane and to be positioned at a given position, two photographing devies such as camaras being mounted over the X-Y table, and an image processing unit. The X-Y table is used for placing a diagram or the like so as to facilitate a first camera to photograph a large area and to facilitate a second camera to photograph a small and detailed separated figure. The image signal obtained will be transmitted to the image processing unit to find out the center coordinates of every separated figure, and the size and shape of every separated figure classified so as to find out the control data of size, position and the moving path in the real production process.

Abstract: An automatic system for the control and fault detection of discrete devices used by a batch process which eliminates extensive function block configurations and system loading in process control systems by providing an assembly to monitor the discrete devices and means to match the monitoring assembly to the discrete devices and controlling the monitoring assembly.