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in Journal of Intelligent and Robotic Systems Vol:37, 2003. S. Y. NOF and J. CHEN Presented By –

ASSEMBLY AND DISASSEMBLY: AN OVERVIEW AND FRAMEWORK FOR COOPERATION REQUIREMENT PLANNING WITH CONFLICT RESOLUTION. in Journal of Intelligent and Robotic Systems Vol:37, 2003. S. Y. NOF and J. CHEN Presented By – Ajit Vaze. Assembly Example. Assembly Example. Assembly.

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in Journal of Intelligent and Robotic Systems Vol:37, 2003. S. Y. NOF and J. CHEN Presented By –

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  1. ASSEMBLY AND DISASSEMBLY: AN OVERVIEW ANDFRAMEWORK FOR COOPERATION REQUIREMENT PLANNINGWITH CONFLICT RESOLUTION in Journal of Intelligent and Robotic Systems Vol:37, 2003. S. Y. NOF and J. CHEN Presented By – Ajit Vaze

  2. Assembly Example

  3. Assembly Example

  4. Assembly Building together certain individual parts , subassemblies and substances in a given quantity and within a given time period. Disassembly All processes that break down the structure of geometrically defined bodies within a given time period.

  5. Design for Assembly and Disassembly (DFAD) • Considers issues that will affect assembly during the design procedure and the assembly’s life-cycles. • Integrates the specific domain knowledge of manufacturing, design and decision-making • Aims to reduce the cost of assembly and improve its quality.

  6. DFAD • Product simplification which leads to part’s cost reduction. • Reduction in inventory • Reduction in record keeping • Improvement in material and production flow

  7. Integration of AI in DFAD • Need: Complexity of assembly and product design. • Benefits: • Improved design quality with fewer errors. • Less training and expertise necessary for designers for utilizing CAD tools. • On-line advice on how to improve design work. • AI can reduce the cycle time of the design procedure.

  8. Ways to introduce AI in DFAD • Rule based knowledge systems • KBS for interface with assembly CAD • KBS for interface with facility design • KBS for assembly and manufacturing design • Constraint net knowledge systems. • AI in assembly planning

  9. AI in Assembly Planning • Assembly knowledge representation • Assembly sequence generation and planning • Integrated assembly and task planning

  10. Cooperation Requirement Planning (CRP)

  11. Cooperation Requirement Planning (CRP) • CRP- I : Applies assembly planning techniques to generate the cooperation measures for assembly tasks. • CRP – II : Generates global assembly plan by applying best first search method.

  12. Cooperation Requirement Planning (CRP) • Interaction conflicts resolved by time delays, communication methods, or path modifications. • Cooperation considered throughout the planning • Minimal constraints on the plan for maximum flexibility. • Generate plans that can be completed most effectively with the available equipments. • Integrates assembly sequence planning with execution task planning.

  13. Extended Framework for CRP (ECRP)

  14. Extended Framework for CRP (ECRP) Introduction of following modules along with cooperation requirement planning : • Conflict Resolution Module : Detects conflicts inside the CRP and solves the identified conflicts. • Error Recovery Module : Checks the received error information and recovers from the error automatically.

  15. Extended Framework for CRP (ECRP) • ERROR RECOVERY • NEFUSER : Neural Fuzzy System for Error Recovery. • Recognition and recovery from different types of errors • Data supplied from touch or optical sensors • Data processed as on-line learning source.

  16. NEFUSER

  17. Extended Framework for CRP (ECRP) Conflict Resolution • Possible types of conflicts: • Interference among machines • interference among material flow • Effects of conflicts • Redesign of the facility and/or product • Regeneration of assembly execution plan

  18. Mcr System • Objectives • Automatic detection of potential conflicts • Automatic resolution of conflict • Prevention of future conflicts This system is incorporated in Facility Description Language (FDL). The resulting version is FDL-CR (Lara and Nof, 2001)

  19. Mcr System

  20. Mcr System Four typical conflict situations • Conflict situation during layout design. • Conflict during determination of product routing • Conflict during selection and programming of robotic equipment • Conflict during selection of visual sensors

  21. Mcr System Five stages of conflict resolution • Direct negotiation • Incorporation of additional parties • Third party mediation • Persuasion • Arbitration

  22. Results • Improved performance of method • Computer based learning increased usefulness of the method • Increased effectiveness of the facility design process • Significant reduced cost

  23. Expected Cost without Mcr (Unbounded Cost) Results

  24. Expected Cost with Mcr (Bounded Cost) Results

  25. Future Challenges • Web-Enabled Assembly and Disassembly • Synchronous communication and manipulation of 3-D part models on the Web • Full integration of devices for assembly • Web-based systems for decision making activities and conflict resolution

  26. Future Challenges • Micro assembly • Preparation of parts to be assembled • Transportation of parts • Positioning and fixing the finished system • Connecting the parts • Testing and measuring the finished system • Integration of micro assembly with micro-product design and micro-robot design.

  27. Questions??? Thank You

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