Intelligent Material Handling Systems: Integrated Modelling and Control for Intelligent Material Handling

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This award is in the joint ENG/CISE Research Thrust in Intelligent Material Handling Systems. The objective is to develop and demonstrate a novel intelligent material handling system approach that allows very rapid automation of any new material handling requirements and that can deal with uncertainties in the environment. The approach incorporates four basic components for intelligent materials handling with applications to automated kitting and fixturing. The Component Program for Autonomous, Adaptable agents emphasizes the specification of flexible manufacturing cells, including manipulators and fixtures, to adapt to dynamic environments and to cooperate with other systems. The Component Program for CAD-Based Material Representation utilizes 3-D feature-based models which include features for both material handling and vision recognition. through a process of reverse engineering using vision and range sensors with interactive graphics. The Component Program for Material Handling Control addresses the design and selection of real-time control strategies for material handling, including robust, adaptive, and learning schemes with integrated sensor feedback. A high level path and trajectory planning system are used to guide the control system based on the feature-based CAD information. The fourth Component Program is responsible for the Systems Integration Methodology to support the design and development of cooperating, distributed agents, and allows transition from human- intensive activities to more autonomous activities.