Presidential Faculty Fellowships

本研究的总体目标是通过对其基本部件的分析，为自动化装配奠定科学基础。这项研究包括开发算法和交互系统，分析装配线及其部件的低层几何图形，如零件送料器、分选器和夹具。一个基本的主题是使用简单的传感器和执行器，如光束和平行下巴夹爪。虽然硬件与现有的硬自动化系统非常相似，但本研究引入了计算方法来快速配置和可靠地控制该硬件。在更高的层次上，柔性送料器和传送带等模块化组件被交互配置，以便于在安装之前设计和评估装配线。这项研究解决了算法的复杂性和完备性等基本理论问题，并涉及几家公司，努力将基本结果转化为工业实践。

The overall goal of this research is to establish a science base for automated assembly by analyzing its basic components. The research involves development of algorithms and interactive systems that analyze the low-level geometry of assembly lines and their components, such as part feeders, sorters, and fixtures. An underlying theme is the use of simple sensors and actuators such as light beams and parallel-jaw grippers. Although the hardware bears a close resemblance to existing hard automation systems, this research introduces computational methods to rapidly configure and reliably control this hardware. At a higher level, modular components such as flexible feeders and conveyor belts are interactively configured to facilitate the design and evaluation of assembly lines prior to installation. The research addresses basic theoretical questions such as the complexity and completeness of algorithms and involves several companies in efforts to transfere basic results into industrial practice.