Presidential Faculty Fellowships

本研究的总体目标是建立一个科学的基础 为 自动装配，通过分析其 基本组成部分。该研究涉及算法和交互式系统的开发，分析装配线及其组件的低层次几何形状，如零件送料器，分拣机和夹具。 一个基本的主题是使用简单的传感器和执行器，如光束和平行爪夹具。 尽管硬件与现有的 硬自动化系统，这项研究 介绍计算方法 到 快速配置和可靠控制该硬件。 在更高的层次上，模块化组件（如柔性喂料机和传送带）可交互配置，以便于在安装前对装配线进行设计和评估。 该研究解决了基本的理论问题，如复杂性和完整性， 算法的研究，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.