{"title":"Automatic Decompositions of Assembly Sequence Plans","authors":"T. Cao, A. Sanderson","doi":"10.1109/IRSSE.1991.658931","DOIUrl":"https://doi.org/10.1109/IRSSE.1991.658931","url":null,"abstract":"This paper describes an approach to robotic task sequence planning which decomposes task sequences into operations sequences for an assembly workcell. The approach provides a framework for robust execution of tasks through properties of traceability - implicit mapping of operations to task representation, and viability - retaining multiple paths for execution. Given the descriptions of the objects in this system and all feasible geometric configurations and relationships among these objects and combinations of objects, an AND/OR net which describes the relationships of all feasible geometric states and associated feasibility criteria for net transitions is generated. This AND/OR net is mapped into a Petri net which incorporates all feasible sequences of high level operations. The resulting Petri net is then decomposed in a stepwise manner into a lower level Petri net of which each transition can be directly implemented by control commands or command sequences in an object-oriented framework to control and coordinate the operations of devices and objects in the system. All possible task sequences are found using a systolic stack algorithm. Each feasible sequence is pumped out of the stack and could be stored sequentially. A shortest sequence may be chosen as an output of the hierarchical planning system to efficiently implement the desired tasks.","PeriodicalId":130077,"journal":{"name":"Proceedings Third Annual Conference on Intelligent Robotic Systems for Space Exploration","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121047291","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Using Advanced Technology for Space Robotics","authors":"B. Mack, S. McClure","doi":"10.1109/IRSSE.1991.658939","DOIUrl":"https://doi.org/10.1109/IRSSE.1991.658939","url":null,"abstract":"","PeriodicalId":130077,"journal":{"name":"Proceedings Third Annual Conference on Intelligent Robotic Systems for Space Exploration","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116687524","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"A Perspective on the Development of Intelligent Robots for Manipulation in Space","authors":"S. Murphy, J. Wen","doi":"10.1109/IRSSE.1991.658941","DOIUrl":"https://doi.org/10.1109/IRSSE.1991.658941","url":null,"abstract":"NASA has had a long involvement with robot systems for the exploration of space. From space probes to soil samplers to the Shuttle Remote Manipulator, robotic devices have proven themselves useful in many different tasks. Robotic devices are characterized by the ability to be reprogrammed, to change their operation through commands generated locally or remotely. The future exploration and exploitation of space will the current generation of robots as well as future intelligent robots. Intelligent robots in space include a wide variety of machines and devices which have a much higher range of capabilities than those used today. These robots will have the capability not only to be reprogrammed, but to reprogram themselves. The robots have the means to plan and schedule tasks independently, if necessary, and to execute these tasks. Intelligent robotic systems have their uses in all phases of the space effort. This includes intelligent probes used to gather information, intelligent exploration vehicles for planetary surfaces, and intelligent manipulators for operations in-orbit and beyond.","PeriodicalId":130077,"journal":{"name":"Proceedings Third Annual Conference on Intelligent Robotic Systems for Space Exploration","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128245829","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}