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

2. Assembly Example

4. Assembly Building together certain individual parts, subassemblies and substances in a given quantity and within a given time period. 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. 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. Need: Complexity of assembly and product design. Benefits: Improved design quality with fewer errors. Improved design quality with fewer errors. Less training and expertise necessary for designers for utilizing CAD tools. Less training and expertise necessary for designers for utilizing CAD tools. On-line advice on how to improve design work. On-line advice on how to improve design work. AI can reduce the cycle time of the design procedure. 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. 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. Introduction of following modules along with cooperation requirement planning : 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 : NEFUSER : Neural Fuzzy System for Error Recovery. Recognition and recovery from different types of errors Recognition and recovery from different types of errors Data supplied from touch or optical sensors Data supplied from touch or optical sensors Data processed as on-line learning source. 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 machines interference among material flow interference among material flow Effects of conflicts Redesign of the facility and/or product Redesign of the facility and/or product Regeneration of assembly execution plan Regeneration of assembly execution plan

18. Mcr System Objectives Automatic detection of potential conflicts Automatic detection of potential conflicts Automatic resolution of conflict Automatic resolution of conflict Prevention of future conflicts 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. 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 PersuasionArbitration

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. Results Expected Cost without Mcr (Unbounded Cost)

24. Results Expected Cost with Mcr (Bounded Cost)

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

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

27. Questions??? Thank You