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Table Of Contents

PREFACE
1. INTEGRATED AND AUTOMATED MANUFACTUR- ING
1.1 INTRODUCTION
1.1.1 Why Integrate?
1.1.2 Why Automate?
1.2 THE BIG PICTURE
1.2.1 CAD/CAM?
1.2.2 The Architecture of Integration
1.2.3 General Concepts
1.3 PRACTICE PROBLEMS
2. AN INTRODUCTION TO LINUX/UNIX
2.1 OVERVIEW
2.1.1 What is it?
2.1.2 A (Brief) History
2.1.3 Hardware required and supported
2.1.4 Applications and uses
2.1.5 Advantages and Disadvantages
2.1.6 Getting It
2.1.7 Distributions
2.1.8 Installing
2.2 USING LINUX
2.2.1 Some Terminology
2.2.2 File and directories
2.2.3 User accounts and root
2.2.4 Processes
2.3 NETWORKING
2.3.1 Security
2.4 INTERMEDIATE CONCEPTS
2.4.1 Shells
2.4.2 X-Windows
2.4.3 Configuring
2.4.4 Desktop Tools
2.5 LABORATORY - A LINUX SERVER
2.6 TUTORIAL - INSTALLING LINUX
2.7 TUTORIAL - USING LINUX
2.8 REFERENCES
3. AN INTRODUCTION TO C/C++ PROGRAMMING
3.1 INTRODUCTION
3.2 PROGRAM PARTS
3.3 CLASSES AND OVERLOADING
3.4 HOW A ‘C’ COMPILER WORKS
3.5 STRUCTURED ‘C’ CODE
3.6 COMPILING C PROGRAMS IN LINUX
3.6.1 Makefiles
3.7 ARCHITECTURE OF ‘C’ PROGRAMS (TOP-DOWN)
3.7.1 How?
3.7.2 Why?
3.8 CREATING TOP DOWN PROGRAMS
3.9 CASE STUDY - THE BEAMCAD PROGRAM
3.9.1 Objectives:
3.9.2 Problem Definition:
3.9.3 User Interface:
3.9.3.1 - Screen Layout (also see figure):
3.9.4 Flow Program:
3.9.5 Expand Program:
3.9.6 Testing and Debugging:
3.9.7 Documentation
3.9.8 Listing of BeamCAD Program
3.10 PRACTICE PROBLEMS
3.11 LABORATORY - C PROGRAMMING
4. NETWORK COMMUNICATION
4.1 INTRODUCTION
4.2 NETWORKS
4.2.1 Topology
4.2.2 OSI Network Model
4.3.3 Security
4.3.3.1 - Firewalls and IP Masquerading
4.4 FORMATS
4.4.1 HTML
4.4.2 URLs
4.4.3 Encryption
4.4.4 Clients and Servers
4.4.5 Java
4.4.6 Javascript
4.4.7 CGI
4.5 NETWORKING IN LINUX
4.5.1 Network Programming in Linux
4.6 DESIGN CASES
4.7 SUMMARY
4.8 PRACTICE PROBLEMS
4.9 LABORATORY - NETWORKING
4.9.1 Prelab
4.9.2 Laboratory
5. DATABASES
5.1 SQL AND RELATIONAL DATABASES
5.2 DATABASE ISSUES
5.3 LABORATORY - SQL FOR DATABASE INTEGRATION
5.4 LABORATORY - USING C FOR DATABASE CALLS
6. COMMUNICATIONS
6.1 SERIAL COMMUNICATIONS
6.1.1 RS-232
6.2 SERIAL COMMUNICATIONS UNDER LINUX
6.3 PARALLEL COMMUNICATIONS
6.4 LABORATORY - SERIAL INTERFACING AND PROGRAMMING
6.5 LABORATORY - STEPPER MOTOR CONTROLLER
7. PROGRAMMABLE LOGIC CONTROLLERS (PLCs)
7.1 BASIC LADDER LOGIC
7.2 WHAT DOES LADDER LOGIC DO?
7.2.1 Connecting A PLC To A Process
7.2.2 PLC Operation
7.3 LADDER LOGIC
7.3.1 Relay Terminology
7.3.2 Ladder Logic Inputs
7.3.3 Ladder Logic Outputs
7.4 LADDER DIAGRAMS
7.4.1 Ladder Logic Design
7.4.2 A More Complicated Example of Design
7.5 TIMERS/COUNTERS/LATCHES
7.6 LATCHES
7.7 TIMERS
7.13 INSTRUCTION TYPES
7.13.1 Program Control Structures
7.13.2 Branching and Looping
7.13.3 Basic Data Handling
7.14 MATH FUNCTIONS
7.15 LOGICAL FUNCTIONS
7.15.1 Comparison of Values
7.16 BINARY FUNCTIONS
7.17 ADVANCED DATA HANDLING
7.17.1 Multiple Data Value Functions
7.17.2 Block Transfer Functions
7.18 COMPLEX FUNCTIONS
7.18.1 Shift Registers
7.18.2 Stacks
7.18.3 Sequencers
7.19 ASCII FUNCTIONS
7.20 DESIGN TECHNIQUES
7.20.1 State Diagrams
7.21 DESIGN CASES
7.21.1 If-Then
7.21.2 For-Next
7.21.3 Conveyor
7.22 IMPLEMENTATION
7.23 PLC WIRING
7.23.1 SWITCHED INPUTS AND OUTPUTS
7.24 THE PLC ENVIRONMENT
7.24.1 Electrical Wiring Diagrams
7.24.2 Wiring
7.24.3 Shielding and Grounding
7.24.4 PLC Environment
7.24.5 SPECIAL I/O MODULES
7.25 PRACTICE PROBLEMS
7.26 REFERENCES
7.27 LABORATORY - SERIAL INTERFACING TO A PLC
8. PLCS AND NETWORKING
8.1 OPEN NETWORK TYPES
8.1.1 Devicenet
8.1.2 CANbus
8.1.3 Controlnet
8.1.4 Profibus
8.2 PROPRIETARY NETWORKS
8.3 PRACTICE PROBLEMS
8.4 LABORATORY - DEVICENET
8.5 TUTORIAL - SOFTPLC AND DEVICENET
9. INDUSTRIAL ROBOTICS
9.1 INTRODUCTION
9.1.1 Basic Terms
9.1.2 Positioning Concepts
9.2 ROBOT TYPES
9.2.1 Basic Robotic Systems
9.2.2 Types of Robots
9.2.2.2 - Autonomous/Mobile Robots
9.2.2.2.1 - Automatic Guided Vehicles (AGVs)
9.3 MECHANISMS
9.4 ACTUATORS
9.5 A COMMERCIAL ROBOT
9.5.1 Mitsubishi RV-M1 Manipulator
9.5.2 Movemaster Programs
9.5.3 Command Summary
9.6 PRACTICE PROBLEMS
9.7 LABORATORY - MITSUBISHI RV-M1 ROBOT
9.8 TUTORIAL - MITSUBISHI RV-M1
10. OTHER INDUSTRIAL ROBOTS
10.1 SEIKO RT 3000 MANIPULATOR
10.1.1 DARL Programs
10.2 IBM 7535 MANIPULATOR
10.2.1 AML Programs
10.3 ASEA IRB-1000
10.4 UNIMATION PUMA (360, 550, 560 SERIES)
10.5 PRACTICE PROBLEMS
10.6 LABORATORY - SEIKO RT-3000 ROBOT
10.7 TUTORIAL - SEIKO RT-3000 ROBOT
10.8 LABORATORY - ASEA IRB-1000 ROBOT
10.9 TUTORIAL - ASEA IRB-1000 ROBOT
11. ROBOT APPLICATIONS
11.0.1 Overview
11.0.2 Spray Painting and Finishing
11.0.3 Welding
11.0.4 Assembly
11.0.5 Belt Based Material Transfer
11.1 END OF ARM TOOLING (EOAT)
11.1.2 Gripper Mechanisms
11.1.3 Magnetic Grippers
11.1.4 Expanding Grippers
11.1.5 Other Types Of Grippers
11.2 ADVANCED TOPICS
11.2.1 Simulation/Off-line Programming
11.3 INTERFACING
11.4 PRACTICE PROBLEMS
11.5 LABORATORY - ROBOT INTERFACING
11.6 LABORATORY - ROBOT WORKCELL INTEGRATION
12. SPATIAL KINEMATICS
12.1 BASICS
12.1.1 Degrees of Freedom
12.2 HOMOGENEOUS MATRICES
12.2.1 Denavit-Hartenberg Transformation (D-H)
12.2.3 Inverse Kinematics
12.2.4 The Jacobian
12.3 SPATIAL DYNAMICS
12.3.1 Moments of Inertia About Arbitrary Axes
12.3.2 Euler’s Equations of Motion
12.3.3 Impulses and Momentum
12.4 DYNAMICS FOR KINEMATICS CHAINS
12.4.1 Euler-Lagrange
12.4.2 Newton-Euler
12.5 REFERENCES
12.6 PRACTICE PROBLEMS
13. MOTION CONTROL
13.1 KINEMATICS
13.1.1 Basic Terms
13.1.2 Kinematics
13.1.2.1 - Geometry Methods for Forward Kinematics
13.1.3 Modeling the Robot
13.2 PATH PLANNING
13.2.1 Slew Motion
13.2.2 Computer Control of Robot Paths (Incremental Interpolation)
13.3 PRACTICE PROBLEMS
13.4 LABORATORY - AXIS AND MOTION CONTROL
14.1 MACHINE AXES
14.2 NUMERICAL CONTROL (NC)
14.2.1 NC Tapes
14.2.2 Computer Numerical Control (CNC)
14.2.3 Direct/Distributed Numerical Control (DNC)
14.3 EXAMPLES OF EQUIPMENT
14.3.1 EMCO PC Turn 50
14.3.2 Light Machines Corp. proLIGHT Mill
14.4 PRACTICE PROBLEMS
14.5 TUTORIAL - EMCO MAIER PCTURN 50 LATHE (OLD)
14.6 TUTORIAL - PC TURN 50 LATHE DOCUMENTATION: (By Jonathan DeBoer)
14.6.1 LABORATORY - CNC MACHINING
15. CNC PROGRAMMING
15.1 G-CODES
15.2 APT
15.3 PROPRIETARY NC CODES
15.4 GRAPHICAL PART PROGRAMMING
15.5 NC CUTTER PATHS
15.6 NC CONTROLLERS
15.7 PRACTICE PROBLEMS
15.8 LABORATORY - CNC INTEGRATION
16. DATA AQUISITION
16.1 INTRODUCTION
16.2 ANALOG INPUTS
16.3 ANALOG OUTPUTS
16.4 REAL-TIME PROCESSING
16.5 DISCRETE IO
16.6 COUNTERS AND TIMERS
16.7 ACCESSING DAQ CARDS FROM LINUX
16.8 SUMMARY
16.9 PRACTICE PROBLEMS
16.10 LABORATORY - INTERFACING TO A DAQ CARD
17. VISIONS SYSTEMS
17.1 OVERVIEW
17.2 APPLICATIONS
17.3 LIGHTING AND SCENE
17.4 CAMERAS
17.5 FRAME GRABBER
17.6 IMAGE PREPROCESSING
17.7 FILTERING
17.7.1 Thresholding
17.8 EDGE DETECTION
17.9 SEGMENTATION
17.9.1 Segment Mass Properties
17.10 RECOGNITION
17.10.1 Form Fitting
17.10.2 Decision Trees
17.11 PRACTICE PROBLEMS
17.12 TUTORIAL - LABVIEW BASED IMAQ VISION
17.13 LABORATORY - VISION SYSTEMS FOR INSPECTION
18. INTEGRATION ISSUES
18.1 CORPORATE STRUCTURES
18.2 CORPORATE COMMUNICATIONS
18.3 COMPUTER CONTROLLED BATCH PROCESSES
18.4 PRACTICE PROBLEMS
18.5 LABORATORY - WORKCELL INTEGRATION
19. MATERIAL HANDLING
19.1 INTRODUCTION
19.2 VIBRATORY FEEDERS
19.3 PRACTICE QUESTIONS
19.4 LABORATORY - MATERIAL HANDLING SYSTEM
19.4.1 System Assembly and Simple Controls
19.5 AN EXAMPLE OF AN FMS CELL
19.5.1 Overview
19.5.2 Workcell Specifications
19.5.3 Operation of The Cell
20.3 MORE REVIEW
20.4 USING THE SUBROUTINES
20.4.1 Basic Petri Net Simulation
20.4.2 Transitions With Inhibiting Inputs
20.4.3 An Exclusive OR Transition:
20.4.4 Colored Tokens
20.4.5 RELATIONAL NETS
20.5 C++ SOFTWARE
20.6 IMPLEMENTATION FOR A PLC
20.7 PRACTICE PROBLEMS
20.8 REFERENCES
21. PRODUCTION PLANNING AND CONTROL
21.1 OVERVIEW
21.2 SCHEDULING
21.2.1 Material Requirements Planning (MRP)
21.2.2 Capacity Planning
21.3.1 Shop Floor Scheduling - Priority Scheduling
21.3.2 Shop Floor Monitoring
22. SIMULATION
22.3 DESIGN OF EXPERIMENTS
22.4 RUNNING THE SIMULATION
22.5 DECISION MAKING STRATEGY
23. PLANNING AND ANALYSIS
23.2 PROJECT COST ACCOUNTING
24. REFERENCES
25. APPENDIX A - PROJECTS
25.1.1 Previous Project Topics
25.2 CURRENT PROJECT DESCRIPTIONS
26.1 JIC ELECTRICAL SYMBOLS
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Integrated Book

Integrated Book

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Published by Jesus Ayabar

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Published by: Jesus Ayabar on Jan 31, 2012
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