IN ENDUSTRIAL AND SYSTEMS ENGINEERING ==) W. J, Fabrycky and J. H. Mize, Bdtors Auwcwien The Practice and Manasamen of Inbusrial Ereonmis ‘Aves no Sune Mangement for Engines ‘Rsv nds Safety ona Health Managemen, 218 Bass ako Carson Discrete Even System Simuaion Bios an Fanwvcxt Procarenent ond Isetory States Anas Bescon Puts ss Wie Founda of Open, 2 Beane Logintcr Engineering and Management, 36 Button ave Famveny Stems Engineering and Ants, 2 Brown Systems Analyst on Devi for Sfety usury Pe Frown nly of Inari Proies CayanuSeunan Economie and Mat-Atibue Evaluation of Advanced Marafctring Stems coun Wak An roducton to Automated Process Planing Systems {Chyuen Spoons sti Using Simulation nd Mark Models tsar m0 BOCENER Angin and ConDot of Production Saems Fanner Grate aso Tow Appled Operations Research “nd Management Science Fanci ann Woe Pviy Layou and Location: An Analycat Approach Grow Aer Monegemen! of th MighTorknologs Entre Hamer Occupational Softy Management nd Enginerng. SE Herennson An Iterated Approach 10 Logics Management Teo Linear Programming i Single and Maile Ojetv Stems Kosi clgent Manufacturing Systems Monoer improving Proguciiy and efecveess Monoet Moin and Tine Studs nroving Productivity, 1E srw Cot Bstnating, 276 Prars ovo Garen-Ding Fundamenals of Newark Analsis Shaity Hoyptl Management Engineering "Tarn Simulation Modeling and SIMNET “Taustn ax Fanon Bginering Ezonoms, 7 Teg Mi Cs ration nda ond Ses geri, Winneouse Sysems Anais and Design slag Nerork Techniques ‘WoUsr Sochatc Modeling andthe Theory of Quaues INTELLIGENT MANUFACTURING SYSTEMS Andrew Kusiak Deparment of Industral and Management Engineering University of lowa “ " * Towa City, fowa = PRENTICE HALL. Englewood Cll New Jersey, 07632i eee uk, Ast, Dae) eS) ee ee ae Smtr dig aay Ais Manca tar Dene Bogen PreateHall Internal Serie fs Industrial and Stems Eagaerng (©1990 by Pee Hl ne, ' dvuon of Simon Soe Brgowoud it, New Joney 076 Alas see: Nop fis Bok my be seca ry aya Pine inh Une Sats of Ameria wos76sasat ISBN O-13-Wuaabu-1 ret eit nt in Fel Goose Feat mc ag Recta ear A aan Tra Prete al Bel il’ i enero To Anna, gma Dac, and NikContents PREFACE Lt Computed Maufeting 1 1.2 Manufactuiag Comauniation Stes 1 Inlliges Monutiurng 217 1131 Ssuom Component) 12 FF33Shom Operon a 34 Conca Remark 16 Problems and Questions 18 FLEXIBLE MACHINING AND ASSEMBLY SYSTEMS 9 1 Flexible Machining Systems 19, 2 Plible Assembly Systems 27 Pres Planing for FASS ‘te Ps od z24.1 Harduare Component of Tot Handing References 45 Problems and Questions 46 ‘COMPONENTS OF KNOWLEDGE-BASED SYSTEMS a aL 33 a4 35 Insoéuction 47 owlevge Kepresentanon 4 321 irswOnder Lape 48 323 ftom Cue Stier of Fst Oder Lage 50 32:8 Soman Neworks St ompaon of Knowle Repesentin Schemes hes Eagne 64 Knowledge Acquistion 71 Optimization and Knowieige-esed Systems 76 36.1 Sonne Krwlege-dsed Sem 7 36.2 Tndem Rrowedgebaed Siem 77 Problems and Questions 82 MACHINE LEARNING a at 42 4a lutoducion 84 Conceptual Leaieg 85, 421 Example of Leming 88 422 Computime Cpt of Learing 90 Leasing and Neural Newwoeks 90 432 Leming art Newors 9 References 99 Problems and Questions 101 DESIGN OF MECHANICAL PARTS AND MECHANISMS 102 56 Design of Mechanical us A Refinsont Approach 103 52.1 Overview of Domine 04 Pow of ora 108 Desig Prose 108 Peopemnce 107 of Mechanical Puts: A Model-based Appouch 108 332 Graney tio 535. Mote Opens 111 Design of Mechanisms 113 SA.1) Congsion Spe Mtl ‘woveraee 1i6 $42 Conpnng Conwarion ces 120 S43 Anata Meche 10 S44 Design of ema Pare 121 5.86 Shape Desien fom Cafgwation Syue 2s Feu based Design 128 ‘onl Desig for Automates ‘Anenbiy a 52 The ponte Siem 134 543 ering Now Pon les 137 Relerences 138 Problems ané Questions 140 Texoduction 142 rue Recognition 188 Volume Deconpeston 153, Section of Aeative Machines, Tok, and Fixtues 1S Machining Opinion 156 6:1 Steps Mo! 196 6.2 Malina Made 137. TF Comonts: Contonte x 627 Decomposition of Machnable Volumes 159, 8 GROUP TECHNOLOGY: MODELS AND ALGORITHMS 206 {68 Selection of Machiable Volumes. 159 {69 Generation of Precedence Canis 165 6.10. Soquencing Machiable Volumes 166 6.11 Seleton of Process Pans in Attomaed Manufacturing Systems 167 GULL Probl Batgroand 168 BAL Ingotction 206 S12 Coding Meta 207 11.2 Ieper Progromnng Formalin 170 $21 Mr ration 20 213 Cotsen Agron Th 222 terest Prormmrte Fooainten 26 References 173 425 Nouriel tein of Gro bles amt Questions 176 Teoiog 28 Appendix 61177 83° Covetuion 238 ‘pentic 6.2178 References 239 Problems an Queinas 24 7. KBSES: A KNOWLEDGE-BASED SYSTEMS FOR Appendix 8 243 EQUIPMENT SELECTION 100 Appendix 82248 TL Invodsetion 180 7.2 Manutictwing System Design — 181 By teameuay ne SveTEN FOR GU ‘eomovser a 7B Medico 9.4 Gout soit Maaig 27 Se aes 9.2 Structure of the Knowledge-based System . 14. Nein be Mtg Ep Sein a oar hea 39 ia fang aor Te tas 8 Teka! ism RS) 288 14 en Soe Apaches 90 101 Rom ae 3h 15) Sime Kooi te Sinem oo = 95 Regu Prac 36 for Bguipnent Selection Sri we 9.5 Clustering Algom 257 132 Keowee Bane 193 9.6 tsi Examgle 257 fay Sage 97 sppicaion of BGT 201 7.6 strive Example 198 D8 Qualiy of Solon: 268 7.3. Expert Sytem for Euipment Selection inthe 99° Industial Case Study 268 Litt 198 9:10 Conclusion 271 References 208 References 271 Problems and Questions 204 Problems and Questions 272 Append 7.1 25 Appendix 9.1 273,0 " | Contents MODELS AND ALGORITHMS FOR MACHINE LAYOUT 289) ” 10.1 Inroduction 289 10.2 Models for he Singlesow Machine Layout Problem 280, 103.1 Medel Samning Tee ST) ‘Aor 295. 10.4 Models forthe Malisow Layout Problem 296 101 Quaracassgamen Mot 299 10.5 Efficient Modes forthe Mtiow Machine Layout 105.) Modes for he Matto Lass Probio Machines of et Are 298 105.2 odes fore Mato Layo Probie f ‘ih achinesof Unequal Are 302 10,6 Algoritms forthe Melia Layout Problems 305 41 Optima Aorinn 08 1062 Seopa iors 316 107 The Peay Function Algorithm 310 107.1 Numerical sample wt he Peal Pasion Agri 312 References 314 Problems and Qustons 317 BML: A KNOWLEDGE-BASED SYSTEMS FOR MACHINE Lavour 320 11.2 Problem Solving Apprsch 322 1L3 Sts of KBML 323, 1A Numerical Example 329 1.3 Knowlesgeaied Systems tor Fatty Layout ne Uteature 333 References 336 Problems and Questions 336 AGGREGATE SCHEDULING OF MACHINING AND ASSEMBLY SYSTEMS 28 1241 noun 3388 122. Typology of Agregue Scheduling Problems 339 124 The A-Pradu Scheduling Problem 350 125. The Sigle-atch Schesling Problem 352 126 The Nath Scheduling Problem 354 References 355 Problems and Questions 356 Appendix 2.1387 ‘SCHEDULING MODELS AND ALGORITHMS 388 134 eduction 358 132, SchedulingtmOperations on «Single Machine = 3 13.3. Setedaling a Flexible Forging Machine 362 SSdig Pro Sea ‘ 18:2 Madetinge Flexble Forging Machine ‘Shedling Probe 36 13.4 Twomachne Flow Shop Problem 371 1541. Toomacine 108 Shp Poem 373 142 Sl Cn of he Te cine Fw 135 Modeling the Problem of Scheduling n Operations nm Machin 378 13. Solving the Schtuliag Problem in Auomated Manuficuriag Systems 382 References 385 Problems and Questions 386 Appendix 13. 288 Append 13.2 389 Append 134 392 ‘Appendix 13.83957) menterte KBSS: A KNOWLEDGE-OASED SYSTEM FOR SCHEDULING IN AUTOMATED MANUFACTURING 396, 14.1 Sucre of he Knowledge-based Scheling System BSS) 36 TELL. Krone Base 397 1613 Baca 61 nvm Engne 401 142 The Heuristic Algorithms 402 14.241 Aioriim 406 18.3 Numenc ample 405 144 Compeainal Rests 409 45 Knowadge- tase Scholig Systems inde Ciertre stl erences 27 Problems and Ques 428 twoex: at Preface Signiicanpogress hs teen mae in manufacturing echaaogy in recent fears. Numenclycontoled mihin ols, waned neil handling ys Tens and compuerized cont stor have been widely ued in asta nips. The eons “Rexble manfitering syste,” grate aa Tur sss ose ary cane ued tn reset ero companies. Te advancing manufacturing and copter echnogy i Iwought new challenges to deslenes of grades, proces, ad yen Wells othe managers. The wadiinal design aad management nos cannot Mletively cape with role aking inpeion manulctring pee “This book dels wih the design and unagenent iscsi a autoste Inanutacing environmen. Rs the sth’ eli tithe functional sep fain int “sin” and “management sbould not ake place it mem mar liicting system. Thesdesign of parrot ot system may hae Sipnieane pat nthe empty ot te Sm muniernent Pe Any ‘san acti sol cnsier pletion onthe seem options and “anagementaspect. The book faaizs he reader with dean of ps, Ps ase ln pling a hdl of wnat mn Ps othe Pook implemented Kaowledgebased pens ing an hi Ieee dncussed. A tundem system combines a knowledge basd aad pt Imation approsches, thas proven ta be efetve m solving manufactures Proms whieh ave well stud and solve qusitive and quae The materi in the book ashen did ito fous chaps Caper erdicinacs the vera sets wd components of n compres epeea Pron ‘manufacturing ste. The nion of thesiligen sen sett wit {indi sppicaton “Chapter 2 presents hardware components and fares of ibe machin ing and atembly systems. Design rls for procs, prs, an process sm automated envenment ate ds ‘Ghaper 3 might be viewed a» tral on knowledge bocd syst Al esor related to knowles and opmtzation ih ose based systems ae scwcd Various aproaces to autonomous knowledge aquisition (arin) ate reseed in Chapter 3 In Chapter 5 tnowledge-ased approaches ta desien of mechanical pare ‘nd mechanisms, and éesigh for astomated asrly a dicen, ‘Ghapee 6 outines seven phases of proces planing. Following the ‘material presented iti possible eB an ineligen proces planting sytem ‘ne ofthe prblens that indus is facing Is equipment proce Chapter prsens anh a ellg systema sabe geet ‘modes ai salto for equpmst selection, “hopes 8 and 9 are closely relate. Whi the farmer chapter conc ‘rates ca model and alors in gro technology. the latex presents tas ofa kowledge-base system withthe mote and sprite creda. Te fer the ener a Mlivor of programming a endo ofthe Knowledgebase sy tem for group technology writen in LISP x shown in the append fllowing the chap. (Ghapies 10a are related in way simile 1 the previous so ‘hapters Whil Caper 10 Useusses tious musing an saving pox ote machine yout problem, the later presets the knowledgebase syste foe machine layout “The final te chapters fll ito the category’ of manufacng system ‘matauemeat, Chapter 12 natins an szerose scheduling pablo Soot the product level, fora fait including 1 machining td ssscmbly sytem, Model nd algrhns for disaggregate scheduling. Lea the ope lve te eplored in Chapter 13. Some ofthe data obtained tom agerezte shes ' wel as models and algoriins fr asagregte scene incorporated ing tie howe base soncoing syst esoned in hope “This ok is aimed primarily at dee Iypes of sudenee Fil, stu eosin india] and sjstems engncering, manufactring programs bs ses schol and tho ites in applications of scl nlligence Ianufacturing.Secraly ince cyetomedecignce management ed po ston provssionalsinrested i exploring the fanaa af mover es in manafacring design and management. lly, tose taking specie ‘ining in applications of ail intelligence indesign f prt, procs ‘au sysems, and design and management of manufatrng ster “The mineral tn te book hasbeen rope i force, chapter, (Chapters 1 ar 2 fmitze the rear wi manufacing sysctl Protea wi components. Chaps 3 nd 4 discus fies rtd to knowledge tasd sys ten inthe manfotucng cones Chg 3 Te reser kale based Aopen apes aos manasa sha amen problems Readers may wis study the materia is tet own way depending on thee bekround and interest igre T outlines the since the mera Ineloied i the book ‘The sete in Figure I might be elf in staying the book, Readers tue encouraged tn tidy Capers It and then the pall ingle ape (51070 group af hayes (81 4) in anyone, The fees tesoromenat ‘sy choptts within ea grep tnt sQuence adc te In writing this book, an oral speach has ben aed. Te wage of mathemati has bee Tinted to the fevered to maintain the leh the presenta, The book should contribute to keterundertaing,seacemon, and evelopment of new aptcatiens of iseligent manufuuring stom This bok benefited fm aumetous dsusios wth my eolegues and ude. Professors Farokh Mise frm the Univesity of Hoaste, Mile ‘Shi of he Universi of Hii at Urtana-Champsig, Mit Koar fom the whan Univeniy. Lae Decker Mom the Worcs Pistectni Insti tnd Sranjn Deo the Univery of lava deserve pel thunk To th ‘uel reading of vaous puts of the mansrp andthe valsble comment My stents at the University of Manat in Canad Wing Chose, Minaya (hen and Sunieresh Horagu as wall tC Viyathonkar af the Dpartmet af Indsa and Management Engineering athe University of lows epee in reparation of« munbe of shapers acknowledge te insight gual fom many discussions with my long: line collages Jim Browne ofthe Univerity College in Galway lela fotjon Roldan om me Unvesty Ut Laken, Nawwayy hon Mats Poth of INRIA, Franc; Gabe! Bizan fom the Masachusets Ins of Technology. Cambridge: Bart Next of the Univesity of Massena a Amer, an ero Tnave fom NEC Corp, apan Spoil than gta eras -ulangoe te European, North American ‘nd Janes indstris. Many cncssons and visto te companied Inet bu he image ofan nln Factory Andeow Kusise Department oF naustral and Management Engineering “The University of lows fowa City, towa1 Introduction 1.4 COMPUTER ANTEGRATED MANUFACTURING ‘Compuneitegraed manustuing (CIM) sens have emerged as a est of {he Wvclopmens i auulkciny il snmp tctnlogy The computer tins an impertantrle iterating the flloning fetal areas of CIM Sytem shown in Fgue 11 (Kasiak ad Hera 1988); ‘component abd product éesion oa tre design cess lansing . * Programming of manerilly coll (NC) machines, mati han- fg gem (MHS) + Maintenance ality conto2 Antroduttion Chap. + camps] leangons| | conta ‘ioe | seine] | Scere gee See a cn at of CM ye ‘To emphasize the computer aspect, the tems computeaided design, conpunstindpeseeplnnig. coopers! manning, cep ‘dod quay cool, abd nulomate storage nd reel have boon tee Esch tem efers to ove or more ofthe listed functional ares, CAD refer to pr and oduct design and tol abd fixture desta; CAPP refers to process planing CAM fers to programming of manufacturing hardware, poduton planning, Inacunig, assem, and unenance; CAC ets qual conto! and inspection and ASR involves storage and rerval of x materials, ished rode and in-process inventory, “The compe plays leading role nthe automation ad ntgraton of Software components ofthe manufacturing jem. In order w understand he “CIM subsystem andthe importance of inegnting them, i fist necessary 'w explo the functional ares cover hy these subsystems. The function seeas covered by CIM subsystems are discussed nxt Part and product design. A typical product cons of a mumber cof pans (components) ‘The design of = pradct involves the design of rs—tha i, determining tee shape, dimensions, rolerances, and the Tike. fngncer. ‘The design enginesr mast have a 00d working knowledge of the ‘mansfacioring proces, tos sd ites orer to entre tht hep a0 be manufac scoring the spin, cemomicals a elfen Dinon ng Simmons (198) have suggested tha the following ae Paes re ‘importa in suring popes component sa + Preliminary design + Refinement + Implementation Inthe preliminary desig phase a rough design is made, Considerations se given to factor suchas mater eto requirement, a overall om, “Wis design is ten refined oconoem to the requtd design, which consis Ah etnemens phase nthe analy pase the fined desig is analyzed and flue. Changes my’ be suggested nd fuer redesigns may take place. ‘The evaluation and redesion procedures ae cad out unl an acepuable Aislgn is obtained nthe iplementation phase, the ial designs documented Ih! wme specie desig deta re Worked out ‘Took and fixture design, Based on the pas data sore inthe ita uso the toting ensiserdigns the tools reid to proce the pa Ae js and fates que to hid the part ae also designed by the oak [iginee ACAD sym slr rutin nf the design tne of Tole aod Firs from 12 to 25% of the te required by wadtional design Peston, [hwo and Cote 1984), The geomet! representation of the prt a Isviabic ins CAD sysem i seul designing Tatures for complied fomponens. The CAD sytem allows the wet lt the par on any ax and Ijumare ts mensions trom any reternce plane, in, be pt Tao ihnenson mensuremeats, which are neers for oa desig, may’ be ail ‘xvomplsbed Process planing, nse planing Ma panos the eran: hos plant ries the routes, operations, aches, and els equed to roca sonianer (Cang an Wak 1968). Based onthe design spec- Higntonsprovised by the design engnce, the process planer determines he Process plan fora partharmisinizes prediction cost manuactring tine, a fhe ile tines sd maimizee rte ot production ano quality 9 ne pa MMe tedious tsk an rogues te erie of an experienced proces planer Who his en Knowledge of production prvenes, machine capabilites, abd Tieike, Many stomps Pave Been made automate process panna. Programming. ‘Ther are wo bese rypes of rogrumming in compat lope manta + roramming nancy contalled (NC) machines Feit ctl Ling yore OT) In N@michieepogzanming. nachining instucton fo the pat re ee yo In eornpterasile fou al provided fo the computer. The structions ile operation sequen, tol pa, wool fed rat, and cating speed. The {ert calculations tus om the fot ia and ensares ha the machines rf the necessary processes. 1 computer eumercally cooled (CNC) system his cet proces Jug unt (PU, which supervises topic conte, geome data processing nd INC progam execution. es esentaly a sitwae-contol stem ant may tw interned witha dee namercally conlled (DNC) system (Rebel Tune and Diana T9K3),-A DNC system sched ane supervises seve NC machine tol dey with hea fa compe,"7 By linking the contllers of he CNC sytem, manufacturing resource Planning (MRP 1D system. ASR system, and soon One ca neat post roscising, material storie, and material hanllog fnctions Ales sey Sable aa sequin system, infomation on these fants ea bs ely ‘tind. This, of course, means thatthe databases covrespnig to hese functions must ened Progtamening ofa ateril handling system is concerned wth the descrip ‘iow ofthe tavaling path of atonal tac! handing eae tea he ‘robots, automated guide vehicles). Production planning. Production planing involves establishing pro- dui iets fora know length af tine (Genter ant Pinos 108i oe foams the basis for he flowing two nce + Materia eguiremeat planing (MRP) + Mine lading and scbedting Based on the information rearing the type ant quantity of pas or ‘oduct to be manulactre. the mates requed tn produce tne face of rit must be onred wit an spproprinte lead tine 1 ensure he sal bility for production. This fnction comets mae egestas planing aed on he mail required, capacity equtemens fr example acta cnc em nee, cp Pe, me "eauicemen lansing, and master cheling canbe ieconported ins a se tale he close oop AMR Based on te fcdbach poner, oe oe ‘etme how far the actual sats deviate rom the egal pls MRP isa system in which the maser rheting, matt regiment lansing, abd cet fnctios are lntgrated with the cotpany's uses Pg {isa and Czukiewice 1987), MRP I equies massive dat ocesiog, et ‘es shop Moor dia, inventory dt, scheduling data, curomer erga te uses plan, ano on. Efiient database managements necsssy frog IRD Toon me ete Machine loading involves ssignnent of pts and peodot to machines and machine cell in onder t astbute the production Teas. Schedling keermines the sequence in which machines perform operations. Optaig [Bossa times, tichne cacy sets ands mater ae eas fave tobe considered wile generating Schedles. Machine scheduling ea ery compl task, especially when the numberof machines an jos ars, In mny instances, the schedule hast be rcomputed frequent, espe ‘When unexpected evens such as machine heakdowns and sh bs re: in ons ay ysten setecing Im compat tepaed manufeceng (C1M) systems, neracton among varius data bess tecesany Ae In Figure 1.2, the scheduling database lateracts with pat, mechine, on material handling sje, alt, nd ure dats Baer, Machining. All activites tht const of metl-sermoval operations ostiute machining. Examples ae tung, dailing, and fae milling The moucton of numerical coma as ed tthe auton of tase oan ial s ewe 1. vn eee engi CM ten Tool feed re, speed, und other production prams are automatically (aleulted and the dats ate passed to a contller whch, in tan ins "he machine to peter the eu chiapas : Assembly. Ascmbly invohes asombling the manafictred pars to form the requied produ. In certo perform ts task ef, the parts ave to be machged seconde tte equa! sperfesions sad ane ‘No, the aseiy function cane penly simplified by appropiate deo, For example if the parts designed are not sptmetial i shape ten he ‘sembly equipment is to orient the prt ina spoic mane before sent, (nthe ther hand if the prs ae simmer, ten the assembly equips Pick pd woman any manner asia In eee oat hve hen creasingly wed for ately. By wsing ba odes on ectoctred rs and sear, wich ead the ba ess, it now pov t tet ‘ot automatialy about the sequence in which pik up and see The Aire pas sone area hat has witnessed a great eal of atonston. I tpl asembly,tanireds of elecwonic composcnts ave to be placed ona ciel board. Ose the past decade, nnemtet of aie ferent ecologies an eaupment have been wed for ascnhly of eecron Cemponn, Sure nnn chm il petupe Se Soaaee ee assembly systems Late (1987) dicanes the tchologis,eelpent sod layoves employed in tomate fasts for sembly & esate some= yee Chen Mointenance. Muinieance involves diagnosing an coectingmal- fuostons that say arise in varius elements of maniac ste Ih Inuonal manutsctrig ttm, ti faneion wan tphally ators Oy tcccan wih expertise unily in chanical eginenag. Ina CANopen, itis dne by personel wih expertise neers, sitar, ad tani fengineeing. I appers tat in future manufacturing saems te matenance function wll peas be pcre by inelzet stems, Guaity contol. The purpose ofthe gusty cont system so mas Utstre prodcts and prs tat are robust with espe fo all faces ung levatin from the age vals, equenty called the aise facta In Ole ‘in achieve robustness, quality conta flrs must began he erly Postel (an) design phase and be cominued though pees panning. machining, and assembly. The flowing tre stps shuld be fatwa Step 1. System design. This step relates to the podoct life eye For ‘ample dering the pon Jevelopnent pote, sem 6s ray fvolie development of a protogpe design, detention of materials, manufacturing methods, dod on, ‘Step 2. Parameter design. Inthis ep, the evel (ales of contolabe factors (Gesianparameton) to elcid to mince the eee of rose fabs on the funcional carters of Ie pr Step 3. Tolerance design, Tis step is aplicele if the variation of ‘he functional characterises achieved by pareter Gesin step 2 isnot sufficient. Nanow tolerances ate then sped Torte deviations of design parameters a elation fo te levels determined by the parameter design. ‘These thse eps shouldbe used in ids for improving he gut of oducts, Quali control activites at the modutsaoming. sion eon Sngiewing cluding process plansag) phases ate reened to a offline quality covil or quality engineering, whereas the Guilty contol activites rng aca manafsteing sre refer as online gual conta Inoposton. lapctin f mauled Pars ana prot dae ‘cdecio determine defects in he components fom he proces Jepetneat aout the defects. With such information, te eror in the process can be ‘onected and future preducon of defective components can he prevented, ‘The level of anomation of inspection in CIM sem einen ‘Storage and retrieval Sige and rtieal involves sterng and reieving of such items saw meri, proces inventory, fished oat ad tools aswell computer contol of fondling ep such sackee “The IMSeyslaME-CAD, CAPP, CAM, CAQC, ad ASR-—e lane below. ee .1 — Computerimgrated Manufacturing 7 ded design system. typical CAD sysem consists af nivare suchas interactive grape faciey. acetal processing unit, one or More worstony, gaps Slay tna pra peetanl daing uipment I also inlaes software Fr retin images onthe saps dips feria, manipulating images, performing desgn alcltions and sigh Inala (Groover and Zimmer: 1984)A.CAD sjsem enables the tse sign a somponent rod, ooo ate: The pennant be CAD System rests insignificant provement nthe quity and efficiency ofthe esi funtion. Computer-aided process planning systom. Since process planing Ina tedous ask, there hs own & tend to avomate it Asa oul pombe Of CAPP syxens have beet developed. Examples are GENPLAN (Tulkott 1981), MIPLAN (Schaffer 1980, and CPPP (Donn and Mata 1978). Details of satomated process planing ae dscused in Capt Thora two baie apoches tana pet PAN + Vasant proach + Generative approach In the variant apenach oh pt clified eed on & number of| sites and coded sing a coding system. The caso pasa grouped {no pat families depending yon their silanes ie Chap 8 for tal) ‘The tits selected for determining similares are depenent upon dhe pplication considered. The code ad the process plan fo ech pat ae stored Ine cata hase, When «process an oe ew parti tobe gets, he, Pris cod and he process pan fra part similar othe ne pats eon from he database, The retieved process pln is modified maces Wing. et etite, Either 1. he rreved process pla iselfmay be etd (a whih ease the nlieation becomes peeanen}, or . The rreved process plan muy’ be coped and the coy eit (in which ease the modification i emporay). The edited process lan In the generative approach, there ae no process pins sored in the Anabaena he database consns infomation abst pats machines, fn tooling and also certain proces pltning rules. Usig ths inomation, & fernive proves planing system fea te rqured process ple ENS feertve process planning systems can generate proces plas for prs at Fave rae spe foe fat, sto the exiting syste a tly Iterave because they regi hunan interaction, ‘The generative oes planning approach i tae for aplication of Anowledge-bsed syste. A haowedge tas system for proces panning Ist be capable of geneaing process pins for complex pars. Since pa ‘representation is «ical ask, Hust be given important consieraon_ ‘Wyeduetion Chap. ' sho desimble t hve w knowlege-hsed syste that provides alternative proces plan. The Iter ar wel fn he design an mugs of mene Factsing son Computer-sided manufacturing system. CAM invuves progtans ‘ming of NC machines and material handing cits, mater meee Blaming, production planning and schealing. and so'on Moses set ‘éign produce By the CAD system and the proeay plan price oye CCAPP system, the pangrams for NC mchines and mute hauling ions Computerised quality control syste, tthe pt, the ql) onto function (eperent design, inspection, and fesing ofthe mug ‘ured pars and products) has bon perfor manually Arenthe case ess planing, the use of computes. ros, and exer atta cour as seal reduce the human involvement in gual comm ex sees ‘moo eqipped with vision stems hve, in sone cen lined hors invoverem. At the sume tint, they pif ispeton mn etter Comper cone coordinate mesining machines aad Tar en sees !ne also use fr ispeton in munfatsing syste, ‘Automated storage and retvievsl systern, Using an ASRS, mate. as can be tore and retrieved automatically with high speed and secure ‘A ASRS consists of sage cls, pickup an dlvery stan, aNd Fang ‘yument sch as stacker cranes al enetead omnes {Ci a new concept adoped Hy nutber of companies in ower wo ‘eran competitive, tna srvey paper, Meru (1985) ound tat the pe ‘entation of the CIM concept Is intasing pilin many nda unis This seems natural given he beet hat ma belied yp + Decrease in manufacturing cost + Deceat in numberof petsonel + Decrease in processing fine + Decrease im Workit proces inventory *Inorese in machine ulation 112 MANUFACTURING COMMUNICATION svstFIAs Wi the ineraion ofthe various elements of a manufacturing sytem, com ‘munication his tecone an important iste i slate semen i an intertad manufacturing system, hee mint he Papo communication between ther. In ect year tw ericson pore + Manuictuing asonation protec (AQ) + Technical and office gaia! (TQ) ee. 1:2 Manufacturing Communication Systm ° Dave emerged os standard approach to enable easy and effective com ‘atlon erween the element of syston The pene of te MAPTTOP ape Haton sto provide a stan repading the cing a anf of er ton between pres na comenunciton. MAP and TOP are fused othe Inertial Standards Organization's (180) to ‘penstemsinerconnecton (OSI. The OSI mol vies the communica on onsen tm sven Tae: eppeston,pesetton, Sesion, Pans, Network, data nk, and physical (ce Figure 13). Application layer. The upplicston layer mingles inforation ‘chan and sippoets dstsbitedpeacssing bstwson so pu ne eooe munition network Prosentation layer. ‘The presentation layer costa the dts tan Ine in 8 sewer have fomat and Syma suitable fr the reciving 3 Session layer. The session layer provides cont fictions thst vor tht communication a setwork i syacheonized und managed properly Ho example. it ensures thar rmmicnion ie not promatuly eee Wa ne, myst eon“ he un fwcive and send messages snulineonsly—er two-way leat comennice Noh. the pais alent in communcting wth each other Transport tyer. the wanspr ayer contls eared dat ans Ison aad also ensures ha the dts age appropriately segmented elon Wong tent the upp ier etwork aso termine the ade the sing py ieme 1S yf O8 na\nitoduetion Chap. 1 Data ink layer. ‘The dat nk yer synchronizes and conducts ere checking ofthe da asmied, Physiol layer. The pial Iyer mann, ‘ates the elec snd physical conection in netavk. rates, and dct For more desis onthe OSI model, the reader ty refer to Moms (1986) sad Voccte (1086) MAPis fairy communications standard develops by G28 Me tnd is specifically designed to provide commrnicition ina CIM environ I objective iso make communcaton ponble between mine seen, all sontolies, workstation tminals,pogranable loc contol ates Handing systems obs, and oer types af factory equipment (Stuckey and Fnaington 1988). Implementation of the MAP stnéaté reals in sente “of benefits, some of wich te + Exuipment purchased from diferent vende cn be linked tog factory cl area oetwonk (LAN), since each vendo adopts the MAP standard. As aresst he manuficurgg system designers can select the most appropit upto varios vendors, + The manufacturing sytem selible esas the harimae and software sms are ble naccotune withthe MAP standard + The manufctcng sytem can be isle in elatively short ine TOP is communication andar developed by Bocing company for ‘onproptiry muliple-vendor data communiction fn chal aod fos ‘vironment I shares a coe of common protocols with MAP (Suey sed enngton 1988), Although be MAP and TOP speiicaons ate dered feos the seven-ayer OSI reference mode, the servien provided the splaton layer ofthese specifications ate sitale for ther conesponing envorsnese Fr enampl, a gress woul ges Teac ta age See es ois, whe office usr equecommunicton evened ie wants, Hette benefis nf MAP/TOP implementation a tb uly ele, oe est deemine to what exteat the prog fred by vendors conform to ‘he MAP/TOP sundards, Tis aires tating prt fo vey wheter ty xno tothe desired speciieations. Wok on this rea caenty under ay in the United Stas. The Nationa estate of Stars ea Tecology pre ‘es software fo testing conformance f products to vatus OST proneot “Ath aspect tht is of great inporance is network seu. Commniction sermon at le adcyotelyprotetea om unalthorzedscess and fa eat miss. Sines dha exchange between eompontins,clecten funds tan fe, and soon ae place ina communication newer, a network acete that tne poy for network secu sexe. Abrams ad Jeng (198) ‘dacs a munber of rece developad meteor secry molt, ey ay ‘ees he services tht are to be provided by a network achicctare ‘Thece ae te issues in manufacturing Commenicton stn hat ae (See, 1.2 Manufacturing Communication Systeins. ” + Duta redundancy + Bottom-up versus tap-down wpe deen * Volume of infomation Data redundancy. Dats redundancy in CIM dats bass is undese hie, buts frequently enavoiéable given the Liniaton of exsing database Sorina cholo. For cxample the dts Dae ef te prt des ale ay havea tve-dimesioal mol of pat hat contin «complete rope entation ofthe part geomet, and he dats bse coesponding to he NC pa Programming mule ray ls have the pare oom tre init sab Mat the NC programming data cans he ted wit he rpesentton the par geometry, unless instuctens forresting ito he hee dimes dl ae stoed in he database. Sich technology i ot aalble in existing otvare and cumen research sproseding in ths ditto (Hope 1986). Bottom up versus top-down spproass tu design. In the Doon up design approach in compucr-izegted manufacturing (CIM) systems the fomputer is used manly a supp sjsem, eo pesor clclaon i ta specified hy the wer and sofort (Matai 1985). Sid personnel Iie eee to work with he computer. nepret the dat and eps hr Sompaer to pesform eleuaons. Tau, ithe botomipspproachsating rom the inal dats step-by-step procedures lowed to ative atthe goal Tor cxampe, inthe ease af a compsteraided process planning tem, sartng aoe iia ta regarding pars, machines, tol, and fixes, proce doe thet voles geneaon of prvci tue and determination of potog ters such as dept of Et tol Tod rt, soo, an tolerances is sed Noarsve athe goal, which isu process pian (gene sap) fo the pa Inthe top-down approch, the computer sem ntl consies varus rates to ave at the eal Thea. bang on te cosas he poten, iWeter acces, rejets, or insist state. In some cae to oF toe statis maybe aeeptable, and he decision to cep one ofthese rapes may bes iu sk These two approaches hive advantages a well as dsudantges, The oonrap apy ses a does no nse aerate Sess In aniving a the goal. On the other han, the top-down approch i rather ifcl to implement but tas numberof advantages, This why some fosters feet tht combination ofthe wp-w an etm proaches Is pethas the most romising ace fr ream. Mel 13) ‘Volume of information. The volume af intention handled at vs lous levels in a manufocring organization depends, to large extent 0 the Suture ofthe oranizatin. As sown in Figure Lt the yolune of aera ton handed is Tea tthe management vel ae gia Ie abe oor level CCommuicuon among the varia eels shown in Figure 14s ese sary bscae the information gathered tone Teel hed i ater lev‘Weetuction Chop. i Punt ‘machine stats and prodcton, satis availabe. ‘The machine cil Ive Colles sch information fom te individual machine and cer emis te ‘Sop flor level. This information use at hep evel n onder o plan and enol overall peodution. An efficient coniuncaton proto! will ensue tha te rman s sey the various vel an efccve mamet- Thu a prtiularlevel~for example, the cll levsl—escsives only he infra tom that segue. Also passe oly the neceay Information Yo another tee 1.3 INTELLIGENT MANUFACTURING Developmeats a aisle Inmet a mpaseon manuaeusing systems Almost al aes f compute pated manulcerng shown a Fig Uwe Ihave ben aflacted afl inlligense. Researches and engines ane developing ineligea stems ringing fom splistons in aching 20d ‘sembly to Toner planing. Some ofthese applications rel ta den Ind anagemet of manufacturing stems are dss subset chap tes of ts book. In one to show te Naor of manufcturing systems of he neu future 1 interesting project conducted st the IBM aly Rabies Laborato in St Tou i reset (Oui do 1998). THe poser ws Weel mn inteligent worksaron basically employing an TBM 7365 cob negated ‘with aon sensory systems Such a8 vison an voice seston tnd understanding. The research, altboogh oriented in the fintphise toward tater a simple tsk, was sucessful, and tly ire human-machine ‘orksation has eon develaped. Pts of the nligent robotic system ane discussed next e013 jent Manufacturing a 181 System Components Robot. The IBM 7565 is a Cancvan robot designed for caring owt assembly tsk, testing, nd materia handling. The whine mobo syst onsite of 1 manpulaor. a yetalc power ent, anda system contol ‘The manipulators basally a ectangulr bor with a seet-depee-o freedom jail powered athe jas of which ae consul! by analog Psion servos fcaed inte sytem conte, The ctl moet’ Yervon ofthe TBM St miicompte. The gripe he “aad of the robo) fs sensory capabies povided by tc (arin proges) and pecsence (LED ream) sensor cated the two ages. The ower unit sa il ny tat ‘upplics i fo operate te arm acwates, whch convert hydraulic energy n> perfor mation ‘The programming inerface that convo the whole system operation is Iinplensoed in AML (& manfactaring angunge, a high-evel ob prey fing anguogs that provides sinter ev onment or perf ooo ono, ditt processing, and dat comamusicaon, AML war designed by IMM sttwaeengionrs specie for cota of manufacturing proces, Including obs provides a spsem envionment in which deen ue Fubot oer intatses maybe bik AML supports st spre ar toy planing ste to psison and velocity costa, Relative mid abo Ine motion can Be huniled, snd sensor manieing can inferapt mons #5 cess. The mos unigue capability of AML iss operation on data aggre fates, that many operations a vest, rotons, and coordi mes on feted as nal opraions oene command. Tas eapaiy ales Finginge mae dificult © undertan bt simplifies programming tod e Inthe sscussed project, major tks ofthe software me tjetory lang, ction coednaton, ard ontocing of sensors. Personal computor. The IBM PC (model AT) consis the par ofthe sytem sed for vice secogstion, vision dit cllecton, and ait Ineo, and the geeral syst supervision. The data spaced fo the fotot conrole are used to etvate the roper rowtines fr the tsk comole Vision system. The vision syste (the “aye” of the ro, which Prfoms image aequstion and bject reeagtion inciedes a TV camera, inom Pe (rorammacie contre ear (Lah x12 pe 236 gry level) Ind 8 monitor, well athe aguisiton and rcogniton software oles system, ‘The vice sysem provides tot voice seogsiton an ‘oe aodestanding allowing alte omveraton between the oben an the operator. consis ofa special-purpose ogame cotlr (PC) cad tna wstvare package tat lows the robo inept sentences cmposed_ — oe, from a set of previously ested words, A mieropione (he “ea” of the robot) abd an apie ands sear (he "oul othe robs) complete the 1132 Systom Architecture and Data Flow ‘The sytem architecture i shown in Figre 1.5 The operator gives the com ras throug a microphone. The wows inthe setenee muy be expressed witha eran degree af teedom, provide thatthe key words cones ing o te required sk are inthe seatece, The mietpone tanta te sentence into an analogue voice sighal tht i ged and analyzed by the ‘sing sentences in matural language and though the spate, infons the oper. lo thatthe ask can start. and sah afer that tiger the vison sytem, ‘Te vison module acquires te image by meats othe TV camera, recogizes the objects the working plane, and computa set of operating prance ‘Te supervision mane ten tatsltes te fafomation given by the vised module into numeric fr an eos a ting of att the $1 abot onal ia that ar sed wo plan he actions nesesny to compte he ask and to a the routines tht conto the ober attr. Ate completion ofthe work, the "etm, trugh hs oudapsler ad inte ar angnagey alse aon ‘he result of he operations and decaes lf ea fv te ex task. 1133 System Operation The est cena othe robot wes tre sf” ase (sich used in a otee ‘machine randomly placed onthe working plane. One ofthe las sled. cio enter yt e613 Inatigent Manutacturing *® With «dkcolored gud, one i Filed wit x light colored igi, and the Ahi is empty Figure 1.6), Before stating working session ts esa penton the flloning tp + Operitoe voice sing + Space cordate ain This allows the voige stem to understand apd 19 recognize coey tht pear vic and commands and to adequately conver the piel mss ef the TY camera int the robot Space sorties An example of he opeatorsysem ses i follows: Operator: “Pease pour the dak gud ino the empty sas.” Robot “The tsk i feaible: 1 can stat ine. The rors ar comes down 1 he ans withthe dar guid, getly grasps the gl, fis it and moves it a appropriate positon, wich lows sae Pouring of he Tigi the ergy sass “The gles move. foey led nd no empty, ten etuoed to sna poton. The rts olde “he operon sytem session contin follows Robot Iam available for 3 mew ak pect: “Good now weh the pas ld with the Light Hui odor The Usk Teahibe cen str immedi1% ‘rurogustion Chap. 1 ! oboe “Thess wih the igh igh weighs 145 grams am avaible Tor new tisk Operate: “The session i trina, Some ther conan that can be inert ae: Move the sss” (emptih tight liguidwith dark gus) (or wards the ight the l). "Mix the ais.” Inthe case of inconsistent commands he sie warns the operat by saying, “The tas sot eae; please pocsed with sneer command 134 Concluding Remarks ‘The experiment describe proves, beyond the apparent split of he asks formed. that iis posible to develo an inlignt robotic Syste sing Sen avaiable “fTtheshl equipment, Moreover coins, fom the ngnceing stndpoiat th inpetance of the ineration of cietet siete Atsipnes: Pinay proves Bat this expreace may help tn desing, ccotng to desired spefiations, component of highly ineligent sy, REFERENCES 1. Abrams. M.D. an. A ng (947), “Network ess: Psa fens ‘Chap. 1 Roterence ” Coan. sa Rk (9, a aan Pres Pains Din J Ran MK Simon (1983. ~Conputes hat sigh: ape ystems fet nen” Conor Mano Egg, M3 ‘Duan, MES. and. Mann (197, “Compara protuton roses lig Tecnica Conference, Ce (Gs) ail inetiece: perio or CM FS Paseo, Kens ‘UR nd Singtel, New Yor, yp. 475-83, Grover, MP. and E,W. Zam, Jr 198, CADICAM: Computer Aled Ds and Mutat, Prete Hal Eplewond CS, NJ. Nope, AK (198), “Macnesl CAE stem deg das” Computer tung: Sytem development. implementavn, and impact on pct a he Ita Teve in A Kani El) Modem Proton Mantpoon Som, Laver, . (987). “Asya No ited approach" rand oul of Advanced Manon Tectso, Val, Ro 2. 21-2 al. 8, “Camper s lng tiig pat erst 4 (1985, "Compterieanted manag 3 bs forte Feta the fe” Rabons and Competed Momscring, Nl.2 No.2 yp 9, : wn (98), “Seng te stars nau: Detaton {Sh yer del MAPITOP lnrce ery pe. Ia Preston J, W. Cra ME. Coch). CADICAM Stn eget pee, iy Meson, Nas Dee Nw Facing Teil and Stems, Marl Deer New Yr. Soha, (190). "GT vi some posts pling” American Machin, (May pp 119-12 ‘AK Ei.) ie Ineigece pen for CIM IFS Pubic. ene UK. and Senge Vg, New Yer, 185-2 Tua, (1981. "Loves GENPLAN," Pctedigs fhe 180 Nase Gono Sovety Arson Meeting a Tac! Cone als Ts12 \itiauetion PROBLEMS AND QUESTIONS. ‘Chop. 1 ene 20 yan? “Compe ein men Compteraied mafic sem Comptes guy sm Sse ‘Atoms erage area cn oma ne cert objets fr pode planing, Dein and dics es of he mniiigsoman pose ‘hn examples oe ite ps fd to be oie tech the Felling vel of ey sane ses Ae pce compurEEEY mnucanng Spens in ‘Shap oo ve Mace sl eve Pan eve Lis four plete of tient oboe en, Selon nul apc as lize ric aye and wit ape lao ston soling atest tee operst conde de oo as, ‘ennd coche othe emai ea a aa eae ae ‘What ate Eantaons of te caret sve inline Sys? ‘iat local mnutacrig copy en enya plo of me get abe tems {cal eat he nonce hr pcos 2 Flexible Machining and Assembly Systems 2.) FLEXIBLE MACHINING SYSTEMS A exible machining system (FMS) is one of th forms of implementing omputerided manufactring. FMSs poses 4 number of tint fas, Which are dco in hiker "The fie feutes of flexible mschising systems, ax well the de fences betneen exible machining stems athe cause casscl machin Ing systems, ae presented Reet the form of eight observation. Tere cbse. tos af hised on an analy of ver 5 exisig exible machining yen Tor each observation be atieaon ie provided. I should be noted hat to machining systems ae called equal if ey prove the same oe ‘Observation 1. The deg of sstomaton of machines snd mata Fondling systoms in featble machining system is mach ight thn ino ‘euivaen clsial machining sytem. Te ebservatin follows fom the de Inion of Rexbte machiing syste 'h flexible machining sysem cas be defined se of machines inked by a lsble mari hanling system, be, automated ied eh, Al cote by compu system, Otwervaton 2. A flexible machining system conte of fener ‘mocines than an eguvsen clsial machine sem.Ey Flexible Machining and Assembly Gyan Chap. 2 72 0 [ss eel “Th classical machining syst in Figure 2.1 tld a dling machine (4), to horizons! ming muchines (Ms. MG) al two erica ling ‘machines (My. Mo). The Rie machine rine in Reale mining fal hat consis of twomnacining centers (MC, MC) ake by an stot ued vehiele (AG) "The flexible machining coll in Figure 2.1 might be a component of| 4 lager manufatreg system show in Figure 22, which const the following + Taree machining els + Two atomsted assembly cells +A Tusetonal machining fig + Acasa assembly ficilty + An ama sorage ind etrieval system (ASRS) + Thre automate guided vehicles (AGV') a @ feo. 2.1Hlextle Machining Systems a Ancuumple ofthe machining cals show in Figure 2.3. The machining oer seta Toaded With pats cle to ate The Tre load withthe arte hasbeen dlivers tothe machining eoter by a speci type of atone guided eile called flit AGY. The advantage of using foi AGV iy ta serves machines st Well 33 I sorage system, The simple siege system ia Figure 2 served by the fit AGW An example of another component of te flexible mansactiing system- ‘Fiaxible Machining and Assemblf Systeme Chap. 2 ‘The mutated torag and serve sym in Figure 2.5 take by suomited guided vebiles wih « machining satan Otervaton 3. “The layout of machines in «Neil machining sem is determined by the typeof atrial handing caioren ose most commonly tse wre aculaed robot, Eat robs, AGVs, and stacker canes. To suppor Observaton 3, ean he our basi aching layouts for Mexble mochite cells (Figure 2.6), Machios served by sh AGN ‘endo be ranged slong a srught lie Figure 2.6) tad ()), whereas the ‘woh consis ofa robot frees machin w be aad ls ce oF ‘ster (Figure 2.66) an, spetvely. ‘An resting variant of a doubleow machine layout is shown ia Figure 27, where machines ae Joe loa rks of the sstomated rage snd sev sem, The advantage of the system in Figure 2.7 i tht the sachr crane fal fis he following fonction + Loading machines with materi osemifiniie pus and tots + String and reieving mater, emifnished pas, machine pars and ‘Hee, 2.1 Flexible Mechining Systems a & © 4 ain Otmervation 4, ‘Thenamberofseupsinapeocessplandeignedorexi-e Demichningsystemissigniiansmalerbaniaanequvalenclsispoces pit, I classical process planing. «small umber of operations (very Verily of tadional machises and mati handing systems, es well the specialization concept prevalent in clase prodiction management Mowever, he much greater vera and efiency of automated machines 4 6) & ere 27 Desowco Flexible Machining end Assembayiayeteme — Chap. 2 gre 2 i ith mt es. tbe ee sv tril bading systems foros prodcton managers change tet a rach press planing. Tn pron amigo FS, ome sen 0 ied to as ab aggrpition approsch, as opposed lo the specialization proach ard in classe manfactring sem “oillesrate he ifference betweon casi proces planning ad process planing for FMS, consider the atin Figure 28, for which two process plans five twon dengnod ible 2.1 and 2.2). For part to be machined aan FAS, one ten designs the Basie proces pln and sltemative proces pls However the numberof altaive proces plan renal Ted because the ultonal cons invlved for NC programs, meri Bancling programs Proves design an! minenance "Te proces pln in Tate 22 fr the lable machining system ques thee times fewer tetups than the classal process plan ia Tale 2.1" The numberof fstues i ato reduced. However, the fiauues used in FMS ae ‘pry more complok anf mae expensive than te fares clic ‘aching sso. Tetefoe, in de fo reduce ther cost, modular fits ave been itoducd (Kasia 1985). pe dia mth age mo wait ae a ifferences in process panning tht were just dicen ‘and an steno loud machines in exible machining system with mer ‘of ential parts clamped nto & Gxt sce the atures and pts sted the storage Sytem in Figure 24). The later measue reduces the Iban "leting tne pr pat, and ice w umber of Mend! prs ne faded at 3 ime the machining tine pe muchie low! irs ‘Hee. 2.1 Flexible Machining Systems a TABLE 21 Sap Casa Pree Po Nimie—Openion _ Senor "Sion Otmervation 6, ‘The volume end flow of infomation in « Maxi lnschining stem are mich higher tenia an equivalent classial machining tyson “Tis is due 19 The ins elena into exible machining system, ssh {S omaied mnie handling Stns, stares, and alts, and “The increased prt iy and the installation of sensors to dest tol trenkage, heck svalablity of ruchies, ols, and oon (Observation 7. In fesibe machining sytem, beh sizes res fom | ter ies he capi of fies, and the ited fife of tools ater than ling descend by optimization posecues sir wo thsewsd incase manic syst Tn order to js his observation, one san use the folowing arguments: 1 The hase eoncegt of flexible machining systems ist it smal be Proc. In adit, the average bach size bas been edaed due {o peogess in hardware developoent (.. machines, mati an ting Systems) tnd mepaton °c AL, CAV, ano CAM Sst 5 tdscssed in Chapter 1 (Figure I). Tis his made the ress of implementation of desig changes mosh more effecive. Toe design of rnc and pr canbe modtied requ acorn to the chang these egunt changes fend to ede the bach siaos of products and es {ABLE22_ Samoa Poe Plan fo ite Mociing Stim agin feu Mate Veneto, guint ers ote; ‘Nenter—opmige tems Thur Fate* exible Mochining and Assay Bytom Chop. 2 + A typi fixture has capacity of more than one pat (se Figure 2.) ‘This reduoes the unit (per prt) con of fate andthe nating (sep) Tine. taa Nexibe machining sya, it eet to ra pts in Bath ies equal to exact multiples of te capi + Some machines are cauiped with changeable tool magazines wih in itd wol capacity (eg. 28 tal) Each ofthese tools can manufacture "ned numberof pars. When one of them a worn ou o rok, the whole tol magizine has oe chased, and his volves change ‘ver costs. To edace thon cons is eae fo nate pat in ‘ch sizes shat requie ao! aia tne shar than de expected Observation 8. ‘The design of a Nexble machining spxtem has an fact on operation, "To justly is. consider te exible machining cel sbown in gue 29, Asse tht this ell hs 10 machine a atch of 6 itil pats ina ‘unmanned mode. Tere are ew pats clamped ato fist. al tales minutes ty machine @ pale wih wo pars (I min per pa Sine falcon shows tat in oner fo provide 1 hour of nmanhed pettion, 30 nd fixtures, this is obviously an intiiat design of 9 exible aching cal nthe eis design (Figure 210) a obo los ears onto the machining ene. "To peer 0 sues urtended machining oly one alt and ‘one fist re required. Ta this ease an extension of unten operation, 5: ewe 116 Res dno 6 1 Pape Fe ig Fe (Gee. 2.2 Flexible Assembly Systems a for example, 8 hous requres very smal investent ight plles and a obo pero handle the parts an pales The Mes machiig clin Figure 2.10 canbe easy ink withthe Fos the manuactring fii by an automated guided vehicle. Mos oth observations formats i th previo section for exile machin: Ing spc sno apy Wo Rexbessemysyneon (PAS). Any ferences Thm are ae evoiology rather tan concep sea freeing tts proces pining aed decign of produc and parts for exibe assembly 22.1 Process Planning for FASE Consider poder C Musuaed ia Fgue 21, which consists of four pus, Dyes, Pec and Py This proce bas 0 assembly pla, 38 resented in Tiles 2.3 and 24. In the clsial sembly line, product Cis asebed gw 281 fsa pa © Tw as Tm 3s, He rar— ‘Mesible Machining and AssemiBiy@ysteme = Chap. 2 Ps] rera.nd as] more awe 212 Ct sey tn secoting fo he proces pan in Table 23 on he sia asenbly stations ‘Pear 212), ns Menleasenbly sem, on he ae ane say of te sien tons allows many operons to be pefomed ont sgl Se Se Th el easy ym enn val serby stations selon a he equa! Casal ser System, Aw camp flexbieasenbly nem fa ons of to pal ‘Semi tons prs Figure 2.19 Tach ofthese asserby Stns le 2.3 i eon bo @ ‘act om Fig 21 a be asin on et ow ely statins Snes the changeoter os for ech avely ston sala Msc can fe semble in sal fc. The Cox of fates a Hebe {Sty Stns eso be higher fm nla sendy neg “Te ifoncn boone Hse cy jes a CSL snanufctung sens are wef nur th deen sod manson isis in xi machining sod asenby sc es 2.22 Design uf alts for Automate ‘scombly ‘This section presets eign ules hat shoud be consid wil esining age ned a ned ae, a fica achieve lage savings cot whe upg un ee for an exisingprouctIn thn cms wae lage ingame eee ination sows that the tings ae fee de ages the ei We 22 RT etc ston @>s e214 res he post necesito by the new stem athe than he intouton of the Inmate asembly syste il ‘When product is esignod, consideration is genenly given 0 te ‘Athough for obviows reasons it mus be possible 10 assemble the proc, Tle tought is sualy give to those aspects of design that wl facie fionsted assembly. A product should be designed 0 that the indivi enbly eration become sufcienlysimale ora machine perform in esgning posits for asnmatedasery he following bases shouldbe apie (Bootioyé Pol, and Mure 1982) 1. Mininize te amber of pas in proc, iy cam be bu ™ [Ensue tat the product base has features tit wil ease it be realy located ta stable poston inte oezotl pane 4. posible. desian the prod that it ean be assembled in Ives. Try fo fviteasenhy by providing chamfer or taper hit Wil lp to guide and postion the puri he ponion req, (6, Avoid expensive and time-consuming fseing operations, such 2 ‘erewing and soldering Design pret so thatthe subsssobly (assembly) does not have to belied or tated. The ing and tating rest empl Taties aid pipers, mre depres of ek of the roy ad Incense cle th._ MRE Machining and Assen Bysterne §=— Chap. 2 8. Design products simplify packaging, Piskaging can be comidered & a fia age of assembly. AN ate no ae comic oe ‘su ibatios it wil experience daring shipping without seqling ‘cessive or unusual packaging. The more tmifonn and sing te ekaging ofthe producti, th easier it will eo have 2 ei ckagingsavion that ses standard cartons and lee Whenever posse, aod he need fe the support of nema psn he ‘rout with pacing materi Als, avd penis ine predic whic bckaging material may eter and contaminate the produc If pons, hae ‘he carom designed so the unit mse paced rag down ne shiptg sontane, wits he packing mitral aenly i place 22 Design of Parts for Automated Assembly ‘This section presets design rules tat sould be incorporated it te design of mechani pts on sumed assembly. Etro sschble tatoo ‘iting parts to designed for rabotic assembly ae usally costly and ie 'o implement. Tae manufactring process mst be comidred wen the pant ‘ae designed, no after te dsgn fas foes complet, Many times assembly of pst wld have buen easy automate ‘cept for on feature raking t imposible or economically justifiable ‘tomate, With jot ew mivor design changes, and uly wil ses op the hardware cot of te padut the pout coal have Reen suo soem ln design ot mectanial pars for sulted assembly the fllowing ‘eign aes have 1 he considered (Lasee? 1983) + Compliance + Selalignment of pars + Hiden feats + Symmeny + Gripper shapes + Pat tansting Patty + Pant joining + Pat preston LGomplianes. One ofthe ost important concepts fo conser inthe design of pats isthe accommodation of compliance Sis all pats ne ‘aly dimensionally sible within cen tnleranes, this uncer must fe ‘comme in the design. Th aso applies o Tokers and other soon aupment In spite of ts asumcy ad repetaiig, wot ele eves ne to noel the point in space for which twas programa, not cane, 'o exactly that sume spe. Thotfore, these vances in pas thd supe ovement must be conser inthe design of pa ‘Bee. 22 Floxibin Assembly Systems ” ‘ne ofthe eases ways 0 design compliance ino the pars it allow the parts wo it topsher even when misaligned. Figure 2.14 shows bow this fn be accomplished th chaning. Seltaignment of parts. Pans shold fc rogue in oly ane wy nd should not egue a Secondary operation fr aligns. Guide pins, De Shape oles, and aotced slot ar examples of way that pts canbe acm www p ‘Another example of sallnment of pars that of nesting. nest | fe, utout, or euctirough designed to ecte apart ins paca orton, The concep of sesing wort wel wih the concept of ler stem, since ‘sting allows pr to be placed and oredr it sured soe ge Hidden features. Ps with hitdon fests sich 8 bos, sos tn pins tht must be evened with respect 10 these features shoal bate Sosponding extemal sires help pet he pa. Thee er et, ‘wination ofthe pc ‘Symmetry. _ When posible, pars shouldbe symmetric so hey may be edad assembled in mee than one diction. Designing symmetric pat 21 sows wo pars that could Be edit lake advarage of the conse ofsymmeny. . I ft rust be asymmetrical, it suld be cle asymmetrical. IF is close enough to being symmetrical thet i oiettion is iat ‘htc te pat shold be weaed ay spat with biden feats ad ave ' onftonal extemal feature to increase is asymmetry. Tas wl bp ‘line jamming and saigent of pars daring sembly Parts designed for grippers. Puts should be designed tobe com ble wih grippers Pars th lr, Mt, and smooth tp sacs art ‘is for vacuum or magactie gripes. I prt canot be picked using = ‘acum ce magnetic ripper, wil Ive w fe pichel ising a mechan ‘ppt an should have apropine hols, lt, o tas 4 ain raping,—_ AS SOS SR ERREON: © Chap, 2 C689 ¢eed Tangling of ports Pas should be designs thy cannot nee est or tangle as iltated in Figure 2.1% I sings must Sse ne closed loop springs withthe diameter of the wite gener tan the spc hetwene ails. An lematve that seas to handle thn col spin 1 a ft Stability of parts to prevent jamming. To enable sl paso be fd down ase they must be designed so thy done jam er sil the ‘rok. Examples of jing and shining re shen Figure 2.15, Dean _uilines to help prevent ning when feeding sal pats aa allows + Shacp edges shouldbe aided to proven the pats frm catching om the aie Bec. 2.2 Flexible Assembly Systeme ow ere 216 Nein es ep pt wth es oe ow, SS Se, > ewe 217 Exon ot ney fal sid bea age poss ‘The base of th pr shouldbe Mat prevent the part fom ring on top of one anther. cen of gy shod be oe sow pos + sot orn the pan, centre onthe be ofthe pa paral tothe Ahection of trv help tabi the pr and keep fom jamin. Pars joining. Pars canbe joined oF fastsed together witout the se of fastens sh a eres, bls, lps, Het they ae designed Tor ‘napping together. The follwing race wuld be consider- Flaxiole Machining and Assembly Systems — Chap. 2 e_@ td ee 218 Tagg op + Pars should be designed for assembly by snapping or icocking| * Ifthe use of fasteners canst be avoids, se fastener tit can be ‘wild automaticaly Fasteners wih lag to diameter mo fa Teast 1.5 to | ate mot easly fe * Ha wasters equi, have capt bythe ro bull H should rot bea fe pat + Use the same fistener thoughost the emis assembly Avoid ving ‘ifn ies and types of ate. {ee.23 Too! Management * mee SE + astoners rented verily arth mgs accesible o aomatc equip + Always allow adequate cleanace amu the fastener for an autor + Use fasteners with at sis and tops so hey may be mow easy picked ‘magne or by using a vacuum ariper (see Figute 2.21) 23 TOOL MANAGEMENT ‘A comprehensive cutng to management system is ria 1 «sce ‘operation of Nexblemanastarng sytem, Tol management can be dinedFlexible Machining and Aasomany Systems Chop. 2 mn ny Fre 220 Sona fo te, a 23° Too! Management ” fhe capability oF having the cor ols othe appropriate machines the (Mason 1986). One ofthe primary objectives of tool management 10 ensure Aha wong sever aus fr delay in the prodction bed (Re 1986), The following stats indicate he Heed and porn eating ol omagement in an FMS (Rds 986) +20 1 60% of shop's toting nsesory is seeker onthe shop Noe, with sso iting i oboe. + 16% of production demand canot be met because the toting is no sable +010 80% ofa praucon supervisor's ime is spent ooking fr and ‘apeting matrals and tools + In some plants, operates pend up 10 20 of thee imeserching for cating tos, + A mctalvorkng firm's anal budget froin, jigs, fists, com Sumabl supplies, ad spare parts e710 2 ine larger than i ete ‘iptaequlpen! budget |n a typical mehining system, aeual cuting time rpresems a yale tecncen 3 tnd) 20% of erage machine utitaton tine (Cater 58S). Nonpductive areas where machine uation Teves can be distally Incense pela woo ing, tool changing, and pat (componend leading Avot Wool haning and management syste ain the fellowing beet: + Machine rodsetviy is iors because tol change is avtomated| tnd tales place while the machine is open. + Reduced cost a associated wih over tooling inventory, spe each aor investnent Both inthe iil start up of st, sn he ‘ngoing operation ofthe syste. By naling cating tol nnage Ime syst, savings can be seater than 30% ne tooling purchases ‘ees 1986). + Fierpeney tol purchases andthe purchase of ocores tools re im + Prot delivery time is improved because took shoage are never respoile for delay nthe production sched, ‘The hardware componens ofthe 10! haing nd management system no diseased nex 23.1 Hardware Components of Tool Handling tnd Management System ‘Too! magazine and automatic too changer. ool magazine and tomate tot changer are Teed on mci, Figure 2.22 showsi i ; W029 Too! Management ® ‘acini centers, each with oot maparne ado changer wel ther Monae option, Figure 221 shows some of the mst Frequently sod ype I tool agains "The oection of tol changer shown in Figure 2.24 Tool storage and support system. The rinry objecve of the [Mic 2 cinely skin. The functions performed Inthe tol soage Bem ae + Tuo! presting (ein the too ffs in th ol olds). ther support furtionsperfomted inthe tol storage a support system Ip buy of tol aes returned rom the machines aad war dowe pt ot critics. Two t3p of commonly se too stocker are shown in Figure 2.28. ‘he mck stocker a Figure 225) can be automated inh hay sir to an nosed storage sed eeteal system Toot handling system. The ool handling system trans tool fom he wot rape a support sje tool wom) the vidal ol magazines fw cach michine. One tool tuning system can service several a hin, dependig on he tol changeover euiements. A type ol baning stm ves an sutomaed guided vehicle (AGV) to tanstr tools fom the, fol tom to the oa magazines on each machi. A automatic tol handing Ast tetwcen the tol room sid inviual machines allows tol to be hanged wil the machines ae rain. This dues elimsates setup ane Trains» wot magazine with ols Too! fault detection system. A tool faut deton system is Ieyied in suecesfl aeration of a tol mangzement syste, Tool fault Aiston can fe cased no fot wear monitoring and ol breakage dete: thin (Mayer 1985). In vcw of the risk tothe machine and pr, reskage Ahteton fs wre imports hn fool wear ontring. A breshage-deecton Syvem procts the machine, to! holder. and machine part from damage Ishin center over protonged ie "A prt appmach tthe tol wear problem st replace tools or prtermined umber of hous of machining time (Greve and Sikh" 19H6. Mayer 19K), In this way, the need for tol ‘wear mon Hring eliminated an the ectrrence of tol teakage is minimized. Fault detection fs 4 function bundled st each mucine and monitored y ‘teaching contol ste, CNC machines wit automate tol changers- Flexible Machining and Assembly Gystems Chop. 2 ‘Gee. 23 Too! Management a“ 6-9-0 He ‘tol rom, The he wo! managerSs ‘Flexible Machining and Assembly ystems — Chap, 2 Pawe 226° Lg oo mine 2.32 Too! Storage Poicies In oven eicenty manage tos, diferent iol strap policies ar wed ‘Without he los of generality, four deter too storage poles are analysed bused ona manufacturing cell a ince tre maces ent hy AGN {sink 1986) Fach machine i equipped witha permanent to magazine Of ‘ipvity me 6, Tool storage poy 1. The tol magazine of each of thee iwi ‘machines loaded wh sh diferent tools (se Figure 33), ‘This too store policy bus Some advantages and dadvantage, l I 22 ee ere 227 Tol orp ply {re 23 Too! Menagemont a 1+ chop et of tol saab 1A hachyp machine is ale +The oo! hung stem ssp + More than one st of ident! tos i oie, + Hema! NC programs ar tore in more than one machine. Tool storage policy 2. Fack oo! mgzine is fed with two if fore types of nos Tn ain, each of hese tool upbeat (ae une » » 4 Each NC progam is sored in oe machine + Theresa spl ol handing system, + Mor than one sto dec! tol is equied +A buckup machin sao availble Tere high requirement or to magazine capaci Tool storage policy 3. ‘The oa magazine of sash mastine sade wih oly one toto etch typo (se Figure 2.29) Al spare oul ae sre, it ear of er tools th sage and nding sys (HSH)1, “ Flexible Machining and Astombly Systane Chap.? +A backop se of tol is asia Fach NC progam i stored in only one machine, + There als egutement for too! magzine capacity. + Atachip machine can be crated by changing tools ool magazine +The numberof enc sets of tool mht be redoedinconparson (oe munbers of tol in rage pois 1 and 2 +A relatively comple tool storage and hain system i eed. ‘oo! storage policy 6 inal he hee too storage pois dacs ‘he asumption was made that t east two erica st of tools wee alae ina given panning horizon, However, ths assumption very often dos no +The hgh cos of tols + Deay in tools maienance igure 2.30 lasts a ool storage poy ha edaes the number of os sored ine ov sage ana manag syste, Tt storage policy the follows evo subsets of fools re store inthe tool store system + Tools prone to breakdbwns (subse of ols stein ll ol agains) + Tools proving ternative part routes (allerative process pars) Typically, moe moe than one copy’ oF the tos ling ito one of the ecg two tool eager sted te Wo rage a hain ys Chop. 2 Retorenco 6 REFERENCES outoy, CP an L, , Much (1982. AuomaicAney, Mal ‘Caner, 8 (198). “The pleion of exe wating sem in 8 eile Inuit Sse.” Roe. Vo 3p. 22-208 Grieve, KJ GW, Sth (1986) Maina compueat ciation * Forel manfocsing syns fore cting proces A Kaa Ti), Flsble MofchringSytena” Mes and Ses Non Hla Anse pp 9° : ik, A. (M49), “Pesele manus Sem A sti appa Towraonal Jura efProcon Research, Va. 2, No p10 10 ass, A. (986) "Pare and ols handing spent in A Kis (Ed), Mig on Deno Reb Morin Sys, Bui, Yo (hac. (198), "Pa design fb nd ua sey,” Po ‘salsa 8 Cone, Sot of Muacring pines, Dest, Mh np 16-22 Mao F198) "Computing to manger," Aneicon Macint ‘tte anys May aS Mayer. J.-E. (SKS). “Cating oct mnkning.” Commie (Novena December: pp. ate Reet, G, (1986. “Coml rs nthe lx,” Predetion(Oce: Roads, J. 8. (1986), AS tol agement sytem Proceings of the Psi Manag Sens Seman Sty ot Menten Ener Beato, Mh 101-100.lexible Machining end Assemribiy'@yeteme Chap. 2 PROBLEMS AND QUESTIONS. Seah genenneyrnmarincoes Jn Problem 2.1. ef 15 Eartha apne of on nd pobroatasate emer rege Lares sete nc tn no 2 Baal i a cha ac 2 Soke 2s: epi ee 2 Rena iecrtyemscinmise aad 1a agama pst eat pe orcas an ose zn esac aetna my 1h cena mae ony EX ata puliew ated anos d ee igs 244 nates i rn cna 2s ae ip ee go 2a pte oy es en to i os et IR yachts or Sa pet cate Sateen sola coetmeen ieee as ‘components of Knowledge-based Systems immopucrion In this taper an overview ofthe acitectae of owledge based syste ie esered. Te base components and istes in knowledge-based stems ae isc in de . "The acest of «typical knowlcge bas system includes the fle Jowine cigore 8.1 + Koowodge base + Working memory * Ineenceensine + Knowledge aqusiion nodule + User imertice module 412 KNOWLEDGE REPRESENTATION Iectve representation of knowledge is one of the Key isues io knowl- fuged systems. Doman Krowiedge Spray has tn foms, nto Ing oescrpivedeinios of domain-specific ems, desexptons of ividual thc, clases of objets and hele nections, and erera for mak: a- Componants of Knowledge-baiie Systems Chap. 3 G-=> ing dessins. This ston examines the roe of knowlege rpeseiton in the manufactrng environment The mos frecntly ised knowledge pe sehatio somes ae reviewed 82:1 First Order Logie Much of the ary resech in atificia intlgence in geneal and know ge repeseniation input was concord with fstondetlogi Ft ‘tes logic deals with the relationship of inplcaton between assumptions and ‘nssons isa wonevted ih te th i tase invidual sentnces but with he Felaoaship among ton. sto gic semenees can be exprsied asa collection of clases Although the clea oem of finterder logic snot always astral the tnd orm, i hat the same expressive power a he sana fom, Formally speaking, canses con he dein and interpre as follows. A slause i a exession te form here A 5 Ay a contin ofthe elaye and By Bg a arti cnclsions ofthe clas 32° Knonladge Representation « th concsions and cndions ae expressions ofthe form Plt. =.) led usc, here Pisa argument rect symbol and. fee ers ‘term is variable, const symbol, oF a fation ofthe form fio) here isa argument fuscton symbol, nd the clause contains the variables xy, ¥4 then it can be interpreted as Hangar foral ve Hin =o, then the cause canbe interpreted as Stang uncoainally hat for Moon B06. .06 By Ho = 0 hen he clause canbe interpreted a ing ht Formos xe In other words, implications without conelsins are iter as jas. If m= m = 0, ten the clause cathe ilerpeted aka seen Wat ays fase variety of knowiegge canbe expresed sing the cll form of loge, etic above Simple assertions can be expressed by clauses (with = O) 5 Taows fence 07( #305) — Pant CAST O9(02, 20) {Gren set ain ‘hee peed np) ‘ase La ny expense! conan popostons TOURGM,t) = MAH. PROE (Ha vey.4) ane My pening pein aime te Matt ne A clause can hve sever joiat condions o sever joint contains (COMPLETE(P1e) COMPLETE (2, ComPuatE(e3,) TASK oi af ptt.0 Components of Knowledge-based Systems Chap, 3 Problems tobe solved can be reposted by sais that ae denials. A typical problem sone (or theorem prover) eat ou denil by using causes To'ty 10 efits the di. Ihe dena contain vera. then spose, {0 exact from the reiution he valves of the varbes tat scoun Tr ti ‘efuation apd epesent a soluton ofthe probiem fo be solved 22.2 Horm Clause Subset of Fiat Onder Lugie Many fistrde logic applications have found it slice eit the fom of elases to those contining at most ove conclsion called Hor eases J fet, ican be shown that any problem that canbe expres nf ‘der logic can be iexprssed by means of Hern causes (Kowalski 197) (On the eter had, the Hom else sbet of fistoner loge more closely represents te conventional programming languages than ds the fal laa form of fist logi. Syatstially, «Hom clause ian expression of te where Band A, = 0 ae stom, can te imerpeed as stating hat forall values of the variables it conan, bole ay and ~~ bod ‘Hom clase with an enpty righthand sie (ea = 0 is intepreted ‘an unconditional assert of fa ef. PART-LAST-OP(oy. Py) eA on clase with an empty Tet tad sie sintered as ei, A Hom ‘aus with bth sides empty sintered a a conrad eis inesing fo ote that Horn clauses canbe gies a procedural Interreton aswell. Aor clase te fom: <2 be imped «pce with ead or ocd name) Band body ies Eat aoe Dy fe pea lee ‘procedure call, A clause of the form a ‘consisting ently of procedure cll (or probes to be soled) behaves sa {goa statement ands called goo clamse It ean also be viewed as guy. ‘whee the questi finda constive pot of "thee ens, ap Sch thi Ay and andy old" where...) arth vv ithe ‘in the procedural interpretation, a set of procedural declarations is 4 rogram. Compution i nnd by iil os! maementand poseeds by using procedure declarations to derive new goal atm fond gol 12 Knowledge Representation ” jeer. Iterminates wth he derivation ofthe ol statement (i. cause ith both sides ergy) that coresgonds oth efusion ofthe oa aera Cel), Such decvation of goat statements eeompinhed By elton obioson 1968, which interpreted sx procedure invoation, Tn wop-dows pote solving the grblem solving schaxist eaons| Ucar fom the cocteon, repeatedly racing sols to subgoals, at Bray all conga ae slved deny ty twin corona oto ip problem saving. the eoblem solving mechanism enone frac fn he Iypshesss repeal deriving new asserions fom od ones unter ‘ginal goal Is solved diecdy by Jered asteons. Proof processes Wing 0 top-down oe btom-up ppeoach or both have ben sugested he Mire (eg. mode elimination (Loveland 1968), SL resnkton (Komalet fl Kushner 1971), nypersesluton Robinson 19630), connection gap po Hur (Sieket 1976), The Horn clause subset of inorder logic has been fice slain of marci poBens For eam, Bulle g er ‘Whineon (1980) wed Hom clare ashe Lame present re ana resatio-ype theorem prover (Robison 1958) atthe control Bry. The esene ofthis approach s that he aplication domain knowlege A be resented a a collection of seriences in fistorder logic. ay pro Te 1 be solved in thespian domain canbe tanfonnd into ys-m0 orton Checking wheter te trath of hat sentence implicit te fle base can be roduel to there of fstonér lg bance, the gues Hon-ansveving operation becmss one of theorem proving inthis apeosch, ors, the robem of deciding whether a sentence of fs-orde lope Ih theorem (ue the decison peotie) is co-NPcompice (Levesque tod Achar 1985) However, nome acta Systems he ogi rogram form tome more manageable. Tiss beease te necessary inference his been fit ino two components: etrival component ht exact fact fom data He ty pater mching and a search componet thats Wo use aoniomie Hom cimses to complete he leone. Advantage can be dette fom the Ft tat the search component is parity under iter conto an hence po ‘ell Knowledge can be inccpeaed. To summarize the haowedge fpr Fosiaion scheme used in Bulls, Not, and Whinson (198) ts very general Ist tial ieligence researches have long abandoned slut ste ial strategy in adessing noni peobles. 123 Production Rules Postion rules ar, in effect, a subset of predict calculus wit an add Jrescpive component inating how the infomation inthe ls 0 be od ding eaoning. Conse, for example, the following paduson rule (usin 1987) By" another pare #3- Components of Knowtedge-bedie ystems Chop. 3 whose of refers tothe cern factor of 104, Jn the pat this Kind of inferation woul have beet embeded some- where inthe del ofthe algoihm (ode). There are seve advantages of xpesting borne desley a presi aes + A les wse in specific cieunstanes can be aomatically explsind and defended tothe ystems ser, *Devolopes and ser can realisically expect to mify a few res * New knowledge can be aed to the system simply by adding new ‘les without worrying abou Bow hey wil it in Thi est 1 sytem tht designed te Beef (or lea) fom the ne now edge br pst experience Although podution shave sufficient xpresive power to represent ‘ell range of domin-Jependent inference les nd behavior spats, they, by themselves, are inadoqute at knowledge preston scheme in many applications In pater, thir experve power nsdagee, fy seseribing objects and sic elonhige, wath s whee tames [sane Seton 3.2.5) are particularly eacve, In fa, hybrid presentation cheney combining the advanages of both ames and prodicton rues) hae eee soccesflly sed in practice, Prcton ee tat epee on other ales are feguenty called eta rules. An example mets ee shown below ‘Meta ules improve the efceny of he inference proces Foducton cues hive been most egeutly ake fo sepresent knowlege in -owedge-tased tems. However, the uisrctured production syns have sorme disadvantages One of them isthe tacos of pepe cence ie the neces of saning «lage numer of production rs Ie der 'o incase the effceney of a production stem, prodcton mics ta te Sacred, This type ofa prodaion system is called a sructred proton system (Niwa, Sasaki, and Tha 1980) An example of «sutured. and ‘srt podiction stems shown Figure 3.3 whee reton ve, ‘ave boon up int clases, Rater than scaming large numberof unsivetaed production rles (Figure 3.210), depending upon he context, the irene ene tees to the Pour clo ales, The clases of prodstion aes canbe Fah otanized| Hi es, igs andthe ke. 525 Frames Pames sore suggested by Minky (1973) a0 st aerate 10 presiate fale.” A” tame provides a concise stucturl represetation ot ust Ivins. ican be vewed a «generalization of propery ls th provides stoned representation af an abet ora class of objec. Each ned Dito clas of obets may he renmese ed by Fame Te dein IMfame can eons an absbac template proving a sei te dsc IMy instance and eof et fo ype! members ofthe cas The most important Teawres of frame fon oar pespecive a a8 fats + I provides structured presentation of objets and clases of objet in'an aplcation dora, +I provides mechanism (called inbertanc) that guides desertion nnement trom lass desertion o isda descriptions + Hallows the speifieaion of precedes called demon} fr computing esetipions this feature is Known es prsedra tanen + laows one determine desertion inthe absence of sec know teadge=ihis features refered 1 the det feature, Frames ea fo—_ Ee {ct aly tc eng reson att wel Wh ‘ch le resent as ame, ruler can be grouped incase, tnd the escrito ofl tn nl rey se he + Aftame ised reeset of Somsinspecic knw tan py ‘ation domain nd sacl knowledge asocned wih dein ek igus canbe used to formate altel modes tat could solve ‘aus ubotens (unt ad Jk 1986, My an Se tn » manaficuring comet tames have Keen wed in jb shop sche ing Fox etal 1983) and in magemen: (Sat, Foe, and Groce ter 1985) Frames have alsa een nent scheng sive tee the mantacuring contest. In Goldstein and Rober (1979), frame bse representation is used to schedule actives in am ofce environment The scheduling system hasbeen elored toa “infra beens tees inf ‘al eguests (eg, to schedule meetings) and jrodes a calendar containing ‘posible cuits ad an assoc et of steps for resolving he onc ‘A domuinindpendent search algorithm then resolves the confit by tai inal ehnigus. The problem pein infra in the sense th cat ixopete, psy onsen gia, Tn hep ‘ontast with scaling avon Joh shop 2 fom chop, whe te Problem ipl iso ind the optimal schedule under well-defined set of ‘consis. A frame i viewed here a. pested association lis with «nome fleets of embedding: (etot (eacet caatus (Lane message...) eae (EN ad AN slots esentily an atte ofa frame. It ea have multiple valves and ast of popes ele faces The vale of st datum sutmatclly, known 3s procedural ansehen. Newed sts such 2 the is el mess alert, ae opin. Come or earl, the following tame (fo csvazve (suenase ») (Stbrasn-oF (Staton. (Ph3R3 $))7 (as nerivary (svator (LOMDING 1) Gamonorae 499) (ove. osx (HvaLoE (30. (OXrR: 9A) ))) (eazonaty (4¥aLue (anabea))}) alll cael —— ‘This frame descnbes a parte caled PARTI, which may be produced 1 nautica system. The fist slot AKO {sor for “A Kind OF) he Of lformation that “PARTI is hind of subs.” A part such I. can be viewed as componcat of larger onder (TASK), wich SKI In other words, TASKI ian ode to proce certain pars each i specie ode ie. In Tat, the scoad slot SUBTASK OF captures, Infirmation hat PART! isa sabask-of TASKI withthe omer sie 3 “tom associated wit he SVALUE facet of SUBTASK.OF ts expressed Be Ist frm (ask mame order sie), AKO and SUBTASK OF ae nese nosis. Tete soe HAS ACTIVI has multiple vals, Fach we Hin geval fin aig, proses), Hence LOADING fs te Ts sity to be prfoed on PARTI. operation os pefonted nest, flowed ‘pation efter which UNLOADING is pecormed. In oer word, = hus spciled tit lina sequence of operations. vation ofthis be tse to describe » general precedence structure The remaining te His speci the due dae and the priony esc hth part type Noe Ate pronase abel message) hasbeen wed in specyng the set JeDATE, Bich ame points its generalization by means ofits AKO sot. Fre fy wera tacos by ing to connrace ta ees ea Woosigs betwee Tames AKO or subclns inks, represeating clr contin wt or pecilization, and AIO (sb foram Iman OF} oF ee inks, Iypesntng cass merbeship. AKO i lationship been generic abst Gr heween categories of oes. wheeas AIO i 2 elstiomtp herrea Tia and ts category. Hence one can sy PARTI is AKO SUBTASK Ihre each of JOB, 1082, JOBS ie ATO PARTI. Since te oer ie DEPART is 5 cach of he fie PARTIS an e abled job Hens, we bu bve the flowing trae: a {azo (HvaLue (Pen) (as nerivrrr (evacte cuoantxe 4) Conono1ne 6) 9) (aoe oare (srauoe ¢ 19 (art: BaY)))} (eetonte (MALDE (uBeRHT)} 1) In this exe, nse of sing the data aun with she SALLIE foes, tay be possible to inherit them rom the more genes frame PART Instead of explicit wring vahcs ex before, it x posible to attach prove shes ht will exact the relevant infomation fom more genes ames, ‘he process of acquiring infomation from a more gener frm is called Ierince, 0B, for ext, colnet information fom hs gencazn onthe PART frame TMi scuson litsses two cena ideas tht separate frames fom simple property lists Fis fit can inert wedge on we geera= Oe, ame; Fmes can, thereto, e related Neral for More enol soape of information. Second, ane could ance Vaso procedures (ls ‘ech for ataching demons o properties ca also be wed 10 aah her “nds of aur information about the vac in» so. Te shuld be noted thatthe SVALUE facet nt the only way wo te slo vas. De (188) proposed that consis be stched ost by means ‘ofthe rguirenent facet SREQUIRE. Consider, for examples the follwing frame: (aro csvauue caceryam7y (enrcownittow (sezgore (xoKpI¥e oock 29L2))) (CONSEQUENT (AYALOE (ConbENe BORE}})) “The SREQUIRE facet of LOADING stipules tat he lading dock be ile fo he oaling activity 0 be ecormed. tone could lo se the same oma wo Specity a SPREFER tact 0 describe onions that ay be dese but no mandatory. In ther words eguiremens ate podcasts must be sated, whereas preferences can be negotiated. tf pose 19 clase refenes and rejoin segle CONSTRAINT fet. De (985 Frames" provide various ways of altaching procedural iforation expres in she he angge (eg. LISP) ther. This procera sip bay emables one 1 model the bebavie of objects sn an aplication din, ‘A ference fom tational aici intligeae angus a hse ps dues ae attached to tess af eam rather than to sees fo try frm. This is one way’ a fame-tased Language provides ane cred avroament than langage ite PROLOG or PLANNER. ‘Asan ila af procedulanachnet, coir the PART fame sein Se de oe ls Of PART Ht 3, One Sou! eeate Ie Pu es labeled PART, PARET2,»., PARTS, ech af which an ance of PART ‘This can be accomplished’ by ataching a. procedure (that wil eae the Jnstanes) 10 ah ational slot in the PART fame ay shown: cen (ano csvacor ¢suaTnse)) (Stanase or “(HALE (tasRy $999 imaaszxe <9) coun. aTE (WRLUE (20. (8922! BAT)})) ceetonres craton cuseent)))) (ns -Iszahce (HTP ADDED {procedure to create Hab feeee})) Representation 7 Silay, one ould ad procedue wo an addon slot REQUIRES JURCE: the LOADING fun: (compre (410 (SvaLoR cacttyre¥)9) (omrconorecow (snEQUTee (conorHs_pock rote) (eovsnounne (s¥aLue.(LoaniNe 90Hz}))) (ir ratbeD (procedure to inherit tron Inthe fies case, the SIF ADDED fast sa ts datum proce ht igre ee snc pa ype finance, “he poedure estes an spproprate mabe of operation ras for he jen at pe (a detemined by torr zs). In othr weeds, hs isn for tiggeingproedaes that support the process of creating an lnc of fame ad Tiling i Values oe sls. Inthe een cae he NEEDED ace slows sous to procures for spying vale i his ales are abeed fom abate ame. As SIF NEEDED facet Is the orl lcatonforan expesson intended tobe evaluated When 0 ae on ven afer folowing AKOs. Procedural utachent can also be wed ek ales om te use man race fasion or exams, ae could ne the following sas: (alot (41 aerne (ase (218! BEQUEST) })) In this example, ASK is procedure that quest he vale fiom the spurns indeed by he nested sterctre (TYPE: REQUEST). ‘Ondo he foster os 9 nereeing pete in 8 fame jee system sinhortance- Any fame en ave member nk ra slass o one or moe class of ames. The stenon an Tetieval mechanisms ramets languages use the riember and sla nk fo Auge Ihe Secripicelformation ‘ns frame wx inher, torino be Inoied in vaous ways. Ancbvius way isto use aserch procedure refered Ws value inbertance procedure (Winston. 1984) tat looks Tor values of ppopite slotsn appropiate rane. I moe than one vale foun, al Ie rept. o values re ound, one may be ale compat vases ui Ihistneintrmston, The procedures for sac computations Could he stacked Jy SIP NEEDED facets, a scusse eter. Then procedures ia SIF NEEDED Thcets could be ined av are values in SWALUE fact. This ix usualy Fiend 1 as "i-peded inheritance procedue” (Weston 1984). Fly, it Stine valsesuoeirasededrocednon ar avalible on cond we defeat ie, which ae atached 4 the SDEFAULT fact. in sac 9 case, one ca dvs search procedure (feed to asthe “lal inbertance prcedue” {Winn 1988) which can capi inormaton nthe SDEFAUIT act, Seachss Components of Knawlodge-ased Systems chap 3 strategies can te defined where these inheritance procedures can be combined invari way (Winston 1984) For example, ope could ue the Nsinhersance procedure, which + Uses valu iaertane, + Uses defies ‘This cllod N-iertance hea he search ath looks lke a eter N ‘then dropping al the way down and staring ove, foking in notes kid of facet. Ninheitanoe meves up the AIO-AKO stucre before moving vss the various facets Therefore, when asking for values, one nosds to spily + inch fae ap to be wed: SVALLIE, SHNBEDED, SDEKAUL, cor combination of fet, ane + Wee inhesiance sw be used, and io, th search sate language wo dosrbe objects na potir domai ado prion inferences on those descriptions. Another feature tat has been fund sel in knowledge. ted spstems ithe tpresenttion of domain dependent behavior knowledge ‘inne form af pat acto ules production ues (Davis td King 1984), 2.26 Semantic Networks Setiation schemes the oe o pode aout facie for dfing complex ‘oasace sich a uxonomicelatonships (De 1988), Ins simplest fom, » semantic network sa gragh whose nes repe- sot individual objets and whose ected aes represent binary elation Figure 3.3 ivan example of ow boy of facts canbe epost Ung Semnane network. I epresets he following facts Machine Mi is ile at ine Machine Myf ile a tine Machine My cunpesform operation 0 Machine My san perform operation Mschine M: can perform operation 0: Mochine Ms can perfor operation 3, 1 ithe fs operation tat mst he performed on pat Py nla the word operon tu inet be prfred on part ‘ys the lst operation tar must be performed prt Py, Sec 32 Knowledge Representation 2 Figo 3. An caplet soc The semantic network representation of knowledge canbe viewed a 2 unit epesematon of the binary recite version of pte clean, Where an ae Lboed dete from node to nse eset the aston ence the semantic networkin Figure 3.3 epost the following ser ine og (eave) = ie (eee) = fhes-or(aiog) = inst enroll = 1 ay be noted tha all nodes in Figure 3. ae abled by constant bs. In general Nowavet, nodes can Be consa, vehble, o ets© ‘Components of knowledge-based Syxtems Chap. 3 nstrctedwsing fenetion rib, Aes etn repreant condtons at well ‘ovcusions and canbe grouped in clases; the overall graph steered tors an extended sant ator, ‘The renction to Diary relationships is aot an anprat liitaton| because every mr) relationship canbe expressed as conjunction of et binary iatnshpe For example the ary aserton BEEIN.OP (my 08) FB, 8) — {ohlen sens mat machine My eg operation os on pat Fo Un 1) an be rformalted as five binary relinshps Shas tanger bs Wis ssued shove that io ype “even” The Somsponging semantic newark representation Fs given in Figure 3.3 © gre 4 ny pee fay pen ‘As the previous example indicts, it isnot alvays convenient o aural vo erent faton using a bin scheme "Te inary represetatinn bass avantges. is peerly mere expres tive han the mary representation andi makes easier to ad ew ifort ‘nd Ignore information tai known, Hace, for example, i one needs Se. 83. Comparison of Knowledge Reprecentation Schemes a a(t he peviows ry asain) the seer thst the wen ks ass a cea Toeaton LOC, tte inary seem one only neds Yow 2 = In the ary representation, the replaement of te orginal ary assertion by a ner Say assertion i regied. The Binary representation also mo meni tan the vary representation when components of reaeoship when, Fin come i ir int Van ef option Slava fis not Bee determined ye), salfces inthe Binary Teresa ply 0 te what ie known and Ignore what now know me ama, Frm ur dscusson so frit appear tha the semantic network sere 4 pophicl version of he bina predicate deals. However, tami 0 {ha sraond would be misleading st best. Several erate notork anges Ive so been poposed that have the expressive powe of predate cles ‘hisses the pamtoncd semantic network formalism of Hendes| (1979) ate network foals of Schuber (1970). A mmber of semanic wrk approaches are Uscused in Finer (0979), Reader inrsed rele ssprncsatn alenes sti se persed in ee uy reer Rich (983), {13 COMPARISON OF KNOWLEDGE REPRESENTATION SCHEMES. This section shows the effect of knowedgerepesentaton schemes on the Nolin of kasnodge base ante inference engine ts wel as fe ineence The sults resented are sed onthe stad condcted by Ni (198. He'iesigned a Knowledge-based sytem foe isk management Ire thermal lin constuction projets A ik i defined ay an uncsable eve that thes pet deli ns ovens, nd deficiencies fo ehnieal eformane, sca ge ko devon ens sein pet mange Foc large enstston projects (Niva and Okuma 1082. ‘The astm hs Ben implemeved sing four Knowledge representation etme: 4+ Proton eles + Sractaral proctor Frames Volume of knowledge base, The volume of he knowledge bse for each of the four owledge based systems shown ia gure 3.8. The volume ‘Gunter of characters) fer he prodaction system andthe suctred production Stem is the same Because Bo stems se the sume numberof production ‘les, though inthe later they’ were str (stegorzd). Thee Yoke ‘f now base larger fer the frame system tha Inthe oter systems cause it was cesar to replete some related pieces of knowledge im sien Frames ‘The evaluation of he difficulty of implemeatine knowledge bases using the fourrpresentaton schemes might he subject, hut ean be charactenzed follows (Ni, Sisk, nd Thar 1983): + The knowlege bases ofthe production syste andthe logic syste ‘were fund he mst easly implementable because these repeesentation ‘eberes ele eagcwed the Causal rlaonhis he dona, Te Slighly more involved code ofthe logic nstm does tafe the hove consti because was easly rede changing rules ‘vt pla conclusions (igh-han sie elements) no plural cls 2c. $3 Compaion of Krowedge Represaninion Schemes e 1 The knowledge for each class in the ative asin apse was fund wo be easly implemenabe: However twas neces 10 Separate he knowledge st an apropite muberof clases 1 The frame system was eather dificult implemeat case twas moe ‘he stocture of tues, sls fr each fama, and ow al the fees Fieogeter Volume of inference engine. The volume of intrence engine for ac oF te Tour hnwtege repesettion scenes shows gu 3, Fate 6- oli fino eg “To pcm the compartive analysis the frward and backward resto. Ing slgoethns fo predation systems (Wiston and Hor 1981) andthe tse Uiicton sort for the loge sytem (Chang and Leo 197) were sed, Some mifiations of he slgoritms were necessary 1 ut the neds the analy +The inference engin in the production system was the easiest to imple- ment because only minor modeatins were equed othe forward tae backed reronng egrtis. + The inference engine inthe stsctredpeodscton sytem was easy 10 Implement The alos vo contol ds dierent clase of Knowles Wns eal developed an! corporat nthe forward an backward ‘reasoning agorthns* CCompenans of Krawedge-besed Systems Chap. 3 Topical complete ago or Forward and backvard reson. The inference engine inthe fame system wos rather dif inplenen twas nevesary to develop forward and backward reason nb ness wing the ame reeseatation Tanguige Winston snd own 198, Inference time, For eich of the four syst the CPU sine was measured while stving the sae lis of problems. The rls obaiaed are ‘own i gue 1 "The inference time measured did ot ince wir input ce program up Thess ofeach f the four knowlege aes was aed To represent the sme knowledge conten athe te volumes of awlodge considered "The analysis showed fat. forall the volumes of Knowle base con sidered the ame sytem esjied the Tes inference ine, whereas the log System used the sont. As fhe amount of knowledge acess, the inference Ties forthe fae and strict prods sens femsied wus) co Ss however te ference tne oF te priction sytem inTease Moder eps and that of the ogi spe increaned igi. The preceding cam te hed allows + The eued cases of kaowledg in he fame system were connected by pois, whi fod the search thus he ference tne Ws ‘hot and atively insnstive to Ie size of the krowledge hae + Inthe stactred produto system, the number of ales be searched sts Limited compared tht fhe proton tem, Ti so ant ‘tthe knowlge bse «The env knowdge base had o he searched inthe production system an the logic apse, Thin explains the signiaat ioctease of the + Ine lope system, resolution was eli tie consming. 34 INFERENCE ENGINE “The Haowledge base could aot be used unless tha a good inference mec nk enabling tt we the Knowledge (Pham and Phin 1988), Dien tyes of inference engines ar pons, depending on the pe of nowladgereporntton che opted Insel tused ater he erence pine (le nerpete) examines farts and excuts mies contain inthe tnomledge bse aconing tothe inference ahd cos! procedures selected Sime of he commonly encountered inerence procedures inference rls) ar ‘mas ponendo pons {ras pens), sx lied fins medi ol ec 34 ference Engine =_ ‘Comperans er KAaatedgeusagyayumme Chap, 8 Jon) estan Hodges 1978; Geneseret an Ginsberg 1985) (ee Fie 3.8) The aplication of sferece rules 104 Anowedge bse enables gos {como wo be pred or Ugrove or ne fc andl ote ses ‘Toillusrate the later, conse a semantic network shown n Figure 3.9. Using ‘he modus ponens rl, is posible oar te row fact “1-00 has 9 meta” From the fact “L001 i a machine” andthe ule “IF X ia machine, THEN X hs a moter” By refering tthe modus oles ele the contusion tha "= (01 isn ling machine” can Be groved rom the fact “1-001 ate andthe rule"TFX sa dling machine, THEN basa spindle” Finally, fe ‘Sslution ale alos the new rile "TEX i lth, THEN X bas rt be obtained fom the rks “TF Xi a athe, THEN X isa machine” and “TF |. Modus ponendo ponens ie" TRUE Therefore 8 is TRUE) 2. Mss tolled ols 2, Resolution © ase ee ae — Reasoning bythe fvoking of inteteace mle can prncest in diferent ys acoring to conta posediees- One procedure to tat wi a set of the "I potion matches the Tacs. When such rls sre found, eof them felcil ised upon an spropeate confit melutioncrterios aad execited {fie}. Ts geoerates new facts inthe kanledge base, which, in tum aus, fier rules Wf. The reasoning operation sons hon n0 ore new rls, th te fred This kindof reasonag is known as far chung oe Gt tive reasoning (infrencing). As iuuated in Figure 3.10, from the fast, 1-001 ile, te fet goal) F4—L-J01 bas a motor bs proven. ‘an atermatve approach i to begin with the oul wo be proved tad ty the desired goal inthe “THEN” porion, I such facts ate ot evaabe Me Koowedge bas, they are stupa sbgols. The procs cutins ta Il dhe eequed acs are found, i wich ce the rial go x proved, 1 the sition is reached when one of the sabpoalyeanoot be sted. i Wtheh cise the oiial pal proves. Ths method of reasoning clled Ickvard ening er goal iste resoning inferencing. An example of Ika reasoning taegy is posted a Figure 311, here the goa ack es the gouls to be sailed Note that withthe backward ein, the has ture” arent created at opposed wo frward chaning where he facts Ions) F2and 9 have boon gored. Backvar ching therefore red hen the numberof rules is large and foreard chaining could generate 39 excessively large volume of dan practice. forward abd back ard chaning ine sometiesinegrate, and an erative convergence proces i se 0 joi thee opposite Hnes of esoning together at some intermeinte pint fo yl rob slut (Gevaree 198). Tat earespondscovely wh the gy, Inoped by systems engine, of using bot the top-down and baton "proces esizning complex s)stens: Ie wermstp-aswen ano stom Ip feerto he dosti ofthe search or tuto: top-down search gins om ‘ego state and proceeds fhe inital sate end bouom up seach ake place in the opposite direction. Top-down serch i ths iapemened in backward egavless ofthe sah ection, fom ay given goal state ce iil ste hee are ustlly several alieatve pbs lading 1 fren possible tol, “These paths conte th branches ofa serch tse rooted a the gol sate sata sn question ine Sere tre may De explores dept it ot Ive fst depth-first earch plunges rom the roo ode dep it he we, osierng a sequence of succor ta sate Ui the pth ine of reason) [exhausted The seach then procs othe next ranch ofthe tee, exploring IC iedepth. With teat search, alpine alesis oe ot ele te generated, then the atertves a te newt level ate rodiced, a 0 fn. The sear is ths eondcted in Bea cross the tee. Dept and Deus seatces are unrated in Figure 3.12 (Aly and Coombs 1984),r F ‘Components of KnewieigeGensypmmeme Chop. 3 Kone bse ‘ina se) FL=La01 i tate RI-IEX ica mstne Then X has moe RBCHTX isa lathe Then X iv machine ‘> FLARZh nae base dere te) FIL ie ate FIL hae = ate Korie ea ie a= | a before © natin ae at F201 has tet LAI a machine LAI he tnt RIMIEX ina mine Then Xb star REWIEX iste Then X soe FSTIEX i ate Than Xe cine ewe 310° As xa es ig 34 Inference Engine’ eo Krone bse cine BIIEX isa hi The X ha mr RSSI0X 3 fat Ton Xie mahine Goat tack sist (01-1001 ta 7 ‘GERRI mich nang bse deme ne) as: Fina bots us: ke Ro | actetoe (oat ack ast ‘Ssiset Gta eo : LAOH machine ; > GARI : nove bse dscns te) OS ptemtetoe + utes Goat ac, oats ' ‘Susie (G31-001 i athe : © H&G ‘Kan