Relay-Version: version B 2.10 5/3/83; site utzoo.UUCP Path: utzoo!mnetor!seismo!lll-crg!styx!ames!ucbcad!ucbvax!FAS.RI.CMU.EDU!Sergio.Sedas From: Sergio.Sedas@FAS.RI.CMU.EDU Newsgroups: mod.ai Subject: Seminar - Disassembly Expert (CMU) Message-ID: <8611302222.AA16493@ucbvax.Berkeley.EDU> Date: Wed, 26-Nov-86 22:29:56 EST Article-I.D.: ucbvax.8611302222.AA16493 Posted: Wed Nov 26 22:29:56 1986 Date-Received: Sun, 30-Nov-86 21:01:38 EST Sender: daemon@ucbvax.BERKELEY.EDU Organization: The ARPA Internet Lines: 33 Approved: ailist@sri-stripe.arpa Master's Defense Name: Sergio W. Sedas Title:Disassembly Expert Dept: ECE Date: Dec. 3, 1986 Time: 2:00 DHA219 Engineering Design Research Center (Demo) 2:30 DH1102 Chemical Engineering Conference Room (Presentation) An important part in a redesign for assembly expert is a module which will autonomously disassemble mechanical objects. Although disassembly is a task which is easily performed by human beings, it has been a very difficult task for computers to perform. This paper describes an algorithm which mimics the human experimental approach to disassemble mechanical assemblies. A highlight in this approach is the ability to determine when a single part or a group of parts (subassembly) must be removed. We have divided the disassembly operation into two basic steps. The first step selects a part to remove and identifies which parts whose connections can not be severed must be removed with it. The second step, incorporated in a path planner, attempts to remove the subassembly. During removal, obstacles may be added or excluded from the subassembly. A second contribution is the use of multiple representations for problem solving. A number of geometric, connectivity and facilities models are used simultaneously in both steps of the disassembly. This algorithm has successfully disassembled a flashlight and a piston. By modifying the objective we've managed to remove an object from a closed drawer and a chosen part from a within a flashlight assembly.