This report is preliminary and has not been reviewed for conformity with U.S. Geological Survey editorial standards (or with the North American Stratigraphic Code). Use of trade, product, or firm names is for descriptive purposes only and does not imply endorsement by the U. S. Geological Survey.

A General Framework for

Peritz' F test: Basic program of a robust multiple comparison test for statistical analysis of all differences among group means

The industrial robot's principal advantage over traditional automation is programmability. Robots can perform arbitrary sequences of pre-stored motions or of motions computed as functions of sensory input. This paper reviews requirements for and developments in robot programming systems. The key requirements for robot programming systems examined in the paper are in the areas of sensing, world modeling, motion specification, flow of control, and programming support. Existing and proposed robot programming systems fall into three broad categories: guiding systems in which the user leads a robot through the motions to be performed, robot-level programming systems in which the user writes a computer program specifying motion and sensing, and task-level programming systems in which the user specifies operations by their desired effect on objects. A representative sample of systems in each of these categories is surveyed in the paper.

Robot programming

A new concept of an advanced robot system, ACTRESS (ACTor-based Robots and Equipments Synthetic System), is presented in this paper. ACTRESS is an autonomous and distributed robot system composed of multi robotic elements. Each element is provided with functions to make decisions with understanding the target of tasks, recognizing surrounding environments, acting, and managing its own conditions, and to communicate with any other components. In order to manage multiple elements to achieve any given task targets, the protocol for communication between elements is discussed for cooperative action between arbitrary elements. This paper deals with the conceptual design of ACTRESS, focusing on the methodology for synthesizing the autonomous and distributed system. Also based on an assumption that mobility is the indispensable function for advanced robot systems, an experimental system using micro mouse"'^ is developed as a primitive example of ACTRESS.

Design Of An Autonomous And Distributed Robot System: Actress

The goal of any modeling activity is a complete and accurate understanding of the real-world domain, within the bounds of the problem at hand and keeping in mind the goals of the stakeholders involved. High-quality representations are critical to that understanding. This paper proposes a comprehensive Conceptual Modeling Quality Framework, bringing together two well-known quality frameworks: the framework of Lindland, Sindre, and Solvberg (LSS) and that of Wand and Weber based on Bunge's ontology (BWW). This framework builds upon the strengths of the LSS and BWW frameworks, bringing together and organizing the various quality cornerstones and then defining the many quality dimensions that connect one to another. It presents a unified view of conceptual modeling quality that can benefit both researchers and practitioners.

A conceptual modeling quality framework

Efficient communication with industrial robots is a key factor in the success of contemporary programmable automation, but robot languages-the means of communication-have commonly been developed in an ad hoc manner to meet the needs of a particular robot and application. Thus, we currently have almost as many robot languages as robots. To formulate recommendations for an efficient robot language of the future, this article reviews and evaluates many of the RLs now in use or under development in industrial or academic environments. Table I compares the industrial robots for which the languages were developed, and Table 2 contains background information on the 14 selected languages, * which are identified below.

/pdf/a-comparative-study-of-robot-languages-40osk9vwro.pdf

Bonner

Papers

A Comparative Study of Robot Languages