Thomas Kramer

Publications (since 1985)

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Contents by Subject and Title

1. Automated Reasoning
   1. Automated Analysis of Operators on State Tables: A Technique for ...
2. Control Architecture
   1. An Architecture and Tool for Large-scale System Control with a ...
   2. Feasibility Study: Reference Architecture for Machine Control Syst.Integ.
   3. Framework for Control Architectures
   4. Hierarchical Control Architectures from Shop Level to End Effectors
   5. Reference Architecture for Control of Mechanical Systems
   6. Reference Architecture for Machine Control Syst. Integ.: Interim Report
3. Vertical Workstation (VWS)
   1. Data Execution Module of the VWS
   2. Data Handling in the VWS
   3. Design Protocol, Part Design Editor, and Geometry Library of the VWS
   4. Enhancements to the VWS2 Data Preparation Software
   5. Error Prevention and Detection in Data Preparation for a Numerically ...
   6. Error Prevention and Detection in Data Preparation for the VWS
   7. Graphics Subsystem of the VWS
   8. Integrated Automated Manufacture of Metal Parts
   9. Process Plan Expression, Generation, and Enhancement for the VWS
   10. Process Planning for a Milling Machine from a Feature-Based Design
   11. Software for an Automated Machining Workstation
   12. Vws_cadm User Interface in the VWS
4. Feature-Based Inspection and Control System (FBICS)
   1. Feature-based Machining System using STEP
   2. Knowledge-Based Inspection Workstation
   3. A Feature-Based Inspection and Machining System
   4. Feature-Based Inspection and Control System
5. Other Machining-Related
   1. Automatic Generation of NC-Code for Hole Cutting with In-Process Metrology
   2. Building MRSEV Models for CAM Applications
   3. Canonical Machining Commands
   4. Contour Outlines
   5. Development of Machining Alternatives, Based on MRSEVs
   6. Extracting STEP Geometry & Topology from a Solid Modeler: Parasolid-to-STEP
   7. Feature-Based Control of a Machining Center
   8. Issues Concerning Material Removal Shape Element Volumes (MRSEVs)
   9. Library of Material Removal Shape Element Volumes (MRSEVs)
   10. Methodology for Integrating Sensor Feedback in Machine Tool Controllers
   11. NGC Commands for 3-Axis Machining
   12. Off-Line Programming System (OLPS): A Prototype STEP-Based NC P. G.
   13. Parser that Converts a Boundary Representation into a Features Represention
   14. Pocket Milling with Tool Engagement Detection
6. DMIS and RS274 Interpreters
   1. The NIST DMIS Interpreter
   2. The NIST DMIS Interpreter Version 2
   3. The NIST RS274KT Interpreter
   4. The NIST RS274/NGC Interpreter - Version 1
   5. The NIST RS274/NGC Interpreter - Version 2
   6. The NIST RS274/NGC Interpreter - Version 3
   7. The NIST RS274/VGER Interpreter
7. STEP
   1. Issues and Recommendations for a STEP Application Protocol Framework
   2. Structural EXPRESS Editor
8. Standards
   1. Analysis of Dimensional Metrology Standards
   2. A Comparison of the CMM-driver Spec. #1.9 with the I++ DME-Interface 0.9
9. Miscellaneous
   1. Cable-Based Reconfigurable Machines for Large Scale Manufacturing
   2. Component Specifications for Robotics Integration
   3. Precise Definition of Software Component Specifications

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Automated Reasoning

Abstract:

When searching lists, the current situation is represented by a state table, and changes in the situation are brought about by operators. An automated technique for selection of the right sequence of operators is described, based on a knowledge of the last operator or two, and driving only a limited selection of subsequent operators, without prior knowledge of the current state. A table is output with, for each feasible sequence of one or two operators, a list of operators that might be tried next. Application of the technique to a robot moving blocks is described, and a LISP implementation is provided.

Control Architecture

Abstract:

This paper describes a reference architecture that is applicable to multiple classes of large-scale, complex, real-time control systems. An associated tool, Generic Shell, is also described. Generic Shell employs a set of code templates that facilitate system development and integration. A case study is presented.

Abstract:

The Manufacturing Engineering Laboratory (MEL) at the National Institute of Standards and Technology (NIST), has been conducting research on control of mechanical systems for more than sixteen years. The Robot Systems Division has developed an architecture, the Real-time Control System (RCS) which focuses on providing real-time control of equipment. The Factory Automated Systems Division has developed the Manufacturing System Integration (MSI) architecture which focuses on providing information integration with factory production systems. While the architectures share some common features such as the use of hierarchical control and task decomposition, there are also differences. This report documents the work performed in assessing the feasibility of combining the RCS and MIST architectures into a single reference architecture. The report is written primarily for the team of researchers charged with developing the joint architecture. It includes a literature survey, a framework for developing the joint architecture, a detailed set of issues about architectures and control architectures, and a preliminary sketch of the joint architecture.

Abstract:

The development of architectures for control systems has been an active area of research for at least twenty years. This research has produced many different architectures which use different terminologies and address different issues. In order to analyse existing architectures and to determine issues that must be addressed in defining a new one, a common terminology for discussing architectures and a framework for organizing information about architectures is needed. Based upon an examination of many control architectures in the areas of computer integrated manufacturing and robotics, the authors propose a terminology for discussing control architectures and a framework for constructing control architectures. The authors have used the terminology and framework to develop a set of issues which need to be addressed when constructing a control architecture. These issues have been used to compare two architectures developed at the National Institute of Standards and Technology. This paper presents the terminology, the framework, and issues related to constructing an architecture using the framework.

Abstract:

As the automation of mechanical systems becomes commonplace, the design and implementation of computerized control systems for these mechanical systems has become an increasingly vital problem. At present, the integration of each unique set of components requires a unique integration solution. The creation of a reference architecture for machine control systems can ease integration difficulties.

The Manufacturing Engineering Laboratory (MEL) at the National Institute of Standards and Technology (NIST) has been conducting research on control of mechanical systems for more than sixteen years. This chapter describes two reference architectures which have been developed within MEL. One, Real-time Control System (RCS) focuses on providing real-time control of equipment; the other, Manufacturing Systems Integration (MSI), focuses on providing information integration with factory production systems. After a study was performed, it was determined that it is feasible to develop an architecture combining the best features of both. A project to construct such an architecture is in progress.

Abstract:

This paper presents a reference architecture for control of mechanical systems. The architecture, called the "joint architecture", is derived in part from existing Real-time Control System (RCS) and Manufacturing Systems Integration (MSI) architectures at the National Institute of Standards and Technology. The joint architecture is under development and not yet complete. It is a hierarchical control architecture and focuses on control of systems for manufacturing discrete parts by machining. A definition of "architecture" has been adopted which includes explicit levels of abstraction, here termed "tiers of architectural definition", and five elements of architectural definition: statement of scope and purpose, domain analyses, architectural specification, methodology for architectural development, and conformance criteria. This paper gives an overview of the joint architecture and describes its two most abstract tiers.

Abstract:

The Manufacturing Engineering Laboratory (MEL) at the National Institute of Standards and Technology (NIST), has been conducting research on control of mechanical systems for more than sixteen years. The Robot Systems Division and Factory Automation Systems Division have been working jointly for over a year to develop a reference architecture for computer integrated control of mechanical systems, drawing on the best of past work in both divisions. The architecture is not yet complete, and work on the architecture is continuing. This report describes the architecture in its current, incomplete state. The architecture is a hierarchical architecture aimed at the domain of discrete parts manufacturing, including considerations of data systems, communications systems, planning, resource allocation, real-time control, and error recovery.

Vertical Workstation (VWS)

Abstract:

This paper discusses the Data Execution module of the Vertical Workstation (VWS) of the Automated Manufacturing Research Facility (AMRF) at the National Bureau of Standards. The Data Execution module is where numerical control code (NC-code) for the workstation's vertical milling machine is prepared. The descriptions pertain to the system in use during the summer of 1987.

Abstract:

This paper discusses data handling in the Vertical Workstation (VWS) of the Automated Manufacturing Research Facility (AMRF) at the National Bureau of Standards. The descriptions pertain to the system in use during the summer of 1987. The paper covers those aspects of data handling dealt with by the author, which includes most of the VWS modules and subsystems.

Abstract:

This paper describes the part design protocol (method of describing the geometry of a part), the part design editor, and the geometry library used in the Vertical Workstation (VWS) of the Automated Manufacturing Research Facility (AMRF) at the National Bureau of Standards. Chapter II describes the design protocol, Chapter III discusses the design editor, and Chapter IV discusses the geometry library. The descriptions pertain to the versions in use during September 1987.

Abstract:

This paper discusses enhancements made between September 1987 and December 1988 to the preparation software for the Vertical Workstation (VWS) of the Automated Manufacturing Research Facility (AMRF) at the National Institute of Standards and Technology (NIST).

Abstract:

In the Vertical Workstation (VWS) of the NBS Automated Manufacturing Research Facility, metal parts are machined automatically from a feature-based design. A simple two-and-a- half dimensional part may be designed and machined within an hour, allowing half the time for design input. Workstation activity may be divided into design, process planning, data execution, and physical execution stages. In order to make VWS operation safe and accurate, extensive error prevention and detection (verification) procedures have been incorporated in the data preparation stages, particularly design and data execution. Automatic verification includes, design editor dialogues, design enhancement, design verification (subdivided into parameter type checks, feature verification, and reference feature fit checking), process plan verification, work-piece verification, part model checking, and other items. Interactive verification includes design drawing, work-piece model drawing, and tool path drawing. The feature verifiers are prepared by a rule-based automatic programming subsystem.

Abstract:

In the Vertical Workstation (VWS) of the NBS Automated Manufacturing Research Facility, metal parts are machined automatically from a feature-based design. A simple two-and-a- half dimensional part may be designed and machined within an hour, allowing half the time for design input. Workstation activity may be divided into design, process planning, data execution, and physical execution stages. In order to make VWS operation safe and accurate, extensive error prevention and detection (verification) procedures have been incorporated in the data preparation stages, particularly design and data execution. The software for these stages is about 700 pages of LISP code and runs on a Sun computer. About a quarter of the code is solely for error prevention. Automatic verification includes: design editor dialogues, design enhancement, design verification (subdivided into parameter type checks, feature verification, and reference feature fit checking), process plan verification, work-piece verification, part model checking, and other items. Interactive verification includes design drawing, workpiece model drawing, and tool path drawing. The feature verifiers are prepared by a rule-based automatic programming subsystem.

Abstract:

This paper discusses the graphics subsystem of the Vertical Workstation (VWS) of the Automated Manufacturing Research Facility (AMRF) at the National Bureau of Standards. The descriptions pertain to the system in use during the summer of 1987.

Abstract:

This paper describes a system for the automated manufacture of metal parts developed at the National Bureau of Standards by the author and his colleagues. The paper emphasizes the software. The system includes a friendly CAD editor for a feature-based design protocol, an automatic process planner, an nc-code writer, a vertical milling machine tended by a robot, and a workstation control system. The software for the control system, the editor, the process planner, and the code-writer is in Lisp and runs on a Sun computer. The system, optionally, will draw the part being made, verify the design, and verify the process plan. A part may be designed and made within an hour on this system.

Abstract:

This paper deals with process plans used for the milling machine in the Vertical Workstation (VWS) of the Automated Manufacturing Research Facility (AMRF) at the National Bureau of Standards. Chapter II gives background about process planning. Chapter III describes the specific process plan protocol used for the VWS milling machine. Chapter IV describes how process plans are generated automatically for the VWS milling machine. Chapter V describes how process plans for the VWS milling machine are enhanced automatically. The descriptions pertain to the system in use during the spring of 1987.

Abstract:

In the Vertical Workstation (VWS) of the NBS Automated Manufacturing Research Facility, metal parts are machined automatically from a feature-based design. A simple two-and-a- half dimensional part may be designed and machined within an hour, allowing half the time for design input. With a design already in hand, the VWS software (which is written in LISP and runs on a Sun computer) will automatically prepare a process plan for a milling machine for making a part of the given design. The heart of the process plan is a list of machining operations to be carried out. The operations are selected by the system from among it repertoire of 21 possible operations. The process plan also includes a header and a list of tool requirements. The process plans produced by the system are later used as input to an automatic NC-coding system which writes code for the milling machine's controller.

Abstract:

The National Bureau of Standards' Automated Manufacturing Research Facility (AMRF) includes three machining workstations. In the vertical workstation (VWS) metal parts are machined automatically from a design. A simple part may be designed and machined within an hour, allowing half the time for design input. Workstation activity may be divided into design, process planning, data execution, and physical execution. Output from one stage is input for succeeding stages. The system may be controlled by an operator or by the workstation's "Production Management Operating System" (PMOS). The first three activity stages and PMOS are handled within a Sun computer in software written in LISP.

Abstract:

This paper discusses the vws_cadm user interface for the Vertical Workstation (VWS) of the Automated Manufacturing Research Facility (AMRF) at the National Bureau of Standards. The descriptions pertain to the system in use during the summer of 1987. The vws_cadm user interface provides a user-friendly means of using three of the major VWS modules and a variety of input and output capabilities of the VWS. There are two appendices to this paper. The first is a users manual for vws_cadm and the second is a users manual for the VWS Part Design Editor.

Feature-Based Inspection and Control System (FBICS)

Abstract:

Discrete part manufacturing flows from a design phase in which product information is defined to a manufacturing phase in which the processes are planned and executed. Process planning typically culminates with the generation of numerical control (NC) programs for specific equipment, such as machining centers or turning centers. These NC programs are written in the dialects of the various equipment vendors, for the specific mechanical configuration of the target machine. As a result, porting programs between machines is difficult. Worse, NC programs contain little if any of the product design information. The lack of this information at run time limits any adaptive control that could direct the process so that final parts more closely conform to the original design.

The authors have developed a prototype machining system in which product and process data replaces NC programs at run time. In this system, information models built in the EXPRESS information modeling language are used for all types of data and data files are all in STEP Part 21 format; each Part 21 file is understandable by making reference to one of the EXPRESS models. The EXPRESS schema of tool models proposed to ISO is used. An EXPRESS schemas for ALPS (A Language for Process Specification, developed by NIST) is used for process planning. Ad hoc EXPRESS schemas are used for machining options, setup descriptions, shop and workstation operations, and tool usage rules. The system has been demonstrated on a three-axis machining center.

Abstract:

We are building an inspection workstation development environment to use as a testbed for understanding what types of knowledge, e.g., data, algorithms, and processes, can increase the productivity of inspection operations. Inspection can be more efficient through reducing the need for fixturing, integrating the generation of process plans and their execution within the controller, and reducing the errors or data losses that occur by translating the models to different formats. Initial configuration of inspection systems can be less costly through the use of open architectures that are constructed from components. Key elements of our work include in situ feature-based planning, vision-driven part pose estimation, and software methods to facilitate construction of manufacturing controllers. These provide a rich environment in which to study the categories of knowledge that are useful in intelligent control of inspection workstations. This paper describes our vision, approach, and preliminary results.

Abstract:

This paper describes an architecture for a system for machining and inspecting mechanical piece parts and an implementation of it called the Feature-Based Inspection and Control System (FBICS). In FBICS, the controller of a machining center or coordinate measuring machine uses a standard feature-based description of the shape of the object to be made as a principal input for machining and/or inspection. FBICS is a hierarchical control system and performs automated hierarchical process planning. FBICS serves: (1) to demonstrate feature-based inspection and control in an open-architecture control system; (2) as a testbed for solving problems in feature-based manufacturing; and (3) to test the usability of STEP methods and models.

Abstract:

This report describes an architecture and software system for automatically performing process planning and control code generation for cutting and inspecting prismatic piece parts. This Feature-Based Inspection and Control System (FBICS) consists of seven processes joined by interprocess communication. FBICS starts with a feature-based description of a part. Planners are provided at three hierarchical control levels that consider, in turn: (1) an entire part, (2) work done in a single part fixturing, and (3) work done on a single part feature. FBICS implements the RCS architecture. For data handling, FBICS uses ISO 10303 (STEP) methodology, standards, and tools. FBICS includes a solid modeler and 3D interactive graphics. Control code is written in RS274 for machining and DMIS for inspection.

Other Machining-Related

Abstract:

A new method to mill flat-bottomed circular holes with more accurate diameter has been added to the data preparation software for the Vertical Workstation of the Automated Manufacturing Research Facility at the National Institute of Standards and Technology. This software already had the capability to generate NC-programs automatically for cutting two- and-a-half dimensional parts. Additional design functions, a new process planning function and a new NC-code generating function have been added to the software to implement the new method. The new cutting algorithm uses a touch probe to measure the diameter of the semi-finished hole during the cutting process. The radius used to finish cut the hole is then changed from its nominal value by an amount equal to the difference between the nominal and measured values of the radius of the semi-finished hole.

Abstract:

In interpreting CAD and CAM applications, one major problem is how to interpret CAD information in a manner that makes sense for CAM. The goal is to develop a general approach that can be used with a variety of CAD and CAM applications for the manufacture of machined parts.

In particular, a methodology is presented for taking a CAD model, extracting alternative interpretations of the model as collections of MRSEVs (Material Removal Shape Element Volumes, a STEP-based library of machining features), and evaluating these interpretations to determine which one is optimal. The evaluation criteria may be defined by the user, in order to select the best interpretation for the particular application at hand.

Abstract:

This report describes a set of canonical machining commands. The commands may be used to drive 3-axis to 6-axis machining centers. The commands are used at the interface between a controller which is interpreting lines of numerical control code (in the RS274 language, for example) and lower level controllers for I/O and trajectory control. These commands have been implemented in the NIST Enhanced Machine Controller control system.

Abstract:

This paper discusses geometric methods pertaining to planar curves consisting of sequences, straight line segments and arcs of circles joined end to end to make continuous composite curves.

Abstract:

One missing link between CAD and CAM is the lack of a systematic methodology for generating and evaluating alternative ways to manufacture a proposed design. To address this problem, we are developing a systematic approach for generating and evaluating ways to manufacture machined parts, in order to provide information to the designer about the manufacturability of the proposed design, and information to the process engineer about how best to machine the part. This paper describes our overall approach and how MRSEVs (a library of machining features based on PDES/STEP features) can be used to support it.

Abstract:

Parasolid is a commercial solid modeling software system. It uses a manifold boundary representation. STEP (STandard for the Exchange of Product model data) is an emerging international standard. Included in STEP are proposed standards for Topology and Geometry (which provide the definitions of data types required for building boundary representations) and for physical files representing products.

Parasolid-to-STEP is a software system written in the C Programming language for translating a Parasolid format boundary representation file giving the shape of an object into a STEP format file describing the same shape. The system handles elementary curves (line, circle, ellipse) and surfaces (plane, sphere, cylinder, cone, torus).

Abstract:

A system for feature-based control has been developed at NIST. This system controls a machining center to cut parts from a process plan and a set of machining features. The control system is the NIST Enhanced Machine Controller (EMC). A subsystem automatically generates numerical control code on a feature-by-feature basis, which is passed to the control system and run.

The input to this system is entirely STEP Part 21 exchange files, using a variety of EXPRESS schemas. This includes models of: (1) cutting tool catalog and inventory, (2) process plans, (3) shape of workpiece before machining, (4) intended shape of workpiece after machining, (5) fixture holding workpiece, (6) machining features, (7) setup data, (8) user preferences.

A prototype of the system has been built. The system software is written in C++. Using STEP data is accomplished with the STEPTools Inc. utilities and library. Machining features are represented using STEP AP 224.

Abstract:

In machining discrete parts, Material Removal Shape Element Volumes (MRSEVs) may be used to convey shape information from process planning to NC-programming. This paper discusses sixteen issues regarding MRSEVs and presents, in summary form, a proposed library of MRSEVs for 3-axis machining.

Abstract:

In machining metal parts according to process plans, it is useful to define Material Removal Shape Element Volumes (MRSEVs). A MRSEV gives the shape of of the material to be removed by carrying out one step of a plan. Each step in the plan which calls for a cutting operation will refer to a MRSEV. The volume described by a MRSEV should have no material in it when the machining operation is complete, and the operation should remove no material outside the volume.

A library of generic MRSEVs for 3-axis machining is proposed. Appendix B presents a prototype EXPRESS schema for a subset of the library. Appendix C discusses software for generating NC-programs which uses the schema.

Abstract:

A reference model architecture for real-time hierarchical control systems has been proposed by researchers at the National Institute of Standards and Technology, and has been implemented on a variety of computing platforms for manufacturing and vehicle control applications. A fundamental aspect of this architecture is the notion of nested control loops, which incorporate sensory feedback in a hierarchy whose cycle times decrease in frequency as planning becomes more abstract. The nested control loops provide a hierarchy in which to model command and control. This architecture was formalized during work with the National Aeronautics and Space Administration on the Flight Telerobot Servicer for the space station and is known as the NASA/NBS Standard Reference Model, or NASREM. Although NASREM was intended to serve as a guideline for space application robot control, it has applicability to a wide range of real-time control applications. This paper adapts the NASREM reference model architecture to a machine control model. A computational architecture will be presented that describes expected behavior at each layer. A functional analysis will outline a baseline task tree vocabulary. The task tree vocabulary is given by a set of command verbs for each layer and is a critical component of task description within a hierarchical control system.

Abstract:

This is three sets of commands for a 3-axis machining center. Most of the commands are also suitable for machining centers with more than three axes. Commands are defined for three hierarchical control levels: task, E-move, and primitive.

Abstract:

OLPS is a system for automatically generating NC-programs for a machining center. OLPS uses six types of input data, all of which come from STEP physical files:1. design of finished part, 2. design of workpiece, 3. design of fixture, 4. material removal volumes, 5. process plan, 6. setup. OLPS produces four types of output: 1. NC-programs in pseudocode 2. NC-Programs for a GE2000 controller for a Monarch vertical machining center, 3. modeling programs in LISP for the "KID" interface to the Parasolid solid modeler, 4. text and pictures on the screen for the user. OLPS handles prismatic parts whose surfaces are planar, cylindrical, or conical and whose edges are straight lines or arcs of circles (including complete circles). OLPS is written in Allegro Common LISP and uses SunCore graphics.

Abstract:

The VWS2 B-rep Parser is a computer program written in LISP that takes a file giving the boundary representation of a part as input and produces a file giving a feature-based representation of the part as output. The format of the input file is a PDES/STEP boundary representation, and the format of the output file is that required by the VWS2 system of the NIST AMRF. The parser deals with a limited range of two-and-a-half dimensional parts. The general approach to parsing is to expect that the part is parable and look for arrangements of faces which are the signatures of features. The initial implementation of the approach recognizes five feature types. The approach is extendible to a wider range of feature and subfeature types, and to parts which have features made from several sides. Parts having features which intersect in a complex manner are likely to test the limits of this approach, or be beyond the limits. With the addition of this parser, the AMRF Vertical Workstation is capable of making a part from a PDES/STEP file without human intervention.

Abstract:

This paper presents an algorithm for generating a tool path for cutting a pocket with islands, which includes detecting when the tool is certain to be making a minimal engagement cut. Minimal engagement is defined as the amount of engagement present in peripheral milling of a flat side face of a workpiece in a straight line with constant stepover. Feed rates and spindle speeds are reset by the algorithm when machining conditions change from a minimal engagement cut to any other type of cut or vice versa.

DMIS and RS274 Interpreters

Abstract:

This report describes an interpreter which reads a file of numerical control code for a coordinate measuring machine (CMM), produces calls to a set of canonical CMM functions, and writes inspection report files. The interpreter is a software system written in the C++ programming language. The function call output of the interpreter is being used to drive a coordinate measuring machine in the NIST Next Generation Inspection System (NGIS). Input and output files for the interpreter are in the DMIS language. The interpreter may be compiled as a stand-alone computer program or may be integrated with a NIST Enhanced Machine Controller (EMC) control system used to control the NGIS. The canonical CMM functions were devised for use with the interpreter and are described in the report.

The interpreter includes C++ code for data handling automatically generated by a commercial system from an EXPRESS schema for DMIS written for use with the interpreter, C++ code for parsing automatically generated from a YACC grammar for DMIS written for use with the interpreter, and C++ code for feature fitting provided by the NIST Algorithm Testing System. Only part of the DMIS language is implemented in the interpreter.

Abstract:

This report describes an interpreter which reads a file of numerical control code for a coordinate measuring machine (CMM), produces calls to a set of canonical CMM functions, and writes inspection report files. The interpreter is a software system written in the C++ programming language. The function call output of the interpreter is being used to drive a coordinate measuring machine in the NIST Next Generation Inspection System (NGIS). Input and output files for the interpreter are in the DMIS language. The interpreter may be compiled as a stand-alone computer program or may be integrated with a NIST Enhanced Machine Controller (EMC) control system used to control the NGIS. The canonical CMM functions were devised for use with the interpreter and are described in the report.

The interpreter includes C++ code for parsing automatically generated from a YACC grammar for DMIS written for use with the interpreter and C++ code for feature fitting provided by the NIST Algorithm Testing System. Only part of the DMIS language is implemented in the interpreter. This second version of the interpreter includes declaration and use of variables and does not require commercial software to operate, as the first version did.

Abstract:

This report describes an interpreter which reads numerical control code and produces calls to a set of canonical machining functions. The interpreter is a software system written in the C++ programming language. The output of the interpreter is being used to drive a 4-axis machining center. Input to the interpreter is RS274 code in the dialect used by a Kearney and Trecker 800 machining center. The interpreter may be compiled as a stand-alone computer program or may be integrated with the NIST Enhanced Machine Controller (EMC) control system. Input can come from a file or from a user typing on a computer keyboard. Output commands can either be printed for future use or be executed directly on a machining center.

Abstract:

This report describes version 1 of an interpreter which reads numerical control code and produces calls to a set of canonical machining functions. The interpreter is a software system written in the C programming language. The output of the interpreter can be used to drive a 3-axis machining center. Input to the interpreter is RS274NGC code and can come from a file or from a user typing on a computer keyboard. Output commands can either be printed for future use or be sent directly to the controller of a machining center for execution.

Abstract:

This report describes an interpreter which reads numerical control code and produces calls to a set of canonical machining functions. The interpreter is a software system written in the C++ programming language. The output of the interpreter is being used to drive a 4-axis machining center. Input to the interpreter is RS274 code in the dialect defined by the Next Generation Controller (NGC) project. The interpreter may be compiled as a stand-alone computer program or may be integrated with the NIST Enhanced Machine Controller (EMC) control system. Input can come from a file or from a user typing on a computer keyboard. Output commands can either be printed for future use or be executed directly on a machining center.

Abstract:

This report describes an interpreter which reads numerical control code and produces calls to a set of canonical machining functions. The interpreter is a software system written in the C++ programming language. The output of the interpreter may be used to drive 3-axis to 6-axis machining centers. Input to the interpreter is RS274 code in the dialect defined by the Next Generation Controller (NGC) project, with modifications. The interpreter may be compiled as a stand-alone computer program or may be integrated with the NIST Enhanced Machine Controller (EMC) control system. Input can come from a file or from a user typing on a computer keyboard. Output commands can either be printed for future use or be executed directly on a machining center. The report includes a full description of the RS274/NGC input language and the canonical machining functions called by the interpreter. It is a complete users manual.

Abstract:

This report describes an interpreter which reads numerical control code and produces calls to a set of canonical machining functions. The interpreter is a software system written in the C++ programming language. The output of the interpreter is being used to drive a 5-axis machining center. Input to the interpreter is RS274 code in the dialect used in the VGER project. The interpreter may be compiled as a stand-alone computer program or may be integrated with the NIST Enhanced Machine Controller (EMC) control system. Input can come from a file or from a user typing on a computer keyboard. Output commands can either be printed for future use or be executed directly on a machining center.

STEP

Abstract:

This report provides a description of application protocols, a summary of AP development issues (supplemented by discussions and case studies in the appendices), a listing of the relevant documentation and issues papers, and recommendations for resolving the identified issues. This includes recommendations on functional requirements for an AP framework, elements of AP structure, coordination of AP development, and AP classification, plus others. This report provides a baseline study for subsequent work on an AP Framework by members of the STEP community.

Abstract:

EXPRESS is the official information modeling language of the next generation of product information standards, commonly referred to as STEP. This paper presents a Structural EXPRESS Editor, which has two parts: an Interactive Editor, and a Transition Module. The Interactive Editor was built using a tool called the Data Probe Editor Builder and is an interactive, friendly editor with which a user defines the structure of an EXPRESS schema. The output of the Interactive Editor is a STEP exchange file that is translated into EXPRESS by the Translation Module, a software system written in LISP.

The paper describes the Data Probe Editor Builder and both parts of the Structural EXPRESS Editor. The editor is assessed and EXPRESS editor, generally, are discussed. Alternative representations of EXPRESS are presented. A few issues in information modelling highlighted in the course of building the editor are discussed.

Standards

Abstract:

This is an analysis of standards related to dimensional metrology, with recommendations regarding standards development. The analysis focuses on the degree to which existing and developing standards provide a complete set of non-overlapping specifications for information needed to perform dimensional metrology. The analysis identifies four major software systems and their interfaces. It also identifies 15 dimensional metrology activities, each of which is expected to correspond to a software module. The major systems are made up of sets of modules. Twenty-two application programming interfaces and data formats for dimensional metrology are identified and discussed. The analysis also discusses issues regarding languages in which standards may be written.

Abstract:

This is a comparison of (1) the entire contents of CMM-driver Specification Release #1.9 and (2) the parts of I++ DME-Interface Release 0.9 that deal with the interface to a driver for dimensional measuring equipment.

Miscellaneous

Abstract:

Not available.

Abstract:

Robotics researchers have been unable to capitalize easily on existing software components to speed up their development efforts and maximize their systems' capabilities. A component-based approach for building the software for robotics systems can provide reuse and sharing abilities to the research community. The software engineering community has been studying reuse techniques for three decades. We present several results from those efforts that are applicable to the robotics software integration problem. We describe how to specify a software component so that a potential user may understand its capabilities and facilitate its application to his or her system. At the National Institute of Standards and Technology, we have developed a three-stage, component-specification approach. We illustrate this approach for a component that is relevant to robotics.

Abstract:

A set of generic specification categories is presented which can be used to comprehensively define any software component within a certain class. With these categories as a template, a specific set of formal specifications can be generated for each component. Specifications for a particular component (an algorithm that estimates the position and orientation of a physical object using visual sensing) have been defined in EXPRESS, an information modeling language. A few example natural language specifications are presented for this particular component.

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Last edited April 8, 2002