- •1. INTEGRATED AND AUTOMATED MANUFACTURING
- •1.1 INTRODUCTION
- •1.1.1 Why Integrate?
- •1.1.2 Why Automate?
- •1.2 THE BIG PICTURE
- •1.2.2 The Architecture of Integration
- •1.2.3 General Concepts
- •1.3 PRACTICE PROBLEMS
- •2. AN INTRODUCTION TO LINUX/UNIX
- •2.1 OVERVIEW
- •2.1.1 What is it?
- •2.1.2 A (Brief) History
- •2.1.3 Hardware required and supported
- •2.1.4 Applications and uses
- •2.1.5 Advantages and Disadvantages
- •2.1.6 Getting It
- •2.1.7 Distributions
- •2.1.8 Installing
- •2.2 USING LINUX
- •2.2.1 Some Terminology
- •2.2.2 File and directories
- •2.2.3 User accounts and root
- •2.2.4 Processes
- •2.3 NETWORKING
- •2.3.1 Security
- •2.4 INTERMEDIATE CONCEPTS
- •2.4.1 Shells
- •2.4.2 X-Windows
- •2.4.3 Configuring
- •2.4.4 Desktop Tools
- •2.5 LABORATORY - A LINUX SERVER
- •2.6 TUTORIAL - INSTALLING LINUX
- •2.7 TUTORIAL - USING LINUX
- •2.8 REFERENCES
- •3. AN INTRODUCTION TO C/C++ PROGRAMMING
- •3.1 INTRODUCTION
- •3.2 PROGRAM PARTS
- •3.3 CLASSES AND OVERLOADING
- •3.4 HOW A ‘C’ COMPILER WORKS
- •3.5 STRUCTURED ‘C’ CODE
- •3.6 COMPILING C PROGRAMS IN LINUX
- •3.6.1 Makefiles
- •3.7 ARCHITECTURE OF ‘C’ PROGRAMS (TOP-DOWN)
- •3.8 CREATING TOP DOWN PROGRAMS
- •3.9 CASE STUDY - THE BEAMCAD PROGRAM
- •3.9.1 Objectives:
- •3.9.2 Problem Definition:
- •3.9.3 User Interface:
- •3.9.3.1 - Screen Layout (also see figure):
- •3.9.3.2 - Input:
- •3.9.3.3 - Output:
- •3.9.3.4 - Help:
- •3.9.3.5 - Error Checking:
- •3.9.3.6 - Miscellaneous:
- •3.9.4 Flow Program:
- •3.9.5 Expand Program:
- •3.9.6 Testing and Debugging:
- •3.9.7 Documentation
- •3.9.7.1 - Users Manual:
- •3.9.7.2 - Programmers Manual:
- •3.9.8 Listing of BeamCAD Program.
- •3.10 PRACTICE PROBLEMS
- •3.11 LABORATORY - C PROGRAMMING
- •4. NETWORK COMMUNICATION
- •4.1 INTRODUCTION
- •4.2 NETWORKS
- •4.2.1 Topology
- •4.2.2 OSI Network Model
- •4.2.3 Networking Hardware
- •4.2.4 Control Network Issues
- •4.2.5 Ethernet
- •4.2.6 SLIP and PPP
- •4.3 INTERNET
- •4.3.1 Computer Addresses
- •4.3.2 Computer Ports
- •4.3.2.1 - Mail Transfer Protocols
- •4.3.2.2 - FTP - File Transfer Protocol
- •4.3.2.3 - HTTP - Hypertext Transfer Protocol
- •4.3.3 Security
- •4.3.3.1 - Firewalls and IP Masquerading
- •4.4 FORMATS
- •4.4.1 HTML
- •4.4.2 URLs
- •4.4.3 Encryption
- •4.4.4 Clients and Servers
- •4.4.5 Java
- •4.4.6 Javascript
- •4.5 NETWORKING IN LINUX
- •4.5.1 Network Programming in Linux
- •4.6 DESIGN CASES
- •4.7 SUMMARY
- •4.8 PRACTICE PROBLEMS
- •4.9 LABORATORY - NETWORKING
- •4.9.1 Prelab
- •4.9.2 Laboratory
- •5. DATABASES
- •5.1 SQL AND RELATIONAL DATABASES
- •5.2 DATABASE ISSUES
- •5.3 LABORATORY - SQL FOR DATABASE INTEGRATION
- •5.4 LABORATORY - USING C FOR DATABASE CALLS
- •6. COMMUNICATIONS
- •6.1 SERIAL COMMUNICATIONS
- •6.2 SERIAL COMMUNICATIONS UNDER LINUX
- •6.3 PARALLEL COMMUNICATIONS
- •6.4 LABORATORY - SERIAL INTERFACING AND PROGRAMMING
- •6.5 LABORATORY - STEPPER MOTOR CONTROLLER
- •7. PROGRAMMABLE LOGIC CONTROLLERS (PLCs)
- •7.1 BASIC LADDER LOGIC
- •7.2 WHAT DOES LADDER LOGIC DO?
- •7.2.1 Connecting A PLC To A Process
- •7.2.2 PLC Operation
- •7.3 LADDER LOGIC
- •7.3.1 Relay Terminology
- •7.3.2 Ladder Logic Inputs
- •7.3.3 Ladder Logic Outputs
- •7.4 LADDER DIAGRAMS
- •7.4.1 Ladder Logic Design
- •7.4.2 A More Complicated Example of Design
- •7.5 TIMERS/COUNTERS/LATCHES
- •7.6 LATCHES
- •7.7 TIMERS
- •7.8 COUNTERS
- •7.9 DESIGN AND SAFETY
- •7.9.1 FLOW CHARTS
- •7.10 SAFETY
- •7.10.1 Grounding
- •7.10.2 Programming/Wiring
- •7.10.3 PLC Safety Rules
- •7.10.4 Troubleshooting
- •7.11 DESIGN CASES
- •7.11.1 DEADMAN SWITCH
- •7.11.2 CONVEYOR
- •7.11.3 ACCEPT/REJECT SORTING
- •7.11.4 SHEAR PRESS
- •7.12 ADDRESSING
- •7.12.1 Data Files
- •7.12.1.1 - Inputs and Outputs
- •7.12.1.2 - User Numerical Memory
- •7.12.1.3 - Timer Counter Memory
- •7.12.1.4 - PLC Status Bits (for PLC-5s)
- •7.12.1.5 - User Function Memory
- •7.13 INSTRUCTION TYPES
- •7.13.1 Program Control Structures
- •7.13.2 Branching and Looping
- •7.13.2.1 - Immediate I/O Instructions
- •7.13.2.2 - Fault Detection and Interrupts
- •7.13.3 Basic Data Handling
- •7.13.3.1 - Move Functions
- •7.14 MATH FUNCTIONS
- •7.15 LOGICAL FUNCTIONS
- •7.15.1 Comparison of Values
- •7.16 BINARY FUNCTIONS
- •7.17 ADVANCED DATA HANDLING
- •7.17.1 Multiple Data Value Functions
- •7.17.2 Block Transfer Functions
- •7.18 COMPLEX FUNCTIONS
- •7.18.1 Shift Registers
- •7.18.2 Stacks
- •7.18.3 Sequencers
- •7.19 ASCII FUNCTIONS
- •7.20 DESIGN TECHNIQUES
- •7.20.1 State Diagrams
- •7.21 DESIGN CASES
- •7.21.1 If-Then
- •7.21.2 For-Next
- •7.21.3 Conveyor
- •7.22 IMPLEMENTATION
- •7.23 PLC WIRING
- •7.23.1 SWITCHED INPUTS AND OUTPUTS
- •7.23.1.1 - Input Modules
- •7.23.1.2 - Actuators
- •7.23.1.3 - Output Modules
- •7.24 THE PLC ENVIRONMENT
- •7.24.1 Electrical Wiring Diagrams
- •7.24.2 Wiring
- •7.24.3 Shielding and Grounding
- •7.24.4 PLC Environment
- •7.24.5 SPECIAL I/O MODULES
- •7.25 PRACTICE PROBLEMS
- •7.26 REFERENCES
- •7.27 LABORATORY - SERIAL INTERFACING TO A PLC
- •8. PLCS AND NETWORKING
- •8.1 OPEN NETWORK TYPES
- •8.1.1 Devicenet
- •8.1.2 CANbus
- •8.1.3 Controlnet
- •8.1.4 Profibus
- •8.2 PROPRIETARY NETWORKS
- •8.2.0.1 - Data Highway
- •8.3 PRACTICE PROBLEMS
- •8.4 LABORATORY - DEVICENET
- •8.5 TUTORIAL - SOFTPLC AND DEVICENET
- •9. INDUSTRIAL ROBOTICS
- •9.1 INTRODUCTION
- •9.1.1 Basic Terms
- •9.1.2 Positioning Concepts
- •9.1.2.1 - Accuracy and Repeatability
- •9.1.2.2 - Control Resolution
- •9.1.2.3 - Payload
- •9.2 ROBOT TYPES
- •9.2.1 Basic Robotic Systems
- •9.2.2 Types of Robots
- •9.2.2.1 - Robotic Arms
- •9.2.2.2 - Autonomous/Mobile Robots
- •9.2.2.2.1 - Automatic Guided Vehicles (AGVs)
- •9.3 MECHANISMS
- •9.4 ACTUATORS
- •9.5 A COMMERCIAL ROBOT
- •9.5.1 Mitsubishi RV-M1 Manipulator
- •9.5.2 Movemaster Programs
- •9.5.2.0.1 - Language Examples
- •9.5.3 Command Summary
- •9.6 PRACTICE PROBLEMS
- •9.7 LABORATORY - MITSUBISHI RV-M1 ROBOT
- •9.8 TUTORIAL - MITSUBISHI RV-M1
- •10. OTHER INDUSTRIAL ROBOTS
- •10.1 SEIKO RT 3000 MANIPULATOR
- •10.1.1 DARL Programs
- •10.1.1.1 - Language Examples
- •10.1.1.2 - Commands Summary
- •10.2 IBM 7535 MANIPULATOR
- •10.2.1 AML Programs
- •10.3 ASEA IRB-1000
- •10.4 UNIMATION PUMA (360, 550, 560 SERIES)
- •10.5 PRACTICE PROBLEMS
- •10.6 LABORATORY - SEIKO RT-3000 ROBOT
- •10.7 TUTORIAL - SEIKO RT-3000 ROBOT
- •10.8 LABORATORY - ASEA IRB-1000 ROBOT
- •10.9 TUTORIAL - ASEA IRB-1000 ROBOT
- •11. ROBOT APPLICATIONS
- •11.0.1 Overview
- •11.0.2 Spray Painting and Finishing
- •11.0.3 Welding
- •11.0.4 Assembly
- •11.0.5 Belt Based Material Transfer
- •11.1 END OF ARM TOOLING (EOAT)
- •11.1.1 EOAT Design
- •11.1.2 Gripper Mechanisms
- •11.1.2.1 - Vacuum grippers
- •11.1.3 Magnetic Grippers
- •11.1.3.1 - Adhesive Grippers
- •11.1.4 Expanding Grippers
- •11.1.5 Other Types Of Grippers
- •11.2 ADVANCED TOPICS
- •11.2.1 Simulation/Off-line Programming
- •11.3 INTERFACING
- •11.4 PRACTICE PROBLEMS
- •11.5 LABORATORY - ROBOT INTERFACING
- •11.6 LABORATORY - ROBOT WORKCELL INTEGRATION
- •12. SPATIAL KINEMATICS
- •12.1 BASICS
- •12.1.1 Degrees of Freedom
- •12.2 HOMOGENEOUS MATRICES
- •12.2.1 Denavit-Hartenberg Transformation (D-H)
- •12.2.2 Orientation
- •12.2.3 Inverse Kinematics
- •12.2.4 The Jacobian
- •12.3 SPATIAL DYNAMICS
- •12.3.1 Moments of Inertia About Arbitrary Axes
- •12.3.2 Euler’s Equations of Motion
- •12.3.3 Impulses and Momentum
- •12.3.3.1 - Linear Momentum
- •12.3.3.2 - Angular Momentum
- •12.4 DYNAMICS FOR KINEMATICS CHAINS
- •12.4.1 Euler-Lagrange
- •12.4.2 Newton-Euler
- •12.5 REFERENCES
- •12.6 PRACTICE PROBLEMS
- •13. MOTION CONTROL
- •13.1 KINEMATICS
- •13.1.1 Basic Terms
- •13.1.2 Kinematics
- •13.1.2.1 - Geometry Methods for Forward Kinematics
- •13.1.2.2 - Geometry Methods for Inverse Kinematics
- •13.1.3 Modeling the Robot
- •13.2 PATH PLANNING
- •13.2.1 Slew Motion
- •13.2.1.1 - Joint Interpolated Motion
- •13.2.1.2 - Straight-line motion
- •13.2.2 Computer Control of Robot Paths (Incremental Interpolation)
- •13.3 PRACTICE PROBLEMS
- •13.4 LABORATORY - AXIS AND MOTION CONTROL
- •14. CNC MACHINES
- •14.1 MACHINE AXES
- •14.2 NUMERICAL CONTROL (NC)
- •14.2.1 NC Tapes
- •14.2.2 Computer Numerical Control (CNC)
- •14.2.3 Direct/Distributed Numerical Control (DNC)
- •14.3 EXAMPLES OF EQUIPMENT
- •14.3.1 EMCO PC Turn 50
- •14.3.2 Light Machines Corp. proLIGHT Mill
- •14.4 PRACTICE PROBLEMS
- •14.5 TUTORIAL - EMCO MAIER PCTURN 50 LATHE (OLD)
- •14.6.1 LABORATORY - CNC MACHINING
- •15. CNC PROGRAMMING
- •15.1 G-CODES
- •15.3 PROPRIETARY NC CODES
- •15.4 GRAPHICAL PART PROGRAMMING
- •15.5 NC CUTTER PATHS
- •15.6 NC CONTROLLERS
- •15.7 PRACTICE PROBLEMS
- •15.8 LABORATORY - CNC INTEGRATION
- •16. DATA AQUISITION
- •16.1 INTRODUCTION
- •16.2 ANALOG INPUTS
- •16.3 ANALOG OUTPUTS
- •16.4 REAL-TIME PROCESSING
- •16.5 DISCRETE IO
- •16.6 COUNTERS AND TIMERS
- •16.7 ACCESSING DAQ CARDS FROM LINUX
- •16.8 SUMMARY
- •16.9 PRACTICE PROBLEMS
- •16.10 LABORATORY - INTERFACING TO A DAQ CARD
- •17. VISIONS SYSTEMS
- •17.1 OVERVIEW
- •17.2 APPLICATIONS
- •17.3 LIGHTING AND SCENE
- •17.4 CAMERAS
- •17.5 FRAME GRABBER
- •17.6 IMAGE PREPROCESSING
- •17.7 FILTERING
- •17.7.1 Thresholding
- •17.8 EDGE DETECTION
- •17.9 SEGMENTATION
- •17.9.1 Segment Mass Properties
- •17.10 RECOGNITION
- •17.10.1 Form Fitting
- •17.10.2 Decision Trees
- •17.11 PRACTICE PROBLEMS
- •17.12 TUTORIAL - LABVIEW BASED IMAQ VISION
- •17.13 LABORATORY - VISION SYSTEMS FOR INSPECTION
- •18. INTEGRATION ISSUES
- •18.1 CORPORATE STRUCTURES
- •18.2 CORPORATE COMMUNICATIONS
- •18.3 COMPUTER CONTROLLED BATCH PROCESSES
- •18.4 PRACTICE PROBLEMS
- •18.5 LABORATORY - WORKCELL INTEGRATION
- •19. MATERIAL HANDLING
- •19.1 INTRODUCTION
- •19.2 VIBRATORY FEEDERS
- •19.3 PRACTICE QUESTIONS
- •19.4 LABORATORY - MATERIAL HANDLING SYSTEM
- •19.4.1 System Assembly and Simple Controls
- •19.5 AN EXAMPLE OF AN FMS CELL
- •19.5.1 Overview
- •19.5.2 Workcell Specifications
- •19.5.3 Operation of The Cell
- •19.6 THE NEED FOR CONCURRENT PROCESSING
- •19.7 PRACTICE PROBLEMS
- •20. PETRI NETS
- •20.1 INTRODUCTION
- •20.2 A BRIEF OUTLINE OF PETRI NET THEORY
- •20.3 MORE REVIEW
- •20.4 USING THE SUBROUTINES
- •20.4.1 Basic Petri Net Simulation
- •20.4.2 Transitions With Inhibiting Inputs
- •20.4.3 An Exclusive OR Transition:
- •20.4.4 Colored Tokens
- •20.4.5 RELATIONAL NETS
- •20.5 C++ SOFTWARE
- •20.6 IMPLEMENTATION FOR A PLC
- •20.7 PRACTICE PROBLEMS
- •20.8 REFERENCES
- •21. PRODUCTION PLANNING AND CONTROL
- •21.1 OVERVIEW
- •21.2 SCHEDULING
- •21.2.1 Material Requirements Planning (MRP)
- •21.2.2 Capacity Planning
- •21.3 SHOP FLOOR CONTROL
- •21.3.1 Shop Floor Scheduling - Priority Scheduling
- •21.3.2 Shop Floor Monitoring
- •22. SIMULATION
- •22.1 MODEL BUILDING
- •22.2 ANALYSIS
- •22.3 DESIGN OF EXPERIMENTS
- •22.4 RUNNING THE SIMULATION
- •22.5 DECISION MAKING STRATEGY
- •23. PLANNING AND ANALYSIS
- •23.1 FACTORS TO CONSIDER
- •23.2 PROJECT COST ACCOUNTING
- •24. REFERENCES
- •25. APPENDIX A - PROJECTS
- •25.1 TOPIC SELECTION
- •25.1.1 Previous Project Topics
- •25.2 CURRENT PROJECT DESCRIPTIONS
- •26. APPENDIX B - COMMON REFERENCES
- •26.1 JIC ELECTRICAL SYMBOLS
- •26.2 NEMA ENCLOSURES
page 581
23. PLANNING AND ANALYSIS
23.1 FACTORS TO CONSIDER
• There are a number of factors in a company which must be considered when evaluating the
need for CAD/CAM/CAE/CIM/etc systems. Some of these are listed below,
external
-company crisis
-markets Niche/Global/Home/ etc.
-competition
-customer requirements
internal
-corporate objectives, mission and culture technological
-available technology
-research & development
success factors
-the role of management
-worker security
-corporate organization
-unions
-middle management
-worker motivation
-training / worker abilities
-cash
-purchasing
-design engineering
-etc.
•Current popular planning strategies include,
Cost management
-direct costing
-effective capital investments
-space utilization
Cycle time reduction
-continuous flow manufacturing and vendor supply
-pull manufacturing
page 582
-business and process reengineering Market driven quality
-defining market needs
-first to market
-agile manufacturing
-6 sigma quality Automation
-process
-warehouse
-information
CIM
-simplifying and automated processes
-increased information access
•We can draw a chart that illustrates the issues that might be encountered,
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Structure |
Infrastructure |
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fiscal/tax |
culture |
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monetary |
tradition |
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trade |
religion |
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Macro |
industrial |
values |
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capital market |
social behavior |
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political structure |
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labor organization |
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business market |
measure and control work- |
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plant/equipment |
force |
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- capacity |
vendors |
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Micro |
- location |
management |
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- process technology |
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vertical integration |
capital budget |
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organization |
page 583
23.2 PROJECT COST ACCOUNTING
• When considering the economic value of a decision, one method is the payback period.
CI
N = -----
SA where,
CI = initial investment ($)
SA = savings per year ($/yr)
N= payback period (years)
•Simple estimates for the initial investment and yearly savings are,
CI = CE – IS where,
CE = cost of new equipment
IS = revenue from sale of old equipment (salvage)
SA = ( L0H0 – L1H1) + ( M0 – M1) where,
L0, L1 = labor rate before and after
H0, H1 = labor hours before and after
M0, M1 = maintenance costs before and after
•There are clearly more factors than can be considered, including,
-changes in material use
-opportunity cost
-setup times
-change in inventory size
-material handling change
page 584
• The simple models ignore the conversion between present value and future value. (ie, money now is worth more than the same amount of money later)
PW = C0 + ∑ [ ( RAj – CAj) ( P ⁄F, i, j) ] |
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||||
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1 |
( P ⁄A, i, n) = |
∑ ( P ⁄F, i, j) |
( 1 + i) n – 1 |
( P ⁄F, i, j) = ---------------- |
= -------------------------- |
|||||
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|
( 1 + i) j |
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|
i( 1 + i) n |
where, |
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PW = |
present worth of the money (in todays dollars) |
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||||
RAj |
= |
Annual revenues (income) for year j |
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CAj |
= |
Annual costs (expenses) for year j |
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||
j |
= |
j years in the future |
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i |
= |
interest rate (fractional) |
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||
n= number of years for consideration
•Quite often a Rate of Return (ROR) will be specified by management. This is used in place of interest rates, and can include a companies value for the money. This will always be higher than the typical prime interest rate.
•So far we haven’t considered the effects of taxes. Basically corporate taxes are applied to profits. Therefore we attempt to distribute expenses evenly across the life of a project (even though the majority of the money has been spent in the first year). This distribution is known as depreciation.
page 585
A = B – T = B – ( taxrateC) = B( 1 – taxrate) + Dtaxrate
where,
A= after tax cash ($/yr)
B= before tax cash ($/yr)
D = depreciation of equipment ($/yr) taxrate = the corporate tax rate
• Methods for depreciation are specified in the tax laws. One method is straight line deprecia-
tion.
CE – IS
D = ----------------
n
• Consider an assembly line that is currently in use, and the system proposed to replace it. The product line is expected to last 5 years, and then be sold off. The corporate tax rate is 50% and the company policy is to require a 17% rate of return. Should we keep the old line, or install the new one?
page 586
Current Manual Line:
-used 2000 hrs/yr with 10 workers at $20/hr each
-maintenance is $20,000/yr
-the current equipment is worth $20,000 used
Proposed Line:
-the equipment will cost $100,000 and the expected salvage value at the end of the project is $10,000
-2 workers are required for 1000 hours year at $40/hr each
-yearly maintenance will be $40,000