英文翻译11

The modified approach implemented enables assigningpenalty weights to certain areas of the workspace(during the computation of the travel path) which maybe close to an obstacle; this allows comparison ofvarious plans which are collision free yet may not berecommended as proximity to sensitive and expensivesensors and equipment can be taken into consideration.After a given path plan is selected, the Commandgenerator module converts the virtual paths tocommands which can be executed by a controlcomputer linked to the physical MAWC (describedearlier). Various pick and place tasks have beencompleted using this integrated approach eg. assemblyof several pins on a comb spring was completed (seefigure 5). The assembly tasks completed involvedplacing micro cylindrical pins into target holes in acomb spring. The camera provides real time feedbackas the various pins are assembled.In this paper, an overview of two components in thedevelopment of an INBM framework for MDA wasprovided (the virtual reality environment created and494the path planning modules). These components can beviewed as software resources in a virtual enterprise formicro assembly. Other resources in this VE scenariocan be software tools and physical resources; to mimicthe modeled scenario, the VAE, ETM and pathplanning modules were hosted on various computerslinked via the Internet. A second micro assembly workcell is under development to increase the scope of themicro assembly capabilities. Future research will alsofocus on developing additional criteria for comparingthe plans generated by various software entities in a VE(such as cost, interface compatibility, etc).ACKNOWLEDGMENTFunding for this research activities was obtainedthrough grants from the National Science Foundation(Nos. 0423907 and 0443533) and Sandia NationalLaboratories. Their assistance is gratefullyacknowledged.