Nof S.Y. Springer Handbook of Automation
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LXX List of Abbreviations
NDI nondestructive inspection
NDRC National Defence Research Committee
NEAT Near-Earth Asteroid Tracking Program
NEFUSER neural-fuzzy system for error recovery
NEFUSER neuro-fuzzy systems for error recovery
NEMA National Electrical Manufacturers
Association
NEMS nanoelectromechanical system
NERC North American Electric Reliability
Corporation
NERSC National Energy Research Scientific
Computing Center
NES networked embedded system
NFC near field communication
NHTSA National Highway Traffic Safety
Administration
NICU neonatal intensive care unit
NIC network interface card
NIR near-infrared
NISO National Information Standards
Organization
NIST National Institute of Standards
NLP natural-language processing
NNI national nanotechnology initiative
non RT nonreal-time
NP nondeterministic polynomial-time
NPC nanopore channel
NPV net present value
NP nominal performance
NRE nonrecurring engineering
nsGA nondominated sorting genetic algorithm
nsGA II nondominated sorting genetic
algorithm II
NSS Federal Reserve National Settlement
System
NS nominal stability
NURBS nonuniform rational B-splines
NYSE New York Stock Exchange
NaroSot Nano Robot World Cup Soccer
Tournament
NoC network on chip
O
O.R. operations research
O/C open-circuit
OAC open architecture control
OAGIS open applications group
OAI-PMH open archieves initiative protocol for
metadate harvesting
OASIS Organization for the Advancement of
Structured Information Standards
OBB oriented bounding box
OBEM object-based equipment model
OBS on-board software
OBU onboard unit
OCLC Ohio College Library Center
ODBC object database connectivity
ODE ordinary differential equation
ODFI originating depository financial
institution
OECD Organization for Economic Cooperation
and Development
OEE overall equipment effectiveness
OEM original equipment manufacturer
OGSA open grid services architecture
OHT overhead hoist transporter
OHT overhead transport
OLAP online analytical process
OLE object linking and embedding
OML outside mold line
OMNI office wheelchair with high
manoeuvrability and navigational
intelligence
OMS order managements system
ONIX online information exchange
OOAPD object-oriented analysis, design and
programming
OODB object-oriented database
OOM object-oriented methodology
OOOI on, out, off, in
OOP object-oriented programming
OO object-oriented
OPAC online public access catalog
OPC AE OPC alarms and events
OPC XML-DA OPC extensible markup language (XML)
data access
OPC online process control
OPM object–process methodology
OQIS online quality information system
ORF operating room of the future
ORTS open real-time operating system
OR operating room
OR operation research
OSHA Occupation Safety and Health
Administration
OSRD Office of Scientific Research and
Development
OSTP Office of Science and Technology Policy
OS operating system
OTS operator training systems
OWL web ontology language
P
P/D pickup/delivery
P/T place/transition
PACS picture archiving and communications
system
PAM physical asset management
PAM pulse-amplitude modulation
PAN personal area network
List of Abbreviations LXXI
PARR problem analysis resolution and ranking
PAT process analytical technology
PAW plasma arc welding
PBL problem-based learning
PBPK physiologically based pharmacokinetic
PCA principal component analysis
PCBA printed circuit board assembly
PCB printed circuit board
PCFG probabilistic context-free grammar
PCI Peripheral Component Interconnect
PCR polymerase chain reaction
PC personal computer
PDA personal digital assistant
PDC predeparture clearance
PDDL planning domain definition language
PDF probability distribution function
pdf probability distribution function
PDITC 1,4-phenylene diisothiocyanate
PDKM product data and knowledge management
PDM product data management
PDSF Parallel Distributed Systems Facility
PDT photodynamic therapy
PD pharmacodynamics
PECVD plasma enhanced chemical vapor
deposition
PEID product embedded information device
PERA Purdue enterprise reference architecture
PERT/CPM program evaluation and review
technique/critical path method
PERT project evaluation and review technique
PET positron emission tomography
PE pulse echo
PFS precision freehand sculptor
PF preference function
PGP pretty good privacy
PHA preliminary hazard analysis
PHERIS public-health emergency response
information system
PHR personal healthcare record
PI3K phosphatidylinositol-3-kinase
PID proportional, integral, and derivative
PISA Program for International Student
Assessment
PI proportional–integral
PKI public-key infrastructure
PKM parallel kinematic machine
PK pharmacokinetics
PLA programmable logic array
PLC programmable logic controller
PLD programmable logic device
PLM product lifecycle management
PMC process module controller
PMF positioning mobile with respect to fixed
PM process module
POMDP partially observable Markov decision
process
POS point-of-sale
PPFD photosynthetic photon flux density
PPS problem processing subsystem
PRC phase response curve
PROFIBUS-DP process field bus–decentralized peripheral
PROMETHEE preference ranking organization method
for enrichment evaluation
PR primary frequency
PSAP public safety answering point
PSC product services center
PSF performance shaping factor
PSH high-pressure switch
PSK phase-shift keying
PSM phase-shift mask
PS price setting
PTB German Physikalisch-Technische
Bundesanstalt
PTO power takeoff
PTP point-to-point protocol
PTS predetermined time standard
PWM pulse-width-modulation
PXI PCI extensions for instrumentation
ProVAR professional vocational assistive robot
Prolog programming in logics
P&ID piping & instrumentation diagram
Q
QAM quadrature amplitude modulation
QTI question and test interoperability
QoS quality of service
R
R.U.R. Rossum’s universal robots
R/T mPDPSTWmultiple pick up and delivery problem
with soft time windows in real time
RAID redundant array of independent disk
RAID robot to assist the integration of the
disabled
RAIM receiver autonomous integrity monitoring
rALB robot-based assembly line balancing
RAM random-access memory
RAP resource allocation protocol
RAS recirculating aquaculture system
RA resolution advisory
RBC red blood cell
RBF radial basis function
rcPSP resource-constrained project scheduling
problem
RCP rapid control prototyping
RCRBF raised-cosine RBF
RC remote control
RC repair center
RDB relational database
RDCS robust design computation system
LXXII List of Abbreviations
RDCW FOT Road Departure Crash Warning System
Field Operational Test
RDCW road departure crash warning
RDF resource description framework
RET resolution enhancement technique
RE random environment
RFID radiofrequency identification
RF radiofrequency
RGB red–green–blue
RGV rail-guided vehicle
RHC receding horizon control
RHIO regional health information organization
RIA Robotics Industries Association
RISC reduced instruction set computer
RIS real information system
RI reward–inaction
RLG Research Libraries Group
RLG ring-laser-gyro
RMFD right matrix fraction description
RMS reconfigurable manufacturing systems
RMS reliability, maintainability, and safety
RMS root-mean-square
RM real manufacturing
RNAV area navigation
RNA ribonucleic acid
RNG random-number generator
RNP required navigation performance
ROBCAD robotics computer aided design
ROI return on investment
ROM range-of-motion
ROT runway occupancy time
ROV remotely operated underwater vehicle
RO read only
RPC remote procedure call
RPM revolutions per minute
RPN risk priority number
RPS real and physical system
RPTS robot predetermined time standard
RPU radar processing unit
RPV remotely piloted vehicle
RPW ranked positioned weight
RP reward–penalty
RRT rapidly exploring random tree
RSEW resistance seam welding
RSW resistance spot welding
RS robust stability
RT DMP real-time decision-making processes
RT-CORBA real-time CORBA
RTA required time of arrival
RTDP real-time dynamic programming
RTD resistance temperature detector
RTE real-time Ethernet
RTK GPS real-time kinematic GPS
RTL register transfer level
RTM resin transfer molding
RTM robot time & motion method
RTOS real-time operating system
RTO real-time optimization
RTO regional transmission organization
RTSJ real-time specification for Java
RT radiotherapy
RT register transfer
rwGA random-weight genetic algorithm
RW read/write
RZPR power reserve
RZQS quick-start reserve
Recon retrospective conversion
R&D research and development
S
s-SWCNT semiconducting MWCNT
S/C short-circuit
SACG Stochastic Adaptive Control Group
SADT structured analysis and design technique
SAGA Standards und Architekturen für
e-Government-Anwendungen – standards
and architectures for e-Government
applications
sALB simple assembly line balancing
SAM self-assembled monolayer
SAM software asset management
SAN storage area network
SAO Smithsonian Astrophysical Observatory
SAW submerged arc welding
SA situation awareness
SBAS satellite-based augmentation system
SBIR small business innovation research
SBML system biology markup language
SCADA supervisory control and data acquisition
SCARA selective compliant robot arm
SCC somatic cell count
SCM supply chain management
SCNM slot communication network management
SCN suprachiasmatic nucleus
SCORM sharable content object reference model
SCST source-channel separation theorem
SDH synchronous digital hierarchy
SDSL symmetrical digital subscriber line
SDSS Sloan Digital Sky Survey II
SDSS spatial decision support system
SDS sequential dynamic system
SDT signal detection theory
SECS semiconductor equipment
communication standard
SEC Securities and Exchange Comission
SEER surveillance, epidemiology, and end
result
SEI Software Engineering Institute
SELA stochastic estimator learning algorithm
SEMI Semiconductor Equipment and Material
International
List of Abbreviations LXXIII
SEM scanning electron microscopy
SEM strategic enterprise management
SESAR Single European Sky ATM research
SESS steady and earliest starting schedule
SFC sequential function chart
SFC space-filling curve
SHMPC shrinking horizon model predictive
control
SIFT scale-invariant feature transform
SIL safety integrity level
SIM single input module
SISO single-input single-output
SIS safety interlock system
SKU stock keeping unit
SLAM simultaneous localization and mapping
technique
SLA service-level agreement
SLIM-MAUD success likelihood index
method-multiattribute utility
decomposition
SLP storage locations planning
SL sensitivity level
SMART Shimizu manufacturing system by
advanced robotics technology
SMAW shielded metal arc welding
SMA shape-memory alloys
SMC sequential Monte Carlo
SME small and medium-sized enterprises
SMIF standard mechanical interface
SMS short message service
SMTP simple mail transfer protocol
SMT surface-mounting technology
SNA structural network analysis
SNIFS Supernova Integral Field Spectrograph
SNLS Supernova Legacy Survey
SNOMED systematized nomenclature
of medicine
SNfactory Nearby Supernova Factory
SN supernova
SOAP simple object access protocol
SOA service-oriented architecture
SOC system operating characteristic
SOI silicon-on-insulator
SONAR sound navigation and ranging
SO system operator
SPC statistical process control
SPF/DB superplastic forming/diffusion bonding
SPF super plastic forming
SPIN sensor protocol for information via
negotiation
SPI share price index
SQL structured query language
SRAM static random access memory
SRI Stanford Research Institute
SRL science research laboratory
SRM supplier relationship management
SSADM structured systems analysis and design
method
SSA stochastic simulation algorithm
ssDNA single-strand DNA
SSH secure shell
SSL secure sockets layer
SSO single sign-on
SSR secondary surveillance radar
SSSI single-sensor, single-instrument
SSV standard service volume
SS speed-sprayer
STARS standard terminal automation
replacement system
STAR standard terminal arrival route
STA static timing analysis
STCU SmallTown Credit Union
STEM science, technology, engineering, and
mathematics
STM scanning tunneling microscope
STTPS single-truss tomato production system
ST structured text
SUV sports utility vehicle
SVM support vector machine
SVS synthetic vision system
SV stroke volume
SWCNT single-walled carbon nanotube
SWP single-wafer processing
SW stroke work
SaaS software as a service
ServSim maintenance service simulator
SiL software-in-the-loop
Smac second mitochondrial-activator caspase
SoC system-on-chip
SoD services-on-demand
SoS systems of systems
SoTL scholarship of teaching and learning
Sunfall Supernova Factory Assembly Line
spEA strength Pareto evolutionary algorithm
SysML systems modeling language
T
TACAN tactical air navigation
TALplanner temporal action logic planner
TAP task administration protocol
TAR task allocation ratio
TA traffic advisory
TB terabytes
TCAD technology computer-aided design
TCAS traffic collision avoidance system
TCP/IP transmission control protocol/internet
protocol
TCP transmission control protocol
TCS telescope control system
TDMA time-division multiple access
LXXIV List of Abbreviations
TEAMS testability engineering and maintenance
system
TEG timed event graph
TEM transmission electron microscope
TER tele-ultrasonic examination
TFM traffic flow management
THERP technique for human error rate prediction
THR total hip replacement
THW time headway
TIE/A teamwork integration evaluator/agent
TIE/MEMS teamwork integration evaluator/MEMS
TIE/P teamwork integration evaluator/protocol
TIF data information forwarding
TIG tungsten inert gas
TIMC techniques for biomedical engineering
and complexity management
TLBP transfer line balancing problem
TLPlan temporal logic planner
TLX task load index
TMA traffic management advisor
TMC traffic management center
TMC transport module controller
TMS transportation management system
TMU traffic management unit
TOP time-out protocol
TO teleoperator
TPN trading process network
TPS throttle position sensor
TPS transaction processing system
TRACON terminal radar approach control
TRIPS trade related aspects of intellectual
property rights
TRV total removal volume
TSCM thin-seam continuous mining
TSE total system error
TSMP time synchronized mesh protocol
TSTP transportation security training portal
TTC time-to-collision
TTF time to failure
TTR time to repair
TTU through transmission ultrasound
TU transcriptional unit
TV television
TestLAN testers local area network
U
UAT universal access transceiver
UAV unmanned aerial vehicle
UCMM unconnected message manager
UCTE Union for the Co-ordination of
Transmission of Electricity
UDDI universal description, discovery, and
integration
UDP user datagram protocol
UEML unified enterprise modeling language
UGC user generated content
UHF ultrahigh-frequency
UI user interface
UMDL University of Michigan digital library
UML universal modeling language
UMTS universal mobile telecommunications
system
UMTS universal mobile telecommunications
system
UN/CEFACT United Nations Centre for Trade
Facilitation and Electronic Business
UN United Nations
UPC universal product code
UPMC University of Pittsburgh Medical Center
UPS uninterruptible power supply
URET user request evaluation tool
URL uniform resource locator
URM unified resource management
UR universal relay
USB universal serial bus
USC University of Southern California
UTLAS University of Toronto Library
Automation System
UT ultrasonic testing
UV ultraviolet
UWB ultra wire band
V
VAN-AP VAN access point
VAN value-added network
VAN virtual automation network
VAV variable-air-volume
VCR video cassette recorder
VCT virtual cluster tool
VDL VHF digital link
VDU visual display unit
veGA vector evaluated genetic algorithm
VE virtual environment
VFD variable-frequency drive
VFEI virtual factory equipment interface
VFR visual flight rule
VHDL very high speed integrated circuit
hardware description language
VHF very high-frequency
VICS vehicle information and communication
system
VII vehicle infrastructure integration
VIS virtual information system
VLSI very-large-scale integration
VMEbus versa module eurobus
VMIS virtual machining and inspection system
VMI vendor-managed inventory
VMM virtual machine monitor
VMT vehicle miles of travel
VM virtual machine
List of Abbreviations LXXV
VM virtual manufacturing
VNAV vertical navigation
VNC virtual network computing
VOD virtual-object-destination
VORTAC VOR tactical air navigation
VOR VHF omnidirectional range
VPS virtual physical system
VP virtual prototyping
VRP vehicle routing problem
VR virtual reality
VSG virtual service-oriented environment
VSP vehicle scheduling problem
VSSA variable structure stochastic automata
VTLS Virginia Tech library system
VTW virtual training workshop
VTx virtualization technology
VoD video on demand
W
W/WL wired/wireless
WAAS wide-area augmentation system
WAN wide area network
WASCOR WASeda construction robot
WBI wafer burn-in
WBS work breakdown structure
WBT web-based training
WCDMA wideband code division multiple access
WFMS workflow management system
WI-Max worldwide interoperability for microwave
access
WIM World-In-Miniatur
WIP work-in-progress
WISA wireless interface for sensors and actuator
WLAN wireless local area network
WLN Washington Library Network
WL wireless LAN
WMS warehouse management system
WMX weight mapping crossover
WORM write once and read many
WPAN wireless personal area network
WSA work safety analysis
WSDL web services description language
WSN wireless sensor network
WS wage setting
WTO World Trade Organization
WWII world war 2
WWW World Wide Web
WfMS workflow management system
Wi-Fi wireless fidelity
X
XIAP X-linked inhibitor of apoptosis protein
XML extensible mark-up language
XSLT extensible stylesheet language
transformation
XöV XML for public administration
Y
Y2K year-2000
YAG Nd:yttrium–aluminum–garnet
ZDO Zigbee device object
Z
ZVEI Zentralverband Elektrotechnik- und
Elektronikindustrie e.V.
1
Developm
Part A
Part A Development and Impacts of Automation
1 Advances in Robotics and Automation:
Historical Perspectives
Yukio Hasegawa, Tokyo, Japan
2 Advances in Industrial Automation:
Historical Perspectives
Theodore J. Williams, West Lafayette, USA
3Automation:
What It Means to Us Around the World
Shimon Y. Nof, West Lafayette, USA
4 A History of Automatic Control
Christopher Bissell, Milton Keynes, UK
5 Social, Organizational,
and Individual Impacts of Automation
Tibor Vámos, Budapest, Hungary
6 Economic Aspects of Automation
Piercarlo Ravazzi, Torino, Italy
Agostino Villa, Torino, Italy
7 Impacts of Automation on Precision
Alkan Donmez, Gaithersburg, USA
Johannes A. Soons, Gaithersburg, USA
8TrendsinAutomation
Peter Terwiesch, Zurich, Switzerland
Christopher Ganz, Baden, Switzerland
2
Development and Impacts of Automation. Part A The first part lays the conceptual foundations for the
whole Handbook by explaining basic definitions of automation, its scope, its impacts and its meaning, from
the views of prominent automation pioneers to a survey of concepts and applications around the world. The
scope, evolution and development of automation are reviewed with illustrations, from prehistory throughout its
development before and after the emergence of automatic control, during the Industrial Revolution, along the
advancements in computing and communication, with and without robotics, and projections about the future
of automation. Chapters in this part explain the significant influence of automation on our life: on individuals,
organizations, and society; in economic terms and context; and impacts of precision, accuracy and reliability with
automatic and automated equipment and operations.
3
Advances in R
1. Advances in Robotics and Automation:
Historical Perspectives
Yukio Hasegawa
Historical perspectives are given about the im-
pressive progress in automation. Automation,
including robotics, has evolved by becoming use-
ful and affordable. Methods have been developed
to analyze and design better automation, and
those methods have also been automated. The
References .................................................. 4
most important issue in automation to make
every effort to paying attention to all the
details.
The bodies of human beings are smaller than those of
wild animals. Our muscles, bones, and nails are smaller
and weaker. However, human beings, fortunately, have
larger brains andwisdom. Humans initiallylearned how
to use tools and then started using machines to perform
necessary daily operations. Without the help of these
tools or machines we, as human beings, can no longer
support our daily life normally.
Technology is making progress at an extremely high
speed; for instance, about half a century ago I bought
a camera for my own use; at that time, the price of
a conventional German-made camera was very high, as
much as 6months income. However, the price of a simi-
lar quality camera now is the equivalent of only 2weeks
of the salary of a young person in Japan.
Seiko Corporation started production and sales of
the world’s first quartz watch in Japan about 40years
ago. At that time, the price of the watch was about
400000 Yen. People used to tell me that such high-
priced watches could only be purchased by a limited
group of people with high incomes, such as airline pi-
lots, company owners, etc. Today similar watches are
sold in supermarkets for only 1000Yen.
Furthermore, nowadays, we are moving towards the
automation of information handling by using comput-
ers; for instance, at many railway stations, it is now
common to see unmanned ticket consoles. Telephone
exchanges have become completely automated and the
cost to use telephone systems is now very low.
In recent years, robots have become commonplace
for aiding in many different environments. Robots are
machines which carry outmotions and information han-
dling automatically. In the 1970s I was asked to start
conducting research on robots. One day, I was asked
by the management of a Japanese company that wanted
to start the sales of robots to determine whether such
robots could be used in Japan. After analyzing robot
motions by using a high-speed film analysis system, I
reached the conclusion that the robot could be used both
inJapanaswellasintheUSA.
After that work I developed a new motion analysis
method named the robot predetermined time standard
(RPTS). The RPTS method can be widely applied to
robot operation system design and contributed to many
robot operation system design projects.
In the USA, since the beginning of the last cen-
tury, a lot of pioneers in human operation rationalization
have made significant contributions. In 1911, Fred-
erik Tailor proposed the scientific management method,
which was later reviewed by the American Congress.
Prof. Gilbreth of Purdue University developed the new
motion analysis method, and contributed to the rational-
ization of human operations. Mr. Dancan of WOFAC
Corporation proposed a human predetermined time
standard (PTS) method, which was applied to human
operation rationalizations worldwide.
In the robotic field, those contributions are only
part of the solution, and people have understood that
mechanical and control engineering are additionally
important aspects. Therefore, analysis of human opera-
tions in robotic fields are combined with more analysis,
design, and rationalization [1.1]. However, human op-
Part A 1
4 Part A Development and Impacts of Automation
erators play a very challenging role in operations.
Therefore, study of the work involved is more impor-
tant than the robot itself and I believe that industrial
engineering is going to become increasingly important
in the future [1.2]. Prof. Nof developed RTM, the robot
time & motion computational method, which was ap-
plied in robot selection and program improvements,
including mobile robots. Such techniques were then
incorporated in ROBCAD, a computer aideddesign sys-
tem to automate the design and implementation of robot
installations and applications.
A number of years ago I had the opportunity to visit
the USA to attend an international robot symposium. At
that time the principle of “no hands in dies” was a big
topic in America due to a serious problem with guaran-
teeing the safety of metal-stamping operations. People
involved in the safety of metal-stamping operations
could not decrease the accident rate in spite of their
increasing efforts. The government decided that a new
policy to fully automate stamping operations or to use
additional devices to hold and place workpieces with-
out insertingoperators’ hands between dies was needed.
The decision was lauded by many stamping robot man-
ufacturers. Many expected that about 50 000 pieces of
stamping robots would be sold in the American market
in a few years. At that time 700000 stamping presses
were used in the USA. In Japan, the forecast figure was
modified to 20 000 pieces. The figure was not small
and therefore we immediately organized a stamping
robot development project team with government fi-
nancial support. The project team was composed of
ten people: three robot engineers, two stamping en-
gineers, a stamping technology consultant, and four
students. I also invited an expert who had previously
been in charge of stamping robot development projects
in Japan. A few years later, sales of stamping robots
started, with very good sales (over 400 robots were sold
in a few years).
However, the robots could not be used and were
rather stored as inactive machines. I asked the per-
son in charge for the reason for this failure and was
told that designers had concentrated too much on the
robot hardware development and overlooked analysis of
the conditions of the stamping operations. Afterwards,
our project team analyzed the working conditions of
the stamping operations very carefully and classified
them into 128 types. Finally the project team developed
an operation analysis method for metal-stamping op-
erations. In a few years, fortunately, by applying the
method we were able to decrease the rate of metal-
stamping operation accidents from 12000 per year to
fewer than 4000 per year. Besides metal-stamping op-
erations, we worked on research projects for forgings
and castings to promote labor welfare. Through those
research endeavors we reached the conclusion that care-
ful analysis of the operation is the most important issue
for obtaining good results in the case of any type of
operations [1.3].
I believe, from my experience, that the most im-
portant issue – not only in robot engineering but in all
automation – is to make every effort to paying attention
to all the details.
References
1.1 Y. Hasegawa: Analysis of complicated opera-
tions for robotization, SME Paper No. MS79-287
(1979)
1.2 Y. Hasegawa: Evaluation and economic justifica-
tion. In: Handbook of Industrial Robotics,ed.
by S.Y. Nof (Wiley, New York 1985) pp. 665–
687
1.3 Y. Hasegawa: Analysis and classification of industrial
robot characteristics, Ind. Robot Int. J. 1(3), 106–111
(1974)
Part A 1