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452 Technical Reports Section 
performed by our present system requires the robot 
vehicle to rearrange (by pushing) simple objects in its 
environment. A feature of our approach is the use of a 
formal theorem-proving system to plan the execution of 
high-level functions. The execution of these requires 
additional planning at lower levels. The main theme is the 
integration of the necessary planning systems, models of 
the world, and sensory processing systems into an effi- 
cient whole capable of performing a wide range of tasks 
in a real environment. 
1057591 DE84001533 
Shielded Cells Transfer Automation 
Fisher, J.J., Du Pont de Nemours (E.I.) and Co., Aiken, 
SC. Savannah River Lab.; Sponsor: Department of 
Energy, Washington, DC; Report No.: DP-MS-83-104: 
CONF-840413-1, 1984. 
16pp; Topical meeting on robotics and remote handling 
in hostile environments, Gatlinburg, TN, USA, 23 Apr 
1984; Portions are illegible in microfiche products. 
Languages: English Document Type: Conference 
proceeding. 
North America, $6.75; Overseas, $10.25; Country of 
Publication: United States. 
Nuclear waste from shielded calls is removed, pack- 
aged, and transferred manually in many nuclear fa- 
cilities. Radiation exposure is absorbed by operators 
during these operations and limited through procedural 
controls. Technological advances in automation using 
robotics have allowed a production waste removal 
operation to be automated to reduce radiation waste 
exposure. The robotic system bags waste containers out 
of glove box and transfers them to a shielded container. 
Operators control the system outside the system work 
area via television cameras. 9 figures. (ERA citation 
09:016023) 
1056384 PB84-179456 
Programmable Assembly Research Technology Trans- 
fer to Industry - - Phase 2, Year End Report 1980 
(Annual rept.) 
Cowart, N.A.; Csakvary, T.; Mahhlin, A.; Ottinger, 
B.D.; Rogers, W.L.; Westinghouse Research and Devel- 
opment Center, Pittsburgh, PA; Sponsor: National 
Science Foundation, Washington, DC; Report No.: 
NSF/ISP-81010, 31 Mar 81. 
216pp; See also PB81-132714; Languages: English. 
North America, $18.75; Overseas, $28.75; Country of 
Publication: United States. 
This report describes work accomplished in the de- 
velopment of the Adaptable Programmable Assembly 
System (APAS). Mechanical and control system designs 
for APAS were completed for the End Bell Subassembly 
System and the Motor, Final Assembly System. As a 
result, approximately one-third of the two power-and- 
free buffered conveyors: air and power distribution; the 
incoming inspection station PUMA robot with vision; a 
palet transfer station with hybrid robot for three round 
parts; semi-solid lubricant and oil; and a network 
consisting of the master supervisory computer connected 
to the dual assembly station control microcomputer. 
Experiments with programmable parts feeders have 
yielded excellent results, as have insertion experiments 
with the exception of tie bolts. The vision and computer 
control system are documented. 
1056356 PB84-178037 
Overview of Artificial Intelligence and Robotics. Volume 
1. Artificial Intelligence. Part A - - The Core Ingredients 
Gevarter, W.B.; National Bureau of Standards, Wash- 
ington, DC National Engineering Lab.; Sponsor: Na- 
tional Aeronautics and Space Administration, Washing- 
ton, DC; Report No.: NBSIR-83-2799, Feb 84. 
75pp; See Also PB83-217547; Languages: English. 
North America, $9.75; Overseas, $14.75; Country of 
Publication: United States. 
Artificial Intelligence (AI) is an emerging technology 
that has recently attracted considerable attention. Many 
applications are now under development. The goal of 
Artificial Intelligence is focused on developing computa- 
tional approaches to intelligent behavior. This goal is so 
broad--covering virtually all aspects of human cognitive 
activity--that substantial confusion has arisen as to the 
actual nature of AI, its current status, and its future 
capability. This volume, the first in a series of NBS/ 
NASA reports on the subject, attempts to address these 
concerns. Thus, this report endeavors to clarify what AI 
is, the foundation on which it rests, the techniques 
utilized, applications, the participants and, finally, AI's 
state-of-the-art and future trends. It is anticipated that 
this report will prove useful to government and private 
engineering and research managers, potential users, and 
others who will be affected by this field as it unfolds. 
1056302 PB84-177112 
Feedback in Robotics for Assembly and Manufacturing 
(Final rept. 1 Apr 80-31 Mar 82) 
De Fazio, T.L.; Whitney, D.E.; Nevins, J.L.; Desai, M.; 
Fogel, E., Charles Stark Draper Lab., Inc., Cambridge, 
MA; Sponsor: National Science Foundation, Washing- 
ton, DC; Report No.: R-1563: NSF/MEA-83002; c1983. 
106pp; Languages: English. 
North America, $12.75; Overseas, $19.25; Country of 
Publication: United States. 
Results are presented of a study undertaken to 
investigate the use of multi-axis contact feedback for