## 2005 IEEE International Symposium on Assembly and Task Planning (ISATP): July 19-21, 2005, Montreal, QC, Canada |

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Page 50

The heuristic is based on an extension of the greedy

occurs in the specific instance of the product of Figure 1 , where the optimum

3 - 6 ...

The heuristic is based on an extension of the greedy

**solution**. is attained . Thisoccurs in the specific instance of the product of Figure 1 , where the optimum

**solution**is found if 1 > 7 , see Table 2 . A Profit Sequence 1 1150 1 - 9 - 8 - 5 - 7 -3 - 6 ...

Page 224

Because the genetic algorithm generates a population of

Kangaroo algorithm treats a

considered . The TWA problem was solved using the proposed metaheuristic .

Because the genetic algorithm generates a population of

**solutions**and theKangaroo algorithm treats a

**solution**at a time , a parallel version of this one wasconsidered . The TWA problem was solved using the proposed metaheuristic .

Page 225

In the case of TWA problem , a possible method for the initial population

generation is to consider an initial

of the initial population are obtained through an iterative process : U ; = mutation (

u ; - 1 ) ...

In the case of TWA problem , a possible method for the initial population

generation is to consider an initial

**solution**Uo ... UN - 1 The other N - 1**solutions**of the initial population are obtained through an iterative process : U ; = mutation (

u ; - 1 ) ...

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### Contents

Manufacturing Process Planning for Robotic ArcWelding Station with Positioning Table | 1 |

Planning of Graspless Manipulation based on RapidlyExploring Random Trees | 7 |

Coupling of Assembly Process Planning and Material Flow Simulation based on an Unambiguous Process Graph | 13 |

Copyright | |

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### Common terms and phrases

algorithm allow application approach assembly assembly sequences Automation axis calculation cell complex components computed condition configuration connection considered constraints corresponding cost defined depends described determine developed direction disassembly distance dynamic edge electrode elements environment equation evaluation example execution exists experiment faces Figure final force friction function geometric given graph grasp gripper gripping IEEE increase initial International liquid locations machine manipulation manufacturing material means mechanical method modules motion move nanotubes nodes object obtained operation optimization parameters particle path performed planning position possible presented problem Proc procedure proposed regions rendering represents respectively robot sampling selected sequence shape shown shows simulation solution solving space specific step surface Table task task skill tion tolerance tool tube volume welding