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This article was prepared in an effort to determine the state of the art with respect to the use of artificial intelligence and expert system technologies within the steel industry. A number of important developments have been reported and most of them resulted in significant savings. Mathematical modeling is quite important both for understanding and for controlling a process. However, most steelmaking operations are extremely complex and cannot be described mathematically. They are, however, adequately controlled by human operators on the basis of their knowledge and expertise. Because of this, artificial intelligence is an ideal technology for the automation of many steelmakingrelated processes.

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Commercial robot languages and systems provide neither the necessarytools for programming modern robotic workcells consisting of many cooperating elements, nor a mechanism for inter-element communication A framework for programming multi-element robotic workcells has been proposed. developed and implemented as a two part solution (SAGE/WRAP) SAGE generates a time-optimal sequence of operations for each workcell element which then becomes the basis of the runtime program that performs the application. This program is interpreted and executed by the hierarchical workcell runtime environment called WRAP. This paper focuses on the WRAP Interpreter which interprets a workcell program and t o coordinates its execution. The architecture and the algorithm implemented by the Interpreter will be emphasised complete system is the hierarchical robot control system implemented at the Industrial Systems Division of the National Bureau of Standards (USA) by Albus and his co-workers (21. At RCA a two level hierarchy was proposed, with a cell controller coordinating the device servers [3]. Researchers at LAAS have developed NNS. a LISP-based environment for the integration and set-up of Flexible Assembly Ce//s [I]. Researchers at RPI proposed a six level hierarchical planning and execution system for assembly operations 1121. Maimon proposed the 'activity controller' theory t o coordinate multiple robots and other automated machines [Ill. W R A P Architecture$1.00 0 1989 IEEE