SummaryA new approach to represent assembly called state matrix representation and an algorithm for automatic robot assembly planning based on this representation is proposed. The state matrix representation of assembly is configured by considering the inter-relationships of parts and objects involved in the initial and the goal structures. Thanks to this new representation, the planning lgorithm is straightforward and can be easily and efficiently implemented with simple matrix manipulation. Unlike other planning methods, the actions involved in the assembly process are not defined in advance but are generated at planning time. The syntax of actions are designed so that while directly reflecting the semantics of actions, they can be easily manipulated by the planner. Two examples of how to plan an assembly based on this representation are given in the paper.

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Many studies for the preliminary definition of a space teleoperated robotic devices are recently completed or under development. One example of such devices is the Flight Telerobotic Servicer (FTS) developed by NASA. These studies will assist astronauts in many ot the on- and off-board tasks of assembly, maintenance, servicing and inspection of the Space Station. This paper makes an assessment of the role that teleprogramming may have in furthering the automation capabilities of these devices by extending their capacity for growth and evolution. Relevant system engineering design issues are identified for its programming. An outline of teleprogramming environments is given which comprises of task planning and interpretation, simulation, specialized modules known as system agents and world model manager (influencing teleoperator decisions at a remote worksite). A Space Robotic Workcell (SRW) is a collection of robots, sensors, and other equipment grouped in a cooperative environment to perform various complex tasks in space. Due to their distributed nature, the control and programming of SRWs is often a difficult task, for which dedicated space environments have to be designed. There is clearly established need to perform intervention tasks remotely in hazardous environments by machines. Examples of this need that are highly relevant to our discussion are space safety applications, space exploration and underwater structure maintenance and repair. In this paper we focus on Space Robotics & Automation. We have discussed a detailed study of autonomy versus teleoperation for intervention robots making a case for task level teleprogramming as a new emerging field in Telerobotics. A rationale for teleprogramming and its techniques, Expert Systems, SRW Subsystem Agents, SRW Task Planner and SRW Plan (for growth and evolution) are also covered in this paper.