August 1987 Published by the Computer Society of the IEEE Vol. 20, No. 8

12 Guest Editors' Introduction:CAD-Based Robot Vision

Bir Bhanu

19 CAD-Based 3D Object Representation for Robot VisionBir Bhanu and Chih-Cheng Ho

Computer vision researchers lack a systematic approach for building object models for industrial environments. We propose aCAD-based approach for building representations and models for applications involving 3D object recognition and manipulation.

37 A CAD System Based on Spherical Dual RepresentationsJohn W. Roach, Praveen K. Paripati, and Jeffrey S. Wright

Most CAD systems for 3D modeling use geometric representations incompatible with vision technology. Here, a CAD system basedon an extension of the Gaussian image, the spherical dual representation, preserves duality.

46 Prediction-Based Vision for Robot ControlMichael 0. Shneier, Ronald Lumia, and Martin Herman

This sensing and control system employs a feedback loop to bring a robot's internal representation of its environment into registrationwith the real world.

58 Model-Based Strategy Planning for Recognizing Partially Occluded PartsRadu Horaud and Thomas Skordas

Recognizing partially occluded objects requires off-line modeling and planning, and runtime recognition. After deriving a customizedmethod, we can compare recognition with and without off-line planning.

66 CAD Model-Based Localization of Parts in ManufacturingKristian T. Gunnarsson and Friedrich B. Prinz

We need autormatic part localization in flexible manufacturing. One method of achieving it uses a CAD model and sparse data.

76 Model-Based Programming and Control of Robot ManipulatorsCharles N. Stevenson

Multiple sensor systems and geometric object models can help a manipulation system adapt to uncertainty in its environment.

85 The Effect of Abstract Data Types on Program DevelopmentJeffrey Mitchell, Joseph E. Urban, and Robert McDonaldAn experiment demonstrated that using unsupported abstract data types increases program development time for novice programmersin an Ada environment.

Cimelatiom: Computer (ISSN 0018-9162) is published monthly by the Computer Society of the IEEE. IEEE Headquarters: 345 East 47th St., New York, NY 10017; Computer Society of theIEEE, PublicationsOffice, 10662 Los Vaqueros Circle, Los Alamitos, CA 90720; (714)821-8380. Annual subscription included in societymemberdues. Nonmemberprices: availableupon request.Singie copy prices: members S7.50; nonmembers S15.00. This magazine is also available in microfiche form.Posttaier: Send undelivered copies and address changes to Computer, IEEE Service Center, 445 Hoes Lane, Piscataway, NJ 08854. Second class postage is paid at New York, New York, and atadditional mailing offices.Copyright mud reprint perisaons: Copyright 0 1987 by the Instituteof Electrical and Electronics Engineers, Inc. All rights reserved. Abstracting is permitted with credit to the source. Librariesare permitted to photocopy beyond thelimits ofUScopyright law for private useofpatrons: (I)those post-1977 articles that carry a codeat the bottom of the first page, provided theper-copy fee in-dicated in the code is paid through the Copyright Clearance Center, 29 Congress Street, Salem, MA01970. (2)pre-1978 articles without fee. Instructors are permnitted to photocopy isolated articlesfor noncommercial classroom use without fee. For other copying, reprint, or republication permission, write to True Seabom, Editor and Publisher, Computer, 10662 LosVaqueros Circle, Los Alamitos, CA 90720. All rights reserved. Copyright ©D 1987 by The Institute of Electrical and Electronics Engineers, Inc.Editorial: Unless otherwise stated, bylined articles, as well as product and service descriptions, reflect the author's or firm's opinion. Inclusion in Computer does notnecessarily constitute endorsement by the IEEE or the Computer Society. All submissions are subject to editing for style, clarity, and space considerations. Computer w#VDDAsubscribes to the Computer Press Association's code of professional ethics. T/BPA

I .

6 President's Message90 Open Channel93 Standards94 Update96 Computer Society News

COPP, TAB, and TC-DE reports;proposed bylaws amendments

101 Computer Society ElectionProposed constitutional amendments;candidates' statements and biographies

109 ConferencesHigh-speed multiplier described at MVL Symposium;NCC future uncertain

119 Calendar123 Call for Papers126 New Product Reviews

Low-cost CAD/CAE systems

130 New Products138 IC Announcements139 Microsystem Announcements140 Book Reviews143 New Literature

CON10662 Los Vaqueros Circle, Los,

Editor-in-Chief: Bruce D. Shriver, IBMEditorial Board

Dharma P. Agrawal, North Carolina State UniversityScott Davidson, AT&T

Richard Eckhouse, Moco Inc.Gideon Frieder, University of Michigan

Edmund Gallizzi, Eckerd CollegeJohn Gurd, University of Manchester

James H. Haynes, University of California, Santa CruzRonald G. Hoclzeman, University of Pittsburgh

Franklin F. Kuo, SRI InternationalWiley McKinzie, Rochester Institute of TechnologyK. M. Mohiuddin, IBM Almaden Research Lab.

William Riddle, Software Productivity ConsortiumSallie Sheppard, Texas A&M University

Harry Strong, Mitre CorporationHelen M. Wood, National Bureau of Standards

Submissions:Send six double-spaced copies of articles and special-issueproposals to Bruce D. Shriver, IBM T.J. Watson Research

Center, PO Box 704, HO-BO4A, Yorktown Heights,NY 10598; (914) 789-7626. For electronic

submission, Shriver's addresses areCompmail +, b.shriver; CSnet, Shriver@ibm.com;

Vnet, shriver at yktvmh.

On the cover

Threading a needle is a simple taskfor most well-coordinated adulthumans. But it's an exercise in frus-tration to their preschool children,who have yet to develop the requiredhand-eye coordination. And so it iswith robotics, vision, CAD, andCAM-young fields lacking the com-munication skills that could make our

cover image a reality. This month'sarticles take a look at the growth andpotential of CAD-based robot vision.

Cover photo: Arthur D'Arazien,"Robot Threading a Needle." Photocourtesy of The Image Bank.Cover design: Jay Simpson, Designand Direction

In the next issueHypertext, formal methods for pro-

gram design, software productivity, a

case for more complex instructionsets, and modern RISC processors

Career Opportunities 125, Advertiser/Product Index 144, Reader ServiceCard 144A, Change-of-Address Form 88, Membership Informa-

tion/Application 9-11

ERAlamitos, CA 90720

StaffEditor and Publisher: True Seaborn

Managing Editor: Marilyn PotesIssue Editor: Nancy Hays

Assistant Editors: Stephen Newland, Chuck GovernaleContributing Editor: Ware Myers

Assistant to the Publisher: Pat PaulsenArt Director: Jay Simpson

Design/Production: Miriam WiegelMembership Manager: Christina ChampionCirculation Manager: Paul ZiveAdvertising Director: Dawn Peck

Advertising Coordinators: Heidi Rex, Marian Tibayan

Magazine Advisory CommitteeMichael Evangelist (chair), Vishwani D. Agrawal, James J. Farrell 111,

Ted Lewis, David Pessel, True Seaborn, Bruce D. Shriver,John Staudhammer

Publications BoardJ. T. Cain (chair), Vishwani D. Agrawal, J. Richard Burke,Gerald L. Engel, Michael Evangelist, James J. Farrell Ill,

Lansing Hatfield, Ronald G. Hoelzeman, Ted Lewis, Ming T. Liu,Ez Nahouraii, David Pessel, C.V. Ramamoorthy, Vincent Shen,

Bruce D. Shriver, John Staudhammer, Steven L. Tanimoto