Appendix Bibliography of Literature on Robot Reliability and Safety and on Related Areas

A.l. Introduction

Over the past number of years, a large number of publications on robot reliability and safety and on related areas have appeared in the published literature. This appendix presents selected references grouped into four sepa­rate categories: robot reliability and safety, robot maintenance, robot eco­nomics, and miscellaneous. There could be some overlap in the listing and, therefore, the same reference may appear in more than one of these four categories. Sections A.2, A.3, A.4, and A.S present references on robot reli­ability and safety, robot maintenance, robot economics, and miscellaneous, respectively. These references will provide a useful service to readers in the event they desire to probe deeper into the area of their interest.

A.2. Robot Reliability and Safety

1. J.H. Addison, Robotic Safety Systems and Methods: Savannah River Site, NTIS Report No. DE 85008261, December 1984. Available from the National Techni­cal Information Service (NTIS), Springfield, Virginia.

2. R.S. Ahluwalia, E.Y. Hsu, Sensor-Based Obstruction Avoidance Technique for a Mobile Robot, Journal of Robotic Systems, Vol. 1, 1984, pp. 331-350.

3. H.A. Akeel, Hardware for Robotic Safety Systems, Proceedings of the Tower Conference Meeting, InteRobot West 2nd Annual International Conference, Long Beach, California, October 1984.

4. H.A. Akeel, Instrinsic Robot Safety, Proceedings of Robot Safety Conference, Rochester, Michigan, June 1983, pp. 41-52.

5. H. Alayan, C.A. Niznik, R.W. Newcomb, Reliability of Basic Robot Automated Manufacturing Networks, Proceedings of the IEEE Southeaston Annual Con­ference, Louisville, Kentucky, 1984, pp. 291-294.

6. Y.M. Altamuro, Working Safely with the Iron Collar Worker, National Safety News, July 1983, pp. 38-40.

7. V.M. Altamuro, How to Achieve Employee Support, Safety and Success in Your First Robot Installation, Robots 8 Conference Proceedings, Vol. 2, Detroit, Michi­gan, June 1984, pp. 15.1-15.8.

226

A.2. Robot Reliability and Safety 227

8. American National Standard for Industrial Robots and Robot Systems-Safety Requirements, ANSI/RIA R15.06-1986, American National Standards Institute, New York, 1986.

9. G.B. Andeen, (editor), Robot Design Handbook, McGraw-Hill, New York, 1988, Chap. 8.

10. R.L. Anderson, When Robots and People Work Together, Technical Paper No. MS84-403, 1984, Society of Manufacturing Engineers, Dearborn, Michigan.

11. Anon., Sensors for Robot Safety, Robotics World, Vol. 1, May 1983, pp. 16-19. 12. Anon., Protecting Workers from Robots, American Machinist, Vol. 128, March

1984, pp. 85-86. 13. Anon., Safety with Sophistication, The Industrial Robot, Vol. 11, December 1984,

pp.243-245. 14. Anon., Watchdog Robot Discussed, Robotics World, Vol. 1, September 1983,

pp.12-13. 15. Anon., Watchdog Robot Ensures Safety, Machine Design, Vol. 55, September

1983, pp. 16. 16. Anon., Automatic Robot Safety Shutdown System, NASA Technical Briefs,

Summer 1984, pp. 546-547. 17. Anon., Robots Acquire Sensors for Safety, Mechanical Engineering, Vol. 105, July

1983, p. 83. 18. Anon. Cartridge Valve/Brake System Increases Robot Safety, Robotics World,

Vol. 1, April 1983, pp. 26-28. 19. Anon., HSE Emphasizes a Flexible Approach to Robot Safety, Industrial Robot,

Vol. 14, March 1987, p. 49. 20. Anon., Collision-Prevention Sensor, IBM Tech. Discl. Bull., Vol. 28, No.7, 1985,

pp. 2925-2926. 21. Anon., Quick-Change Tooling Device with Safety Feature, IBM Tech. Disci.

Bull., Vol. 28, No.4, 1985, pp. 1381-1382. 22. G. Arkosy, Role of Sensors in the Safety of Industrial Robots, Meres Autom.

(Hungarian), Vol. 34, No.8, 1986, pp. 305-308. 23. L. Argote, P.S. Goodman, D. Schkade, The Human Side of Robotics: How

Workers React to a Robot, Sloan Management Review, Spring 1983, pp. 33-41. 24. J.R. Balancio, Training Reduces Human Error, Safety and Health, August 1987,

pp.55-56. 25. C.A.T. Barcheck, Methods for Safe Robotic Start-up Testing, Inspection and

Maintenance, Proceedings of the Robotic Industries Association Robot Safety Seminar, 1985, pp. 67-73., P.O. Box 1366, Dearborn, Michigan.

26. R.J. Barrett, Practical Robot Safety Measures Within a Legal Framework, Pro­ceedings of the 6th British Robot Association Annual Conference, 1983, pp. 33-40.

27. R.J. Barrett, Robot Safety and the Law, in Robot Safety (edited by M.e. Bonney and Y.F. Yong), Springer-Verlag, Berlin, 1985, pp. 3-15.

28. R.J. Barrett, Robot Safety: The HSE Experience, Proceedings of the 7th British Robot Association Annual Coriference, Cambridge, England, May 1984, pp. 309-313.

29. R.J. Barrett, R. Bell, P.H. Hodson, Planning for Robot Installation and Main­tenance: a Safety Framework, Proceedings of the 4th British Robot Association Annual Conference, 1981, Brighton, England, pp. 13-22.

30. R. Bell, Safety Implications of Programmable Equipment, Electrical Review, Vol. 210, No. 22, 1982.

31. R. Bell, B.K. Daniels, R.I. Wright, Assessment ofIndustrial Programmable Elec-

228 Appendix. Bibliography of Literature on Robot Reliability and Safety

tronic Systems with Particular Reference to Robotics Safety, Proceedings of the 4th National British Reliability Conference, Vol. 1, London, 1983, pp. 3C/l/l-3C/l/l1.

32. J.P. Bellino, Safety Considerations for Robotic Installations, Proceedings of the Robotic Industries Association Robot Safety Seminar, 1985, P.O. Box 1366, Dear­born, Michigan. pp. 44-52.

33. J.P. Bellino, Design for Safeguarding, in Robot Safety (edited by M.C. Bonney and Y.F. Yong), Springer-Verlag, Berlin, 1985, pp. 127-132.

34. G. Benson, Mindlessness: A New Dimension of Technological Alienation­Implications for the Man-Machine Interface in the High Technology Work Environments, in Occupational Health and Safety in Automation and Robotics (edited by K. Noro), Taylor and Francis, London, 1987, pp. 326-336.

35. J. Blankenship, D. Strickland, K. Kittiampon, Robot Control for Hazard Preven­tion, Proceedings of the American Society of Mechanical Engineers (ASME) International Computers in Engineering Conference, August 1983.

36. M. Bonfioli, e.F. Marcolli, e. Noe, Safety System Proposal for Automated Production, in Robot Safety (edited by M.e. Bonney, Y.F. Yong), Springer­Verlag, Berlin, 1985.

37. R.J. Bonnell, H. Lothammer, Maintaining Hydraulic Robots, Robotics Today, October 1984, pp. 27-28.

38. M.e. Bonney, W.B. Heginbotham, Verifying Robot Programmes for Collision­Free Tasks, Development in Robotics 1983, IFS (Publications), Bedford, England, 1983, pp. 257-263.

39. M.e. Bonney, IF. Yong, (editors), Robot Safety, IFS (Publications) Bedford, England, 1985.

40. DJ. Bray, Practical Examples of Safety in Robot Systems, Proceedings of the International Seminar on Safety in Advanced Manufacturing, May 1987, pp. 27-36. IFS (Conferences), London.

41. J. Broder, Robots Seen as Posing a Threat to Worker Safety, Los Angeles Times, Friday, December 14, 1984.

42. R.A. Brooks, Planning Collision-Free Motions for Pick and Place Operations, in Robotics Research-The First International Symposium, MIT Press, Cam­bridge, Massachusetts, 1984.

43. S. Cameron, A Study of the Clash Detection Problem in Robotics, Proceedings of the 1985 IEEE International Conference on Robotics and Automation, St. Louis, Missouri, March 1985.

44. J. Carlsson, Robot Accidents in Sweden, in Robot Safety (edited by M.e. Bonney, Y.F. Yong), Springer-Verlag, Berlin, 1985, pp. 49-64.

45. J. Carlsson, L. Harms-Ringdahl, U. Khellen, Report: Industrial Robots and Accidents at Work, Royal Institute of Technology, Stockholm, 1979.

46. L.R. Carrico, Three Keys to Robot Safety: Training, Design, and Implementation, National Safety News, May 1984, pp. 81-85.

47. L.R. Carrico, A Comprehensive Approach to a Safe Implementation ofIndustrial Robots, in Working Safely with Industrial Robots (edited by P.M. Strubhar), Robotics International of the Society of Manufacturing Engineers, Dearborn, Michigan, 1986, pp. 214-223.

48. L.R. Carrico, Training and Design for Safe Implementation of Industrial Robots, in Robot Safety (edited by M.e. Bonney and Y.F. Yong), Springer-Verlag, Berlin, 1985.

A.2. Robot Reliability and Safety 229

49. J. Chabrol, Industrial Robot Standardization at ISO, Robotics, Vol. 3, 1987, pp. 229-233.

50. M.H. Chignell, A. Loewenthal, A. Caspi, The Principles of Caveat Vendor, Caveat Emptor and Caveat Operator in Robotic Safety, Journal of Occupational Acci­dents, Vol. 8, 1986, pp. 79-90.

51. M.K. Chung, A Markovian Analysis of Occupational Injuries on Heterogeneous Jobs, in Trends in Ergonomics/Human Factors III (edited by W. Karwowski), Elsevier, New York, 1986, pp. 935-944.

52. D.L. Clem, Safety Considerations for Space Robots, Paper No. 86-0605, 1986, Instrument Society of America (ISA).

53. B.A. Cook, Increased Hardware Safety Margin Through Software Checking, in Robot Safety (edited by M.e. Bonney, Y.F. Yong), Springer-Verlag, Berlin, 1985, pp.161-168.

54. J.W. Collins, Hazard Prevention in Automated Factories, Robotics Engineering, Vol. 8,1986, pp. 8-11.

55. Computerworld, Kin of Man Killed by Robot Awarded $10 million, August 15, 1983, p. 8.

56. V. Cop, Increasing the Quality and Reliability of Industrial Robots and Auto­mated Workplaces, in Developments in Robotics 1983 (compiled by B. Rooks), North-Holland, Amsterdam, 1983, pp. 89-98.

57. E. Courter, Toward Safer Robots, in Working Safely with Industrial Robots (edited by P.M. Strubhar), Robotics International of the Society of Manufacturing Engineers, Dearborn, Michigan, 1986, pp. 234-241.

58. J.L. Cox, Human Factors Issues in Robotics: Physical, Mental, Safety, Legal, Technical Paper No. MS84-276, 1984, Society of Manufacturing Engineers, Dearborn, Michigan.

59. A.J. Critchlow, Introduction to Robotics, Macmillan, New York, 1985, pp. 78-87. 60. B. Das, Ergonomics Considerations in the Introduction of Industrial Robots,

Technical Paper No. MM85-726, 1985, Society of Manufacturing Engineers, Dearborn, Michigan.

61. J.P. DeGregoria, Robotic Safety, in Working Safely with Industrial Robots (edited by P.M. Strubhar), Robotics International of the Society of Manufacturing Engineers, Dearborn, Michigan, 1986, pp. 9-12.

62. S. Deivanayagam, Safety of Robotic Work Systems, in Trends in Ergonomics/ Human Factors III (edited by W. Karwowski), Elsevier, Amsterdam, 1986, pp. 1035-1040.

63. S. Deivanayagam, Human Factors Concerns in Industrial Robot Applications, Proceedings of the Human Factors Society Annual C01iference, Seattle, 1982.

64. S. Derby, 1. Graham, J. Meagher, A Robot Safety System and Collision A voi­dance Controller, Proceedings of the Robots 8 Conference, 1984, Society of Manu­facturing Engineers.

65. B.S. Dhillon, On Robot Reliability and Safety-Bibliography, Microelectronics and Reliability, Vol. 27,1987, pp. 105-118.

66. B.S. Dhillon, Mechanical Reliability: Theory, Models, and Applications, American Institute of Aeronautics and Astronautics, Washington, DC, 1988, Chap. 11.

67. R.V. Dragone, Failsafe Brakes Keep Robot Arms in Position, Robotics World, Vol. 2, December 1984, pp. 20-22.

68. F. Duggan, R.H. Jones, K. Khodabandehloo, Towards Developing Reliability and Safety Related Standards Using Systematic Methodologies, Proceedings of

230 Appendix. Bibliography of Literature on Robot Reliability and Safety

the Robotics Europe 1st Conference, Brussels, Belgium, June 1984, pp. 90-107, in Robot Technology and Applications, Springer-Verlag, New York, 1985.

69. R. Eberts, G. Salvendy, The Contributions of Cognitive Engineering to the Safe Design and Operation of CAM and Robotics, Journal of Occupational Accidents, Vol. 8, 1986, pp. 49-67.

70. D. Elbert, Reducing Downtime via Warm Restarts, Robotics Engineering, Octo­ber 1986, pp. 14-16.

71. J.F. Engelberger, Three Millions Hours of Robot Field Experience, The Industrial Robot, June 1974, pp. 164-168.

72. J.F. Engelberger, Robotics in Practice, Kogan Page, London, 1980, pp. 75-91. 73. J.F. Engleberger, Performance Evaluation of Industrial Robots, Proceedings of

the 3rd Conference on Industrial Robot Technology & 6th International Symposium on Industrial Robots, Nottingham, England, March 1976, pp. J4.51-J4.66.

74. J.R. Etherton, Automated Maintainability Records and Robot Safety, Proceed­ings of the Annual Reliability and Maintainability Symposium, 1987, pp. 135-140.

75. lR. Etherton, Ergonomics and Control Reliability for Safety During Automated Machine Maintenance-Programs in the United States and France, in Trends in Ergonomics/Human Factors III (edited by W. Karwowski), Elsevier, Amster­dam, 1986, pp. 1101-1108.

76. Fatal Accident Summary Report: Die Cast Operator Pinned by Robot, Report No. 84-020, 1984. Division of Safety Research, National Institute for Occupa­tional Health and Safety, Morgantown, West Virginia.

77. D.W. Finnerty, Robot Safety Training, Robots East Seminar Proceedings, Octo­ber 1985, pp. 9-23. Robotic Industries Association, 900 Victors Way, P.O. Box 3724, Ann Arbor, Michigan 48106.

78. W.R. Fisher, Design for Assembly, Proceedings of the Annual Reliability and Maintainability Symposium, 1984, pp. 403-412.

79. K.R. Fitzgerald, Automated Handling Boosts Flexible Assembly Safety, Modern Material Handling, Vol. 41, No.2, 1986, pp. 60-63.

80. E. Freund, H. Hoyer, Collision Avoidance for Industrial Robots with Arbitrary Motion, Journal of Robotic Systems, Vol. 1, 1984, pp. 317-329.

81. J.G. Fuller, Death by Robot, OMNI, March 1984, pp. 45-50. 82. C.A. Gainer, B.C. Jiang, A Cause-and Effect Analysis of Industrial Robot Acci­

dents from Four Countries, Proceedings of the Robots 11 and the 17th Interna­tional Symposium on Industrial Robots, Chicago, Illinois, April 1987, pp. 9.1-9.9.

83. K. Ghosh, Safety Considerations in Robotic Installations, Proceedings of the 3rd Canadian CAD/CAM and Robotics Conference, Toronto, Ontario, 1984, pp. 7.9-7.15.

84. K. Ghosh, C. Lemay, Man/Machine Interactions in Robotics and Their Effect on the Safety at the Workplace, Proceedings of the Robot 9th Annual Conference, Vol. 2, 1985, pp. 19.1-19.8, Society of Manufacturing Engineers, USA.

85. K. Ghosh, A. Sevingy, F. Seha, Safety Problems in Robotic Systems and Some Methods for Their Solution, in Robotics and Factories of the Future (edited by S.N. Dwivedi), Springer-Verlag, New York, 1984.

86. G. Gini, M. Gini, M. Somalvico, Emergency Recovery in Intelligent Robots, Proceedings of the 5th International Symposium on Industrial Robots, 1975, pp.339-358.

87. M. Goto, Occupational Safety and Health Measures Taken for the Introduction of Robots in the Automobile Industry, in Occupational Health and Safety in

A.2. Robot Reliability and Safety 231

Automation and Robotics (edited by K. Noro), Taylor & Francis, London, 1987, pp.399-417.

88. L. Gouzenes, Collision A voidance for Robots in an Experimental Flexible As­sembly Cell, Proceedings of the 1984 IEEE International Coriference on Robotics, Atlanta, Georgia, March 1984.

89. J.H. Graham, Research Issues in Robot Safety, Proceedings of the IEEE Interna­tional Conference on Robotics and Automation, Vol. 3, Philadelphia, Pennsylvania, April 1988, pp. 1854-1855.

90. M.E.K. Graham, Safety Mats, in Robot Safety (edited by M.e. Bonney, Y.F. Yon g), Springer-Verlag, Berlin, 1985, pp, 205-216.

91. J.H. Graham, J.F. Meagher, A Sensory-Based Robotic Safety System, IEEE Proceedings, Vol. 132, Pt. D, No.4, July 1985, pp. 183-189.

92. J. Graham, J.F. Meagher, S.J. Derby, A Safety and Collision Avoidance System for Industrial Robots, IEEE Transactions on Industry Applications, Vol. 22, 1986, pp. 195-203.

93. J.H. Graham, D.L. Millard, Toward Development of Inherently Safe Robots, Proceedings of Robots 11 and 17th International Symposium on Industrial Robots, Chicago, Illinois, April 1987, pp. 9.11-9.19.

94. K.G. Griffin, Safety for Industrial Robotic AppliGations, Professional Safety, Vol. 28,1983, pp. 22-26.

95. K.G. Griffin, Safety Requirements for Industrial Robotic Applications, Proceed­ings of the First International Robot Coriference, June 1983, pp. 220-225.

96. M.P. Groover, M. Weiss, R.N. Nagel, N.G. Odrey, Industrial Robotics, McGraw­Hill, New York, 1986, Chap. 17.

97. J.E. Hamilton, P.A. Hancock, Robotics Safety: Exclusion Guarding for Industrial Operations, Journal of Occupational Accidents, Vol. 8,1986, pp. 69-78.

98. M. Harless, M. Donath, An Intelligent Safety System for Unstructured Hu­man/Robot Interaction, Proceedings of the 9th Robots Annual Conference, Vol. 2, 1985, pp. 19.9-19.20.

99. S.Y. Harmon, D.W. Gage, Current Technical Research Issues of Autonomous Robots Employed in Combat, Proceedings of the IEEE 17th Annual Electronics and Aerospace Coriference, Eascon-84, 1984, pp. 215-219.

100. L. Harms-Ringdahl, Experiences from Safety Analysis of Automatic Equipment, Journal of Occupational Accidents, Vol. 8,1986, pp. 139-148.

101. J. Hartley, Robots at Work, North-Holland, Amsterdam, 1983, Chap. 14. 102. G. Hartmann, Safety Features Illustrated in the Use of Industrial Robots

Employed in Production in Precision Mechanical/Electronic Industries and Manufacture of Appliances, Journal of Occupational Accidents, Vol. 8, 1986, pp.91-98.

103. Y. Hasegawa, Industrial Robot Standardization, in Handbook of Industrial Robotics (edited by S.Y. Nof), Wiley, New York, 1985, pp. 518-524.

104. Y. Hasegawa, Industrial Robot Application for Improving the Quality of Work­ing Life, Proceedings of the 7th International Symposium on Industrial Robots, 1979.

105. Y. Hasegawa, Industrial Robots Applications Model Design for Labour Saving and Safety Promotion in Press Operations, Proceedings of the 4th International Symposium on Industrial Robots, 1974.

106. Y. Hasegawa, N. Sugimoto, Industrial Safety and Robots, Proceedings of the 12th International Symposium on Industrial Robots, Paris, France, 1982, pp. 9-15.

232 Appendix. Bibliography of Literature on Robot Reliability and Safety

107. K.M. Haugan, Reliability in Industrial Robots for Spray Gun Applications, Proceedings of 2nd Conference on Industrial Robot Technology, University of Birmingham, England, 1974, pp. E7.93-E7.98.

108. Y. Hayashi, Measures for Improving the Occupational Health and Safety of People Working with VDTs or Robots-Small-Group Activities and Safety and Health Education, in Occupational Health and Safety in Automation and Robotics (edited by K. Noro), Taylor & Francis, London, 1987, pp. 383-386.

109. Y. Hayashi, Human Factors Problems ofVDT Operators in Factories, in Occupa­tional Health and Safety in Automation and Robotics (edited by K. Noro), Taylor & Francis, London, 1987, pp. 96-109.

110. u.L. Haass, H.B. Kuntze, W. Schill, A Surveillance System for Obstacle Recogni­tion and Collision A voidance Control in Robot Environment, Proceedings of the 2nd International Conference on Robot Vision and Sensory Controls, Stuttgart, Germany, November 1982, pp. 357-366.

111. M. Helander, Safety Design of Robot Workplaces, in Human Factors in Organiza­tional Design and Management (edited by H.W. Hendrick, O. Brown), Elsevier, Amsterdam, 1984, pp. 431-440.

112. M.G. Helander, K. Domas, B. Raton, The Effect of Product Design on Task Allocation Between Humans and Automation in Manufacturing, in Occupational Health and Safety in Automation and Robotics (edited by K. Noro), Taylor & Francis, London, 1987, pp. 343-357.

113. M.G. Helander, M.H. Karwan, A Model of Human Reaction Time to Dangerous Robot Arm Movements, Proceedings of the Human Factors Society 31st Annual Meeting, 1987, pp. 191-195.

114. S.L. Henkel, Robots and Safety: An Industry Overview, Robotics Age, Vol. 7, 1985, pp. 26-28.

115. N.M. Heroux, G. Munson, Robots Reduce Exposure to Some Industrial Hazards, in Industrial Robots (edited by W.R. Tanner), Robotics International of the Society of Manufacturing Engineers, Dearborn, Michigan, 1981, pp. 160-166.

116. J.M. Howard, Focus on the Human Factors in Applying Robotic Systems, in Working Safely with Industrial Robots (edited by P.M. Strubhar), Robotics Inter­national ofthe Society of Manufacturing Engineers, Dearborn, Michigan, 1986.

117. J.M. Howard, Human Factors Issues in the Factory Integration of Robotics, Paper No. MS528-127, Society of Manufacturing Engineers, USA, 1982.

118. HSE Emphasises a Flexible Approach to Robot Safety, (Editorial), The Industrial Robot, Vol. 14, 1987, pp. 49.

119. M.P. Hudson, D.V. Pull, Intangible Lightbarriers for the Safeguarding of In­dustrial Robot Cells and Other Automated High-Risk Work Areas, Proceedings of the 8th British Robot Association Annual Conference, May 1985.

120. R. Hulfachor, Safety Considerations and Robotic Welding, Robotics Today, February 1987, pp. 24-26.

121. V.D. Hunt, Industrial Robotics Handbook, Industrial Press, New York, 1983, Chap. 8.

122. J.J. Hunter, International Standards Activities in the Field ofIndustrial Robots, Proceedings of the 1st Robotics Europe Conference, Brussels, Belgium, June 1984, pp. 108-115.

123. T.M. Husband, Maintenance Management Implications of Industrial Robots, Proceedings of the 6th British Robot Association Annual Conference, 16-19 May 1983, pp. 53-60.

A.2. Robot Reliability and Safety 233

124. A.S. Imada, Managing Human and Machine System Requirements Through Participation: The Need for an Integrated Organizational Culture, in Occupa­tional Health and Safety in Automation and Robotics (edited by K. Noro), Taylor & Francis, London, 1987, pp. 387-398.

125. International Standards Organization, 1983, German Proposal on Safety Re­quirements Relating to the Construction, Equipment and Operation ofIndustrial Robots and Allied Devices, ISO/TC97/SC8jWG2/N32, Geneva, Switzerland, 1983.

126. L.G. Innes, Human Factors Considerations in Robotics, Proceedings of the DREP/RRMC Military Robotic, Applications Workshop, Victoria, British Co­lombia, Canada, August 1987, pp. 79-82.

127. R.D. Irwin, Get the Most From Computerized Steel-Collar Workers, in Working Safely with Industrial Robots (edited by P.M. Strubhar), Robotics International of the Society of Manufacturing Engineers, Dearborn, Michigan, 1986, pp. 23-27.

128. K. Isoda, Y. Nakagawa, Advanced Robotic Inspection Applications, in Handbook of Industrial Robotics (edited by S.Y. Nof), Wiley, New York, 1985, pp. 1182-1204.

129. W.R. Iversen, Capacitance Sensor Makes Robot Safer, Electronics, Vol. 56, August 1983, pp. 52-54.

130. Japanese Industrial Safety and Health Association, An Interpretation of the Technical Guidance on Safety Standards in the Use, etc. of Industrial Robots, Japanese Industrial Safety and Health Association, Tokyo, 1985,228 pp.

131. B.C. Jiang, Robot Safety: Users' Guidelines, in Trends in Ergonomics/Human Factors III (edited by W. Karwowski), Elsevier, Amsterdam, 1986, pp. 1041-1049.

132. B.c. Jiang, C.A. Gainer, A Cause-and-Effect Analysis of Robot Accidents, Journal of Occupational Accidents, Vol. 9, 1987, pp. 27-45.

133. D.B. Jones, Human Factors Aspects of Robotic Safety, Proceedings of the Robotic Industries Association Robot Safety Seminar, 1985, pp. 74-78. P.O. Box 1366, Dearborn, Michigan.

134. R. Jones, S. Dawson, People and Robots: Their Safety and Reliability, Proceed­ings of the 4th British National Reliability Conference, Vol. 1, 1983, pp. 243-258.

135. R. Jones, S. Dawson, The Role of Hardware, Software and People in Safeguarding Robot Production Systems, Proceedings of the 15th International Symposium on Industrial Robots, September 1985, pp. 557-568.

136. W. Karwowski, T. Plank, M. Parsaei, M. Rahimi, Human Perception of the Maximum Safe Speed of Robot Motions, Proceedings of the Annual Meeting of Human Factors Society, New York, 1987, pp. 186-190.

137. J. Kehoe, Practical Robot Safety, Robotics Today, Vol. 7, 1985, pp. 38-41. 138. J. Keebler, The Fear of Robots, Tooling and Production, 1982, p. 26. 139. D.S. Kessel, Robot Safety, Report prepared by Sandia National Laboratories,

New Mexico, 1984. 140. O. Khatib, Real-Time Obstacle Avoidance for Manipulators and Mobile Robots,

Proceedings of the IEEE International Conference on Robotics and Automation, St. Louis, Missouri, March 1985.

141. K. Khodabandehloo, F. Duggan, T.M. Husband, Reliability Assessment of In­dustrial Robots, Proceedings of the 14th International Symposium on Industrial Robots, Gothenburg, Sweden, 1984, pp. 209-220.

142. K. Khodabandehloo, F. Duggan, T.M. Husband, Reliability ofIndustrial Robots:

234 Appendix. Bibliography of Literature on Robot Reliability and Safety

A Safety Viewpoint, 7th British Robot Association Conference, 14-16 May 1984, pp.233-242.

143. R.D. Kilmer, Robot Safety Research: List of Selected References and Research Organizations, Proceedings of the Robot Safety Seminar, Robotic Industries Asso­ciation (RIA), October 1985, pp. 55-65.

144. R.D. Kilmer, Safety Sensor Systems for Industrial Robots, Society ofManufactur­ing Engineers (SME) Technical Paper No. MS82-221, Proceedings of the Robots VI C01iference and Exposition, March 1982, pp. 479-491.

145. R.D. Kilmer, H.G. McCain, M. Juberts, S.A. Legowik, Watchdog Safety Com­puter Design and Implementation, Proceedings of the Robots 8 Conference and Exposition, Vol. 2, Detroit, Michigan, June 1984.

146. R.D. Kilmer, H.G. McCain, M. Juberts, S.A. Legowik, Safety Computer Design and Implementation, in Robot Safety (edited by M.e. Bonney, Y.F. Yong), Springer-Verlag, Berlin, 1985, pp. 141-160.

147. W. Kirch, Safety in the Application of Industrial Robots and Manipulating Devices, Werkstatt Betr (German), Vol. 119, 1986, pp. 21-24.

148. J. Kirsch, K.E. Kirsch, Applying Robotic Inspection in Industry, in Handbook of Industrial Robotics (edited by S.Y. Nof), Wiley, New York, 1985, pp. 1173-1181.

149. K. Kittiampon, J. Sneckenberger, A Safety Control System for a Robotic Work Station, Proceedings of the American Control Conference, July 1985.

150. J. Knisley, Sophisticated Sensor System Enhances Robot Safety, Electrical Con­struction and Maintenance, Vol. 83, 1984, pp. 53-54.

151. B. Knoerr, Standardization in the Industrial Robot Field, in Robot Technology and Applications (edited by K. Rathmill, P. MacConaill, S. O'Leary, J. Browne), Springer-Verlag, Berlin, 1985, pp. 116-121.

152. E.J. Knopka, Sources of Hazards for Robots, Proceedings of the Coriference on Robotic Safety (Supplement), Oakland University, Rochester, Michigan, June 1983.

153. H.B. Kuntze, W. Schill, Methods for Collision Avoidance in Computer Con­trolled Industrial Robots, Proceedings of the 12th International Symposium on Industrial Robots, 1982, pp. 519-530.

154. J.D. Lane, Implementation and Government Regulatory Procedures with Safety Standards in the United States, Proceedings of the International Seminar on Safety in Advanced Manufacturing, May 1987, pp. 1-6, IFS (Conferences), London.

155. G. Larson, M. Donath, Interactive Interference Checking for Robot Work Cell Emulation, Proceedings of the International Conference on Computers in Engi­neering Conference, 1984, American Society of Mechanical Engineers, USA.

156. K.E. Lauck, Safeguarding Industrial Robots, National Safety News, April 1984, pp.63-67.

157. K.E. Lauck, Development of a Robot Safety Standard, Proceedings of the Robo­tics Industries Association Robot Safety Seminar, 1985, pp. 5-12. P.O. Box 1366, Dearborn, Michigan.

158. K.E. Lauck, New Standards for Industrial Robot Safety, CIM Review, Spring 1986, pp. 60-68.

159. K.E. Lauck, Safeguarding ofIndustrial Robots, in Working Safely with Industrial Robots (edited by P.M. Strubhar), Robotics International ofthe Society of Manu­facturing Engineers, Dearborn, Michigan, 1986, pp. 87-97.

160. B. Leatham-Jones, Elements of Industrial Robotics, Pitman, London, 1987, Chap. 8.

A.2. Robot Reliability and Safety 235

161. F.P. Leipold, Considerations for Robot Users and Manufacturers; Safety First, Proceedings of Robot VI Conference, Society of Manufacturing Engineers, 1982, pp. 149-155.

162. F.P. Leipold, How to Make Robots Safe, National Safety News, October 1983, pp.40-45.

163. F.P. Leipold, Robot Construction-Safety Considerations, Proceedings of the Robotic Industries Association Robot Safety Seminar, 1985, pp. 38-43. P.O. Box 1366, Dearborn, Michigan.

164. F.P. Leipold, Robot Installation Safety Consideraticns, in Working Safely with Industrial Robots (edited by P.M. Strubhar), Robotics International ofthe Society of Manufacturing Engineers, Dearborn, Michigan, 1986, pp. 171-177.

165. J. Lee, Robotic Safety-Analysis, Consideration and Answers, Proceedings of the Robot 9th Annual Conference, Vol. 2, 1985, pp. 19.48-19.53, Society of Manu­facturing Engineers, Detroit, Michigan.

166. M.H. Lee, N.W. Hardy, D.P. Barnes, Error Recovery in Robot Applications, Proceedings of the 6th British Robot Association Annual Conference, 1983, pp.217-222.

167. M. Linger, How to Design a Safety System for Human Protection in Robot Applications, Proceedings of the 14th International Symposium on Industrial Robots, Gothenburg, Sweden, 1984, pp. 119-129.

168. M. Linger, Design of Safety Systems for Human Protection, in Robot Safety (edited by M.C. Bonney, Y.F. Yong), Springer-Verlag, Berlin, 1985, pp. 117-125.

169. M. Linger, H. Sjostrom, G. Palmers, How to Design Safety Functions in the Control System and for the Grippers of Industrial Robots, Proceedings of the 15th International Symposium on Industrial Robots, September 1985, pp. 569-577.

170. J.Y.s. Luh, A Scheme for Collision Avoidance with Minimum Distance Travel­ling for Industrial Robots, Journal of Robotic Systems, Vol. 1, 1984, pp. 5-26.

171. T. Lozano-Perez, W.A. Wesley, An Algorithm for Planning Collision-Free Paths Among Polyhedral Obstacles, Communications of ACM, Vol. 22,1979, pp. 560-570.

172. A.J. Macek, Using Human Factors to Make Automation Work, Proceedings of the First Annual International Robot Conference, June 1983, pp. 156-161.

173. F.C. Macri, Analysis of First Universal Transfer Device Installation Failures, Paper No. MS77-735, Society of Manufacturing Engineers, 1977.

174. G.C. Macri, Analysis of First UTD Installation Failures, in Industrial Robots (edited by W.R. Tanner), Robotics International ofthe Society of Manufacturing Engineers, Dearborn, Michigan, 1981, pp. 74-84.

175. A.W. Marsden, New Technology: Designing the Safety Aspects into the System, Proceedings of the International Seminar on Safety in Advanced Manufacturing, May 1987, pp. 7-12, IFS (Conferences), London.

176. L. Martensson, Interaction Between Man and Robots with Some Emphasis on Intelligent Robots, in Occupational Health and Safety in Automation and Robotics (edited by K. Noro), Taylor & Francis, London, 1987, pp. 143-150.

177. T. Marton, J.L. Pulaski, Assessment and Development of HF Related Safety Designs for Industrial Robots and Robotic Systems, Proceedings of the Human Factors Society 31st Annual Meeting, 1987, pp. 176-180.

178. G.R. McArthur, Robot Sensors and Safety with Sensors, Proceedings of the Robots 9 Conference and Exposition, Detroit, Michigan, June 1985.

179. L. McBrayer, Robotic Safety: Issues and Answers, Robotics World, December 1983.

236 Appendix. Bibliography of Literature on Robot Reliability and Safety

180. R. McKinnon, Robots-Are They Automatically Safe?, Protection, Vol. 17, No.5, 1980, pp. 11-14.

181. J. Meagher, S. Derby, J. Graham, Robot Safety/Collision Avoidance, Professional Safety, Vol. 28, December 1983, pp. 14-16.

182. J. Mihalasky, The Impact of Robots on Product Reliability, Proceedings of the Annual Reliability and Maintainability Symposium, 1985, pp. 464-466.

183. J.D. Millar, Request for Assistance in Preventing the Injury of Workers by Robots, DHHS (NIOSH) Publication No. 85-103, December 1984, National Institute of Occupational Safety and Health (NIOSH), Cincinnati, Ohio.

184. D. Millard, A Safety and Collision Avoidance System for Industrial Automation, RIA Robot Safety Seminar, Chicago, Illinois, April 24, 1986.

185. R.K. Miller, How an Industrial Robot Works, in Industrial Robot Handbook by R.K. Miller, SEAl Institute, P.O. Box 590, Madison, Georgia, 1983.

186. R.K. Miller, Organizing an In-Plant Program, in Industrial Robot Handbook, by R.K. Miller, SEAl Institute, P.O. Box 590, Madison, Georgia, 1983, pp. 73-86.

187. S. Minter, High Tech: Its Implications for Safety Management, Occupational Hazards, 1984, pp. 47-51.

188. D.J. Morgan, Safety Considerations in Robot Welding Operations, National Safety News, July 1984, pp. 54-56.

189. H.M. Morris, Making Robots Safe, Control Engineering, April 1986, pp. 130-131. 190. C. Moore, Robot Safety Training for Oldsmobile Employees, Proceedings of

Robotic Industries Association Robot Safety Seminar, 1985, P.O. Box 1366, Dear­born, Michigan.

191. F.W. Moore, W.W. Bowen, The Difficulties of Writing Procurement Specifica­tions for Robots in Nuclear Applications, Proceedings of the Robot West Con­ference, Long Beach, California, September 1986.

192. H.H.V. Muldau, Safety at the Workplace Using Industrial Robots, Proceedings of the 8th International Symposium on Industrial Robots, Stuttgart, 1978. Society of Manufacturing Engineers, USA.

193. G.E. Munson, Industrial Robots: Reliability, Maintainability and Safety, in Handbook of Industrial Robotics (edited by S.Y. Nof), Wiley, New York, 1985, pp. 722-758.

194. I. Murakami, Intrinsical Safety Achieved by Self-Diagnosis System, Safety, Vol. 35,1983, pp. 24-27 (in Japanese).

195. J.K. Myers, G.J. Agin, A Supervisory Collision-Avoidance System for Robot Controllers, presented at the Winter Annual Meeting of the American Society of Mechanical Engineers, November 1982, Phoenix, Arizona, Robotics Research and Advanced Applications, American Society of Mechanical Engineers, New York,1982.

196. E. Myklebust, E. Thiel, Practical Robot Safety Systems, Proceedings of the 16th International Symposium on Industrial Robots, Brussels, Belgium, October 1986, pp.1137-1146.

197. M. Nagamachi, Human Factors in Industrial Robots and Robot Safety Manage­ment in Japan, Applied Ergonomics, March 1986.

198. M. Nagamachi, Ergonomics and the Introduction ofIndustrial Robots, in Occu­pational Health and Safety in Automation and Robotics (edited by K. Noro), Taylor & Francis, London, 1987, pp. 339-342.

199. M. Nagamachi, Y. Anayama, An Ergonomic Study of the Industrial Robot, Part I: The Experiments of Unsafe Behavior on Robot Manipulation, Japanese Journal of Ergonomics, Vol. 19, 1983, pp. 259-264.

A.2. Robot Reliability and Safety 237

200. M. Nagamachi, Y. Anayama, K. Ito, T. Yukimachi, A Human Factor Study of the Industrial Robot, Part II: Human Reliability on Robot Manipulation, Japanese Journal of Ergonomics, Vol. 20,1984, pp. 55-64.

201. P. Nicolaisen, The Development of Safety Devices to Fit the Problems­Example: Industrial Robots, Industrierobotor, 102 (73), 1980.

202. P. Nicolaisen, Occupational Safety and Industrial Robots-Present Stage of Discussions in the German Federal Republic, Proceedings of the International Conference "Die Industrieroboter", Vol. 2, Linz, Austria, September 1982.

203. P. Nicolaisen, Novel Safety Device for Industrial Robots and Machines, Robot News International, IFS (Publications), London, March 1983.

204. P. Nicolaisen, Occupational Safety and Industrial Robots; in Robot Safety (edited by M.e. Bonney, Y.F. Yong), Springer-Verlag, Berlin, 1985, pp. 33-48.

205. P. Nicolaisen, Ways of Improving Industrial Safety for the Programming of Industrial Robots, Proceedings of the 3rd International Conference on Human Factors in Manufacturing, November 1986, pp. 260-275. IFS (Conferences), London.

206. P. Nicolaisen, Safety Problems Related to Robots, Robotics, Vol. 3, 1987, pp.205-211.

207. S.Y. Nof, Robot Ergonomics: Optimizing Robot Work, in Handbook of Industrial Robotics (edited by S.Y. Nof), Wiley, New York, 1985, pp. 549-604.

208. K. Noro, Education and Training in Relationship Between Man and Robot, in Human Factors in Organizational Design and Management (edited by H.W. Hen­drick, O. Brown), Elsevier, Amsterdam, 1984, pp. 441-445.

209. K. Noro, Prediction of High-Technology Development and Problems of Man­Machine Systems, in Occupational Health and Safety in Automation and Robotics (edited by K. Noro), Taylor & Francis, London, 1987, pp. 52-73.

210. K. Noro, Occupational Health and Safety in Automation and Robotics, Proceed­ings of the 5th UOEH International Symposium, Taylor & Francis, London,1987.

211. M.B. Olex, H.G. Shulman, Human factors effort in Robotic System Design, Proceedings of the 13th International Symposium on Industrial Robots and Robots 7, Vol. I, Chicago, Illinois, 1983, pp. 9.29-9.36.

212. M. Oshima, The Role of Industrial Medicine at the Man-Robot Interface, in Occupational Health and Safety in Automation and Robotics (edited by K. Noro), Taylor & Francis, London, 1987, pp. 283-287.

213. V.G. Ostapchuk, B.M. Chertkov, Technical Diagnostics of Robotized Manu­facturing Systems, Soviet Engineering Research, Vol. 2, No.1, 1982, pp. 66-69.

214. O. Ostberg, Review of Workplace Aspects of Robot-Based Production, 1984, National Institute of Occupational Safety Health, United States Department of Health and Human Services, Washington, De.

215. O. Ostberg, 1. Enqvist, Robotics in the Workplace: Robot Factors, Human Factors, and Humane Factors, in Human Factors in Organizational Design and Management (edited by H.W. Hendrick, O. Brown), Elsevier, Amsterdam, 1984, pp.447-460.

216. o. Ostberg, Emerging Technology and Trends in Blue-Collar Stress, in Occu­pational Health and Safety in Automation and Robotics (edited by K. Noro), Taylor & Francis, London, 1987, pp. 13-38.

217. L.V. Ottinger, Fabrication and Installation of Robot Systems, in Robotics and Industrial Engnieering (edited by E.L. Fisher), Industrial Engineering and Man­agement Press, Atlanta, Georgia, 1983, pp. 199-203.

218. L.V. Ottinger, Questions Potential Robot Users Commonly Ask, in Robotics and

238 Appendix. Bibliography of Literature on Robot Reliability and Safety

Industrial Engineering (edited by E.L. Fisher), Industrial Engineering and Man­agement Press, Atlanta, Georgia, 1983, pp. 7-9.

219. L.V. Ottinger, Robot system's Success Based on Maintenance, in Robotics and Industrial Engineering (edited by E.L. Fisher), American Institute of Industrial Engineers, Atlanta, Georgia, 1983, pp. 209-214.

220. A.E. Owen, Flexible Assembly Systems, Plenum Press, New York, 1984, Chap. 6. 221. A.E. Owen, Flexible Assembly Systems, Plenum Press, New York, 1984, Chap. 9. 222. T. Owen, Assembly with Robots, Kogan Page, London, 1985, Chap. 11. 223. T. Owen, Assembly with Robots, Kogan Page, London, 1985, Chap. 12. 224. H. Ozaki, A. Mohri, M. Takata, On the Collision-Free Movement of a Manipula­

tor, Proceedings of the International Meeting on Advanced Software in Robotics, Liege, Belgium, May 1983, Advanced Software in Robotics, Elsevier, New York, 1984.

225. W.T. Park, Robot Safety Suggestions, SRI Technical Note No. 153, SRI Interna­tional, Menlo Park, California, 1978.

226. H.M. Parsons, Human Factors and Robotics: Current Status apd Future Prospects, NTIS Report No. ADA 115042, October 1981. Available from the National Technical Information Service (NTIS), Springfield, Virginia.

227. H.M. Parsons, Human Factors in Robot Safety, Robots East Seminar Proceed­ings, Boston, Massachusetts, October 1985, pp. 38-54. Robotic Industries Asso­ciation, 900 Victors Way, P.O. Box, 3724, Ann Arbor, Michigan.

228. H.M. Parsons, Robotics and the Health Workers, Proceedings of the Interna­tional Scientific Conference on Occupational Health and Safety in Automation and Robotics, Kitakyushu, Japan, 1985.

229. H.M. Parsons, Human Factors in Industrial Robot Safety, Journal of Occupa­tional Accidents, Vol. 8, 1986, pp. 25-47.

230. H.M. Parsons, Robotics and the Health of Workers, in Occupational Health and Safety in Automation and Robotics (edited by K. Noro), Taylor & Francis, Lon­don, 1987, pp. 196-211.

231. H.M. Parsons, G.P. Kearsley, Robotics and Human factors: Current Status and Future Prospects, Human Factors, 1982,24(5), pp. 535-552.

232. H.M. Parsons, G.P. Kearsley, Human Factors Engineering in Robotics, Proceed­ings of the 13th International Symposium on Industrial Robots and Robot 7, Vol. 1, Chicago, Illinois. 1983, pp. 9.40-9.48.

233. G.W. Pearson, Robot System Safety Issues Best Considered in Design Phase, Occupational Health and Safety, Vol. 53, 1984, No.8, pp. 38-42.

234. N. Percival, Safety Standards in Robotics, Machine Tool Research, August 1983, pp.56-58.

235. N. Percival, Is Robot Technology Safe?, in Decade of Robotics, special tenth anniversary issue of the Industrial Robot Magazine, Springer-Verlag, Berlin, 1983, pp. 82-85.

236. N. Percival, Robot Safety, Safety Practitioner, March 1984, pp. 20-24. 237. N. Percival, Safety Aspects of Robots and Flexible Manufacturing Systems,

Proceedings of the 1st International Coriference on Human Factors in M anufactur­ing, London, April 1984, pp. 179-183.

238. A. Percival, A Review of Safety Standards, in Robot Technology and Applications (edited by K. RathmiII, P. MacConaill, S. O'Leary, J. Browne), Springer-Verlag, Berlin, 1985, pp. 55-60.

239. Perimeter Guarding, in Robot Safety (edited by M.e. Bonney and Y.F. Yong), Springer-Verlag, Berlin, 1985, pp. 217-222.

A.2. Robot Reliability and Safety 239

240. Photoelectric Guarding, in Robot Safety (edited by M.C. Bonney, Y.F. Yong), Springer-Verlag, Berlin, 1985, pp. 199-204.

241. P.L. Polakoff, Man's Marriage to Robotics: A "for Better or Worse" Union, Occupational Health and Safety, Vol. 54, No.4, 1985, pp. 24-25.

242. B.W. Pollard, RAM for Robots: Reliability, Availability, Maintainability, Robo­tics Today, Fall 1981, pp. 51-53.

243. R.D. Potter, Requirements for Developing Safety in Robot Systems, in Robotics and Industrial Engineering (edited by E.L. Fisher), American Institute of In­dustrial Engineers, Atlanta, Georgia, 1983, pp. 215-218.

244. R.D. Potter, Safety for Robotics, Proceedings of the American Society of Safety Engineers Professional Development Conference, Orlando, Florida, June 1983, pp.171-183.

245. R.D. Potter, Safety for Robotics, Professional Safety, December 1983, pp. 18-21. 246. J.M. Prange, RIA Sets Standards for the Industry, Robotics World, April 1986,

pp.80-81. 247. J.M. Prange, J.A. Peyton, Standards Development, Robotics Today, December

1986, pp. 23-24. 248. A. Pruski, Sudace Contact Sensor for Robot Safety, Sensor Review, Vol. 6, No.3,

1986, pp. 143-144. 249. M. Rahimi, System Safety Approach to Robot Safety, Proceedings of the Human

Factors Society 28th Annual Meeting, 1984, pp. 102-106. 250. M. Rahimi, System Safety for Robots: An Energy Barrier Analysis, Journal of

Occupational Accidents, Vol. 8,1986, pp. 127-138. 251. V. Ramachandran, S. Vajpayee, Safety in Robotic Installations, Robotics and

Computer-Integrated Manufacturing, Vol. 3, 1987, pp. 301-309. 252. C.A. Ramirez, Robotic Intelligent Safety System, Proceedings of the Robots 8

Conference and Exposition, Vol. 2, June 1984, pp. 1-12. 253. C.A. Ramirez, Artifical Intelligence Applied to Robot Fail-Safe Operations,

Proceedings of the Robots 9 Conference and Exposition, Detroit, Michigan, June 1985.

254. P.G. Ranky, C.Y. Ho, Robot Modelling: Control and Applications with Software, Springer-Verlag, Berlin, 1985, pp. 227-244.

255. P.G. Ranky, M. Wodzinski, A Survey of Robot Test Methods with Examples, Report No. RSD-TR-1-87, February 1987, Center for Research on Integrated Manufacturing, College of Engineering, The University of Michigan, Ann Arbor, Michigan.

256. D.E. Reader, Human Factors in Automation, in Working Safely with Industrial Robots (edited by P.M. Strubhar), Robotics International ofthe Society of Manu­facturing Engineers, Dearborn, Michigan, 1986.

257. C. Reece, Robotics-Implications for Occupational Health and Safety, PACE, Vol. 37, No. 11, November 1984, pp. 11-14.

258. Request for Assistance in Preventing the Injury of Workers by Robots, NTIS Report No. PB 85-236818, December 1984. Available from the National Tech­nical Information Service (NTIS), Springfield, Virginia.

259. D.J. Rhodes, E.H. Stenson, P. Blanchfield, Collision Avoidance Between Robots Operating in the Same Cell, Peter Peregrinus, London, 1985, pp. 99-110.

260. O.F. Robinson, Robot Guarding-the Neglected Zones, in Robot Safety (edited by M.C. Bonney, Y.F. Yong), Springer-Verlag, Berlin, 1985.

261. Robot Safety: In a State of Flux and Jungle, Robot: New International, December 1982.

240 Appendix. Bibliography of Literature on Robot Reliability and Safety

262. Robot Handling Provides a Safe Solution, The Industrial Robot, Vol. 12, 1985, p.92.

263. Robot Safety Seminar Proceedings, Robotic Industries Association (RIA), Dear­born, Michigan, 1985.

264. Robotics in Japan: A Bimonthly Analysis and News Service, Issue 83/5, July 1983, pp.3-23.

265. L. Rockoff, Safety Issues in Robotic Space Application, Proceedings of the Inter­national Topical Meeting on Remote Systems and Robotics in Hostile Environ­ments, April 1987, pp. 162-167. American Nuclear Society, La Grange Park, Illinois.

266. H.H. Rosenbrock, Robots and People, NTIS Report No. PB84-232214, No­vember 1981. A vailable from the National Technical Information Service (NTIS), Springfield, Virginia.

267. H.H. Rosenbrock, Engineers, Robots, People, Chemistry and Industry, Vol. 19, 1982, pp. 756-759.

268. J.W. Russell, Robot Safety Considerations: a Checklist, Professional Safety, December 1983, pp. 36-37.

269. J.P. Ryan, Accident Causation Models: A Human Factors Perspective, in Trends in Ergonomics/Human Factors III (edited by W. Karwowski), Elsevier, Am-sterdam, 1986, pp. 899-906. .

270. Safeguarding Industrial Robots, Part 1, Basic Principles, The Machine Tool Trades Association, 62 Bayswater Road, London W2 3PH, 1982.

271. Safeguarding Industrial Robots, Part II: Welding and Allied Processes, The Machine Tool Trades Association, 62 Bayswater Road, London W2 3PH, 1985.

272. Safety Measures of Industrial Robots-Part I, Japan Electronic Engineering (JEE), December 1982, pp. 80-84.

273. Safety Measures of Industrial Robots-Part II, Japan Electronic Engineering (JEE), January 1983, pp. 88-94.

274. Safety with Sophistication, Industrial Robot, Vol. 11, 1984, pp. 243-245. 275. G. Salvendy, Review and Appraisal of Human Aspects in Planning Robotic

Systems, Behaviour and Information Technology, Vol. 2, 1983, pp. 262-287. 276. G. Salvendy, Human Factors in Planning Robotic Systems, in Handbook of

Industrial Robotics (edited by S.Y. Nof), Wiley, New York, 1985, pp. 639-664. 277. L.M. Sanderson, J.W. Collins, J.D. McGlothlin, Robot-Related Fatality Involv­

ing a US Manufacturing Plant Employee: Case Report and Recommendations, Journal of Occupational Accidents, Vol. 8, 1986, pp. 13-23.

278. Y. Sato, K. Inone, H. Kumamoto, The Safety Assessment of Human-Robot Systems, Bulletin of JSME, Vol. 29, No. 256,1986, pp. 3618-3625.

279. Y. Sato, K. Inone, H. Kumamoto, The Safety Assessment of Human-Robot Systems, Bulletin of JSME, Vol. 29, No . 257, 1986, pp. 3945-3951.

280. Y. Sato, K. Inone, Safety Assessment of Human-Robot Systems, Bulletin of JSME, Vol. 29, No. 250, 1980, pp. 1356-1361.

281. Y. Sato, K. Inone, H. Kumamoto, The Safety Assessment of Human-Robot Systems, JSME International Journal, Vol. 30, No. 260, 1987, pp. 350-356.

282. R. Schneider, Hydraulic Circuit Breaker Protects Robot Operator, Hydraulics and Pneumatics, Vol. 37, July 1984, pp. 10-12.

283. R.D. Schraft, P. Nicolaisen, Work-Place Layout for Industrial Robots, Proceed­ings of the 16th International Symposium on Industrial Robots, Brussels, Belgium, October 1986, pp. 1147-1159.

A.2. Robot Reliability and Safety 241

284. R. Schreiber, Robot Safety: A Shared Responsibility, Robotics Today, October 1983, pp. 61-65.

285. H. Schulz, K. Brose, Probes for Recognizing the Surroundings of Industrial Robots, Werkstatt Betr (German), Vol. 117, No.7, 1984, pp. 417-419.

286. P.B. Scott, The Robotics Revolution, Basil Blackwell, Oxford, England, 1984, pp.233-245.

287. R.G. Sell, The Changing Role ofthe Operator, in Occupational Health and Safety, in Automation and Robotics (edited by K. Noro), Taylor & Francis, London, 1987, pp. 83-95.

288. H.V. Semling, How Will People Work with Robots?, Materials Handling Engi­neering, November 1981, p. 35.

289. D. Sharon, J. Harstein, G. Yantian, Robotics and Automated Manufacturing, Pitman, London, 1987, pp. 149-178.

290. S. Shima, Safety Control on Introduction of Industrial Robots to Factories, Safety, Vol. 33, 1982, p. 18.

291. S. Shingu, T. Aoki, Practical Emergency Stop Methods for Protecting an In­dustrial Robot and Its Environment from Terminal Damage, Proceedings of the 7th International Symposium on Industrial Robots, Tokyo, Japan, October 1977.

292. H.G. Shulman, M.B. Olex, Designing the User-Friendly Robot, Human Factors, Vol. 27,1985, pp. 91-98.

293. R.E. Smith, M. Gini, Reliable Real-Time Robot Operation Employing Intelligent Forward Recovery, Journal of Robotic Systems, Vol. 3, 1986, pp. 281-300.

294. J.E. Sneckenberger, Practical Aspects of Safety System Implementation for Robo­tic Work Stations, NTIS Report No. PB87-174 355, September 1986. Available from the National Technical Information Service, Springfield, Virginia.

295. J.E. Sneckenberger, J.R. Etherton, Computer-related Hazard Control Needs for Safe Robot Operation, Proceedings of the American Society of Mechanical Engi­neers (ASM E) International Computers in Engineering Conference, August 1983.

296. R.N. Stauffer, Maintenance at a High-Tech. Chrysler Plant, Robotics Today, August 1985, pp. 27-28.

297. W.W. Stowe, Robots-Safe or hazardous?, Professional Safety, Vol. 28, Decem­ber 1983, pp. 32-35.

298. P.M. Strubhar, Robotic Safety in Welding, Proceedings of Robot Applications Conference, Paper No. MS 83-452, Society of Manufacturing Engineers, USA, 1983.

299. P.M. Strubhar, Robotic Safeguarding, Proceedings of the Robotic Industries Association Robot Safety Seminar, 1985, pp. 38-43. P.O. Box 1366, Dearborn, Michigan.

300. P.M. Strubhar, (editor), Working Safely with Industrial Robots, Robotics Interna­tional of the Society of Manufacturing Engineers, Dearborn, Michigan, 1986.

301. Study on Accidents Involving Industrial Robots, Prepared by the Japanese Occupational Safety and Health Department, Translated from Japanese, NTIS Report No. PB 83-239 822, August 1983. Available from the National Technical Information Service (NTIS), Springfield, Virginia.

302. N. Sugimoto, Safety Engineering on Industrial Robots and Their Draft Standard Safety Requirements, Proceedings of the 7th International Symposium on Indus­trial Robots, 1977, Tokyo, Japan, pp. 461-470.

303. N. Sugimoto, Introduction to Safety Measures for Industrial Robots, Safety, Vol. 33, 1982, pp.14-17 (in Japanese). •

242 Appendix. Bibliography of Literature on Robot Reliability and Safety

304. N. Sugimoto, K. Kawaguchi, Fault Tree Analysis Hazards Created by Robots, Proceedings of the 13th International Symposium on Industrial Robots and Robot 7, Vol. 1, Chicago, Illinois, 1983, pp. 9.13-9.28.

305. N. Sugimoto, Systematic Robot Related Accidents and Standardization of Safety Measures for Robots, Proceedings of the 14th International Symposium on In­dustrial Robots, Gothenburg, Sweden, 1984, pp. 131-138.

306. N. Sugimoto, Risk Control Method to be Conducted on Introduction of an Industrial Robot, Labour Science, No. 39, 1984, pp. 4-9 (in Japanese).

307. N. Sugimoto, Safety Engineering and Intelligent Fail-Safe, Journal of the Robotics Society of Japan, Vol. 2, 1984, pp. 74-79 (in Japanese).

308. N. Sugimoto, Functional Safety Design of an Automated Machine-an In­dustrial Robot, Safety Engineering, Vol. 23,1984, pp. 411-420 (in Japanese).

309. N. Sugimoto, Reliability and Safety of Industrial Robots, Journal of the Society of Instrument and Control Engineers, Vol. 24,1985, pp. 51-56 (in Japanese).

310. N. Sugimoto, K. Fukaya, Safety of Teaching by Off-Line Teaching, Proceedings of the 15th International Symposium on Industrial Robots, September 1985, pp.579-586.

311. N. Sugimoto, T. Houshi, Fundamental Safety in a New Machine with a Minimum Record of Accidents, Proceedings of the 16th International Symposium on In­dustrial Robots, Brussels, Belgium, October 1986, pp. 1123-1135.

312. N. Sugimoto, Subjects and Problems of Robots Safety Technology, in Occupa­tional Health and Safety in Automation and Robotics (edited by K. Noro), Taylor & Francis, London, 1987, pp. 175-195.

313. R. Suri, Quantitative Techniques for Robotic Systems Analysis, in Handbook of Industrial Robotics (edited by S.Y. Nof), Wiley, New York, 1985, pp. 605-638.

314. H. Tanaka, Human Implications of Robotization in the Worksite: The Japanese Experience, Robotics, Vol. 1, 1985, pp. 143-153.

315. J.E. Taylor, R&D in Human Aspects of Robotic Technology, Robotica, Vol. 1, 1983, pp. 15-17.

316. N. Thomopoulos, Structural Risk Analysis in Robot Design, Proceedings of the 5th International Symposium on Industrial Robots, September 1975, pp. 549-556.

317. C. Thompson, Safety Interlock Systems, in Robot Safety, (edited by M.e. Bonney, Y.F. Yong), Springer-Verlag, Berlin, 1985.

318. B.S. Thomas, optical Seam Trackers: Tough Requirements for Design and Laser Safety, Robotics Engineering, June 1986, pp. 8-11.

319. F. Tiefenbacher, Occupational Safety with the Use ofIndustrial Robots, Research Project, Swedish Work Environment Foundation (ASF), Stockholm, 1982.

320. H. Tipton, International Standardization Related to Industrial Robots, in Robot Technology and Applications (edited by K. Rathmill, P. MacConaill, S. O'Leary, J. Browne), Springer-Verlag, Berlin, 1985, pp. 122-125.

321. L.L. Toepperwein, M.T. Blackmon, W.T. Park, W.R. Tanner, W.F. Adolfson, Robotics Applications for Industry, Noyes Data Corporation, Park Ridge, New Jersey, USA, 1983, pp. 116-121.

322. R.R. Trouteaud, Safety, Training and Maintenance: Their Influence on the Suc­cess of Your Robot Application, in Industrial Robots (edited by W.R. Tanner), Society of Manufacturing Engineers, Dearborn, Michigan, 1981, pp. 114--;126.

323. K. Tsuchiya, Summary Report on the Fifth Occupational and Environmental Health International Symposium, 1985, in Occupational Health and Safety in

A.2. Robot Reliability and Safety 243

Automation and Robotics (edited by K. Noro), Taylor & Francis, London, 1987, pp. 421-427.

324. S.M. Udupa, Collision Detection and Avoidance in Computer Controlled Ma­nipulators, Proceedings of the 5th International Conference on Artificial Intelli­gence, Vol. 2, Cambridge, Massachussetts, August 1977.

325. H.G. Urbahn, Behavior Meeting Labor Safety Measures on Application of Industrial Robots at Machine Tools, Maschinenbautechnik (German), Vol. 33, May 1984, pp. 212-213.

326. R Van Deest, Robotic Safety, a Potential Crisis, Professional Safety, Vol. 29, 1984, pp.40-42.

327. J.P. Vautrin, Safety of Robot Installations in France, in Robot Technology and Applications (edited by K. Rathmill, P. MacConaill, S. O'Leary, J. Browne), Springer-Verlag, Berlin, 1985, pp. 62-67.

328. J.P. Vautrin, Results of a Survey of French Robot Installations: Safety and Health Consequences, Proceedings of the Conference on Safety at Work with Automation and New Technologies, Bonn, Germany, 1985.

329. J.P. Vautrin, D. Dei-Svaldi, ManipUlating Industrial Robots in France-Effects on Health, Safety and Working Conditions: Results of the INRS-CRAM Survey, Journal of Occupational Accidents, Vol. 8, 1986, pp. 1-12.

330. E.I. Vorobiez, Industrial Robots in Mechanical Engineering, Soviet Engineering Research, Vol. 2,1982, pp. 6-15.

331. H.J. Warneckem, RD. Schraft, Industrial Robots: Application Experience, IFS (Publications), Bedford, England, 1982, pp. 245-256.

332. V. Weatherby, S.A.R Pike, The Safety Implications of a New Technology, The Industrial Robot, Vol. 10, 1983, pp. 185-188.

333. R.D. Wilson, Robots Acquire Sensors for Safety, Mechanical Engineering, July 1982, pp. 83.

334. R.D. Wilson, How Robots Save Lives!, in Working Safely with Industrial Robots (edited by P.M. Strubhar), Robotics International of the Society of Manufactur­ing Engineers, Dearborn, Michigan, 1986, pp. 49-57.

335. A. Wisner, F. Daniellon, Operation Rate of Robotized Systems: The Contribu­tion of Ergonomic Work Analysis, in Human Factors in Organizational Design and Management (edited by Hendrick, O. Brown), Elsevier, Amsterdam, 1984, pp.461-465.

336. G.R. Wisniewski, Robot Training in the Automotive Industry, in Working Safely with Industrial Robots (edited by P.M. Strubhar), Robotics International of the Society of the Manufacturing Engineers, Dearborn, Michigan, 1986, pp. 201-213.

337. W. Wodzinski, Putting Robots to the Test, Robotics Today, June 1987, pp. 17-20. 338. E.K. Wong, K.S. Fu, A Hierarchical-Orthogonal-Space Approach to Collision­

Free Path Planning, Proceedings of the IEEE International Conference on Robo­tics and Automation, St. Louis, Missouri, March 1985.

339. H. Worn, Safety Equipment for Industrial Robots, SME Technical Paper No. MS80-714, Society of Manufacturing Engineers, Dearborn, Michigan, 1980.

340. RM. Wygant, Ergonomics Considerations in Designing for Robot Applications, Proceedings of ROBEXS'87, 1987, Instrument Society of America, Research Triangle Park, North Carolina.

341. RM. Wygant, C.E. Donaghey, Ergonomic Considerations in Robot Selection and Safety, Proceedings of the 31st Annual Meeting of the Human Factors Society, 1987, pp. 181-185.

244 Appendix. Bibliography of Literature on Robot Reliability and Safety

342. Y. Yamada, N. Tsuchida, M. Ueda, Control of an Industrial Robot Manipulator with Four Articulations to Continue Tasks While Avoiding Obstacles, Proceed­ings of the 14th International Symposium on Industrial Robots, Gothenburg, Sweden, 1984, pp. 139-148.

343. T. Yamashita, The Interaction Between Man and Robot in High-Technology­Industries, in Occupational Health and Safety in Automation and Robotics (edited by K. Noro), Taylor & Francis, London, 1987, pp. 139-142.

344. T. Yamashita, Characteristics of Robots and Man's Roles in Automation, in Occupational Health and Safety in Automation, and Robotics (edited by K. Noro), Taylor & Francis, London, 1987, pp. 358-379.

345. Y. Yokomizo, Occupational Health and Safety Problems Caused by Increases in the Robot Population, in Occupational Health and Safety in Automation and Robotics (edited by K. Noro), Taylor & Francis, London, 1987, pp. 169-174.

346. Y. Yokomizo, Y. Hasegawa, A. Komatsubara, Problems of Industrial Medicine Measures for the Introduction of Robots, in Occupational Health and Safety in Automation and Robotics (edited by K. Noro), Taylor & Francis, London, 1987, pp.309-325.

347. Y.F. Yong, N.K. Taylor, M.C. Bonney, CAD-An Aid to Robot Safety System Design, in Robot Safety (edited by M.e. Bonney, Y.F. Yong), Springer-Verlag, Berlin, 1985, pp. 133-139.

348. M.I. Zeidman, What Every Engineer Should Know About Robots, Marcel Dekker, New York, 1984, pp. 131-134.

349. E.W. Zimmers, Human Factors Aspects of Robotic Safety, RIA Robot Safety Seminar, Chicago, April 24, 1986.

350. J.P. Ziskovsky, Robot Safety Standards, Operational Safety & Health Manual, Section 28, General Motors Corporation, January 1983.

351. Z.P. Ziskovsky, The R3 Factor of Industrial Robot Safety, Proceedings of the 13th International Symposium on Industrial Robots and Robots 7, Vol. 1, Chicago, Illinois, 1983, pp. 9.1-9.12.

352. Z.P. Ziskovsky, Automatic Robot Safety Shutdown System, NASA Technical Briefs, Vol. 8, No.4, MS5-25969, Summer 1984.

353. J.P. Ziskovsky, Working Safely with Industrial Robots, Plant Engineering, May 10, 1984, pp. 81-85.

354. J.P. Ziskovsky, Risk Analysis and the R3 Factor, Proceedings of the Robot 8th Annual Conference, June 1984. Society of Manufacturing Engineers, USA.

355. J.P. Ziskovsky, NIOSH Warns of Robotic Hazards, Occupational Hazards, May 1985.

356. J.P. Ziskovsky, Risk Analysis and Safeguarding, Robot Applications, Proceedings of the Robotic Industries Association Robot Safety Seminar, 1985, pp. 53-66. P.O. Box 1366, Dearborn, Michigan, USA.

A.3. Robot Maintenance

1. C.A.T. Barcheck, Methods for Safe Robotic Start-Up, Testing, Inspection, and Maintenance, Proceedings of the Robotic Industries Association (RIA) Robot Safety Seminar, 1985, pp. 67-73. P.O. Box 1366, Dearborn, Michigan.

A.3. Robot Maintenance 245

2. RJ. Barrett, R. Bell, P.H. Hodson, Planning for Robot Installation and Main­tenance: A Safety Framework, Proceedings of the 4th British Robot Association Annual Conference, Brighton, England, May 1981, pp. 13-22.

3. RJ. Bonnell, H. Lothammer, Maintaining Hydraulic Robots, Robotics Today, October 1984, pp. 27-28.

4. 1. Etherton, Systems Considerations on Robot End-Effector Speed as a Risk Factor During Robot Maintenance, Proceedings of the 8th International System Safety Conference, New Orleans, July 1987, pp. 434-437.

5. M. Goto, Occupational Safety and Health Measures Taken for the Introduction of Robots in the Automobile Industry, in Occupational Health and Safety in Automation and Robotics (edited by K. Noro), Taylor & Francis, London, 1987, pp. 399-417.

6. M.P. Groover, M. Weiss, R.N. Nagel, N.G. Odrey, Industrial Robotics, McGraw­Hill, New York, 1986, Chap. 17.

7. N.M. Heroux, G. Munson, Robots Reduce Exposure to Some Industrial Hazards, in Industrial Robots (edited by W.R. Tanner), Robotics International of the Society of Manufacturing Engineers, Dearborn, Michigan, 1981, pp. 160-166.

8. J.N. Herndon, C.T. Kring, M.J. Feldman, Remote Maintenance Removes Hazards, Robotics World, September 1986, pp. 22-23.

9. R. Hulfachor, Safety Considerations and Robotic Welding, Robotics Today, February 1987, pp. 24-26.

10. W.A. Lester, R.P. Lannon, R. Bellandi, Robot Users Need to Have a Program for Maintenance, Part I, Industrial Engineering, Vol. 17, 1985, pp. 28-32.

11. W.A. Lester, R.P. Lannon, R. Bellandi, Recommendations for Maintenance of Robots, Part II, Industrial Engineering, Vol. 17, 1985, pp. 33-35.

12. J.E. Lodge, How to Protect Maintenance Workers, National Safety News, Vol. 129, June 1984, pp. 48-51.

13. G.C. Mohr, Robotic Telepresence, Proceedings of the Annual Reliability and Maintainability Symposium, 1987, pp. 25-30.

14. G.E. Munson, Industrial Robots: Reliability, Maintenance, and Safety, in Hand­book of Industrial Robotics (edited by S.Y. Nof), Wiley, New York, 1985, pp. 772-758.

15. L.V. Ottinger, Robot System's Success Based on Maintenance, in Robotics and Industrial Engineering (edited by E.L. Fisher), Industrial Engineering and Man­agement Press, Atlanta, Georgia, 1983, pp. 204-20S.

16. Robotics in Japan: A Bimonthly Analysis and News Service, Issue 83/5, July 1983, pp.3-23.

17. J.W. Russell, Robot Safety Considerations: A Checklist, Professional Safety, December 1983, pp. 36-37.

18. K. Sato, Case Study of Maintenance of Spot-Welding Robots, Plant Maintenance, Vol. 15, 1982, p. 28.

19. R.N. Stauffer, Maintenance at a High-Tech Chrysler Plant, Robotics Today, August 1985, pp. 27-28.

20. R. Suri, Quantitative Techniques for Robotic Systems Analysis, in Handbook of Industrial Robotics (edited by S.Y. Nof), Wiley, New York, 1985, pp. 605-638.

21. A. Wolf, Development of Strategies for Planned Maintenance of Industrial Robots, Proceedings of the 15th International Symposium on Industrial Robots, September 1985, pp. 347-354.

246 Appendix. Bibliography of Literature on Robot Reliability and Safety

A.4. Robot Economics

1. R.G. Abraham, Requirements Analysis and Justification of Intelligent Robots, Paper No. MS75-247, 1975. Society of Manufacturing Engineers, Dearborn, Michigan.

2. J.A. Behuniak, Economic Analysis of Robot Applications, Paper No. MS79-777, 1979. Society of Manufacturing Engineers, Dearborn, Michigan.

3. M. Benedetti, The Economics of Robots in Industrial Applications, Industrial Robot, Vol. 4,1977, pp. 109-118.

4. G.B. Boothroyd, The Economics of Robot Assembly Applications, Paper No. AD 77-720, 1977. Society of Manufacturing Engineers, Dearborn, Michigan.

5. G. Boothroyd, Economics of General-Purpose Assembly Robots, in Robotic Assembly (edited by K. Rathmill), Springer-Verlag, Berlin, 1985, pp. 335-345.

6. T. Bulick, The Justification of an Industrial Robot, in Industrial Robots (edited by W.R. Tanner), Robotics International of the Society of Manufacturing Engi­neers, Dearborn, Michigan, 1981, pp. 141-151.

7. C. Ciborra, P. Romano, Economic Evaluation ofIndustrial Robots, Proceedings of the 8th ISIR, Stuttgart, Germany, June 1978, pp. 15-23.

8. P. Coiffet, M. Chirouze, An Introduction to Robot Technology, Kogan Page, London, 1982, pp. 147-152.

9. RC. Dorf, Robotics and Automated Manufacturing, Reston, Publishing, Reston, Virginia, 1983, pp. 141-155.

10. J.F. Engelberger, Robots Make Economic and Social Sense, in Industrial Robots (edited by W.R. Tanner), Robotics International ofthe Society of Manufacturing Engineers, Dearborn, Michigan, 1981, pp. 137-140.

11. G.A. Fleischer, A Generalized Methodology for Assessing the Economic Con­sequences Acquiring Robots for Repetitive Operations, in Robotics and Industrial Engineering (edited by E.L. Fisher), Industrial Engineering and Management Press, Atlanta, Georgia, 1983, pp. 67-76.

12. RE. Govsievich, Determining the Economic Effectiveness of Industrial Robots, Machines and Tooling, Vol. 49,1978, pp. 11-14.

13. RJ. Grieve, P.H. Lowe, M.P. Kelly, The Economic Justification, Proceedings of AUTOFACT Europe, Geneva, Switzerland, September 1983, pp. 211-212.

14. M.P. Groover, M. Weiss, RN. Nagel, N.G. Odrey, Industrial Robotics, McGraw­Hill, New York, 1986, pp. 348-371.

15. R.E. Gustavson, Choosing Manufacturing Systems Based on Unit Cost, Proceed­ings of the 13th International Symposium on Industrial Robots and Robots 7, Chicago, Illinois, April 1983, pp. 4.85-4.93.

16. G. Hall, How Can You Economically Justify a Robotic Purchase?, Robotic World, September 1985, pp. 32-35.

17. D.W. Hanify, The Application of Economic Risk Analysis to Industrial Robots, Proceedings of the 3rd International Symposium on Industrial Robots, Zurich, Switzerland, May 1973, pp. 41-50.

18. Y. Hasegawa, Evaluation and Economic Justification, in Handbook of Industrial Robotics (edited by S.Y. Nof), Wiley, New York, 1985, pp. 665-687.

19. W.B. Heginbotham, The Basic Economics of Industrial Mechanization and Automation, International Journal of Production Research, Vol. 11, 1973, pp.147-154.

AA. Robot Economics 247

20. Y.S. Ho, G. Boothroyd, Economic Applications of Assembly Robots: Economic Analysis and Classification Systems for Robot Assembly, NTIS Report No. PB86-154465, February 1985. Available from the National Technical Informa­tion Service (NTIS), Springfield, Virginia.

21. J. Hollingum, Automated Parts Feeder Design Cuts Cost of Robot Assembly, Assembly Automation, Vol. 2, No.4, 1982, pp. 214-215.

22. V.D. Hunt, Industrial Robotics Handbook, Industrial Press, New York, 1983, Chaps. 8 and 9.

23. Integrated Robot Cuts Shell Production Cost, Improves Quality, in Industrial Robots (edited by W.R. Tanner), Robotics International of the Society of Manu­facturing Engineers, Dearborn, Michigan, 1981, pp. 154-155.

24. A. Ioannou, K Rathmill, Economic Evaluation of Specific Robot Applications, Proceedings of the 14th International Symposium on Industrial Robots and 7th International Conference on Industrial Robot Technology, Gothenburg, Sweden, October 1984, pp. 69-82.

25. K. Jenkins, P. Smith, A. Raedels, The Financial Evaluation of Robotics Installa­tions, Robotics, Vol. 3, 1987, pp. 213-219.

26. J. John, G. Boothroyd, Economic Applications of Assembly: Economics ofPrin­ted Circuit Board Assembly Robots, NTIS Report No. PB86-154457, April 1985. Available from the National Technical Information Service (NTIS), Springfield, Virginia.

27. Kafrissen, Industrial Robots and Robotics, Reston Publishing, Reston, Virginia, 1984, pp. 303-311.

28. KG. Lassi, Technical and Economical Consideration Concerning Industrial Robots, The Industrial Robot, June 1975, pp. 56-61.

29. B. Leatham-Jones, Elements of Industrial Robotics, Pitman, London, 1987, pp. 203-212.

30. R.J. Meyer, A Cookbook Approach to Robotics and Automation Justification, Paper No. MS82-192, 1982. Society of Manufacturing Engineers, Dearborn, Michigan.

31. J. Miller, Robotic Assembly System Design, Assembly Cost, and Manufacturing Viability, in Robotic Assembly (edited by K. Rathmill), Springer-Verlag, Berlin, 1985, pp. 319-334.

32. R.K. Miller, Industrial Robot Handbook, SEAl Institute, P.O. Box 590, Madison, Georgia, 1983, Chap. 5.

33. C. Morgan, Robots, Springer-Verlag, Berlin, 1984, Chap. 6. 34. A.E. Owen, Economic Criterion for Robot Justification, Industrial Robot, Vol. 7,

1980, pp. 176-177. 35. A.E. Owen, Flexible Assembly Systems, Plenum Press, New York, 1984, pp. 152-

207. 36. T. Owen, Assembly with Robots, Kogan Page, London, 1985, Chap. 14. 37. E. Ramsli, H. Neerland, Economic Modelling of Robot Assembly System, NTIS

Report No. PB87-145090, November 1985. Available from the National Techni­cal Information Service (NTIS), Springfield, Virginia.

38. A.H. Redford, E.K. Lo, P. Killeen, Cost Analysis for Multi-Arm Robotic Assembly, in Robotic Assembly (edited by K Rathmill), Springer-Verlag, Berlin, 1985, pp. 347-362.

39. P. Salim, The Robots are Coming, Professional Safety, March 1983, pp. 17-23. 40. P.B. Scott, Robotic Assembly: Design, Analysis and Economic Evaluation, Pro-

248 Appendix. Bibliography of Literature on Robot Reliability and Safety

ceedings of the 13th International Symposium on Industrial Robots and Robots 7, Chicago, Illinois, April 1983, pp. 5.12-5.29.

41. P.B. Scott, The Robotics Revolution, Basil Blackwell, New York, 1984, pp. 246-267.

42. B.S. Smith, Robots in Arc Welding, in Handbook of Industrial Robotics (edited by S.Y. Not), Wiley, New York, 1985, pp. 913-929.

43. E. Solem, Social and Economic Factors of Robotics Systems, Proceedings of the DREPjRRMC Military Robotic, Applications Workshop, Victoria, British Co­lumbia, August 1987, pp. 83-95.

44. W.R. Tanner, Selling the Robot: Justification for Robot Installations, Proceedings of the Robots III Conference, November 1978, pp. 127-136.

45. D.J. Todd, Fundamentals of Robot Technology, Kogan Page, London, 1986, pp.227-239.

46. W.K. Weisel, Comparative Costs of Automation in Die Casting Using Robots, in Industrial Robots (edited by W.R. Tanner), Robotics International of the Society of Manufacturing Engineers, Dearborn, Michigan, 1981, pp. 67-76.

47. K. Yonemoto, The Socio-Economic Impacts ofIndustrial Robots in Japan, The Industrial Robot, December 1981, pp. 238-241.

A.5. Miscellaneous

1. G.B. Andeen, Robot Design Handbook, McGraw-Hill, New York, 1988. 2. I. Asimov, K.A. Frenkel, Robots, Harmony Books, New York, 1985. 3. R.V. Ayres, S.M. Miller, The Impacts of Industrial Robots, NTIS Report No.

ADA 126 382, November 1981. Available from the National Technical Informa­tion Service (NTIS), Springfield, Virginia.

4. R.V. Ayres, S.M. Miller, Socioeconomic Impacts ofIndustrial Robots: An Over­view, in Handbook of Industrial Robotics (edited by S.Y. Nof), Wiley, New York, 1985, pp. 467-496.

5. R.W. Behler, Robotics: A Key to Productivity and Quality, Proceedings of the Annual Reliability and Maintainability Symposium, 1983, pp. 268.

6. N.W. Clapp, Three Laws for Robotocists: An Approach to Overcoming Worker and Management Resistance to Industrial Robots, in Industrial Robots (edited by W.R. Tanner), Robotics International of the Society of Manufacturing Engi­neers, Dearborn, Michigan, 1981, pp. 169-175.

7. N.W. Clapp, Management Resistance to Industrial Robots, in Industrial Robots (edited by W.R. Tanner), Robotics International ofthe Society of Manufacturing Engineers, Dearborn, Michigan, 1981, pp. 181-189.

8. P. Coiffet, M. Chirouze, An Introduction to Robot Technology, Kogan Page, London, 1983.

9. T.J. Deringer, The Real Challenge in Robotic Systems, Proceedings of the Human Factors Society Annual Meeting, 1984, pp. 107-111.

10. M. Edwards, Robots in Industry: An Overview, Applied Ergonomics, March 1984, pp.45-53.

11. J.F. Engelberger, Historical Perspective ofIndustrial Robotics, in Handbook of Industrial Robotics (edited by S.Y. Nof), Wiley, New York, 1985, pp. 3-8.

12. J. Fleck, Introduction of the Industrial Robot in Britain, Robotica, Vol. 2, 1984, pp.169-175.

A.5. Miscellaneous 249

13. E.L. Fisher, S.Y. Nof, A. Seidmann, Robot System Analysis: Basic Concepts and Survey of Methods, in Robotics and Industrial Engineering (edited by E.L. Fisher), Industrial Engineering and Management Press, Atlanta, Georgia, 1983, pp. 77-87.

14. W.B. Gevarter, Robotics: An Overview, Computers in Mechanical Engineering, August 1982, pp. 43-49.

15. Glossary of Robotics, in The Robotics Revolution by P.B. Scott, Basil Blackwell, New York, 1984, pp. 312-331.

16. Glossary of Robotics Terminology, in Robotics and Industrial Engineering (edited by E.L. Fisher), Industrial Engineering and Management Press, Atlanta, Georgia, 1983, pp. 231-253.

17. J. Hartley, Robots at Work, North-Holland, Amsterdam, 1983. 18. E. Heer, Robots in Modem Industry, in Recent Advances in Robotics (edited by

G. Beni, S. Hackwood), Wiley, New York, 1985, pp. 11-36. 19. V.D. Hunt, Industrial Robotics Handbook, Industrial Press, New York, 1983,

Ch. 1. 20. J. Jablonowski, J.W. Posey, Robotics Terminology, in Handbook of Industrial

Robotics (edited by N.Y. Nof), Wiley, New York, 1985, pp. 1271-1303. 21. E. Kafrissen, M. Stephans, Industrial Robots and Robotics, Reston Publishing,

Reston, Virginia, 1984, pp. 1-33. 22. B. Leatham-Jones, Elements of Industrial Robotics, Pitman, London, 1987,

pp.1-21. 23. A.M. Martin, The Impact of Robotics on Education and Training, in Handbook

of Industrial Robotics (edited by S.Y. Nof), Wiley, New York, 1985, pp. 497-517. 24. J. Mihalasky, Robots: Their Impact on the Quality Function, Quality Progress,

October 1978, pp. 12-15. 25. R.K. Miller, Industrial Robot Handbook, SEAl Institute, P.O. Box 590, Madison,

Georgia, 1983, Chaps. 1-4. 26. S.Y. Nof, Decision Aids for Planning Industrial Robot Operations, Proceedings

of the Annual Industrial Engineering Conference, 1982, pp. 57-66. 27. A.E. Owen, Flexible Assembly Systems, Plenum Press, New York, 1984. 28. T. Owen, Assembly with Robots, Kogan Page, London, 1985. 29. A.B. Powel, Robot Nomenclature, Operation, and Applications, in Working

Safely with Industrial Robots (edited by P.M. Strubhar), Robotics International of the Society of Manufacturing Engineers, Dearborn, Michigan, 1986, pp. 3-8.

30. I. Robson, Managing the Introduction of Robots for Factory Efficiency, Proceed­ings of the 16th International Symposium on Industrial Robots and 8th Interna­tional Conference on Industrial Robot Technology, Brussels, Belgium, October 1986.

31. B. Rooks, The Cocktail Party That Gave Birth to the Robot, The Industrial Robot Magazine, 1983, pp. 8-11.

32. P.B. Scott, The Robotics Revolution, Basil Blackwell, New York, 1984, pp. 27-40. 33. M. Shoman, A Textbook of Robotics 1: Basic Concepts, Kogan Page, London,

1984, pp. 5-21. 34. R. Skole, An Industrial Robot Public Relations Checklist, in Industrial Robots

(edited by W.R. Tanner), Robotics International of the Society of Manufacturing Engineers, Dearborn, Michigan, 1981, pp. 190-197.

35. G.V. Soska, Third-Generation Robots: Their Definition, Characteristics, and Applications, Robotics Age, May 1985, pp. 14-16.

250 Appendix. Bibliography of Literature on Robot Reliability and Safety

36. R.N. Stauffer, Motion Control of Automation Equipment, in Working SaJely with Industrial Robots (edited by P.M. Strubhar), Robotics International ofthe Society of Manufacturing Engineers, Dearborn, Michigan, 1986, pp. 13-16.

37. R. Suri, Quantitative Techniques for Robotic Systems Analysis, in Handbook oj Industrial Robotics (edited by S.Y. Nof), Wiley, New York, 1985, pp. 605-638.

38. W.R. Tanner, Product Design and Production Planning, in Handbook oj In­dustrial Robotics (edited by S.Y. Nof), Wiley, New York, 1985, pp. 537-548.

39. D.F. Tver, R.W. Bolz, Robotics Sourcebook and Dictionary, Industrial Press, New York, 1983.

40. T. Vamos, J. Marton, Robotics in Eastern Europe, in Handbook oj Industrial Robotics (edited by S.Y. Nof), Wiley, New York, 1985, pp. 525-534.

41. T.L. Weekley, A View of the United Automobile, Aerospace and Agricultural Implement Workers of America (UA W) Stand on Industrial Robots, in Industrial Robots (edited by W.R. Tanner), Robotics International ofthe Society of Manu­facturing Engineers, Dearborn, Michigan, 1981, pp. 176-180.

42. Worldwide Robotics Survey and Directory, Robot Institute of America, P.O. Box 1366, Dearborn, Michigan, 1983.

43. Y.M. Yew, Robotic Applications in Small and Medium Industries, Robotics, Vol. 1, 1985, pp. 155-158.

44. M.I. ZeIdman, What Every Engineer Should Know About Robots, Marcel Dekker, New York, 1984.

Index

Accident prevention program cost 29 Accuracy check test 41 AGREE 6 American Public Health Association 7 American Society for Quality

Control 8 American Society of Safety

Engineers 8 Analogue storage device 2 Automatons 1 Availability 23 Awareness barrier 3

Barrier 3 Bathtub hazard rate 17 Bell Laboratories 61 British Robot Association 51-52,54 British Safety Council 9

Capital recovery method 201 Categories of robot safety methods 81 Chain-link fences 79 Chi-square distribution 215 Compound-amount method 198, 200 Consumer Product Safety

Commission 7 Control errors 60, 70 Corrective maintenance 152,207 Cost estimation models 205 Cumulative distribution function 13

Data redundancy 124 Disabling-injury frequency rate 29 Disabling-injury severity rate 30 Distribution of robots 54 Down time 8

Electric robots 134, 136 Electronic devices 78-80 End-effector 3, 43 Environmental hazards 71 Erratic robot 120 Error recovery 4 Event data banks 171

Factors for developing safety requirements 27

Failure 7 Failure density function 13

exponential 16, 186 Rayleigh 186 Weibull 16, 186

Failure modes and effect analysis 22, 30, 123

Failure rate 8 Failure rates for

electrical and electronic items 180 mechanical items 182 selected tasks 183

Fault-tree analysis 61 Federal Aviation Agency 7 Final-value theorem 15 Fire Research and Safety Act 7 Flashing lights 78-80 Food and Drug Administration 7 Food, Drug, and Cosmetic Act 7

Gas-shielded arc welding hazards 91

General Electric Company 42 General Motors Corporation 55, 57,

97 Germans 6 Graphite composites 38

251

252 Index

Gripper 4 Gripper mechanism test 41 Guidelines for reliability

demonstration 214

Hazard detectors 126,147 Hazard plotting 185, 188 Hazard rate 13 Hazardous motion 3 Historia Naturalis 7 Human behavior 64 Human error 8, 70, 112, 124 Human error data, 113, 135 Human factors 7 Human reaction time 218 Human reliability 7,219 Hydraulic robots 134,141

IEEE Reliability Society 8 Industrial robot 2, 69 Infrared light arrays 78-80 Injured persons 53 Intelligent robots 35 Intelligent systems 79-81 Inter-American Safety Council 9 Interest period 198 International Organization for

Standardization 69, 95

Japanese Industrial Robot Association (JIRA) 2, 35, 42, 52

Japanese Industrial Safety and Health Association 2, 69

Japanese Industrial Standard B8433 96

Japanese robot survey 55 Jigs and fixtures test 41

Kansai Productivity Centre 52

Laplace transform variable 14 Laser welding hazards 91 Laws of robotics 1 Life cycle costing 12,204

Machine monster 1 Machine Tool Trades Association 96

Magnetic radiation 92 Maintenance 8 Maintenance (mathematical)

models 158 Management oversight and risk tree

(MORT) 28 Markov method 23, 30 Mean time to failure 13 Mean time to occurrence 144 Mean time to robot-related

problems 127,130 Mechanical problems 70 Mechanical reliability 7, 12 Minimum cost rule technique 203 Minuteman launch control system 61 Murphy's law 42

National Fire Protection Association 7

National Institute for Occupational Safety and Health 55, 60

National Safety Council 8 National Safety Management

Society 9 National Transportation Safety

Board 7 Nissan Motor Company 52, 93 Nuclear Regulatory Commission 7,27

Occupational health and safety risks 26 Occupational Safety and Health Act 7,

27,37 Ozone from arc 92

Parametric data 172 Payback period method 202 Payload 4 Pendant 3 Periodic inspections 156 Periodical inspection-repair 160 Physical barriers 78-79 Positive reaction potential 219 Power lasers 92 Power system reliability 7, 12 Predictive maintenance 152 Present-worth method 199,200 Preventive maintenance 152 Production robots 43 Programmable manipulator 3 Properties of probability 13

Random failure 3 Refrigerator Safety Act 7 Reliability 3,8, 12,23 Reliability allocation 25 Reliability function l3 Reliability growth 12 Reliability networks 18

k-out-of-n units 20 parallel 19 series 18 standby system 21

Reliability testing l3 Repeatability check test 41 Resistance welding hazards 90 Return on investment 203 Robot abnormal stoppage data 184 Robot accident 5 Robot application

die casting 72 forging 72 furnace tending 72 metal stamping 73 press loading 72 ship painting 73 spraying paint 72

Robot availability 3 Robot design 59,76 Robot designers 44-45 Robot economics 195,246 Robot emergency halt 125 Robot facts 51-52 Robot failed to move 120 Robot failure times 189 Robot grippers 94 Robot hardware failure 125 Robot hazard rate l32 Robot hazards 70 Robot in emergency stop 12 Robot Institute of America 2, 34, 42,

52,95 Robot journals, 222-224 Robot life cycle cost 170 Robot maintenance 3, 244 Robot maintenance needs 151 Robot maintenance personnel 157 Robot maintenancemen 105 Robot manufacturers 222-223 Robot mean time to failure 3, 119, 121,

127,129,174,184,216 Robot mean time to repair 3, 119, 127 Robot mechanisms 45 Robot operators 105 Robot organizations 221

Index 253

Robot out of synchronization 120 Robot performance testing 210

Chesapeake Laser Systems method 213

Ford method 212 IPA-Stuttgart method 211 National Bureau of Standards

method 213 test-robot program method 212

Robot power 125 Robot problems 121 Robot programmers 105 Robot reliability l31, 146,226 Robot reliability test plan 214 Robot repair 3 Robot safety 2, 5, 83, 87, 226 Robot safety methods in practice 81

access gates 82 amber light 81 electrical interlocks 82 emergency stop switch 82 guarding 82 magnetic field detector 82 master control panel 82 robot movement 82 robot speed 81 robot work zone dimensions 82 warning signs 81

Robot specifications 220 Robot structure categories 43 Robot system failure 160 Robot work station 105 Robotic accidents 53, 56, 58, 61, 62 Robotic Industries Association 128 Rossums Universal Robots 1

Safety 8 Safety activities for top

management 27 Safety engineer's responsibilities 28 Safety factor 76 Safety rails 79 Safety-related data sources 10 Safety standards for robot

maintenance 93 Servorobots 2 Sinking-fund method 199 Society of Reliability Engineers 8 Software failures 123-124 Software maintenance cost 207 Software reliability 7, 12 Steady-state condition 3

254 Index

Steam-powered toys 1 Success tree 138, 141 System safety 8 System safety analysis techniques 28,

32 System Safety Society 8

Tagged-rope barriers 79

Unavailability 31

Vacuum cups 44 Vacuum grippers 94

Warm restart 126 Warning signs 78-80 Water-powered clocks Welding robot 49, 89 Work envelope 3 World Safety Organization 9 Wrist 3