QMTOOL-a qualitative modelling and simulation CAD system for designing automated workcells

This paper describes a qualitative modelling and simulation approach to designing and developing application independent control architectures for automated workcells. A qualitative modelling toolbox, called QMTOOL, was constructed using AI and object-oriented software to achieve this specification. QMTOOL models are built and simulated through interactive dialogue with the user. A model encapsulates the high-level knowledge of the human expert, and a simulation run can verify the design at the specification level. With QMTOOL, visual interaction, direct manipulation of objects, and symbolic computing mechanisms, are all available to the designer