Journal of Manufacturing Systems

Vot. 15/No. 5 t 996

Neural Network Modeling for Tool Path Planning of the Rough Cut in Complex Pocket Milling
S u k - H w a n Suh and Yang-Soo Shin, Pohang University of Science and Technology (POSTECH), Pohang, South Korea

Abstract
This paper presents a new approach to rough-cut tool path planning of pocket milling operations. The key idea is to formulate the tool path problem into a TSP (traveling salesman problem) so that the powerful neural network method can be effectively applied. Specifically, the method is composed of (1) digitization of the pocket area into a finite number of tool points, (2) a neural network method (called a SOM--self-organizing map) for path finding, and (3) postprocessing for path smoothing and feed rate adjustment. By the neural network procedure, an efficient tool path (in the sense of path length and tool retraction) can be robustly obtained for any arbitrary shaped pockets with many islands. In postprocessing, (1) the detailed shape of the path is partially modified by eliminating sharp corners of the path segments and (2) any crossovers between the path segments and islands. With the determined tool path, the feed rate adjustment is finally performed for legitimate motion without requiring excessive cutting forces. The validity and powerfulness of the algorithm is demonstrated through various computer simulations and real machining.

Keyword$: Pocket Milling, Rough Cutting, Tool Path Planning, Neural Network, Self-Organizing Map, CAD~CAM

Introduction
Pocketing is one of the major metal removal operations in NC machining of dies and molds. The pocket shape varies from a simple geometry to complex shapes, including islands, which are typically machined through three stages: rough cut, intermediate cut, and finish cut. Because most of the volume is removed by the rough cut, its effect on machining time is significant, and hence, incorporation of efficient path planning has been one of the crucial issues in contemporary CAD/CAM systems. Conventional tool paths for pocket machining are divided into (1) zigzag (or staircase, direction parallel) and (2) offset patterns (or window frame, contour parallel milling). The zigzag pattern is simple and robust, and hence, it has been used in CAD/CAM systems to

deal with complex pocket shapes. However, considering that tool retraction (together with pilot drilling) is required for the area where the scan line intersects the island, it is not efficient especially for the complex pocket shape, including many islands. Thus, reduction of the tool retraction and drilling operation together with path length are the key problems to be dealt with in tool path planning of pocket milling operations. In the past, path optimization has been made for the path length mainly for the zigzag pattern of the polygon shape? "s Wang3 reported that: (1) in the zigzag pattern, a path direction parallel to the longer side can yield a shorter path length, (2) in the window frame pattern, the starting point does not have much effect on path length, and (3) the zigzag pattern in general gives a shorter length than the window frame pattern. Held ~ found that the efficiency of the path angle in the zigzag pattern decreases as the pocket shape becomes complicated, and the optimal path angle does not guarantee the minimal number of tool retractions. In terms of the number of tool retractions, the window frame pattern has the potential to produce a superior path to the zigzag pattern. 6,7 However, because the offset method has limitations in dealing with geometric complexity, it has been known that implementing a robust system is very difficult.8,9 Persson~ decomposed the pocket area into subareas by the bisector skeleton, followed by applying a path-offsetting procedure, and Held I applied a Vornoi diagram methodn for the decomposition and generation of the loop-free tool paths. The manner of connecting the offset paths, however, affects the performance of the entire path, so optimization issues are still present. Further, the feed rate should be adjusted for each offset path to avoid a large variation of the force acting on the tool.

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The inherent complexity of pocket milling complicates the problem of determining tool path and feed rate, especially as the pocket geometry becomes complex. In this paper, as a means for dealing with geometric complexity, the neural network approach is applied. It is shown that the neural network algorithm can robustly generate the tool path for rough-cut operation while optimizing the performance criteria in a unified fashion. Post-processing modifies the neural network derived path and adjusts the feed rate.

A0broacfJ ooir{t "~L I ..P--

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TSP Modeling and Solution Approach

Consider the pocket geometry including two islands, shown in Figure 1. The plane is divided by an overlaid grid pattern into a finite number of cells. On the grid plane, the tool path can be planned by manually specifying the tool points in sequence. This "random edit path" is used in the CAPS (conversational automatic programming system) of the Fanuc-15M. lz By manual teaching, any complex pocket shape can be dealt with, which is a practical way to deal with geometric complexity. In this method, however, the performance of the path is dependent on the programmer's skill level. Further, as the geometry gets complex, it is not easy to specify all the detailed points without gauging the pocket and island boundary. As an alternative, the problem can be formulated into a TSP (traveling salesman problem) by decomposing the removal area into a set of grid points or tool points to be visited by the tool. By solving the TSP problem, one can obtain the minimum-distance path. The TSP problem is known NP-hard and would impose a serious computing problem to the conventional algorithms. By the neural network method, the TSP problem has been solved efficiently. The previous research results showed that the procedure can give a near-optimal solution rapidly, even if the number of cities increases significantly. Neural network methods applied to the TSP problem are due to the Hopfield and Tank model, 13 simulated annealing) 4 elastic net) s and a SOM (self-organizing map)) 6 Briefly, the first neural network approach to the TSP problem was made by Hopfield and Tank, 13 where the method worked well with up to 10 cities but yielded an unreasonable solution when the number of cities was greater than 30.17 The simulated

Figure 1
Random Edit Path Planning u

annealing method reduced the possibility of converging to an unreasonable solution by employing heating and fast and slow cooling processes, but took time for the convergency. 14 In the elastic net method, ~s the rubber band enclosing the primitive nodes tried to map the cities by minimally increasing the rubber net length. The SOM method proposed by Kohonen is is in essence the unsupervised learning algorithm based on the feature map. Angeniol, Vaubois, and Telier16 approached the TSP of 1000 cities by a SOM and showed a good solution in 20 minutes. In this paper, their SOM model is modified so that the pocketing characteristics can be incorporated without imposing a computing problem in generating the near-optimal solution. Specifically, the solution approach is: (1) first generating the tool points, (2) solving the TSP problem, (3) partial modification for the path segments crossing over the islands and/or showing sharp corners, and (4) feed rate adjustment to maintain the MRR (pseudo force) throughout the entire path. Details for each procedure are given as follows.

Generating Tool Points

For the given tool size and tool overlap, the tool points can be generated by first forming the grid map, followed by identifying the internal area and removing the gauging points in the vicinity of the pocket and island boundary. Let R and ~ be the tool radius and tool overlap. Then the grid interval can be computed as g - 2R ~. In determining the tool overlap, it is worth considering that: (1) the number of tool points (and hence the tool path length) increases as the tool overlap increases, while (2) as the tool overlap

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decreases there may exist uncut area as shown in Figure 2. More precisely, there is uncut area if the grid interval is larger than M'2-R in the (worst) case where all the internal points (A,B,C,D) are not connected. Based on this, the tool overlap ~ -> (2 V'2-) R, o r g < V"-2- R.

Identifying Internal Points

To determine the tool points on the grid map, each grid point should be tested to see if it belongs to the removal area (pocket internal area). The test can be made by drawing a scan line passing through the grid point, followed by counting the number of left-intersection points on the pocket boundary; that is, the odd number means the grid point is within the removal area (Figure 3). The above rule is valid so long as the scan line does not meet: (1) the comer point(s) of the pocket boundary and (2) infinitely many points (this occurs when the scan line includes the pocket or island boundary). Depending on the location of the two segments with respect to scan line, Case 1 (Figure 4) can be divided into two: (a) the two segments are on the same side (circle pair and triangle pair edges in Figure 4a) and (b) they are

on different sides (Figure 4b). In part (a), the intersection (square marked) is not counted; in part (b) it is. Thus, the total number of intersections in Figure 4a and 4b are two and two, respectively. Before handling Case 2 (Figure 5), the grid points on the scan line should be excluded from the tool points because they will obviously cause overcut. In counting the intersection points, the boundary edge on the scan line is temporarily removed and a new boundary formed. Then the same rule as Case 1 is applied. In the case of Figure 5a, edge b is replaced by a'. Because edges a' and c are not on the same side, the intersection point is counted as 1, and hence grid point A (resp. B) is (is not) in the removal area. In the case of Figure 5b, because both edges a' and c are on the same side of the scan line, the intersection point is zero, and hence grid point A (resp. B) is (is not) in the removal area. Finally, grid point A in Figure 5c is not in the removal area because the number of intersection points (marked "*") is four.

Removing Boundary Points

To finalize the tool points, the internal points causing overcut should be removed. The distance between the tool center point and pocket boundary

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/IL~:
,;'~J

......~1~..-. ~ . - ~ - . . . . [

....... Scan line

(a) Twoedgeson same side

(b) Twoedges not on same side

Figure 4
Case 1: Passing Corner Points

Figure 2
Uncut Area
d (a)

/
Scan line

(b)

Contours Scan line

J
Scan line

(c)

Figure 3
Internal Point Identification by Scan Line

Figure 5
Case 2: Passing Boundary Edges

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should be greater than or equal to the sum of the tool radius (R) and finish-cut allowance (e). In other words, an internal point becomes a tool point, if

jc = {jLmin[X~-GI} (2) J and position of nodejc and adjacent nodes are modified as follows:

I/-PI~R+~

(1)

C ] = C ] + f i G , n)(Xk'-C]), k e [1:2]
where / is the internal points and P is the pocket or island boundary. Figure 6 illustrates the distance criteria for the various pocket boundary edges, assuming e = 0. where

(3)

fiG, n) = (1/N/2-) exp(-n 2 / G2)

n = inf {] -j~ (mod N),j~ - j ( m o d N)} G = (1 - a ) G

(4)
(5) (6)

Path Generation by Modified SOM

SOM Method

The SOM method presented by Angeniol, Vaubois, and Telie? 6 begins with an initial ring (or rubber band) composed of a set of nodes on the plane, followed by iterative evolution such that all the city points are mapped into the ring. If all the city points are mapped into the ring, the connected city points yield a near-optimal (in the sense of path distance) solution to the TSP. Figure 7 shows the concept taken from Angeniol, Vaubois, and Telier. ~6 At each processing step, a city i is surveyed. One complete iteration takes M sequential steps, for i = 1 to i -- M, thus picking every city once in a fixed order. Let X ~ = (X1~, X2'), i E [I:M] and C ~ = (C1J, CzJ),j ~ [I:N] be the position of Mcity and Nnodes in the current iteration. Then, for city i, the winning nodejc is determined by the distance criterion

In the above, n is the degree of apartness from node jc, and G is the degree of weight given to the current iteration discounted from the previous iteration. The degree of discount is defined as (1 - a), and more details on a will be given later. At the beginning of the process, only one node exists, which is located at point (0,0) in the plane. The number of nodes N is increased or decreased by the node creation and deletion process. (A node is duplicated if it is chosen as the winner for more than one different city and is treated as the neighbor of the winner node and with the same coordinates A node is deleted if it has not been chosen as the winner by the complete surveys.) If all the cities are mapped by the nodes within a specified tolerance, the iteration is terminated and outputs the ring as the tour map of the cities.

(a) d> R

%
Figure 7
Evolution Process by SOM t6

{b) d > r + R

(c) d < r - R

Figure 6
Distance Criteria for Removing Boundary Points

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Determining
In the above scheme, oL is the only parameter to find the optimal solution. In general, the larger (resp. smaller) oL reduces computing time but may pass the global optimal solution. A more important aspect is that the path shape is changed with ~. Ideally, the a value should yield the global minimum distance (without falling into local minimum solution) with a good path shape. However, finding such an optimal value is not promising because the optimality can only be evaluated by numerous trial values. Further, considering that the constant (throughout the iteration) does not reflect the solution status (closeness between the nodes and cities), the a value should be adaptively adjusted. In this paper, the simulated annealing method is used in determining the oLvalue automatically. The basic idea is to give more freedom (with smaller oL value) at the early iteration where most of the cities are not mapped into nodes, and decreasing the moving distance as the solution becomes more stable. A simulated annealing method is applied for the Boltzmann machine, where the temperature is given as T(tn) To log(1 + tn) (7)

Giving Weight for Node Selection

In a SOM, the winning node is selected purely based on the distance computation as depicted in Eq. (2). This means that any node can be selected. In the sense of path direction, this may result in an arbitrary pattern with numerous changes in path direction; this is not desirable in practice. To give directional criteria in choosing the winning node, weight is given for the horizontal and vertical nodes. In other words, by modifying the selection criterion (Eq. 2) as follows: Vj : (Xli - C?) 2+ W (X2i - C~) 2
(ll)

weight can be given for the horizontal direction node. As shown in Figure 8a, W = 0.5 gives a vertically oriented path, which becomes horizontal as W increases. Through experiments, it was found that the larger W gives good direction up to a certain limit depending on the value of oL. For instance, when o = 0. l, W > 4 yields an unreasonable path. Based on the discussion so far, the node selection and updating procedure is modified as follows. Algorithm 1--Modified S O M Given: (Xli, X2~, i E [I:M], (Cr/, Ci),j E [I:N],

w,c
Step 1: Finding nodejc closest to city i Vjc= min Vj,where Vj= 0(1i - C) 2 + W (X~i - C~')2 Step 2: Moving node jc and neighbor nodes to the direction of city i C] : C] +fiG, n) (Xki - CkJ) where f(G,n), n, and G are given, respectively, by Eqs. (4), (5), and (6), and o~ = C log (1 + exp (- K)), where K is given by Eq. (8).

where tn is the time variable for the nth processing cycle and To is a given constant. Defining the degree of mapping K as K=~i (Xi-C*(Xi))2
(8)

where X is the location of the city and C*(X) is the closest node from the city, K can be related with time variable tn. Based on the analogy that: (1) K decreases as the iteration proceeds, (2) the value of oL should increase as K decreases, and (3) the temperature T decreases as the time elapses, the time variable can be related as follows: o~-(9) T Takingf(K) = exp(- K), the following is obtained: o~ = C log (1 + 0 where t = exp(- K) and C is a given constant. (10) tn = f (X ),

w=2

w=3

w=-4

w=0.5

Figure8
Outcoming Paths with Various Weights

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15/No. 5 1 9 9 6

Path Modification
As the neural network path is generated based on the pointwise connection, the path between the tool points may not guarantee optimality for pocket machining. This problem can be classified into two parts: (1) the path is not feasible, and (2) the path is undesirable. Thus, the path segment containing these problems needs modification. The first problem can be detected by computing the distance between the tool path and the pocket boundary. If the distance is less than or equal to tool radius, "tool retract" and "tool down" motions are inserted at the beginning and ending points of the segment. In this case, the drilling operation should be preceded by a tool-down point.* For the pocket/island contour made up of a line and arc, path correction schemes are shown in Figure 9. The second problem occurs when the path is diagonally connected (Figures l Oa and lOb) or twisted (Figure 10c). The currently implemented algorithm detects the three types and modifies them as shown in Figure 10. By the modification, the path length is reduced by 2g (~/}---1) (from__g(2 + 2 V'-2--) to 4g for Type 1 and 2 and from 2g V 2 to 2g for Type 3). Let Pi = (Si,,, &z, E~,~,E~,z)be the path segment on the grid map as shown in Figure 11. Then, the path modification algorithm for Types 1 and 2 is as follows. Algorithm 2--Path Modification for Types 1 and 2 1. Reading Pi, iE[l:~q], and let i 0.
=

(a) Crossing over pocket boundary

(b) Gaugingwithin path segment

(c) Crossingover island Figure 9 Modifying Infeasible Path Segments

(a)

l A -}

T-T T

Type 1

P,~I ~ P k . 2

,,,..

T-T T
Type 2

T-T

2. i = i + l .
3. i f / > L, stop, where L = [ -q+l if the entire path P is closed -q-2 otherwise 4. Checking ifP~ is a diagonal path: if I&k - E~,kl = 1, V k ~ [1:2], go to Step 5. Otherwise, go to Step 2. 5. Checking ifP~2 is a diagonal path and parallel to P~: (henceforth, if P is closed, segment index =

p,

T/"f

(kk)

icl

T -T

Type3

Figure 10 Modifying Undesirable Path Segments

MOD (segment number, "q))

if ([&, - E~+2,~I-- 1) and (IEi,k - S~+2j, I = 1), V k E [1:2], then go to Step 6. Otherwise, go to Step 2. 6. Pattern matching: if(E, I&k- Ei+l~,l = 3) and (Xk lEa+lj , - E~+3j,I = 1), then go to Step 7 else if(Xk I&k- Ei+l~l 1) and (Xk = 1), then go to Step 8, else go to Step 2.
=

r + 1~ pColumn

PF(r+I, c, ~ c+1)

*This is automatically included in the part program.

Figure 11 Path Segment on Grid Map

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7. Modifying for Type 1:

Pi = (Si,,, Sia, El+2,,,Ei+2a), Pi+, = (S/+3,,, S/+3a, Ei,,, Eia), Pi+~ = (S/,,, S/a, E/,,, E/,z),
Pi+3 = (&2,1, &+2,2, El+3,1, E/+3,=).

where V is the cutting speed (rn/min) and P,p is specific power for unit volume of MRR (material removal rate) defined as MRR= b a m c n= Volume removed * Feed rate (13) Travel distance where b, a, m, c, and n are, respectively, axial depth of cut, radial depth of cut, number of teeth on cutter, chip load (mm/tooth), and spindle speed (rev/min), and V = rr dn, where d is the cutter diameter. From Eq. (13), the cutting force is proportional to MRR, which can be maintained by the feed rate for the given path. For the constant axial depth of cut, the removal volume is determined by the radial depth of cut along the path. It is worth noting that the exact cutting force should be based on a more accurate model such as on the instantaneous cutting force model in Martellotti 2 and Klein, DeVor, and Lindberg. zl However, considering that the main purpose of the feed rate adjustment is to smooth out the cutting force fluctuation along the neural network path, the average force model can be employed. Suppose that the feed rates for the flunge cut and half-flunge cut [where the radial depth of cut is, respectively, cutter diameter (d) and cutter radius (0.5d)] are given by fl and f2, respectively. Then, the feed rate maintaining the constant MRR can be computed by using fl and~ as the reference values. Thus, the remaining task is to compute the radial depth of cut along the given path. The radial depth of cut can be determined with a feed map, which is formed by decomposing the volume removed into a finite number of cells. The size of the cell, determining the solution accuracy and computing amount, should be sufficiently smaller than the tool points defined earlier. Initially, all the cells in the pocket area are labeled "1" (indicating uncut area) and updated by "0" if removed by the tool. On the feed map, the radial depth of cut at each grid (tool center at the grid) can be approximated by the number of cells labeled "1" included by the tool circle. Let na be the number of cells (whose labels are changed from "1" to "0") at grid a, where a E [l:b] and b is the number of grids between two tool points. Then, the radial depth of cut between tool point A and B is RDCA,n= maxa n,. With the reference feed rates, f~ and fz, the feed rate f~,n between the tool points is interpolated as follows.

go to Step 2. 8. Modifying for Type 2: Pi-I = (S/-1,1, S/-1,2, E/,I, E/a), Pi = (S/+I,I, Si+1,2, E/+I,I, Ei+,a),
Pi+l -- (&2,1, &z,z, E/-1,1, El-I,2),

Pi+z = (S/,,, S/a, Ei+2,1,Ei+z,2). go to Step 2. Similarly, the path modification algorithm for Type 3 can be summarized as follows. Algorithm 3--Path Modification for Type 3 1. Reading Pt, i E [1:~1], and let i = 0. 2. i = i + l . 3. i f / > "q, stop. 4. Checking if Pi is a diagonal path: if ISi,, - Ei,,l = 1, V k, go to Step 5. Otherwise, go to Step 2. 5. Finding Pk, k > i + 1, which is diagonal and crossing Pi: for k = i + 2, ..., N { if Pk = (S/,1, E/,2, Ei, l, Sij) or Pk = (Ei,,, Sia, Si,,, Eia), go to Step 6.
/ S

go to Step 2. 6. Modifying for Type 3: P, = (Si,,, Sia, Sk,,, Ska), P, = (Ei,1, Eia, Ek,,, Eka) go to Step 2.

Feed Rate Adjustment

Optimization for the neural network tool path is mainly made with the path distance. In practice, a more realistic criterion is machining time, especially for rough-cut machining. The machining time depends on how the path is executed in terms of feed rate. Further, considering that the neural network path contains many corners where path direction is changed, the feed rate adjustment is required such that the force acting on the cutter is within the operating range. Taking the average cutting force model due to Smith and Tlusty, 19 the average cutting force (F in newtons) in end milling is given by F - P~pMRR V (12)

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fA,n = fz ~ f2 - fl (RDCA,B,
n 2 --/71

_n2)

(14)

where n~ = 2R/n, n2 = R/n, respectively.

Simulation and Experimental

Results

The method has been tested on numerous exampies, only a few of which are presented here. The first example is simple pocket with a rectangular pocket boundary including four circular islands (Figure 12). In this example, the bidirectional zigzag path without tool retraction would result in the path shape shown in Figure 13, requiring drilling together with tool retractions. Applying the neural network algorithm, the pocketing operation can be completed without drilling and tool retractions (Figure 14). If an offsetting method was applied, the path obtained by removing the part intersecting the middle of the pocket (dashed region in Figure 12) would be discontinuous, requiring drilling operations. Figure 15 shows a more complicated shape for which the method presented generated a continuous path. (The shaded region in Figure 15 indicates the tool swept area by the path.) These examples show the continuity of the neural network path compared with other methods. Nonetheless, the neural network path does not always generate a continuous path. For instance, the neural network path for the pocket shape shown in Figure 16 shows discontinuity at two points. (The dotted paths in Figure 16 represent the inserted path for the discontinuous area.)* Held 1 classifies this pocket shape into "monotonous area," for which the machining area has to be divided. He presented an area decomposition method by Voronoi diagram. Applying the neural network method, the number of discontinuities can be reduced without requiring area decomposition and path connection procedures. To test the robustness of the presented algorithm, a complex shape shown in Figure 17 was used. For this kind of complex pocket, the robustness rather than optimization should be emphasized. Figure 17 contains a polyhedron pocket boundary including eight complicated islands. The neural network algorithm presented a good path with four discontinuous path segments.
*Note that the path connection is automatically performed in the algorithm.

Figure 12 Simple Example Including Four Circular Islands

>o
I, I

o
] I

o
I
Figure 13
Bidirectional Path

Figure 14
Neural Network Path

Finally, to see the cutting behavior of the presented method, a real cutting operation was performed for a pocket shown in Figure 15 (see Figure 18). The workpiece material was low-carbon steel and the tool was four-fluted HSS, radius 15 mm. The cutting speed was 900 rpm, and the two reference feed rates

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Figure 15 Second Example Including Complex Island Shape

Figure 17 Third Example for Complex Geometry

Figure 16 Pocket Shape Including Monotonous Area

Figure 18 Machined Part for Figure 15

given wereft = 50 andfz = 100 mm/min, respectively. Using the feed rate modification algorithm (the generated feed rates ranged between 50 and 120 mm/min), the cutting operation proceeded smoothly without showing force fluctuation during the whole machining operation.* Through simulation and the experiment, it could be verified that the neural network method showed "continuity of the path" and "robustness to the geometry" without imposing force fluctuation.

Concluding Remarks
This paper addressed the problem of tool path planning for a rough-cut pocketing operation. The presented algorithm is based on a neural network method called a SOM, which is typically applied for traveling salesman problem (TSP). By digitizing the
*The cutting force was not actually measured, but was judged based on the machining sound.

pocket volume into a finite number of tool points, the tool path planning problem for a rough-cut pocketing operation can be formulated into a TSP, to which a modified SOM method can be effectively applied. The strength of the developed method is a near-optimal path (in the sense of path length, number of tool retractions, and drill points) that can be obtained regardless of the geometric complexity of the pocket. Compared with conventional paths, the neural network path in general is complex without showing any formalized path pattern. Due to this characteristic feature, the feed rate adjustment should be performed in the postprocessing module to avoid excessive cutting force to the cutter. Through various simulations and real machining, the validity and strength of the developed algorithm has been proved. The developed method has been implemented on a PC-486 compatible system including a 2-D CAD module (for defining pocket geometry), process

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plan (for specifying tool geometry and cutting conditions), path planning module (including the neural network algorithm), and simulation and verification module. The path planning module is the main module by which an optimal path can be interactively obtained through graphic simulations with various parameters for C and W (given earlier) and path modification. Because the main path planning module also includes the finish-cut tool path, it can be used practicably as a means for optimizing the tool path for the entire pocketing operation. Alternatively, the algorithm can be incorporated in a conversational automatic programming system (CAPS) as an intelligent tool path planning module, Future elaboration will include minimizing the number of drilling points in cases of unavoidable tool retraction and adaptive tool point intervals to minimize the uncut area. Acknowledgments This research was in part supported by the G7Project for developing an intelligent CNC controller funded by the Ministries of Commerce and Resources, and Science and Technology in Korea. References
1. M. Held, On the Computational Geometry of Pocket Machining (Spfinger-Verlag, 1991). 2. T. Kramer, "Pocket Milling with Tool Engagement Detection," Journal of Manufacturing Systems (vl 1, n2, 1992), pp114-123. 3. H. Wang, H. Chang, R. Wysk, and A. Chandwakar, "On the Efficiency of NC Tool Path Planning for Face Milling Operations," Journal of Engineering for Industry (v109, 1987), pp370-376. 4. H. Bao and H. Yim, "Tool Path Determination for End Milling of Non Convex-Shaped Polygonal Pockets," Transactions of NAMR1/SME (Vol. XX, 1992), pp151-158. 5. P. Prabhu, A. Gramopadhye, and H. Wang, "A General Mathematical Model for Optimizing NC Tool Path for Face Milling of Flat Convex Polygonal Surfaces" International Journal of Production Research (v28, nl, 1990), ppl01-130. 6. Y. Suh and K. Lee, "NC Milling Tool Path Generation for Arbitrary Pockets Defined by Sculptured Surfaces," Computer-Aided Design (v22, n5, 1990), pp273-284. 7. M. Held, G. Lukacs, and L, Andor, "Pocket Machining Based on Contour Parallel Tool Paths Generated by Means of Proximity Maps," Computer-Aided Design (v26, n3, 1994), pp189-203.

8. J. Woodwark, Computing Shape (Guildford, UK: Butterworths, 1986). 9. K. Preiss, "Automated Mill Pocketing Computations," in Advanced Geometric Modeling for Engineering Applications (Amsterdam: NorthHolland, 1989). 10. H. Persson, "NC Machining of Arbitrary Shaped Pockets," ComputerAided Design (vl0, n3, 1978), pp169-174. 11. E Preparata and M. Shamos Computational Geometry (SpringerVerlag, 1985). 12. "Conversational Automatic Programming Function for Machining Center" FANUC Series 15-MF operation manual (Korea: FANUC, 1992), pp273-300. 13. J. Hopfield and D. Tank, "Neural Computation of Decisions in Optimization Problems," Biological Cybernetics (v5, 1985), pp141-152. 14. S. Kirkpatrich, C. Gelatt, and M, Vecchi, "Optimization by Simulated Annealing," Science (v220, 1983), pp141-152. 15. R. Durbin and D. Wilshaw, "An Analogue Approach to the Travelling Salesman Problem Using an Elastic Net Method," Nature (v326, 1987), pp689-691. 16. B. Angeniol, G. Vaubois, and J. Telier, "Self-Organizing Feature Maps and the Travelling Salesman Problem," Neural Networks (v 1, 1988), pp289293. 17. G. Wilson and G. Pawley, "On the Stability of the Travelling Salesman Problem Algorithm of Hopfield and Tank," Biological Cybernetics (v58, 1988), pp63-70. 18. "12 Kohonen, Self Organization and Associative Memory (SpringerVerlag, 1984). 19. S. Smith and J. Tlusty, "An Overview of Modeling and Simulation of the Milling Process," Journal of Engineering for Industry (v113, 1991), pp169-175. 20. M. MarteUotti, "An Analysis of the Milling Process," Transactions oj ASME (v63, Nov. [941). 21. W. Klein, R. DeVor, and J. Lindberg, "The Prediction of Cutting Forces in End Milling with Application to Cornering Cuts;' International Journal of Machine Tool Design & Research (v22, nl, 1982), pp7-22.

Authors' Biographies
Suk-Hwan Suh received his BS in industrial engineering from Korea University (Seoul, Korea) in 1976, his MS in industrial engineering from KAIST (Seoul) in 1978, and his PhD from Ohio State University in 1986. From 1986-87, he was with the Center for Research on Integrated Manufacturing at the University of Michigan. He joined the Department of Industrial Engineering at Pohang University of Science and Technology (POSTECH) (Pohang, Korea) in 1987, where he is now an associate professor. Professor Suh has published in the area of CAD/CAM, CNC, NC machining, and robotics and automation. In 1987, he founded the Computer Automated Manufacturing Laboratory, where he and his students recently developed an on-line CAD/CAM system (called HPCAPS) for an advanced CNC controller. Current research includes an advanced CAD/CAM system for virtual machining, a versatile CAM system for multiaxis machining, a feature-based CNC controller, and a performance appraisal for CNC machines. Yang-Soo Shin received his BS and MS in industrial engineering from POSTECH (Pohang, Korea) in 1993 and 1995, respectively. He is currently with the Machinery and Maintenance Dept. at POSCO (Pohang, Korea). His research interests include CAD/CAM and CNC machining.

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