The first step in process improvement is to scope the problem, next is measure the current process, but if data is not readily available and cannot be manually collected, then a measurement system must be implemented. General Dynamics Mission Systems (GDMS) is a lean company that is always seeking to improve. One of their current bottlenecks is the incoming inspection department. This department is responsible for finding defects on parts purchased and is critical to the high reliability product produced by GDMS. To stay competitive and hold their market share, a decision was made to optimize incoming inspection. This proved difficult because no data is being collected. Early steps in many process improvement methodologies, such as Define, Measure, Analyze, Improve and Control (DMAIC), include data collection; however, no measurement system was in place, resulting in no available data for improvement. The solution to this problem was to design and implement a Management Information System (MIS) that will track a variety of data. This will provide the company with data that will be used for analysis and improvement. The first stage of the MIS was developed in Microsoft Excel with Visual Basic for Applications because of the low cost and overall effectiveness of the software. Excel allows update to be made quickly, and allows GDMS to collect data immediately. Stage two would be moving the MIS to a more practicable software, such as Access or MySQL. This thesis is only focuses on stage one of the MIS, and GDMS will proceed with stage two.

In this paper, we present an approach to designing decentralized robot control policies that mimic certain microscopic and macroscopic behaviors of ants performing collective transport tasks. In prior work, we used a stochastic hybrid system model to characterize the observed team dynamics of ant group retrieval of a rigid load. We have also used macroscopic population dynamic models to design enzyme-inspired stochastic control policies that allocate a robotic swarm around multiple boundaries in a way that is robust to environmental variations. Here, we build on this prior work to synthesize stochastic robot attachment–detachment policies for tasks in which a robotic swarm must achieve non-uniform spatial distributions around multiple loads and transport them at a constant velocity. Three methods are presented for designing robot control policies that replicate the steady-state distributions, transient dynamics, and fluxes between states that we have observed in ant populations during group retrieval. The equilibrium population matching method can be used to achieve a desired transport team composition as quickly as possible; the transient matching method can control the transient population dynamics of the team while driving it to the desired composition; and the rate matching method regulates the rates at which robots join and leave a load during transport. We validate our model predictions in an agent-based simulation, verify that each controller design method produces successful transport of a load at a regulated velocity, and compare the advantages and disadvantages of each method.