Embedded agents can be used as building blocks or components in the construction of an Intelligent Building (IB). However it remains a great challenge on how to implement this idea in a distributed networking environment. In this paper, we present a co-ordination framework for web-enabled embedded agents to optimize the dynamic allocation of resources and the mobility of services in an intelligent building environment to achieve real-time performance. This co-ordination framework is mobile-service based and composed of two parts: a triangle-link algorithm and a double-layer protocol. A case study is presented to show its implementation. Mobile Manipulation of Humanoid Robots —A Method of Adjusting Leg Motion for Improvement of Arm's Manipulability—
Haruyuki Yoshida, Kenji Inoue, Tatsuo Arai, Yasushi Mae, Osaka University, Japan
A control method of mobile manipulation for a humanoid robot mobile manipulation means the integrated motion centered arm's manipulation is proposed. This method makes the arms carry out the manipulation and the legs assist manipulation by adjusting its motion in order to keep arm's manipulability high. Firstly the arm tips always follow their desired position under the condition with external force by impedance control. Secondly the shoulder is controlled so that manipulability and stability can be improved. Moreover we define three functions; they are an average of manipulability measure and an average and a minimum of stability margin in a locomotion cycle. We utilize their values in a locomotion cycle rather than the …
| 15:30―15:50 | Applying Intelligent Space to Warehouse — The First Step of Intelligent Space Project —
Joo-Ho Lee, Noriaki Ando, University of Tokyo, Teruhisa Yakushi, Katsunori Nakajima, Tohru Kagoshima, Toshiba, Hideki Hashimoto, University of Tokyo & Presto JST, Japan
We propose a method of guiding mobile robots in networked space in this paper. Distributed sensor devices with processors are located around the networked space to watch human and robots. We have proposed such kind of space, and we call it Intelligent Space. In the Intelligent Space, robots as well as human are supported informatively and physically. Distributed sensor devices guide mobile robots in the Intelligent Space and navigation with high adaptability is realized. The experimental results including localization and guidance are shown. |
M3C | Fixture and Part Location Systems | Automotive Systems I | M3D | SALA BIANCA | 14:30―15:50 | SALA TURCA | | | CHAIR | Luigi Glielmo, Italy | Herman Soemers, Germany | CO-CHAIR | Maria Pia Fanti, Italy | On the Development of a Fully Automated Universal Fixturing System for a Machine Tool
Elmer C. Lee, Sanjay E. Sarma, MIT, USA
Reference Free Encapsulation Fixturing is a powerful fixturing technique. Geared towards transforming a machine tool into a rapid prototyping device, this fixturing technique can potentially deliver a fully automated universal fixturing system. This research is aim towards studying and developing the infrastructure that will make automated encapsulation fixturing a reality. Descriptions of the machines and process refinements are discussed in this paper. Also, a case study is presented to illustrate the cost and time benefits this fixturing system can offer while also showing its limitations. | 14:30―14:50 | Integrated Mechatronics Solution to Maximise Tractability and Efficiency of Wheeled Vehicles
I.J. Spark, M. Yousef Ibrahim, Monash University, Australia
The objective of this work is to apply Mechatronics to increase the stability, tractability and efficiency of wheeled vehicles operating on steep slopes. The essential feature of this work is that both of the two basic methods of steering a vehicle are used so that they both tend to produce the same centre of curvature for the path of the vehicle. This deliberate redundancy means that the inevitable failure of one steering system is prevented by both systems acting in unison. This "Steer and drive by wire" system was made feasible due the smart on-board wheel angles and wheel speed control system presented in this paper.
| Modeling and Simulations of Optimal Drilling Through Elastically Deforming Workpieces
K. Wardak, Systems Engineering Group Inc., U. Tasch, P.G. Charalambides, University of Maryland Baltimore County, USA
Fixture design for machining processes has been the focus of much research in recent years. In the search for optimal fixture layouts computer-aided design and Finite Element analysis have been used. In material removal processes major deviations of part dimensions are attributed to workpiece distortions and deformations. These distortions and deformations are due to cutting forces and clamping loads. Furthermore literature states that approximately 40% of all parts rejected are due to dimensional inaccuracies. These inaccuracies are directly related to poor fixturing design. The utilization of optimization techniques in fixture design has been reported yet cost functions the dimensional inaccuracies of … | |
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