The utility of a mobile manipulator largely depends on its kinematic structure and mounting point on the robot body. The reachable workspace of the robot can be obtained offline and modeled as a discretized map called Reachability map. A Capability map is obtained by including some quality measure for the local dexterity of the manipulator, which helps to identify good and bad regions for manip...

This paper proposes a third generation teleoperation system based on a status driven slave symbolically instructed by the master control panel. Furthering the first generation joint-angle control techniques and second generation coordinate transformation techniques, this system recognizes the target status specified by the operator by extracting the task status from visual sensors. The task env...

The paper describes development and experimental implementation of a visual control for the miniature laboratory robot Khepera. The robot and its stationary environment are observed by a static CCD camera, a collision free path in the two dimensional workspace is determined by artificial potential field methods and it is realized using real-time visual feedback. Computations are performed on T9...

this paper presents the results of a comprehensive study on the efficiency of planar parallel mechanisms, considering their kinetostatic performance and also, their workspace. this aim is approached upon proceeding single- and multi-objective optimization procedures. kinetostatic performances of ten different planar parallel mechanisms are analyzed by resorting to a recent index, kinematic sens...

Shared workspace systems using graph-structured visual languages are well-suited as tools for collaborative learning. We suggest a generic framework in which the specific language syntax can be defined by knowledgeable end users. Also the interface to a domain-specific interpreter can be standardized to a certain extent, thus facilitating the automatic generation of expert advice. The same arch...

With globalization and outsourcing, maintaining competitive advantage often requires design innovation that takes into account local user-needs and social practices. Of particular currency to technology students, is gaining an understanding of how to engage in innovative ubiquitous computing application design. In the real world, such applications are typically designed by small teams of creati...

The problem of information system (IS) workspace design is analysed. Different conceptions for IS workspace structure design are overviewed. Conceptions are based on Oracle CASE method, IDEF and UML application approach. The structure of the output driven requirements specification method is described. An approach to IS workspace design based on information flows specification is proposed. Some...