It is discussed with the design and implementation of an architecture for a mobile robot to navigate in dynamic and anknown indoor environments. The architecture is based on the framework of Open Robot Control Softwar...It is discussed with the design and implementation of an architecture for a mobile robot to navigate in dynamic and anknown indoor environments. The architecture is based on the framework of Open Robot Control Software at KTH （OROCOS@KTH）, which is also discussed and evaluated to navigate indoor efficiently, a new algorithm named door-like-exit detection is proposed which employs 2D feature oft. door and extracts key points of pathway from the raw data of a laser scanner. As a hybrid architecture, it is decomposed into several basic components which can be classified as either deliberative or reactive. Each component can concurrently execute and communicate with another. It is expansible and transferable and its components are reusable.展开更多
Today＇s manufacturing cnvironmem forces manufacturing companies to make as many product variations as possible at affordable costs within a short time. Mass customisation is one of most important technologies for com...Today＇s manufacturing cnvironmem forces manufacturing companies to make as many product variations as possible at affordable costs within a short time. Mass customisation is one of most important technologies for companies to achieve their objectives. Efforts to mass customisation should be made on two aspects： （1） To modularize products and make them as less differences as possible; （2） To design manufacturing resources and make them provide as many processes variations as possible. This paper reports our recent work on aspect （2）, i.e. how to design a reconfignrable manufacturing system （RMS） so that it can be competent to accomplish various processes optimally; Reconfignrable robot system （RRS） is taken as an example. RMS design involves architecture design and configuration design, and configuration design is further divided in design analysis and design synthesis. Axiomatic design theory （ADT） is applied to architecture design, the features and issues of RRS configuration design are discussed, automatic modelling method is developed for design analysis, and concurrent design methodology is presented for design synthesis.展开更多
With the ascent of robotic architecture in academic discourse, we ought to reconsider how we understand building cognition. This paper revisits the Rietveld Schröder House from 1924 as a precursor of robotic buil...With the ascent of robotic architecture in academic discourse, we ought to reconsider how we understand building cognition. This paper revisits the Rietveld Schröder House from 1924 as a precursor of robotic building. With a built-in capacity for change, the building (now a museum and listed as a UNESCO World Heritage site) has a highly adaptable space plan that could be continually reconfigured by its occupants. The agency of change is shared between the house and its occupants, most notably Truus Schröder, who lived in the house for 60 years. This paper takes a material engagement approach to explore the relation between the occupant and the house and speculates how this might be a model for designers of contemporary and future robotic architecture to rethink concepts of autonomy and agency in building cognition.展开更多
基金The project is supported by European Open Robot Control Software Founda-tion(No.IST-2000-31064), National Natural Science Foundation of China(No.60475031) and the Swedish Foundation for Strategic Research, Sweden.
文摘It is discussed with the design and implementation of an architecture for a mobile robot to navigate in dynamic and anknown indoor environments. The architecture is based on the framework of Open Robot Control Software at KTH （OROCOS@KTH）, which is also discussed and evaluated to navigate indoor efficiently, a new algorithm named door-like-exit detection is proposed which employs 2D feature oft. door and extracts key points of pathway from the raw data of a laser scanner. As a hybrid architecture, it is decomposed into several basic components which can be classified as either deliberative or reactive. Each component can concurrently execute and communicate with another. It is expansible and transferable and its components are reusable.
文摘Today＇s manufacturing cnvironmem forces manufacturing companies to make as many product variations as possible at affordable costs within a short time. Mass customisation is one of most important technologies for companies to achieve their objectives. Efforts to mass customisation should be made on two aspects： （1） To modularize products and make them as less differences as possible; （2） To design manufacturing resources and make them provide as many processes variations as possible. This paper reports our recent work on aspect （2）, i.e. how to design a reconfignrable manufacturing system （RMS） so that it can be competent to accomplish various processes optimally; Reconfignrable robot system （RRS） is taken as an example. RMS design involves architecture design and configuration design, and configuration design is further divided in design analysis and design synthesis. Axiomatic design theory （ADT） is applied to architecture design, the features and issues of RRS configuration design are discussed, automatic modelling method is developed for design analysis, and concurrent design methodology is presented for design synthesis.
文摘With the ascent of robotic architecture in academic discourse, we ought to reconsider how we understand building cognition. This paper revisits the Rietveld Schröder House from 1924 as a precursor of robotic building. With a built-in capacity for change, the building (now a museum and listed as a UNESCO World Heritage site) has a highly adaptable space plan that could be continually reconfigured by its occupants. The agency of change is shared between the house and its occupants, most notably Truus Schröder, who lived in the house for 60 years. This paper takes a material engagement approach to explore the relation between the occupant and the house and speculates how this might be a model for designers of contemporary and future robotic architecture to rethink concepts of autonomy and agency in building cognition.
