The Matrix-Based Framework: Its Role as a Job-Agent Supervisory Controller

The paper deals with systems consisting of multiple agents executing jobs by influencing the environment through effectors, gathering information from the environment through sensors and communicating with the other agents through communication channels. A paradigm shift is proposed: from building systems executing jobs, to agents acquiring resources (effectors and receptors) so that they can execute the jobs assigned to them. A supervisory controller coordinates the adequate sequencing of jobs and resolves contentions. With our proposed decomposition into layers, a generic framework leading to the reuse of previously produced software and the extraction of useful portions can be achieved. The presented transition function-based formalism can be applied to specifying programming frameworks for robot controllers executing very diverse tasks. Formalization introduces rigor into the discussion of the structure of embodied agent controllers.     

New approach for the bainite start temperature calculation in steels

Abstract

The bainite start temperature B _s is defined as the highest temperature at which ferrite can transform by a displacive transformation. A common observation is that the bainite start temperature is very sensitive to the chemical composition, indicating that the influence of solutes is more than just thermodynamic. Empirical linear regression models have long been used to calculate the B _s in a limited range of compositions. This paper attempts to create an empirical model of wider applicability and higher accuracy by means of neural networks. The results are compared with those calculated using the thermodynamic theory for bainite transformation, revealing that in general this theory agrees with the experimental results, but some discrepancies can still be found when the alloys are heavily alloyed.     

Connection Framework of RT-Middleware and CAMUS for Maintaining Ubiquity between Two Ubiquitous Robot Spaces

Ubiquitous robotics has recently been proposed and many methods have been suggested to implement this concept. In many cases, software modularization and middleware technology are adopted. However, different middlewares are used for each case since there is no standard for such a technology. Thus, the implemented robot space keeps a ubiquitous concept only under its own standard. To remedy this problem, this paper presents a connection method of two middlewares for securing the compatibility between two ubiquitous robot spaces. In the proposed method, the target middlewares are RT-Middleware of Japan and CAMUS of South Korea. By making a bridge between two middlewares, the service provided by the RT-Middleware side can be available to the CAMUS side and also the service provided by the CAMUS side can be used by the RT-Middleware side. Experimental results using a Pioneer robot equipped with the NAV200 positioning system are included to verify the performance of the proposed method.