Geleyn R. Meijer

Exception handling system for autonomous robots based on PES

Abstract To reach autonomy of a robot system, the robot needs to be able to adapt itself to the changing environment. One of the key capabilities required for such a system is exception handling. We realized exception handling mechanisms for autonomous robots with a Procedural Expert System (PES). The work described in this paper is based on the Exception Handling Model (EHM), a model describing the handling of exceptions within the framework of an a priori plan. Exception handling provides the robot with capabilities to monitor its operations. Upon the detection of an exception, a diagnosis can be performed which leads to a classification of the exception at hand. Task rescheduling and recovery planning is performed based on heuristic knowledge of the application. Modelling of a robot assembly application and the realization of EHM with PES are described in the paper.

Improving business processes with mobile workforce solutions

Based on recent literature of mobile business, an analysis framework is presented that assesses important issues and the impact of mobile workforce solutions. Two exploratory cases based in the Netherlands were studied under the framework. Preliminary evidence shows that mobile workforce solutions have a direct impact on many aspects, though they are not radically changing the organizational structure and business processes within a company. The results indicate a need for an engineering approach that integrates the consideration of potential the impact on organization, business process and individuals. The study provides a basis for further research to improve business processes with mobile workforce solutions.

Distributed Information Services Supporting Collaborative Network Management

Information retrieval is one of the key processes in the management of collaborative networks (CNs). For large and complex networks manual processes need to be supported by automated retrieval systems.

Sensor based control for autonomous robots

S u m m a r v . In this paper the work of the computer systems group on robotics and sensor systems is presented. Based on a functional decomposition of actuator and sensor modules, a control system for autonomous robots is developed. The interface level between actuatorand sensor systems i s described in terms of high level sensor modules. The sensor modules themselves are able to monitor their performance and adjust internal model parameters to increase the reliability of the sensor readings. A model is developed in which the sensor output is used for monitoring, diagnosis and exception handling for the control of the autonomous robot. To make efficient use of this control sys tem, of f l ine programming and s imula t ion techniques have been realized. The sensor based control system is both tested on assembly applications and a mobile robot.

Robot Control with Procedural Expert System

In this paper the use of a Procedural Expert System (PES) for the control of a robot in a partly-structured environment is presented. Performing a task in a partly-structured environment requires a certain level of autonomy of the robot. One of the key issues needed to realize this autonomy are techniques to monitor the robot activities and to handle exceptions. The control system must be reactive to new situations. Implementation architecture and realization with PES of robot control based on the Exception Handling Model is described. The experimental results show that the event-driven mechanisms needed for the control of the robot can be adequately realized with the reactive behaviour of PES.

Towards Ontology-Based CNO Matching Applied to Squads

As the interest in Collaborative Networks grows, and the number of organizations participating in a Virtual Breeding Environment increases, tools will be needed to support the creation of Collaborative Network Organizations. An important driver for this support is that in modern commercial environments a rapid response to changes in the market is essential to remain competitive. We are working on a domain-ontology and a model that supports the composition of CNOs using semantic capability descriptions. We apply this model in the field of software development, where multiple expertise teams form dynamic task-forces, called Squads, in order to build and manage computer applications. In this paper, we focus on the development of the domain-ontology and the elements of the composition model. We are working on a prototype that supports the creation of Squads by means of capability matching.

Squads: Software Development and Maintenance on The Grid by Means of Mobile Virtual Organizations Using Adaptive Information Services

This paper addresses the area of software development and maintenance for GRID- based applications. We argue that the structure and geographical spread of these systems poses new challenges to the ICT services industry. We believe that human intelligence and related skills are a central element in facing these challenges and see the emerging paradigm of virtual organizations as promising direction to realize the availability of these skills.