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H10 contract research program
Development of Cooperative Robot Programming
Language System
by
Professor Fumio Mizoguchi
[Features of the Software]
- Compiler of Multiagent Robot Language : MRL
This compiles a MRL program to the associated KL1 program which can be
also compiled by the KLIC system. MRL allows us to specify a set of agents
that realize intelligent robots. MRL helps design and implement
collaborative robots.
MRL integrates control, planning, and negotiation functions to agentify these
objects as robotic agents. It represents an evolution of concurrent logic
programming languages, wherein the behavior of an agent is declaratively specified within
guarded Horn clauses, and communication and concurrency between agents can be
easily described. By providing built-in stream communication facilities, MRL
enables the specification of various negotiation patterns using broadcast and
incomplete messages, and handles emergent events based on priority clause selection.
- Communication management system for infrared sensors
This manages a set of sensors embedded into the celling for the smart office
environment. Each infrared sensor is connected with each other through
LON network developed by Echelon company. The sensors are connected to
the Internet also through a gateway named WebIO. The management system
monitors the states of the infrared sensors and sends the state information to
all robotic agents implemented in MRL.
- Navigation system based on camera robots
This supports localization and navigation of mobile robots.
The system detects the position of a mobile robot by image processing, and
navigates the robot to a desired position accurately.
- User-interface to request a service
This is a human-interface to request a service, such as print delivery and
document delivery, to the robot system.
It is implemented in Java so as to access the system through a Web browser.
[Required Environment]
- Compiler of Multiagent Robot Language : MRL
- machine : UNIX machine
- The environment that KLIC runs.
- Control System of Infrared Sensors
- machine: UNIX machine
- OS : Solaris
- The environment that Java1.1 runs.
- Need of infrared sensor connected LON network developed by Echelon company
- Need of gateway WebIO for connecting LON network with workstation.
- Guidance System using Camera Robot
- machine: UNIX machine
- OS : Solaris
- The environment that Java1.1 runs.
- The environment that C runs.
- Need of Camera Robot and Video Board
- User Interface
- machine: UNIX machine
- OS : Solaris
- The environment that Java1.1 runs.
[File Configuration]
Compiler MRL Compiler
+------ mrlCompiler.kl1 The MRL Compiler
+------ util.kl1 The utility
+------ Sample Sample programs
Multiagent Multiagent System
+------ office_system.mrl Main system program
+------ environment.kl1 Environment information
+------ robot_data.kl1 Registration of machine name
+------ util.kl1 The utility
+------ RobotServer Control programs for real robots
Infrared Control System of Infrared Sensors
+------ SensorChangeServer.java Control system of infrared sensors
+------ Sensor.java Program for connecting WebIO
Guide Guidance System using Camera Robot
+------ Guide Guide system
+------ CameraClient Camera robot client
+------ CameraServerr Camera robot server
+------ Image Analyze image
Interface User Interface
+------ Server User Interface for Server
+---- Server.java Main program
+---- KlicChannel.java Connecting program with KLIC systems
+---- KlicReader.java Receiving program from KLIC systems
+---- KlicSender.java Sending program to KLIC systems
+---- Channel.java Communication program with Java systems
+---- server.html html file
+---- media2.gif The Map of Media Center
+------ Client User Interface for Client
+---- PrinterClient.java Client system for print delivery
+---- DeliveryClient.java Client system for document delivery
+---- Client.java Client program
+---- printer.html The html file for print delivery
+---- delivery.html The html file for document delivery
+---- media2.gif The Map of Media Center
+---- Commander The sending system of robot command
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