梅 Agent-based Robot System: UME 1P1-51-072
Contents
1. D u ui L L L E EJ EJ L3 DE L3 P3 L3 E3 E oO nooo OOUUU D gBupnnugpupnnugB upnpnaagpBanpnp O eAaxmngugapauggadgagdgoxudagagaau PSeisQOOOOOO000000 WO000000 1 if TORNADO N 2 AgentName elseif SOLARIS int main int argc char argv endif d BP LL LrLcucr rctrrc r rct oO Sao aoe oe Oo Oo ume server A AgentName 3 4 5 6 7 8 9 0 int agent char buf 11 2 switch buf 4 3 case AgentCommand1 4 prcesses1 5 break 6 case AgentCommand2 iy prcesses2 8 break 9 Fig 1 Fame of an agent program lbyte simple lt gt length address com optional data request length address com ret address tag optional data retum data lengih retaddress tag Fig 2 NET protocol definition DUBaBBBINooocz2znnpunuduuugagaagddggn DBDODDUD DpngatpgapagagagouagagnapnpnpnpnpBaBODD 3 OOOOOOU00000000000000 VxWorksg rn OOOOOPAIOQUO000U0000000000000 D ugnuganpapnug unp upnaud 5wpa agpianpnnp PAIONOOOOOOO00000 PABDDDDUO UI vxworks QO OOO0000000000000000 D gguanugpnupnnpnagpnadnmudnd Uu 3msHO00000000000000000 Dpugpuunpupnuupgnnaugpngugpau OOOO00O0OUQO0U0000UOS PA1O D D L L ui L L D ggBapnpn ugapanpnp smsggggdg L L D L D L D D L3 L3 L3 L3 L3 oO L3 D L D D L ui L Dp ggpupnpna pngaupnpapBBgdgnmp La D UDD L L L L L U uu OOOO2. 1P1 51 072 uuauiuuiiuuLuluttutututtLl Agent based Robot System UME OO nnag dgugoau nnuag nudgunstuut Kosa KITAGAKI Takashi SUEHIRO Toshio HORI andFuminori SAITO Electrotechnical Laboratory 1 1 4 Umezono Tsukuba 305 8568 J APAN email kitagaki el go jp suehi roce go j p toshi el go jp and saitoo ed go jp Abstract To perform advanced tasks such as pliant object handling tasks by robots components such as manipulators and sensor system should be integrated and cooperated An easy integration of existing components helps reducing costs This paper introduces a new robot system UME which is applied of a communication technique between agents developed for the sensor based manipulation system TAKUMI presented by the authors The UME provides environmentfor developers to integrate those components with general purpose network Keywords robot system multi agent system integration object oriented distributed system 10000 numnnunnaugnnugnnunnungung nunn pugngnnuggnugnugnuunnunnun gcnnogugonugununnu gnonnnd DnnHuun pnunmunnggnmnunugunugnugnonugn gnanongnnunngnnnunu nugunnun pnunmngnugngnugngunuunugnonngun Ggcnuon nnungugunnuun nnunungnugnngunununugununnn n nnugngunnu TakuMgpnnug nnnnnnu nugounogunonuuo
3. UO0000000d TAKUMI OD DDUOU L L L D L L L L U1 L3 L3 L3 EJ L3 C3 L3 L3 L1 oO pnpnpnagnpugnngnapnaugngapadgnpa gBuapnagngnaupnagupnaggnpgu UMEDDODDTHU OOOOU0O0O00000000000 OCoRBAg uBngapagnpugnnnupauggapnagpnaBanmn OOOOU000000dC0dD OO DpagBnpagnagupnpnugaggaagpnaanm gapnagnpnganpngugpnagagagnpat OOOO 1 http www orrg org 2 http www microsoft com com tec DCOM asp 3 er ee OO oO L3 M410000 0000 0000 000 OO O00 ogo00 0000 o Vol 15 No 3 pp 363 372 1997 5 Kosa Kitagaki Motoyoshi Fujiwara Takashi Suehiro and Tsukasa Ogasawara Proc of IEEE Int Conf on IntelligentRobots and Systems Vol 2 pp 832 837 1999 6 Occar2 ReferenceM anual INMOS Ltd Prentice Hall 1988 I1 000000000000000 000000000 Network Teaching display Stereo camera Fig 3 Configuration of system UME 2000 5 12 13000 1P1 51 072 O
4. nununugnnnu nnug pnunmngngunnunugunugnugnonuu aonggnunng nn nn DNUU CORADDUU DOOOCCOOOCOOOCOCOOCOOOCOOOD DL ntefaceDdiniion Langagd D LU DD DEO DD HB pnunmugnggnnunugngnugnnuonuun aonagnnnggnunngunnunug nnunn n nnnnnmnnnmnnnnnnnnnuupnnHnppn nHu Dnoceddnunnnnnuupnpununpnonnn DnnugnniNeozpgunng gnnnguunn unn cooocoo D 2000512 13000 1P1 51 072 00 OO00 NODE lt ComputerName gt 1 NETWORK 2 SET lt ComputerName gt lt MachineName gt 3 4 C PLACE AgentName AT ComputerName AgentAddress 5 C lt CommandName gt AgentName Arguments lt ReturnValues gt 6 QO MO00000000000008 0000000 OOO OOOOOOU00N00d00000 D agnuupnpuapgua aggugapadnp DBugpuunpuaapBapnpnaapgdnpuu DBapnuunpuagapupnpnaagpaagopu OO CO CHO OOO00000 esisop D L Dugnugnunanugpnguanpnaugmgagudpbad OSH 000 Solaris VxWorks Windows OO DDOD DO D 32000000 BodyGOOOO000 Digpnu unuuapnuanugapnuxpau nmnadnp Dpua unuganpnu unuunnuapnugnpna upnpDadnop sever OOOO D UU ume sever n D 0 0 D B U D L L D L L ooo oO tl O O D L3 L3 C3 L3 oO L3 D D L L u Oooo r3 L3 DaBugpuunpupnguaupnpnaapgdnpbuu DDDODDU esent D D D D D D D D D D egert pDpugagagnuanaugpnguanadpu D gpupnauunp apagnmidunpudbu D gnadp TAKUMIQOOd NETOOO OOO0dd0d Oo 2zoO0dddddddg DaBugpuunpuapnguaupnpnaagpgudnpud QOOOOOO00000000000 L3r3r r3r3rt EI E F iE 2 EY EST E qd E3 Lt Di
5. nuuognouuODnHu npumnnnpnnnpnnnpunpnpnpnppnnpnnnnnn gngagagaggnguanguauunuugn uu mnnnonnnonnnnnnnnnnnpnnpnonnn nnunmgnngungugunnun pmunng nnunn nn nna n uMegoooodg UU0U0UUUDUDUUUUDOUUUDUDUDU j ppp pnnaungungnggnnugnnunugnungnnun DIEN EA KUMITENG mme t Oc E nnunungnugnngugnnunugununnn n pngngunnd rAkuM gununn gnngunnun nngngunnPcnuunuunugn gnngunnun pnnunmngnggunnggnnunug nnucnun pngngagngnnunnnngunu unnungug nn nnumpnugnnunnugnnunn nnuu nunnun nnunugnnguggngnnuunnnguug nnu un pngguguggggmgggdggHcHEEUUOE OOV ALL TRO CHR HET IELHAE EDI TAkuMipunnuunugnnugngugnng nnann nnunungnugnngugnnunug nnunn n O00 Hedgn nn gn nna nna nn Bodyg nnunungnugnnggnnunugununnn n BIDDER TEUER pnnunnngnguunngnnnunugunuunnun nnunungnugnnugnnunugnnunn n iore Eno d de op ufo aT Ro e f o ls enti dr e epi ocio nic tapas UUUU DD CORBA Comm Olei Rapes Broker OOO ne nnOnnnnO DDBDDHODBDDHDDD Architecture 1 DCOM Distributed Common Object Mode 2 DBBBBHHBDBBBBDDHHBBBEDHHODBD nnungngnggnnunununugununnn n pngngnunngnuunnun nn nnUMEDnnn LATO LOOT OOO IT IUS e QPAD Ha GSR a OOOO0d DCOMQ OOOO ORIN Open Robot wwertrmreepooonosnonsons Se90000000cn00c0000un00000 nnungungnggnngugnnunugununnnun Dnnunmngngunnggnngunugnuugnuu a3gmumnnnnnnn nngngungng nnguH nnHun TAKUM HD pugngngnggnng nggnnH DHHD TAKUM M4100 DODOOOOOCOOCO pTAKuMpODHU GDHODHODUU pngunmugngunngnnnunggnugugnuu ainnnunnnunmunnnnnnHn nnunmunaggnngngugugnugnunnnun pugnnunnununugn
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