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Mobile robots are expected to support relief activities, after a great scale disaster. These robots need ability to move on/in rubble in order to collect information related to victims and the conditions. In order to attain this purpose, we proposed a transformational mobile robot (CUBIC-R), which can traverse rubble omni-directional. The robot's shape is(More)
This paper presents a new hierarchical scheduling method for a large-scale production system based on a hierarchical Petri net model, which consists of FOHPN and TPN. Th,e automobile production system equipped with 2 stand-by lines is focused as one of a typical large-scale system and these stand-by lines are controlled by binary signal. In a high level,(More)
This paper presents a new scheduling method for manufacturing system based on a Timed Petri net model and a reactive fast search algorithm. The following two typical problems are addressed in this paper. (1) Minimize the maximum completion time. (2) Minimize the total deadline over-time. As for problem (1), a search algorithm which combines RTA* and(More)
Mobile robots are expected to support relief activities, after a great scale disaster. These robots need ability to move on/in rubble in order to gather information related to victims and conditions. However, there is no mobile robot which has enough movement ability. Mobile robots need big bodies in order to traverse on unstructured terrain composed of big(More)
---t&y usin.g th.e Petri I L C ~ convent i .a1 AND/OR n,et. S con.dEg, the state shift equation off?%; n.ett which is '8,,,,,$$~&t+ that t h e w 6 a.sis so1ution)of a state shift matr ix is iden,tical to the set of a solution which corres on.ds to a.n. a.ctu.a,l a,ssem.bly se uenxe. Th.is 6 th,a,tA&cond%$n optim,ization problem which m.in,imizes a s u m m a(More)
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