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A new architecture for fault adaptive control (FAC) of a mobile robot is presented. This architecture is based on the hybrid supervisory control theory. A systematic design procedure for the major components of this architecture is discussed in the context of sensor-fault accommodation by a mobile robot. The FAC architecture is implemented in a mobile robot(More)
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— We describe new end effector developments incorporating microscope vision and gripping mechanisms for pick and place assembly of small components in a minifactory environment. Instead of performing microassembly under a microscope, in minifactory each assembly agent is equipped with its own microscope. This arrangement facilitates flow-through(More)
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