This paper describes a revised version of ROBOPLAN, a goal-oriented robot task planning system for automatic generation, decomposition and execution of high-level robot plans for assembly. It emphasizes its new features, i.e., modularity, formal definition of the task, robust plan synthesis, and execution of each assembly step. A task definition language allows a formal description of the robot universe and the assembly task to be input to ROBOPLAN. The expert task planner is a non-linear backward chaining problem solver, using a goal driven depth-first strategy. The implemented search strategy has been tested in the assembly domain, but it could be used in other domains where planning is needed. The motion planner provides a non-optimal, safe robot trajectory; collision free path planning has not been included yet. A robot executable code is generated for each assembly step and monitored in real time. The error detection and recovery capability of the system is rather limited at present, since no sensors are used. The initial implementation of the system has been tested and evaluated on the assembly of a DC motor. The potential of extending this planning framework to other applications is also discussed.

The control stategy for a dextrous masters is different from the general case of bilateral teleoperation since it models the human hand in much more detail. Such a model is discussed together with the selection of actuators used for force feedback control. Existing prototypes of dextrous masters with force feedback are then reviewed. These are the Servo Controlled Manipulator Device, the Portable Dextrous Force Feedback Master (P.D.M.F.F.), the Remote Handler, and the Advanced Multiple DOF Force Reflective Hand/Wrist Master.

Recent topics in the development of micromagneticactuators in Japan are reviewed. Electromagneticmicroactuators less than 1 mm in diameter, e.g.micromotor, and microvalves have been fabricated andtheir high performance has been demonstrated. A newtype microactuator based upon magnetostriction has alsobeen developed and has shown a large cantileverdeflection. In addition, some models of the microrobotsusing micromagnetic actuators were able to move using awireless remote power supply.

This paper summarises the results of work carried out in planning the application of a robot in a working cell including a small number of metal cutting machines. The viewpoint assumed is that of a first-time user of robots, and includes the procedure for selecting a robot. Because the analysis calls for robot information not readily available to the user, or which is application specific, a significant conclusion is the necessity to establish a structured programme of collaboration between robot user and robot manufacturer, which becomes an essential part of the analytical and design process.

Automation of heavy construction machinery needs sensors that can detect each position under severe construction fields. Motivated by this need a hydraulic cylinder equipped with Hall sensors of Ga-As type has been developed. However, this sensor device has some problems associated with incorrect detection of positions owing to the existence of some magnetic slope and electric noises. To solve these problems, this paper proposes a digital stroke sensing cylinder enhanced by digital signal processing. An apparatus of two hydraulic systems coupled with each other is installed in an experimental setup to evaluate the performance of the developed digital stroke sensing cylinder. In order to control the position of a cylinder rod, a PWM method is used. Evaluation of the performance is carried out under artificial disturbances such as an impulse, addition of some magnetic slope, and additional noises.