Communication is the basis of all cooperation. Messaging is an important form of communication. A universal messaging service (UMS) developed by Telenor Mobil is presented. Features and architecture for UMS are presented. Possible development directions for UMS are discussed, including more sophisticated support for groups and group awareness.

A control system for a 7 joint manipulator with three intersecting shoulder axes is presented. A singularity avoidance scheme is developed, where the redundancy is resolved through a position transformation. The internal and external motion are decoupled using nonlinear feedback linearization in an augmented task space. It is then possible to use linear controllers both for the internal nullspace and the end-effector coordinates. It is shown how optimal control theory can be applied to coordinate the motion in the arm, and this is done so that the input generalized forces are minimized. This gives a coordination of internal and external motion which resembles the motion of the human arm, and this is demonstated by simulating a throwing motion with the manipulator.