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As manufacturing systems become increasingly more automated and complicated, there is a need for supervision systems to operate and control production. In complex manufacturing environments, robots can make errors that can cause serious product damages. This paper focuses on the efficient supervision systems, called the sequential task-oriented supervision, using multiple sensors for achieving task status monitoring, automated error analysis in robotic manufacturing process. As with the designed task sequence, a status monitoring system runs synchronously to detect errors in the current robot task. In order to continue performing tasks without human intervention, task status monitoring systems use multiple sensors including a vision sensor, a force-torque(F/T) sensor and a tactile sensor is developed. Detailed structure and working principle of the monitoring system are addressed in this paper.

In this paper, we present the Enhanced Communication Transport Protocol–Part 5 (ECTP‐5), which provides scalable and reliable multicast communication service for many‐to‐many applications by constructing high quality recovery trees from two‐layer logical trees and repairing the losses via unicast automatic repeat request–based error control. In order to realize the protocol, we developed feasible protocol architectures and building blocks including additional functions which deal with engineering details, such as membership dynamics and sender coordination. Experimental results show that ECTP‐5 scales well with various session sizes and packet loss rates in terms of control overhead and recovery latency.

Layered multicast was introduced to address the heterogeneity problem of network and receivers in multimedia multicast. With highly increasing interest in mobile communication, the need of extending layered multicast to mobile communications has been increased. However, the conventional layered multicast approaches have not considered host mobiliw, and a handoffcan cause stability and fairness problem in wireless networks. In this paper, we propose a new rate adaptation scheme using a mobile support station to provide quick resolution of unstable state of a network and fair bandwidth allocation at handoff by priority dropping of the less important layers in the outgoing queue and MSS-controlled rate adaptation. The proposed scheme is evaluated using ns-2 [I81 and its result shows that the proposed one outperforms about 80% compared to RLM in terms of stability and fairness at hand08