Numerical control machine tools are widely used in the manufacturing nowadays. The engineers often have difficulties discussing with another engineer about the problem in the CAM work, so a convenient tool for this is needed. In this paper, a framework of collaborative CAM simulation environment is presented for the goal of virtual enterprise. The main modular and key technology of them are illustrated, which include virtual part discussion environment, cutting parameter database management modular, G-code collaborative simulation modular and VRML based realistic cutting simulation modular. The prototype of system is implemented for small amount of users. In the end, the application of VRML based CAM simulation environment is discussed.

This paper studies the realization of turning gait control, taking a quadruped walking vehicle as the subject of the research. Based on the analyses of previous works, a kind of turning gait with the center of gravity of the vehicle walking along multiple broken lines has been planned, which is more suitable for practical control than previous methods. The process of the turning gait and its feasibility are discussed in detail. The turning gait presented is being implemented in the omnidirectional quadruped walking robot JTUWM-II.>

Presents a framework of an online knowledge based error recovery system for robotized assembly, which deals with problems of execution monitoring, sensor processing, failure diagnosis and recovery. The system is of modular and hierarchical structure. Techniques have been integrated into each functional module. Based on the presented framework, the authors have also investigated the way to implement the proposed system in their testbed. The prototype has been realized at the first stage using V+ as the main tool.>