In the University of Debrecen, the Building Mechatronics Research Centre as intelligent building provides research infrastructure for building automation simulations. The infrastructure is considered as an energy aware Intelligent Space (later iSpace) with research, education and living area. The building is equipped with surveillance and security system and renewable energy utilization machines, such as heat pumps, solar and PV panel systems. We investigate measurements of different energy efficiency operation scenarios of heat pumps, solar collectors and wind turbine. Energy consumption habits of the education and living area of the building can be observed, measured and simulated. The article presents the methods to obtain higher energy consumption awareness for inhabitants through the examination of consumers' behaviours. The aim of the paper is to investigate and measure the quantitative features of energy consumption. Energy saving can be reached by on demand energy control and inhabitants' requirements based intelligent building management. Also reference building models can be set up for energy performance certificates and examination.

Intelligent Space (iSpace) is a space (room, corridor, or street), which has distributed sensory and mobile agents, that is capable to provide intelligent services. In this paper, experimental setup between Hashimoto Lab, University of Tokyo, Japan and Advanced Diagnosis Automation and Control (ADAC) Lab, North Carolina State University, USA is prepared to form an Inter-Continental Intelligent Space. A mobile robot at Hashimoto Lab is controlled by a path-tracking controller at ADAC Lab to track a predefined path with the tracking performance affected by the network time delay. Gain Scheduler Middleware is employed in the control loop to alleviate the effect of time delay. The experimental results of the mobile robot path-tracking has demonstrated the effectiveness of using Gain Scheduler Middleware to compensate the time-delay effect on teleoperation over IP network.

This paper proposes human-robot cooperative tele-micromanipulation system with novel single-master (PHANToM haptic device) multi-slaves (6 D.O.F parallel manipulator). The different kinematical configuration and the different D.O.F between the master and the slave introduces a mapping problem which can be serious for some cooperative manipulations. The position/force virtual mapping method is implemented in the single-master dual-slave tele-micromanipulation system to realize the human-robot cooperative internal force regulation while grasping task. The generated reference trajectories of both manipulators by the virtual mapping method are shared with the cooperative impedance control of multi-slaves to regulate the internal force while grasping an object. Lastly, an improved internal force regulation using the SMMS (single-master multi-slave) tele-micromanipulation system while grasping an object is verified by the pick-and-place experimental results.

In this paper, the Intelligent Space concept is applied for helping disabled or blind persons in crowded environments such as train stations, or airports. The main contribution of this paper is a general mathematical (fuzzy-neuro) description of obstacle avoidance method (walking habit) of moving objects (human beings) in a limited area scanned by the Intelligent Space. A mobile robot with extended functions is introduced as a mobile haptic interface, which is assisted by the Intelligent Space. The mobile haptic interface can guide and protect a blind person in a crowded environment with the help of the Intelligent Space. The Intelligent Space learns the obstacle avoidance method (walking habit) of dynamic objects (human beings) by tracing their movements and helps to the blind person to avoid the collision. The prototype of the mobile haptic interface and simulations of some basic types of obstacle avoidance method (walking habit) are presented.

In this paper, control schemes for the master haptic interface are mainly discussed. We proposed the tele-micromanipulation systems, which enables human operators to operate micro-tasks, such as assembly or manufacturing, without feeling the stress. The paper focuses on the haptic interface, which gives the operators the feeling of presence. The mechanism applied in the human interface device often has a reasonable immanent friction. This friction must be compensated in a way that the operator cannot feel this friction force, but only the force from the manipulated environment. The main contribution of this paper is a direct model based chattering free sliding mode friction estimator and a compensator for the human interface device. The experimental results obtained are presented.

In this paper, control schemes for haptic interface for micromanipulation systems is mainly discussed. We have proposed a tele-micromanipulation system, which enables human operators to operate micro tasks, such as assembly or manufacturing, without feeling stress. This paper focuses on the haptic sense, which gives the operators the feeling of presence. The mechanical instrument applied in the human interface device usually has a reasonable immanent friction. This friction must be compensated in a way that the operator should not feel this friction force but the force from the manipulated environment. The main contribution of this paper is a direct model based chattering free sliding mode friction estimator and compensator for a mechanical instrument. Experimental results are presented.