In this paper we describe the demonstration of selected security & contract management capabilities of an early prototype infrastructure enabling dynamic Virtual Organisations for the purpose of providing virtualised services and resources that can be offered on-demand, following a utility computing model, and integrated into aggregated services whose components may be distributed across enterp...

A dynamic simulation of threaded insertion is developed based on Euler's equations, impulsive forces, and a geometric description for threaded parts. Points of contact between the threaded parts are determined and tracked during the simulation. Reaction forces are computed based on the contact locations and the velocity constraints given by the kinematic description. The simulation will be used...

We address the issue of learning and representing object grasp a ordance models. Wemodel grasp a ordances with continuous probability density functions (grasp densities) which link object-relative grasp poses to their success probability. The underlying function representation is nonparametric and relies on kernel density estimation to provide a continuous model. Grasp densities are learned and...

Robotic hands are very exible mechanisms. Because of this exibility, it has been di cult to automate the process of acquiring objects using these robotic hands. Each new grasping problem is too complex to analyze without the use of good heuristics. Constraints due to target object geometry, environment geometry, hand kinematics and geometry, and a task description must all be considered when fo...

Usually, grasp planning can be split up into two phases: In the first phase one tries to find a set of contacts that allow for stable grasping of an object. This phase has been of major research interest, which is also reflected in the (reasonable) definition of a grasp as a set of contact points. In the second phase a feasible hand pose that realizes the grasp with a given hand is calculated. ...