Abstract: Eating a meal is among the Activities of Daily Living,
but it takes a lot of time and effort for people with physical
or functional limitations. Dedicated technologies are cumbersome
and not portable, while general-purpose assistive robots such as
wheelchair-based manipulators are too hard to control for elaborate
continuous motion like eating. Eating with such devices has not
previously been automated, since there existed no description of
a feeding motion for uncontrolled environments. In this paper, we
introduce a feeding mode for assistive manipulators, including a
mathematical description of trajectories for motions that are difficult
to perform manually such as gathering and scooping food at a
defined/desired pace. We implement these trajectories in a sequence
of movements for a semi-automated feeding mode which can be
controlled with a very simple 3-button interface, allowing the user
to have control over the feeding pace. Finally, we demonstrate the
feeding mode with a JACO robotic arm and compare the eating
speed, measured in bites per minute of three eating methods: a
healthy person eating unaided, a person with upper limb limitations
or disability using JACO with manual control, and a person with
limitations using JACO with the feeding mode. We found that the
feeding mode allows eating about 5 bites per minute, which should
be sufficient to eat a meal under 30min.
Abstract: The majority of today’s mobile robots are very dependent on battery power. Mobile robots can operate untethered for a number of hours but eventually they will need to recharge their batteries in-order to continue to function. While computer processing and sensors have become cheaper and more powerful each year, battery development has progress very little. They are slow to re-charge, inefficient and lagging behind in the general progression of robotic development we see today. However, batteries are relatively cheap and when fully charged, can supply high power output necessary for operating heavy mobile robots. As there are no cheap alternatives to batteries, we need to find efficient ways to manage the power that batteries provide during their operational lifetime. This paper proposes the use of autonomic principles of self-adaption to address the behavioral changes a battery experiences as it gets older. In life, as we get older, we cannot perform tasks in the same way as we did in our youth; these tasks generally take longer to perform and require more of our energy to complete. Batteries also suffer from a form of degradation. As a battery gets older, it loses the ability to retain the same charge capacity it would have when brand new. This paper investigates how we can adapt the current state of a battery charge and cycle count, to the requirements of a mobile robot to perform its tasks.
Abstract: In this paper, we have developed a sliding mode
controller for PUMA 600 manipulator robot, to control the remote
robot a teleoperation system was developed. This system includes
two sites, local and remote. The sliding mode controller is installed
at the remote site. The client asks for a position through an interface
and receives the real positions after running of the task by the remote
robot. Both sites are interconnected via the Internet. In order to verify
the effectiveness of the sliding mode controller, that is compared with
a classic PID controller. The developed approach is tested on a virtual
robot. The results confirmed the high performance of this approach.
Abstract: Robotic arm manipulators are widely used to accomplish many kinds of tasks. SCORBOT-ER 4u is a 5-degree of freedom (DOF) vertical articulated educational robotic arm, and all joints are revolute. It is specifically designed to perform pick and place task with its gripper. The pick and place task consists of consideration of the end effector coordinate of the robotic arm and the desired position coordinate in its workspace. This paper describes about forward kinematics modeling and analysis of the robotic end effector motion through joint space. The kinematics problems are defined by the transformation from the Cartesian space to the joint space. Denavit-Hartenberg (D-H) model is used in order to model the robotic links and joints with 4x4 homogeneous matrix. The forward kinematics model is also developed and simulated in MATLAB. The mathematical model is validated by using robotic toolbox in MATLAB. By using this method, it may be applicable to get the end effector coordinate of this robotic arm and other similar types to this arm. The software development of SCORBOT-ER 4u is also described here. PC-and EtherCAT based control technology from BECKHOFF is used to control the arm to express the pick and place task.
Abstract: Today, the developing features of technological tools with limited energy resources have made it necessary to use energy efficiently. Energy management techniques have emerged for this purpose. As with every field, energy management is vital for robots that are being used in many areas from industry to daily life and that are thought to take up more spaces in the future. Particularly, effective power management in autonomous and multi robots, which are getting more complicated and increasing day by day, will improve the performance and success. In this study, robot management algorithms, usage of renewable and hybrid energy sources, robot motion patterns, robot designs, sharing strategies of workloads in multiple robots, road and mission planning algorithms are discussed for efficient use of energy resources by mobile robots. These techniques have been evaluated in terms of efficient use of existing energy resources and energy management in robots.
Abstract: This paper deals with the design and the
implementation of an automatic task planner for a robot, irrespective
of whether it is a stationary robot or a mobile robot. The aim of the
task planner nothing but, they are planning systems which are used to
plan a particular task and do the robotic manipulation. This planning
system is embedded into the system software in the computer, which
is interfaced to the computer. When the instructions are given using
the computer, this is transformed into real time application using the
robot. All the AI based algorithms are written and saved in the
control software, which acts as the intelligent task planning system.
Abstract: Underground tunnel face bolting and pipe umbrella
reinforcement are one of the most challenging tasks in construction
whether industrial or not, and infrastructures such as roads or
pipelines. It is one of the first sectors of economic activity in the
world. Through a variety of soil and rock, a cyclic Conventional
Tunneling Method (CTM) remains the best one for projects with
highly variable ground conditions or shapes. CTM is the only
alternative for the renovation of existing tunnels and creating
emergency exit. During the drilling process, a wide variety of
non-desired vibrations may arise, and a method using a robot arm
is proposed. The main kinds of drilling through vibration here is the
bit-bouncing phenomenon (resonant axial vibration). Hence, assisting
the task by a robot arm may play an important role on drilling
performances and security. We propose to control the axial-vibration
phenomenon along the drillstring at a practical resonant frequency,
and embed a Resonant Sonic Drilling Head (RSDH) as a robot end
effector for drilling. Many questionable industry drilling criteria and
stability are discussed in this paper.
Abstract: This paper describes a preliminary work aimed at
setting a therapeutic support for autistic teenagers using three
humanoid robots NAO shared by ASD (Autism Spectrum Disorder)
subjects. The studied population had attended successfully a first
year program, and were observed with a second year program
using the robots. This paper focuses on the content and the effects
of the second year program. The approach is based on a master
puppet concept: the subjects program the robots, and use them as
an extension for communication. Twenty sessions were organized,
alternating ten preparatory sessions and ten robotics programming
sessions. During the preparatory sessions, the subjects write a story
to be played by the robots. During the robot programming sessions,
the subjects program the motions to be realized to make the robot
tell the story. The program was concluded by a public performance.
The experiment involves five ASD teenagers aged 12-15, who had
all attended the first year robotics training. As a result, a progress
in voluntary and organized communication skills of the five subjects
was observed, leading to improvements in social organization,
focus, voluntary communication, programming, reading and writing
abilities. The changes observed in the subjects general behavior
took place in a short time, and could be observed from one robotics
session to the next one. The approach allowed the subjects to
draw the limits of their body with respect to the environment, and
therefore helped them confronting the world with less anxiety.
Abstract: Involving students in English language learning process and achieving an adequate English language proficiency in the target language can be a great challenge for both teachers and students. This can prove even a far greater challenge to engage students with special needs (Dyslexia) if they have physical impairment and inadequate mastery of basic communicative language competence/proficiency in the target language. From this perspective, technology like robots can probably be used to enhance learning process for the special needs students who have extensive communication needs, who face continuous struggle to interact with their peers and teachers and meet academic requirements. Robots, precisely NAO, can probably provide them with the perfect opportunity to practice social and communication skills, and meet their English academic requirements. This research paper aims to identify to what extent robots can be used to improve students’ social interaction and communication skills and to understand the potential for robotics-based education in motivating and engaging UAEU dyslexic students to meet university requirements. To reach this end, the paper will explore several factors that come into play – Motion Level-involving cognitive activities, Interaction Level-involving language processing, Behavior Level -establishing a close relationship with the robot and Appraisal Level- focusing on dyslexia students’ achievement in the target language.
Abstract: The movement of points feet of the anthropomorphous robot in space occurs along some stable trajectory of a known form. A large number of modifications to the methods of control of biped robots indicate the fundamental complexity of the problem of stability of the program trajectory and, consequently, the stability of the control for the deviation for this trajectory. Existing gait generators use piecewise interpolation of program trajectories. This leads to jumps in the acceleration at the boundaries of sites. Another interpolation can be realized using differential equations with fractional derivatives. In work, the approach to synthesis of generators of program trajectories is considered. The resulting system of nonlinear differential equations describes a smooth trajectory of movement having rectilinear sites. The method is based on the theory of an asymptotic stability of invariant sets. The stability of such systems in the area of localization of oscillatory processes is investigated. The boundary of the area is a bounded closed surface. In the corresponding subspaces of the oscillatory circuits, the resulting stable limit cycles are curves having rectilinear sites. The solution of the problem is carried out by means of synthesis of a set of the continuous smooth controls with feedback. The necessary geometry of closed trajectories of movement is obtained due to the introduction of high-order nonlinearities in the control of stabilization systems. The offered method was used for the generation of trajectories of movement of point’s feet of the anthropomorphous robot. The synthesis of the robot's program movement was carried out by means of the inverse method.
Abstract: By the development of IT systems, human-computer interaction is also developing even faster and newer communication methods become available in human-machine interaction. In this article, the application of a hand gesture controlled human-computer interface is being introduced through the example of a mobile robot. The control of the mobile robot is implemented in a realistic virtual environment that is advantageous regarding the aspect of different tests, parallel examinations, so the purchase of expensive equipment is unnecessary. The usability of the implemented hand gesture control has been evaluated by test subjects. According to the opinion of the testing subjects, the system can be well used, and its application would be recommended on other application fields too.
Abstract: This paper interrogates online representations of robot companions for children, including promotional material by manufacturers, media articles and technology blogs. The significance of the study lies in its contribution to understanding attitudes to robots. The prospect of childcare robots is particularly controversial ethically, and is associated with emotive arguments. The sampled material is restricted to relatively recent posts (the past three years) though the analysis identifies both continuous and changing themes across the past decade. The method extrapolates social representations theory towards examining the ways in which information about robotic products is provided for the general public. Implications for social acceptance of robot companions for the home and robot ethics are considered.
Abstract: This paper illustrates the concept of an algorithm to register specified markers on the neuroArm surgical manipulators, an image-guided MR-compatible tele-operated robot for microsurgery and stereotaxy. Two range-finding algorithms, namely time-of-flight and phase-shift, are evaluated for registration and supervisory control. The time-of-flight approach is implemented in a semi-field experiment to determine the precise position of a tiny retro-reflective moving object. The moving object simulates a surgical tool tip. The tool is a target that would be connected to the neuroArm end-effector during surgery inside the magnet bore of the MR imaging system. In order to apply flight approach, a 905-nm pulsed laser diode and an avalanche photodiode are utilized as the transmitter and receiver, respectively. For the experiment, a high frequency time to digital converter was designed using a field-programmable gate arrays. In the phase-shift approach, a continuous green laser beam with a wavelength of 530 nm was used as the transmitter. Results showed that a positioning error of 0.1 mm occurred when the scanner-target point distance was set in the range of 2.5 to 3 meters. The effectiveness of this non-contact approach exhibited that the method could be employed as an alternative for conventional mechanical registration arm. Furthermore, the approach is not limited by physical contact and extension of joint angles.
Abstract: In today’s market, striving hard has become necessary for the industries to survive due to the intense competition and globalization. In earlier days, there were few sellers and limited numbers of buyers, so customers were having fewer options to buy the product. But today, the market is highly competitive and volatile. Industries are focusing on robotics, advance manufacturing methods like AJM (Abrasive Jet Machining), EDM (Electric Discharge Machining), ECM (Electrochemical Machining) etc., CAD/CAM, CAE to make quality products and market them in shortest possible time. Leagile manufacturing system is ensuring best available solution at minimum cost to meet the market demand. This paper tries to assimilate the concept of Leagile manufacturing system in today’s scenario and evaluating key factors affecting Leagile manufacturing using digraph technique.
Abstract: This work presents a robot called Conceptual Robotic Cube, CR-Cube. The robot can be used as an educational tool for children from the age of three. It has a cube shape attached with a camera colours sensor. In addition, it contains four wheels to move smoothly. The researchers prepared a questionnaire to measure the efficiency of the robot. The design and the questionnaire was presented to 11 experts who agreed that the robot is appropriate for learning numbering and colours for preschool children.
Abstract: NASA, ESA, and NSSC space agencies have plans to put planetary rovers on Mars in 2020. For these future planetary rovers to succeed, they will heavily depend on sensors to detect obstacles. This will also become of vital importance in the future, if rovers become less dependent on commands received from earth-based control and more dependent on self-configuration and self-decision making. These planetary rovers will face harsh environments and the possibility of hardware failure is high, as seen in missions from the past. In this paper, we focus on using Autonomic principles where self-healing, self-optimization, and self-adaption are explored using the MAPE-K model and expanding this model to encapsulate the attributes such as Awareness, Analysis, and Adjustment (AAA-3). In the experimentation, a Pioneer P3-DX research robot is used to simulate a planetary rover. The sonar sensors on the P3-DX robot are used to simulate the sensors on a planetary rover (even though in reality, sonar sensors cannot operate in a vacuum). Experiments using the P3-DX robot focus on how our software system can be adapted with the loss of sonar sensor functionality. The autonomic manager system is responsible for the decision making on how to make use of remaining ‘enabled’ sonars sensors to compensate for those sonar sensors that are ‘disabled’. The key to this research is that the robot can still detect objects even with reduced sonar sensor capability.
Abstract: In this paper, we study a distributed control algorithm
for the problem of unknown area coverage by a network of robots.
The coverage objective is to locate a set of targets in the area and
to minimize the robots’ energy consumption. The robots have no
prior knowledge about the location and also about the number of the
targets in the area. One efficient approach that can be used to relax
the robots’ lack of knowledge is to incorporate an auxiliary learning
algorithm into the control scheme. A learning algorithm actually
allows the robots to explore and study the unknown environment
and to eventually overcome their lack of knowledge. The control
algorithm itself is modeled based on game theory where the network
of the robots use their collective information to play a non-cooperative
potential game. The algorithm is tested via simulations to verify its
performance and adaptability.
Abstract: This paper applies to the creation of virtual 3D environments for the study and development of mobile robot image based navigation algorithms and techniques, which need to operate robustly and efficiently. The test of these algorithms can be performed in a physical way, from conducting experiments on a prototype, or by numerical simulations. Current simulation platforms for robotic applications do not have flexible and updated models for image rendering, being unable to reproduce complex light effects and materials. Thus, it is necessary to create a test platform that integrates sophisticated simulated applications of real environments for navigation, with data and image processing. This work proposes the development of a high-level platform for building 3D model’s environments and the test of image-based navigation algorithms for mobile robots. Techniques were used for applying texture and lighting effects in order to accurately represent the generation of rendered images regarding the real world version. The application will integrate image processing scripts, trajectory control, dynamic modeling and simulation techniques for physics representation and picture rendering with the open source 3D creation suite - Blender.
Abstract: The motivation of our work is to detect different
terrain types traversed by a robot based on acoustic data from the
robot-terrain interaction. Different acoustic features and classifiers
were investigated, such as Mel-frequency cepstral coefficient and
Gamma-tone frequency cepstral coefficient for the feature extraction,
and Gaussian mixture model and Feed forward neural network for the
classification. We analyze the system’s performance by comparing
our proposed techniques with some other features surveyed from
distinct related works. We achieve precision and recall values between
87% and 100% per class, and an average accuracy at 95.2%. We also
study the effect of varying audio chunk size in the application phase
of the models and find only a mild impact on performance.
Abstract: Metal Ship and Robotic Car is one of the hands-on activities in the course, the Fundamental of Engineering that can be divided into three parts. The first part, the metal ships, was made by using engineering drawings, physics and mathematics knowledge. The second part is where the students learned how to construct a robotic car and control it using computer programming. In the last part, the students had to combine the workings of these two objects in the final testing. This aim of study was to investigate the effectiveness of hands-on activity by integrating Science, Technology, Engineering and Mathematics (STEM) concepts to develop scientific and engineering skills. The results showed that the majority of students felt this hands-on activity lead to an increased confidence level in the integration of STEM. Moreover, 48% of all students engaged well with the STEM concepts. Students could obtain the knowledge of STEM through hands-on activities with the topics science and mathematics, engineering drawing, engineering workshop and computer programming; most students agree and strongly agree with this learning process. This indicated that the hands-on activity: “Metal Ship and Robotic Car” is a useful tool to integrate each aspect of STEM. Furthermore, hands-on activities positively influence a student’s interest which leads to increased learning achievement and also in developing scientific and engineering skills.