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1
Engelbrecht, Duanne, Nico Steyn und Karim Djouani. „Adaptive Virtual Impedance Control of a Mobile Multi-Robot System“. Robotics 10, Nr. 1 (21.01.2021): 19. http://dx.doi.org/10.3390/robotics10010019.
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The capabilities of collaborative robotics have transcended the conventional abilities of decentralised robots as it provides benefits such as scalability, flexibility and robustness. Collaborative robots can operate safely in complex human environments without being restricted by the safety cages or barriers that often accompany them. Collaborative robots can be used for various applications such as machine tending, packaging, process tasks and pick and place. This paper proposes an improvement of the current virtual impedance algorithm by developing an adaptive virtual impedance controlled mobile multi-robot system focused on dynamic obstacle avoidance with a controlled planar movement. The study includes the development of a mobile multi-robot platform whereby each robot plans a path individually without a supervisor. The proposed system would implement a two-layered hierarchy for robot path planning. The higher layer generates a trajectory from the current position to the desired position, and the lower layer develops a real-time strategy to follow the generated trajectory while avoiding static and dynamic obstacles. The key contribution of this paper is the adaptive virtual impedance controller for a multi-robot system that will maintain movement stability and improve the motion behaviour in a dynamic environment.
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Bonci, Andrea, Pangcheng David Cen Cheng, Marina Indri, Giacomo Nabissi und Fiorella Sibona. „Human-Robot Perception in Industrial Environments: A Survey“. Sensors 21, Nr. 5 (24.02.2021): 1571. http://dx.doi.org/10.3390/s21051571.
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Perception capability assumes significant importance for human–robot interaction. The forthcoming industrial environments will require a high level of automation to be flexible and adaptive enough to comply with the increasingly faster and low-cost market demands. Autonomous and collaborative robots able to adapt to varying and dynamic conditions of the environment, including the presence of human beings, will have an ever-greater role in this context. However, if the robot is not aware of the human position and intention, a shared workspace between robots and humans may decrease productivity and lead to human safety issues. This paper presents a survey on sensory equipment useful for human detection and action recognition in industrial environments. An overview of different sensors and perception techniques is presented. Various types of robotic systems commonly used in industry, such as fixed-base manipulators, collaborative robots, mobile robots and mobile manipulators, are considered, analyzing the most useful sensors and methods to perceive and react to the presence of human operators in industrial cooperative and collaborative applications. The paper also introduces two proofs of concept, developed by the authors for future collaborative robotic applications that benefit from enhanced capabilities of human perception and interaction. The first one concerns fixed-base collaborative robots, and proposes a solution for human safety in tasks requiring human collision avoidance or moving obstacles detection. The second one proposes a collaborative behavior implementable upon autonomous mobile robots, pursuing assigned tasks within an industrial space shared with human operators.
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Lin, Huei-Yung, und Yi-Chun Huang. „Collaborative Complete Coverage and Path Planning for Multi-Robot Exploration“. Sensors 21, Nr. 11 (26.05.2021): 3709. http://dx.doi.org/10.3390/s21113709.
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In mobile robotics research, the exploration of unknown environments has always been an important topic due to its practical uses in consumer and military applications. One specific interest of recent investigation is the field of complete coverage and path planning (CCPP) techniques for mobile robot navigation. In this paper, we present a collaborative CCPP algorithms for single robot and multi-robot systems. The incremental coverage from the robot movement is maximized by evaluating a new cost function. A goal selection function is then designed to facilitate the collaborative exploration for a multi-robot system. By considering the local gains from the individual robots as well as the global gain by the goal selection, the proposed method is able to optimize the overall coverage efficiency. In the experiments, our CCPP algorithms are carried out on various unknown and complex environment maps. The simulation results and performance evaluation demonstrate the effectiveness of the proposed collaborative CCPP technique.
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Chen, Wenzhou, Shizheng Zhou, Zaisheng Pan, Huixian Zheng und Yong Liu. „Mapless Collaborative Navigation for a Multi-Robot System Based on the Deep Reinforcement Learning“. Applied Sciences 9, Nr. 20 (09.10.2019): 4198. http://dx.doi.org/10.3390/app9204198.
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Compared with the single robot system, a multi-robot system has higher efficiency and fault tolerance. The multi-robot system has great potential in some application scenarios, such as the robot search, rescue and escort tasks, and so on. Deep reinforcement learning provides a potential framework for multi-robot formation and collaborative navigation. This paper mainly studies the collaborative formation and navigation of multi-robots by using the deep reinforcement learning algorithm. The proposed method improves the classical Deep Deterministic Policy Gradient (DDPG) to address the single robot mapless navigation task. We also extend the single-robot Deep Deterministic Policy Gradient algorithm to the multi-robot system, and obtain the Parallel Deep Deterministic Policy Gradient (PDDPG). By utilizing the 2D lidar sensor, the group of robots can accomplish the formation construction task and the collaborative formation navigation task. The experiment results in a Gazebo simulation platform illustrates that our method is capable of guiding mobile robots to construct the formation and keep the formation during group navigation, directly through raw lidar data inputs.
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Hichri, Bassem, Jean Christophe Fauroux, Lounis Adouane, Youcef Mezouar und Ioan Doroftei. „Design of Collaborative, Cross & Carry Mobile RoBots "C3Bots"“. Advanced Materials Research 837 (November 2013): 588–93. http://dx.doi.org/10.4028/www.scientific.net/amr.837.588.
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This paper presents an introduction aboutC3Botsproject which aims to design collaborative, cross and carry mobile robots. In this project it is considered to design an innovative robotic system based on modular entities with a simple mechanical architecture able to collaborate to ensure object co-manipulation and transport. The resulting multi-robot system is calledC3Bots. In this paper we present the first version of this system using a parallelogram mechanism for co-manipulation and the realized prototypes which are going to be used for first experiments.
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Zenkevich, Stanislav, Anaid Nazarova und Jianwen Huo. „Control of mobile robot group using collaborative drone“. Robotics and Technical Cybernetics 7, Nr. 3 (September 2019): 208–14. http://dx.doi.org/10.31776/rtcj.7305.
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MIYAUCHI, Takahiro, Tomohito TAKUBO, Tatsuo ARAI und Kenichi OHARA. „4215 Collaborative Monitoring Using UFAM and Mobile Robot“. Proceedings of the JSME annual meeting 2007.7 (2007): 333–34. http://dx.doi.org/10.1299/jsmemecjo.2007.7.0_333.
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Maroşan, Iosif-Adrian, und George Constantin. „Wireless communication based on Raspberry pi and Codesys for mobile robots using IoT technology“. MATEC Web of Conferences 343 (2021): 08008. http://dx.doi.org/10.1051/matecconf/202134308008.
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The industrial environment is going through exponential changes, due to the diversity of technological solutions that appear more and more frequently and the increase of productivity at increasing capacities. Due to this fact in the industrial area the number of devices, processing systems, collaborative robots, mobile robots and industrial equipment is increasing more and more. Consequently, there is a need for communication and connectivity of entities, common physical or virtual functioning and decision making, all of which are fundamental to the transition to the new concept of Industry 4.0. This study presents how wireless communication can be achieved in a mobile robotic platform that serves an industrial sector with other equipment in the production area, such as industrial equipment, collaborative industrial robots or other mobile robots. Also in this paper is presented how to create an HMI interface for the mobile platform that can be accessed from a touchscreen display mounted on the robot or from any mobile device connected to the internet.
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Yasuda, Motohiro, Hiroshi Ogiya und Nobuto Matsuhira. „Shared map for multiple teleoperated robot system with RSNP to perform a collaborative task : An exploration experiment by two mobile robots“. Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM 2015.6 (2015): 41–42. http://dx.doi.org/10.1299/jsmeicam.2015.6.41.
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Tan, Bin. „Soccer-Assisted Training Robot Based on Image Recognition Omnidirectional Movement“. Wireless Communications and Mobile Computing 2021 (16.08.2021): 1–10. http://dx.doi.org/10.1155/2021/5532210.
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With the continuous emergence and innovation of computer technology, mobile robots are a relatively hot topic in the field of artificial intelligence. It is an important research area of more and more scholars. The core of mobile robots is to be able to realize real-time perception of the surrounding environment and self-positioning and to conduct self-navigation through this information. It is the key to the robot’s autonomous movement and has strategic research significance. Among them, the goal recognition ability of the soccer robot vision system is the basis of robot path planning, motion control, and collaborative task completion. The main recognition task in the vision system is the omnidirectional vision system. Therefore, how to improve the accuracy of target recognition and the light adaptive ability of the robot omnidirectional vision system is the key issue of this paper. Completed the system construction and program debugging of the omnidirectional mobile robot platform, and tested its omnidirectional mobile function, positioning and map construction capabilities in the corridor and indoor environment, global navigation function in the indoor environment, and local obstacle avoidance function. How to use the local visual information of the robot more perfectly to obtain more available information, so that the “eyes” of the robot can be greatly improved by relying on image recognition technology, so that the robot can obtain more accurate environmental information by itself has always been domestic and foreign one of the goals of the joint efforts of scholars. Research shows that the standard error of the experimental group’s shooting and dribbling test scores before and the experimental group’s shooting and dribbling test results after the standard error level is 0.004, which is less than 0.05, which proves the use of soccer-assisted robot-assisted training. On the one hand, we tested the positioning and navigation functions of the omnidirectional mobile robot, and on the other hand, we verified the feasibility of positioning and navigation algorithms and multisensor fusion algorithms.
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Khan, Rabeea, Zeeshan Yousaf, Asif Memon, Sajid Hussain und Abdul Muttalib. „Algorithm and Implementation of Human Following Co-bot using 2D LiDAR“. Pakistan Journal of Engineering and Technology 4, Nr. 2 (28.06.2021): 89–93. http://dx.doi.org/10.51846/vol4iss2pp89-93.
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Co-bots - collaborative robots are designed to interact directly with humans in close proximity. Some human-robot collaborative applications like surveillance, clinical services, media outlets, defense, and social associations, may require an autonomous robot to have the ability to distinguish and track a person and to follow him around. Smart suitcases and smart trolleys are practical applications of human detection and following co-bots. Initially seen as a special case of object tracking, the task of person following with autonomous robots before long turned into a challenging task of its own especially when using a short-range sensor like laser range scanner. Therefore, we have proposed and implemented an effective algorithm forintelligent detection, tracking, and following a specified target person. The decision is being made by the control unit based on the information obtained from 2D LIDAR mounted at knee height, hence, enabling the mobile co-bot to follow the target in a dynamic environment without any collision.
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Ghelichi, Zabih, und Srikanth Kilaru. „Analytical models for collaborative autonomous mobile robot solutions in fulfillment centers“. Applied Mathematical Modelling 91 (März 2021): 438–57. http://dx.doi.org/10.1016/j.apm.2020.09.059.
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Ponce, Hiram E., Dejanira Araiza und Pedro Ponce. „A Neuro-Fuzzy Controller for Collaborative Applications in Robotics Using LabVIEW“. Applied Computational Intelligence and Soft Computing 2009 (2009): 1–9. http://dx.doi.org/10.1155/2009/657095.
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A neuro-fuzzy controller was designed and implemented using LabVIEW over a mobile robotic platform. The controller is based on fuzzy clusters, neural networks, and search techniques. Also, wireless communication with Bluetooth protocol was used to communicate the robot with the controller running in LabVIEW, allowing a simple collaborative task that consisted in pick and place objects, through knowing the position of the robot and measuring the distance to the objects. The neuro-fuzzy controller was split in two parts: the position controller and the evasion controller against collisions.
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Staal, Alexander S., Carolina G. Salvatierra, Ditte D. Albertsen, Mathiebhan Mahendran, Rahul Ravichandran, Rasmus F. Thomsen, Emil B. Hansen und Simon Bøgh. „Towards a Collaborative Omnidirectional Mobile Robot in a Smart Cyber-Physical Environment“. Procedia Manufacturing 51 (2020): 193–200. http://dx.doi.org/10.1016/j.promfg.2020.10.028.
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Hentout, Abdelfetah, Abderraouf Maoudj, Nesrine Kaid-youcef, Djamila Hebib und Brahim Bouzouia. „Distributed Multi-agent Bidding-Based Approach for the Collaborative Mapping of Unknown Indoor Environments by a Homogeneous Mobile Robot Team“. Journal of Intelligent Systems 29, Nr. 1 (06.12.2017): 84–99. http://dx.doi.org/10.1515/jisys-2017-0255.
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Abstract This paper deals with the problem of the collaborative mapping of unknown indoor environments by a homogeneous mobile robot team. For this aim, a distributed multi-agent coordination approach is proposed for the mapping process to offer a global view of the entire environment. First, the scheme starts by assigning the most suitable robots to the different zones of the environment to be mapped based on a bidding strategy. Then, while a Robot agent of the group explores its local surroundings and collects information about its neighborhood, it sends mapping data to the Human/Machine Interface agent to integrate them into a single global map. Furthermore, a geometric map representation and an algorithm based on obstacles and environment limits detection are used to provide an explicitly geometric representation of the workspace. For validation purposes, Player/Stage simulator is used to show the effectiveness of the proposed distributed approach and algorithms without needing a real multi-robot system and environment. Finally, various scenarios have been carried out and results are compared in terms of (i) required mapping time, (ii) accuracy of the global generated map, and (iii) number of exchanged messages between the agents.
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Liu, Guohua, Juan Guan, Haiying Liu und Chenlin Wang. „Multirobot Collaborative Navigation Algorithms Based on Odometer/Vision Information Fusion“. Mathematical Problems in Engineering 2020 (27.08.2020): 1–16. http://dx.doi.org/10.1155/2020/5819409.
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Collaborative navigation is the key technology for multimobile robot system. In order to improve the performance of collaborative navigation system, the collaborative navigation algorithms based on odometer/vision multisource information fusion are presented in this paper. Firstly, the multisource information fusion collaborative navigation system model is established, including mobile robot model, odometry measurement model, lidar relative measurement model, UWB relative measurement model, and the SLAM model based on lidar measurement. Secondly, the frameworks of centralized and decentralized collaborative navigation based on odometer/vision fusion are given, and the SLAM algorithms based on vision are presented. Then, the centralized and decentralized odometer/vision collaborative navigation algorithms are derived, including the time update, single node measurement update, relative measurement update between nodes, and covariance cross filtering algorithm. Finally, different simulation experiments are designed to verify the effectiveness of the algorithms. Two kinds of multirobot collaborative navigation experimental scenes, which are relative measurement aided odometer and odometer/SLAM fusion, are designed, respectively. The advantages and disadvantages of centralized versus decentralized collaborative navigation algorithms in different experimental scenes are analyzed.
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Puente, Santiago T., Lucía Más, Fernando Torres und and Francisco A. Candelas. „Virtualization of Robotic Hands Using Mobile Devices †“. Robotics 8, Nr. 3 (16.09.2019): 81. http://dx.doi.org/10.3390/robotics8030081.
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This article presents a multiplatform application for the tele-operation of a robot hand using virtualization in Unity 3D. This approach grants usability to users that need to control a robotic hand, allowing supervision in a collaborative way. This paper focuses on a user application designed for the 3D virtualization of a robotic hand and the tele-operation architecture. The designed system allows for the simulation of any robotic hand. It has been tested with the virtualization of the four-fingered Allegro Hand of SimLab with 16 degrees of freedom, and the Shadow hand with 24 degrees of freedom. The system allows for the control of the position of each finger by means of joint and Cartesian co-ordinates. All user control interfaces are designed using Unity 3D, such that a multiplatform philosophy is achieved. The server side allows the user application to connect to a ROS (Robot Operating System) server through a TCP/IP socket, to control a real hand or to share a simulation of it among several users. If a real robot hand is used, real-time control and feedback of all the joints of the hand is communicated to the set of users. Finally, the system has been tested with a set of users with satisfactory results.
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Pavlic, Tomislav, Krunoslav Kušec, Danijel Radočaj, Alen Britvić, Marin Lukas, Vladimir Milić und Mladen Crneković. „Cognitive Model of the Closed Environment of a Mobile Robot Based on Measurements“. Applied Sciences 11, Nr. 6 (20.03.2021): 2786. http://dx.doi.org/10.3390/app11062786.
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In recent years in mobile robotics, the focus has been on methods, in which the fusion of measurement data from various systems leads to models of the environment that are of a probabilistic type. The cognitive model of the environment is less accurate than the exact mathematical one, but it is unavoidable in the robot collaborative interaction with a human. The subject of the research proposed in this paper is the development of a model for learning and planning robot operations. The task of operations and mapping the unknown environment, similar to how humans do the same tasks in the same conditions has been explored. The learning process is based on a virtual dynamic model of a mobile robot, identical to a real mobile robot. The mobile robot’s motion with developed artificial neural networks and genetic algorithms is defined. The transfer method of obtained knowledge from simulated to a real system (Sim-To-Real; STR) is proposed. This method includes a training step, a simultaneous reasoning step, and an application step of trained and learned knowledge to control a real robot’s motion. Use of the basic cognitive elements language, a robot’s environment, and its correlation to that environment is described. Based on that description, a higher level of information about the mobile robot’s environment is obtained. The information is directly generated by the fusion of measurement data obtained from various systems.
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Kousi, Niki, Christos Gkournelos, Sotiris Aivaliotis, Konstantinos Lotsaris, Angelos Christos Bavelos, Panagiotis Baris, George Michalos und Sotiris Makris. „Digital Twin for Designing and Reconfiguring Human–Robot Collaborative Assembly Lines“. Applied Sciences 11, Nr. 10 (18.05.2021): 4620. http://dx.doi.org/10.3390/app11104620.
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This paper discusses a digital twin-based approach for designing and redesigning flexible assembly systems. The digital twin allows modeling the parameters of the production system at different levels including assembly process, production station, and line level. The approach allows dynamically updating the digital twin in runtime, synthesizing data from multiple 2D–3D sensors in order to have up-to-date information about the actual production process. The model integrates both geometrical information and semantics. The model is used in combination with an artificial intelligence logic in order to derive alternative configurations of the production system. The overall approach is discussed with the help of a case study coming from the automotive industry. The case study introduces a production system integrating humans and autonomous mobile dual arm workers.
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Aleotti, Jacopo, Alberto Baldassarri, Marcello Bonfè, Marco Carricato, Davide Chiaravalli, Roberto Di Leva, Cesare Fantuzzi et al. „Toward Future Automatic Warehouses: An Autonomous Depalletizing System Based on Mobile Manipulation and 3D Perception“. Applied Sciences 11, Nr. 13 (26.06.2021): 5959. http://dx.doi.org/10.3390/app11135959.
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This paper presents a mobile manipulation platform designed for autonomous depalletizing tasks. The proposed solution integrates machine vision, control and mechanical components to increase flexibility and ease of deployment in industrial environments such as warehouses. A collaborative robot mounted on a mobile base is proposed, equipped with a simple manipulation tool and a 3D in-hand vision system that detects parcel boxes on a pallet, and that pulls them one by one on the mobile base for transportation. The robot setup allows to avoid the cumbersome implementation of pick-and-place operations, since it does not require lifting the boxes. The 3D vision system is used to provide an initial estimation of the pose of the boxes on the top layer of the pallet, and to accurately detect the separation between the boxes for manipulation. Force measurement provided by the robot together with admittance control are exploited to verify the correct execution of the manipulation task. The proposed system was implemented and tested in a simplified laboratory scenario and the results of experimental trials are reported.
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Moondeep Chandra, Shrestha, ICHIKAWA Kentaro, IKAMI Katsuya, HAYAKAWA Shoichi, SUGANO Shigeki und IWATA Hiroyasu. „2A1-R09 Human-Robot Collaborative Control in Mobile Environment : A Simulation Study of the Adaptive Contact-based Trajectory Control for Prioritizing the Robot(Wheeled Robot / Tracked Vehicle (1))“. Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2013 (2013): _2A1—R09_1—_2A1—R09_4. http://dx.doi.org/10.1299/jsmermd.2013._2a1-r09_1.
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Andersen, Rasmus Eckholdt, Emil Blixt Hansen, David Cerny, Steffen Madsen, Biranavan Pulendralingam, Simon Bøgh und Dimitrios Chrysostomou. „Integration of a Skill-based Collaborative Mobile Robot in a Smart Cyber-physical Environment“. Procedia Manufacturing 11 (2017): 114–23. http://dx.doi.org/10.1016/j.promfg.2017.07.209.
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Qian, Kun, Xudong Ma, Xian Zhong Dai und Fang Fang. „Spatial-temporal Collaborative Sequential Monte Carlo for Mobile Robot Localization in Distributed Intelligent Environments“. International Journal on Smart Sensing and Intelligent Systems 5, Nr. 2 (2012): 295–314. http://dx.doi.org/10.21307/ijssis-2017-482.
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BENSACI, Chaima, Youcef ZENNIR und Denis POMORSKI. „New Approach to System Safety of human- multi-robot mobile system control with STPA and FTA“. Algerian Journal of Signals and Systems 5, Nr. 1 (15.03.2020): 79–85. http://dx.doi.org/10.51485/ajss.v5i1.100.
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Autonomous Mobile multi-robots are among the most complex systems in their control. Especially when those robots navigate in hazardous and dynamic environments such as chemical analysis laboratories which include dangerous and harmful products (poisonous, flammable, explosive ...). This study deals the safety problem in a robotic analysis laboratory and investigates the possibility to use those autonomous multi-robots in such environments with the presence of human workers without serious hazards. We used a systems-theoretic hazard analysis technique (STPA) in addition to fault tree analysis to identify the potential safety hazard scenarios, their causal factors and we conclude by a set of recommendations. Keywords: Hazard Analysis, STPA, FTA, Collaborative multi-mobile robots.
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Bogue, Robert. „Robots in the offshore oil and gas industries: a review of recent developments“. Industrial Robot: the international journal of robotics research and application 47, Nr. 1 (04.11.2019): 1–6. http://dx.doi.org/10.1108/ir-10-2019-0207.
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Purpose This paper aims to provide details of recent developments in robots aimed at applications in the offshore oil and gas industries. Design/methodology/approach Following a short introduction, this first discusses developments to remotely operated vehicles (ROVs) and autonomous underwater vehicles (AUVs). It then describes the Total-sponsored Autonomous Robot for Gas and Oil Sites (ARGOS) robot challenge. This is followed by a discussion of the Offshore Robotics for Certification of Assets (ORCA) programme. Finally, brief concluding comments are drawn. Findings Subsea residency and other techniques are being developed that will enhance the availability and capabilities of AUVs and ROVs and reduce their operating costs. Mobile robots that can operate in harsh topside rig environments to monitor and detect hazards arose from ARGOS and are being developed further prior to commercialisation. Bringing together academics and users, the collaborative ORCA programme is making significant progress in the development of aerial, topside and underwater robotic and sensing technologies for rig asset inspection and maintenance. Originality/value This paper identifies and describes key development activities that will stimulate the use of robots by the offshore industries.
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Hayashibara, Yasuo, Shinya Kotosaka, Naomi Miyake und Tomomasa Sato. „Education Method of Robotics with Jigsaw Method by Using RT Component“. Journal of Robotics and Mechatronics 23, Nr. 5 (20.10.2011): 830–39. http://dx.doi.org/10.20965/jrm.2011.p0830.
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This paper introduces an educationmethod of robotics with the jigsaw method by using the RT component. Robotics contains many areas of technologies, such as mechanism, electronics, and computer programming. Therefore, it may be a desirable academic discipline for studying current complex technologies. For studying robotics efficiently, we propose an education method of robotics based on the jigsaw method. The jigsaw method is an efficient method to induce collaborative learning. We apply the jigsaw method to practical training of controlling a real mobile robot. We design an education program according to the method and develop its educational tool. Our developed educational tool is portable and simple to use. It just consists of a small mobile robot, a range sensor, circuit boards, and a personal computer. The mobile robot is controlled through USB. Moreover, students make program by using RT component. The RT component is a standard software component in the field of robotics. By using the RT component, they can skip to creating programs to drive hardware. We executed an experimental lecture according to the educational program. Through the experiment, we discuss the effectiveness of the proposed method.
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Colucci, Giovanni, Luigi Tagliavini, Luca Carbonari, Paride Cavallone, Andrea Botta und Giuseppe Quaglia. „Paquitop.arm, a Mobile Manipulator for Assessing Emerging Challenges in the COVID-19 Pandemic Scenario“. Robotics 10, Nr. 3 (14.08.2021): 102. http://dx.doi.org/10.3390/robotics10030102.
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The use of automation and robotics technologies for caregiving and assistance has become a very interesting research topic in the field of robotics. The spread of COVID-19 has highlighted the importance of social distancing in hospitals and health centers, and collaborative robotics can bring substantial improvements in terms of sparing health workers basic operations. Thus, researchers from Politecnico di Torino are working on Paquitop.arm, a mobile robot for assistive tasks. The purpose of this paper is to present a system composed of an omnidirectional mobile platform, a 6 DOF robot arm, and a depth camera. Task-oriented considerations are made to estimate a set of mounting parameters that represents a trade-off between the exploitation of the robot arm workspace and the compactness of the entire system. To this end, dexterity and force transmission indexes are introduced to study both the kinematic and the static behavior of the manipulator as a function of the mounting parameters. Finally, to avoid singularities during the execution of the task, the platform approach to the task workspaces is studied.
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Meng, Li Xia, Fu Chun Sun, Guang Yu Bin und Hong Bo Li. „Outdoor Mobile Robot Navigation System Based on BCI and Dual Laser Radar“. Applied Mechanics and Materials 665 (Oktober 2014): 629–34. http://dx.doi.org/10.4028/www.scientific.net/amm.665.629.
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A machine intelligence assistant BCI fusion navigation method of an outdoor mobile robot is put forward in view of the problem of BCI’s low signal-to-noise ratio, bad accuracy and long time delay. A vehicle navigation system based on BCI and dual laser radar is designed and implemented. First, improved angle potential field method based on dual laser radar is used for local path planning, then with navigation intention from BCI system, control commands are generated by fusion decision and used for driving a electric vehicle with modified mechanical system. Experiments show that the system can realize intelligent obstacle avoidance and human-machine collaborative navigation based on environmental obstacle information and brain machine interface control intention and it has higher accuracy, fault tolerance and robustness
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D'Souza, Floyd, João Costa und J. Norberto Pires. „Development of a solution for adding a collaborative robot to an industrial AGV“. Industrial Robot: the international journal of robotics research and application 47, Nr. 5 (15.05.2020): 723–35. http://dx.doi.org/10.1108/ir-01-2020-0004.
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Purpose The Industry 4.0 initiative – with its ultimate objective of revolutionizing the supply-chain – putted more emphasis on smart and autonomous systems, creating new opportunities to add flexibility and agility to automatic manufacturing systems. These systems are designed to free people from monotonous and repetitive tasks, enabling them to concentrate in knowledge-based jobs. One of these repetitive functions is the order-picking task which consists of collecting parts from storage (warehouse) and distributing them among the ordering stations. An order-picking system can also pick finished parts from working stations to take them to the warehouse. The purpose of this paper is to present a simplified model of a robotic order-picking system, i.e. a mobile manipulator composed by an automated guided vehicle (AGV), a collaborative robot (cobot) and a robotic hand. Design/methodology/approach Details about its implementation are also presented. The AGV is needed to safely navigate inside the factory infrastructure, namely, between the warehouse and the working stations located in the shop-floor or elsewhere. For that purpose, an ActiveONE AGV, from Active Space Automation, was selected. The collaborative robot manipulator is used to move parts from/into the mobile platform (feeding the working stations and removing parts for the warehouse). A cobot from Kassow Robots was selected (model KR 810), kindly supplied by partner companies Roboplan (Portugal) and Kassow Robotics (Denmark). An Arduino MKR1000 board was also used to interconnect the user interface, the AGV and the collaborative robot. The graphical user interface was developed in C# using the Microsoft Visual Studio 2019 IDE, taking advantage of this experience in this type of language and programming environment. Findings The resulting prototype was fully demonstrated in the partner company warehouse (Active Space Automation) and constitutes a possible order-picking solution, which is ready to be integrated into advanced solutions for the factories of the future. Originality/value A solution to fully automate the order-picking task at an industrial shop-floor was presented and fully demonstrated. The objective was to design a system that could be easy to use, to adapt to different applications and that could be a basic infrastructure for advanced order-picking systems. The system proved to work very well, executing all the features required for an order-picking system working in an Industry 4.0 scenario where humans and machines must act as co-workers. Although all the system design objectives were accomplished, there are still opportunities to improve and add features to the presented solution. In terms of improvements, a different robotic hand will be used in the final setup, depending on the type of objects that are being required to move. The amount of equipment that is located on-board of the AGV can be significantly reduced, freeing space and lowering the weight that the AGV carries. For example, the controlling computer can be substituted by a single-board-computer without any advantage. Also, the cobot should be equipped with a wrist camera to identify objects and landmark. This would allow the cobot to fully identify the position and orientation of the objects to pick and drop. The wrist camera should also use bin-picking software to fully identify the shape of the objects to pick and also their relative position (if they are randomly located in a box, for example). These features are easy to add to the developed mobile manipulator, as there are a few vision systems in the market (some that integrate with the selected cobot) that can be easily integrated in the solution. Finally, this paper reports a development effort that neglected, for practical reasons, all issues related with certification, safety, training, etc. A future follow-up paper, reporting a practical use-case implementation, will properly address those practical and operational issues.
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Hüttenrauch, Helge, und Kerstin Severinson-Eklundh. „To help or not to help a service robot“. Interaction Studies 7, Nr. 3 (13.11.2006): 455–77. http://dx.doi.org/10.1075/is.7.3.15hut.
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A mobile service robot performing a task for its user(s) might not be able to accomplish its mission without help from other people present in the shared environment. In previous research, collaborative control has been studied as an interactive mode of operation with a robot, compensating for its limitations in autonomy. However, few studies of robots requesting assistance by detecting potential collaborators, directing its attention to them, addressing them, and finally obtaining help from them, have previously been performed in real-world use contexts. This study focuses on a fetch-and-carry robot, Cero, which has been designed to operate in an office environment as an aid for motion-impaired users. During its missions, the robot sometimes needs help with loading or unloading an object. The main question for the study was: under what conditions are people willing to help when requested to do so by the robot? We were particularly interested in bystanders, i.e. people who happened to be in the environment but who did not “have any official business” with the robot (they neither knew anything about the robot, nor did they have access rights to the robot or its functions). To answer these questions and to provide a better understanding of human–robot help-seeking situations, we conducted an experimental study in which subjects who had not encountered our service robot before were requested to assist it with a task. The results of the study confirm that bystanders can to some degree be expected to help in robot missions, but that their willingness to help the robot depends on the situation and state of occupation that people are in when requested to interact with and assist the robot.
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Ibaraki, Soichi, und Andreas Archenti. „Special Issue on New Technologies for Robotic Manipulators and Their Industrial Applications“. International Journal of Automation Technology 15, Nr. 5 (05.09.2021): 565–66. http://dx.doi.org/10.20965/ijat.2021.p0565.
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The industrial robot is more precisely an “automatically controlled, reprogrammable, multipurpose manipulator, programmable in three or more axes, which can be either fixed in place or mobile” (ISO 8373:2012). According to the International Federation of Robotics, by 2018, more than 400,000 new units were being installed annually, and the global average robot density in the manufacturing industry was 99 robots per 10,000 employees. More than 30% of all installed robots were in the automotive industry, the biggest customer for robots. Research on measuring and calibrating, modeling, programming and controlling, and integrating systems has been conducted to give robotic manipulators a wider variety of industrial applications. This special issue covers technical and academic efforts related to new technologies that improve the accuracy and facilitate the implementation of robotic manipulators in industrial applications. The first paper, by Ibaraki et al., outlines technical issues and future research directions for the implementation of model-based numerical compensation schemes for industrial robots. The random forest method is used by Kato et al. to construct a calibration model for positioning errors and identify industrial robots’ positioning errors. A procedure for the quasi-static compliance calibration of serial articulated industrial manipulators is proposed by Theissen et al. A review of the kinematic modeling theory and a derived algorithm to identify error sources for a six-axis industrial robot are presented by Alam et al. Nagao et al. derive a forward kinematics model and identify the kinematics parameters for the calibration of a robot-type machine tool. A novel trajectory generation algorithm, including a corner smoothing method for high-speed and high-accuracy machining by industrial robots, is proposed by Tajima et al. Sato et al. study the vibration characteristics of an industrial robot and derive a mathematical model that represents the dynamic behavior of the system. In the context of smart manufacturing, a multilayer quality inspection framework including a measurement instrument and a robot manipulator is introduced by Azamfirei et al. To support mass customization and the development of reconfigurable manufacturing systems, Inoue et al. propose an autonomous mobile robotic manipulator. Yonemoto and Suwa present an adaptive manipulation procedure to establish an automated scheduling technique that flexibly responds to unforeseen events, such as machine failures. Sasatake et al. introduce a learning system that is based on a method for calculating the similarity between tools, and they test it on a robot system for doing housework. Finally, for better knowledge of the key challenges that manufacturers experience in implementing collaborative industrial robots, an industrial survey is conducted by Andersson et al. The editors sincerely appreciate the contributions of all the authors as well as the work of the reviewers. We are confident that this special issue will further encourage research and engineering work to increase our understanding and knowledge of robotic manipulators and their industrial applications.
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Kawabata, Kuniaki, Tatsuya Ishikawa, Teruo Fujii, Hajime Asama und Isao Endo. „Collaborative Task Execution by a Human and an Autonomous Mobile Robot in a Teleoperated System“. Integrated Computer-Aided Engineering 6, Nr. 4 (01.10.1999): 319–30. http://dx.doi.org/10.3233/ica-1999-6405.
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Czubenko, Michał, und Zdzisław Kowalczuk. „A Simple Neural Network for Collision Detection of Collaborative Robots“. Sensors 21, Nr. 12 (21.06.2021): 4235. http://dx.doi.org/10.3390/s21124235.
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Due to the epidemic threat, more and more companies decide to automate their production lines. Given the lack of adequate security or space, in most cases, such companies cannot use classic production robots. The solution to this problem is the use of collaborative robots (cobots). However, the required equipment (force sensors) or alternative methods of detecting a threat to humans are usually quite expensive. The article presents the practical aspect of collision detection with the use of a simple neural architecture. A virtual force and torque sensor, implemented as a neural network, may be useful in a team of collaborative robots. Four different approaches are compared in this article: auto-regressive (AR), recurrent neural network (RNN), convolutional long short-term memory (CNN-LSTM) and mixed convolutional LSTM network (MC-LSTM). These architectures are analyzed at different levels of input regression (motor current, position, speed, control velocity). This sensor was tested on the original CURA6 robot prototype (Cooperative Universal Robotic Assistant 6) by Intema. The test results indicate that the MC-LSTM architecture is the most effective with the regression level set at 12 samples (at 24 Hz). The mean absolute prediction error obtained by the MC-LSTM architecture was approximately 22 Nm. The conducted external test (72 different signals with collisions) shows that the presented architecture can be used as a collision detector. The MC-LSTM collision detection f1 score with the optimal threshold was 0.85. A well-developed virtual sensor based on such a network can be used to detect various types of collisions of cobot or other mobile or stationary systems operating on the basis of human-machine interaction.
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Liang, Zhiwei, Xudong Ma und Xianzhong Dai. „Information-theoretic Approaches Based on Sequential Monte Carlo to Collaborative Distributed Sensors for Mobile Robot Localization“. Journal of Intelligent and Robotic Systems 52, Nr. 2 (20.02.2008): 157–74. http://dx.doi.org/10.1007/s10846-008-9206-9.
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Benavides, Facundo, Caroline Ponzoni Carvalho Chanel, Pablo Monzón und Eduardo Grampín. „An Auto-Adaptive Multi-Objective Strategy for Multi-Robot Exploration of Constrained-Communication Environments“. Applied Sciences 9, Nr. 3 (09.02.2019): 573. http://dx.doi.org/10.3390/app9030573.
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The exploration problem is a fundamental subject in autonomous mobile robotics that deals with achieving the complete coverage of a previously unknown environment. There are several scenarios where completing exploration of a zone is a main part of the mission. Due to the efficiency and robustness brought by multi-robot systems, exploration is usually done cooperatively. Wireless communication plays an important role in collaborative multi-robot strategies. Unfortunately, the assumption of stable communication and end-to-end connectivity may be easily compromised in real scenarios. In this paper, a novel auto-adaptive multi-objective strategy is followed to support the selection of tasks regarding both exploration performance and connectivity level. Compared with others, the proposed approach shows effectiveness and flexibility to tackle the multi-robot exploration problem, being capable of decreasing the last of disconnection periods without noticeable degradation of the completion exploration time.
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Hacinecipoglu, Akif, Erhan Ilhan Konukseven und Ahmet Bugra Koku. „Fast head detection in arbitrary poses using depth information“. Sensor Review 40, Nr. 2 (14.03.2020): 175–82. http://dx.doi.org/10.1108/sr-05-2019-0127.
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Purpose This study aims to develop a real-time algorithm, which can detect people even in arbitrary poses. To cover poor and changing light conditions, it does not rely on color information. The developed method is expected to run on computers with low computational resources so that it can be deployed on autonomous mobile robots. Design/methodology/approach The method is designed to have a people detection pipeline with a series of operations. Efficient point cloud processing steps with a novel head extraction operation provide possible head clusters in the scene. Classification of these clusters using support vector machines results in high speed and robust people detector. Findings The method is implemented on an autonomous mobile robot and results show that it can detect people with a frame rate of 28 Hz and equal error rate of 92 per cent. Also, in various non-standard poses, the detector is still able to classify people effectively. Research limitations/implications The main limitation would be for point clouds similar to head shape causing false positives and disruptive accessories (like large hats) causing false negatives. Still, these can be overcome with sufficient training samples. Practical implications The method can be used in industrial and social mobile applications because of its robustness, low resource needs and low power consumption. Originality/value The paper introduces a novel and efficient technique to detect people in arbitrary poses, with poor light conditions and low computational resources. Solving all these problems in a single and lightweight method makes the study fulfill an important need for collaborative and autonomous mobile robots.
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Bogue, Robert. „Robots that interact with humans: a review of safety technologies and standards“. Industrial Robot: An International Journal 44, Nr. 4 (19.06.2017): 395–400. http://dx.doi.org/10.1108/ir-04-2017-0070.
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Purpose This paper aims to provide details of the safety considerations, technologies and standards associated with robots that interact with, or operate in proximity to, humans. Design/methodology/approach Following an introduction, this paper first considers collaborative robots and discusses their safety features and the new technical specification ISO/TS 15066, together with certain allied safety standards. It then discusses ISO 13482 and a range of assistive, personal care and service robots which comply with this and highlights new standards that are under development. Mobile warehouse and delivery robots are then considered, together with the safety technologies used and the associated standards. Finally, brief concluding comments are drawn. Findings The recent proliferation of robots that interact with humans or operate in proximity to them has led to the development of standards and specifications which seek to ensure safe operation. These allow robot manufacturers to design inherently safe products that will gain market acceptance and also help to inspire confidence among users. A number of new standards and specifications have been proposed or are being developed, and this trend is set to continue as new classes of robotic products emerge. Originality/value All manner of robots are being developed which interact with humans, and this provides details of the associated safety considerations, technologies and standards.
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Behera, Laxmidhar, Larisa Rybak, Dmitry Malyshev und Elena Gaponenko. „Determination of Workspaces and Intersections of Robot Links in a Multi-Robotic System for Trajectory Planning“. Applied Sciences 11, Nr. 11 (28.05.2021): 4961. http://dx.doi.org/10.3390/app11114961.
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One of the problems in the development of multi-robotic systems is the safe navigation of a group of robots. To solve it, the restrictions imposed by the structural elements of its agents are determined. The article presents a multi-robotic system consisting of parallel and serial robots installed on mobile platforms. The parallel robot is made based on a tripod with the ability to rotate the robot’s base relative to the horizontal axis. The analysis of its working and technological area is carried out, taking into account singularity zones. The developed algorithms for determining the workspaces are based on deterministic methods for approximating the set of solutions to systems of nonlinear inequalities. In this case, restrictions in spaces of different coordinates are presented in the form of n-dimensional boxes. Approaches to solving two problems are proposed to determine the possible intersection of links for the collaborative performance of tasks by a multi-robotic system. The first task is to determine the intersection of the links for the given positions and the relative position of the manipulators. The second is in determining the minimum distance between the technological areas of manipulators, which consist of the workspace and all possible positions of the intermediate links.
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Li, Jing, Jing Xu, Fangwei Zhong, Xiangyu Kong, Yu Qiao und Yizhou Wang. „Pose-Assisted Multi-Camera Collaboration for Active Object Tracking“. Proceedings of the AAAI Conference on Artificial Intelligence 34, Nr. 01 (03.04.2020): 759–66. http://dx.doi.org/10.1609/aaai.v34i01.5419.
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Active Object Tracking (AOT) is crucial to many vision-based applications, e.g., mobile robot, intelligent surveillance. However, there are a number of challenges when deploying active tracking in complex scenarios, e.g., target is frequently occluded by obstacles. In this paper, we extend the single-camera AOT to a multi-camera setting, where cameras tracking a target in a collaborative fashion. To achieve effective collaboration among cameras, we propose a novel Pose-Assisted Multi-Camera Collaboration System, which enables a camera to cooperate with the others by sharing camera poses for active object tracking. In the system, each camera is equipped with two controllers and a switcher: The vision-based controller tracks targets based on observed images. The pose-based controller moves the camera in accordance to the poses of the other cameras. At each step, the switcher decides which action to take from the two controllers according to the visibility of the target. The experimental results demonstrate that our system outperforms all the baselines and is capable of generalizing to unseen environments. The code and demo videos are available on our website https://sites.google.com/view/pose-assisted-collaboration.
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Li, Xin, Sufen Ren und Fangqiu Gu. „Medical Internet of Things to Realize Elderly Stroke Prevention and Nursing Management“. Journal of Healthcare Engineering 2021 (06.07.2021): 1–12. http://dx.doi.org/10.1155/2021/9989602.
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Stroke is a major disease that seriously endangers the lives and health of middle-aged and elderly people in our country, but its implementation of secondary prevention needs to be improved urgently. The application of IoT technology in home health monitoring and telemedicine, as well as the popularization of cloud computing, contributes to the early identification of ischemic stroke and provides intelligent, humanized, and preventive medical and health services for patients at high risk of stroke. This article clarifies the networking structure and networking objects of the rehabilitation system Internet of Things, clarifies the functions of each part, and establishes an overall system architecture based on smart medical care; the design and optimization of the mechanical part of the stroke rehabilitation robot are carried out, as well as kinematics and dynamic analysis. According to the functions of different types of stroke rehabilitation robots, strategies are given for the use of lower limb rehabilitation robots; standardized codes are used to identify system objects, and RFID technology is used to automatically identify users and devices. Combined with the use of the Internet and GSM mobile communication network, construct a network database of system networking objects and, on this basis, establish information management software based on a smart medical rehabilitation system that takes care of both doctors and patients to realize the system’s Internet of Things architecture. In addition, this article also gives the recovery strategy generation in the system with the design method of resource scheduling method and the theoretical algorithm of rehabilitation strategy generation is given and verified. This research summarizes the application background, advantages, and past practice of the Internet of Things in stroke medical care, develops and applies a medical collaborative cloud computing system for systematic intervention of stroke, and realizes the module functions such as information sharing, regional monitoring, and collaborative consultation within the base.
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Castelli, Kevin, Ahmed Magdy Ahmed Zaki, Yevheniy Dmytriyev, Marco Carnevale und Hermes Giberti. „A Feasibility Study of a Robotic Approach for the Gluing Process in the Footwear Industry“. Robotics 10, Nr. 1 (31.12.2020): 6. http://dx.doi.org/10.3390/robotics10010006.
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Manufacturing processes in the shoe industry are still characterized to a large extent by human labour, especially in small and medium craft enterprises. Even when machinery is adopted to support manufacturing operations, in most cases an operator has to supervise or carry out the task. On the other hand, craft footwear industries are called to respond to continuous challenges to face the globalization effects, so that a rapid adaptability to customer needs is required. The industry 4.0 paradigms, which are taking place in the industrial environments, represent an excellent opportunity to improve the efficiency and quality of production, and a way to face international competitors. This paper analyses and proposes a robotic cell to automatize the process of glue deposition on shoe upper, which exploits a new means of depositing the glue compared to State-of-Art applications. While the latter mainly adopt glue gun spraying systems or pneumatic syringes, the proposed robotic cell is based on an extrusion system for the deposition of molten material originally in the form of a filament, similar to all extent to those adopted for Fused Deposition Modeling (FDM). Two cell solutions are designed and tested. In the former the extruder is the robot end effector and the shoe upper is grounded to the cell frame. In the second, being the reciprocal, the shoe last is clamped to the robot wrist and the extruder is fixed to the cell frame. The peculiarities of the two solutions are pointed out and compared in terms of cell layout, hardware, programming software and possibility to develop collaborative applications. A self developed slicing software allows designing the trajectories for glue deposition based on the CAD model of the shoe upper, also allowing driving the inclination of the extruder nozzle with respect to the vectors normal to the upper surface. Both the proposed cell layouts permit to achieve good quality and production times. The solution with the mobile extruder is able to deposit glue at highest end-effector speed (up to 200 mm/s). On the other hand, the solution with the mobile shoe upper and fixed extruder seems to be more appropriate to enhance collaborative applications.
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Stalljann, Sarah, Lukas Wöhle, Jeroen Schäfer und Marion Gebhard. „Performance Analysis of a Head and Eye Motion-Based Control Interface for Assistive Robots“. Sensors 20, Nr. 24 (14.12.2020): 7162. http://dx.doi.org/10.3390/s20247162.
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Assistive robots support people with limited mobility in their everyday life activities and work. However, most of the assistive systems and technologies for supporting eating and drinking require a residual mobility in arms or hands. For people without residual mobility, different hands-free controls have been developed. For hands-free control, the combination of different modalities can lead to great advantages and improved control. The novelty of this work is a new concept to control a robot using a combination of head and eye motions. The control unit is a mobile, compact and low-cost multimodal sensor system. A Magnetic Angular Rate Gravity (MARG)-sensor is used to detect head motion and an eye tracker enables the system to capture the user’s gaze. To analyze the performance of the two modalities, an experimental evaluation with ten able-bodied subjects and one subject with tetraplegia was performed. To assess discrete control (event-based control), a button activation task was performed. To assess two-dimensional continuous cursor control, a Fitts’s Law task was performed. The usability study was related to a use-case scenario with a collaborative robot assisting a drinking action. The results of the able-bodied subjects show no significant difference between eye motions and head motions for the activation time of the buttons and the throughput, while, using the eye tracker in the Fitts’s Law task, the error rate was significantly higher. The subject with tetraplegia showed slightly better performance for button activation when using the eye tracker. In the use-case, all subjects were able to use the control unit successfully to support the drinking action. Due to the limited head motion of the subject with tetraplegia, button activation with the eye tracker was slightly faster than with the MARG-sensor. A further study with more subjects with tetraplegia is planned, in order to verify these results.
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Xu, Shuo, Dawei Tu, Yongyi He, Shili Tan und Minglun Fang. „ACT-R-typed human–robot collaboration mechanism for elderly and disabled assistance“. Robotica 32, Nr. 5 (29.11.2013): 711–21. http://dx.doi.org/10.1017/s0263574713001094.
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SUMMARYThis work aims to propose an innovative mechanism of human–robot collaboration (HRC) for mobile service robots in the application of elderly and disabled assistance. Previous studies on HRC mechanism usually focused on integrating decision-making intelligence of human beings by qualitative judgment and reasoning intelligence of robots by quantitative calculation. Instead, novelties of the proposed methodology include (1) constructing an HRC framework by taking reference from the Adaptive Control of Thought – Rational (ACT-R) human cognitive architecture; (2) establishing semantic webs of cognitive reasoning through human–robot interaction (HRI) and HRC to plan and implement complex tasks; and (3) realizing human–robot intelligence fusion by mutual encouragement, connect, and integration of modules of human, robot, perception, HRI, and HRC in the ACT-R architecture. Its technical feasibility is validated by some selected experiments within a “pouring” scenario. Further, although this study is oriented to mobile service robots, the modularized design of hardware and software makes its extensive use feasible in other types of service robots like smart rehabilitation beds, wheelchairs, and cleaning equipments.
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Harik, El Houssein Chouaib. „Design and Implementation of an Autonomous Charging Station for Agricultural Electrical Vehicles“. Applied Sciences 11, Nr. 13 (02.07.2021): 6168. http://dx.doi.org/10.3390/app11136168.
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One of the goals in adopting more sustainable agricultural practices is to reduce green-house-gas emissions from current practices by replacing fossil-fuel-based heavy machinery with lighter, electrical ones. In a not-so-distant scenario where a single farmer owns a fleet of small electrical tractors/robots that can operate in an autonomous/semi-autonomous manner, this will bring along some logistic challenges. It will be highly impractical that the farmer follows each time a given vehicle moves to the charging point to manually charge it. We present in this paper the design and implementation of an autonomous charging station to be used for that purpose. The charging station is a combination of a holonomic mobile platform and a collaborative robotic arm. Vision-based navigation and detection are used in order to plug the power cable from the wall-plug to the vehicle and back to the wall-plug again when the vehicle has recharged its batteries or reached the required level to pursue its tasks in the field. A decision-tree-based scheme is used in order to define the necessary pick, navigate, and plug sequences to fulfill the charging task. Communication between the autonomous charging station and the vehicle is established in order to make the whole process completely autonomous without any manual intervention. We present in this paper the charging station, the docking mechanism, communication scheme, and the deployed algorithms to achieve the autonomous charging process for agricultural electrical vehicles. We also present real experiments performed using the developed platform on an electrical robot-tractor.
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Rohmer, Eric, Tomoaki Yoshida, Kazunori Ohno, Keiji Nagatani, Satoshi Tadokoro und Eiji Konayagi. „Quince : A Collaborative Mobile Robotic Platform for Rescue Robots Research and Development“. Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM 2010.5 (2010): 225–30. http://dx.doi.org/10.1299/jsmeicam.2010.5.225.
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Aviles, Oscar, Mauricio Felipe Mauledoux Monroy und Oscar Rubiano. „Electronic Architecture for a Mobile Manipulator“. International Journal of Online Engineering (iJOE) 14, Nr. 02 (28.02.2018): 133. http://dx.doi.org/10.3991/ijoe.v14i02.7672.
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A mobile manipulator is a robotic system consisting of a mobile platform on which a manipulator arm is mounted, allowing the robotic system to perform locomotion and manipulation tasks simultaneously. A mobile manipulator has several advantages over a robot manipulator which is fixed, the main advantage is a larger workspace. The robots manipulators are oriented to work collaboratively with the human being in tasks that simultaneously require mobility and ability to interact with the environment through the manipulation of objects. This article will present the electronic design for a mobile robot manipulator with five degrees of freedom and a 6-wheel traction with four of these directional.
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Lerke, Otto, und Volker Schwieger. „Analysis of a kinematic real-time robotic total station network for robot control“. Journal of Applied Geodesy 15, Nr. 3 (24.06.2021): 169–88. http://dx.doi.org/10.1515/jag-2021-0016.
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Abstract The use of robots is widespread in the field of construction nowadays. Robots may be mobile or static depending on the specific task or application. One of the major challenges when implementing mobile robots is localisation. In the field of robotics, localisation is often performed in a relative sense, however some applications require absolute localisation. In order to provide absolute positions, appropriate sensors such as Global Navigation Satellite Systems (GNSS) or total stations can be employed. The underlying task is embedded within the Germany´s Excellence Strategy “Integrative Computational Design and Construction for Architecture (IntCDC)” funded by the German Research Foundation (DFG). The specific sub-project deals with issues of robot-robot collaboration and specifically aims the provision of absolute position and orientation, designated as pose, of a mobile construction robot. The determined pose information supports different control loops of the robot including automated driving, steering and tool operations. The choice of the sensor system favoured a robotic total station (RTS), because of its real-time capability and measurement accuracy. The measurement system is coupled with an Inertial Measurement Unit (IMU) for orientation. To counteract line-of-sight interference between the RTS and the target, the contribution proposes the use of a network of four spatially evenly distributed RTSs. The quality characteristics of different pose determination procedures of a mobile construction robot are investigated using methods from the geodetic network theory. Conclusions about accuracy and reliability distribution across the construction site are presented numerically and graphically.
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Sridharan, Mohan. „Bootstrap Learning and Visual Processing Management on Mobile Robots“. Advances in Artificial Intelligence 2010 (09.02.2010): 1–20. http://dx.doi.org/10.1155/2010/765876.
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A central goal of robotics and AI is to enable a team of robots to operate autonomously in the real world and collaborate with humans over an extended period of time. Though developments in sensor technology have resulted in the deployment of robots in specific applications the ability to accurately sense and interact with the environment is still missing. Key challenges to the widespread deployment of robots include the ability to learn models of environmental features based on sensory inputs, bootstrap off of the learned models to detect and adapt to environmental changes, and autonomously tailor the sensory processing to the task at hand. This paper summarizes a comprehensive effort towards such bootstrap learning, adaptation, and processing management using visual input. We describe probabilistic algorithms that enable a mobile robot to autonomously plan its actions to learn models of color distributions and illuminations. The learned models are used to detect and adapt to illumination changes. Furthermore, we describe a probabilistic sequential decision-making approach that autonomously tailors the visual processing to the task at hand. All algorithms are fully implemented and tested on robot platforms in dynamic environments.
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Azizi, Mahmood Reza, Alireza Rastegarpanah und Rustam Stolkin. „Motion Planning and Control of an Omnidirectional Mobile Robot in Dynamic Environments“. Robotics 10, Nr. 1 (17.03.2021): 48. http://dx.doi.org/10.3390/robotics10010048.
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Motion control in dynamic environments is one of the most important problems in using mobile robots in collaboration with humans and other robots. In this paper, the motion control of a four-Mecanum-wheeled omnidirectional mobile robot (OMR) in dynamic environments is studied. The robot’s differential equations of motion are extracted using Kane’s method and converted to discrete state space form. A nonlinear model predictive control (NMPC) strategy is designed based on the derived mathematical model to stabilize the robot in desired positions and orientations. As a main contribution of this work, the velocity obstacles (VO) approach is reformulated to be introduced in the NMPC system to avoid the robot from collision with moving and fixed obstacles online. Considering the robot’s physical restrictions, the parameters and functions used in the designed control system and collision avoidance strategy are determined through stability and performance analysis and some criteria are established for calculating the best values of these parameters. The effectiveness of the proposed controller and collision avoidance strategy is evaluated through a series of computer simulations. The simulation results show that the proposed strategy is efficient in stabilizing the robot in the desired configuration and in avoiding collision with obstacles, even in narrow spaces and with complicated arrangements of obstacles.
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Tuna, Gurkan, Ayse Tuna, Emine Ahmetoglu und Hilmi Kuscu. „A survey on the use of humanoid robots in primary education: Prospects, research challenges and future research directions“. Cypriot Journal of Educational Sciences 14, Nr. 3 (30.09.2019): 361–73. http://dx.doi.org/10.18844/cjes.v14i3.3291.
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In parallel with the significant and exciting advancements in robot technologies, the use of humanoid robots to support teaching strategies and learning goals has become a popular topic. Different from the traditional instructional or learning tools, humanoid robots can exhibit mobile behaviours and numerous repetitions and are very helpful to the students in developing problem-solving and collaboration abilities. Presently, the roles of humanoid robots in classrooms fall into four main categories: learning materials, learning companions, teaching assistants and communication mediators to support group learning, respectively. With the humanoid appearance, anthropomorphism, interaction, flexibility, repeatability and digital data representation, humanoid robots have great potential to be useful especially in preschool and primary school education. In this paper, limitations and challenges of the use of humanoid robots as teaching assistants are presented in addition to exploring the relationship between humanoid robots and performance in learning.
Keywords: Humanoid robot, teaching, social interaction, learning tool, assisted learning.