Journal articles on the topic 'Mobile robotic research'
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Rohmer, Eric, Tomoaki Yoshida, Kazunori Ohno, Keiji Nagatani, Satoshi Tadokoro, and 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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Lenkutis, Tadas, Andrius Dzedzickis, Oleksii Balitskyi, Liudas Petrauskas, Rimgaudas Urbonas, Vytautas Bučinskas, Donatas Valiulis, and Inga Morkvėnaitė-Vilkončienė. "„KUKA YOUBOT“ DINAMINIŲ CHARAKTERISTIKŲ TYRIMAS / RESEARCH OF KUKA YOUBOT DYNAMICAL CHARACTERISTICS." Mokslas - Lietuvos ateitis 11 (February 1, 2019): 1–3. http://dx.doi.org/10.3846/mla.2019.7072.
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In order to maintain competitiveness and a technical edge business entity are increasingly implementing advanced technical solutions in their operational processes, most of which include the installation of various type robotic systems. One of the best known and widely distributed examples of universal robotic system is Kuka-Youbot, which is a modular robotic system developed by KUKA as open source project for education and research. This system consists of two main modules, a robotic arm with 5 degrees of freedom, and a omni-directional mobile platform. It can be assembled in various configuration, such as a stationary robotic arm, a mobile platform, a robotic arm mounted on mobile platform and, two robotics arms mounted on one mobile platform. Positions of robot grabber were determined using two photo cameras of 1920×1080 in resolution, rulers and special algorithm in Matlab software. The longest duration of the vibrations was recorded when rotating Joint II on the vertical plane. The shortest-lasting vibrations were recorded when rotating the Joint V. In order to reduce the duration of the manipulator’s vibration time in operating mode, it is recommended to use the robot’s operating positions located at the horizontal plane.
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Artemenko, M. N., P. A. Korchagin, and I. A. Teterina. "DEVELOPMENT TRENDS OF UNMANNED ROBOTIC SYSTEMS: EXPERIENCE OF DOMESTIC AND FOREIGN MANUFACTURERS." Russian Automobile and Highway Industry Journal 16, no. 4 (September 8, 2019): 416–30. http://dx.doi.org/10.26518/2071-7296-2019-4-416-430.
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Introduction. Nowadays robotics is one of the most important directions of fundamental, technical, scientific and applied research. The main robotics’ challenges are to develop schemes for obtaining information about environment and the creation of artificial intelligence effective systems of the complex dynamic objects’ control in uncertainty conditions. Recently, robotics is going through the stage of rapid development, more and more covering the civilian and military spheres of human activity. The number of developed and implemented mobile unmanned robotic complexes of military and dual-use exceeds the number of robotic complexes in progress. The purpose of the research is to review the most promising samples of mobile unmanned robotic equipment used in various fields of human activity.Results. The paper reviewed the modern developments of mobile unmanned robotic complexes applied in the agricultural complex, industrial and civil construction, and in cargo transportation. The authors analyzed promising samples of Russian and foreign unmanned robotic technology. Moreover, the authors presented factors that increasingly depended on key spheres of human activities in the development and implementation of mobile robotic systems. Therefore, the paper demonstrated the list of major programs and concepts for the development of the Russian Federation in robotic sphere.Discussion and conclusions. As a result, the authors identify the basic elements of automated control systems, of navigation and autopilot system basing on mobile unmanned robotic complexes. The paper also reveals the concept of the foveal vision, which allows quickly and accurately detect pavement roughness and obstacles on the vehicle’s way.
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Fue, Kadeghe, Wesley Porter, Edward Barnes, and Glen Rains. "An Extensive Review of Mobile Agricultural Robotics for Field Operations: Focus on Cotton Harvesting." AgriEngineering 2, no. 1 (March 4, 2020): 150–74. http://dx.doi.org/10.3390/agriengineering2010010.
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In this review, we examine opportunities and challenges for 21st-century robotic agricultural cotton harvesting research and commercial development. The paper reviews opportunities present in the agricultural robotics industry, and a detailed analysis is conducted for the cotton harvesting robot industry. The review is divided into four sections: (1) general agricultural robotic operations, where we check the current robotic technologies in agriculture; (2) opportunities and advances in related robotic harvesting fields, which is focused on investigating robotic harvesting technologies; (3) status and progress in cotton harvesting robot research, which concentrates on the current research and technology development in cotton harvesting robots; and (4) challenges in commercial deployment of agricultural robots, where challenges to commercializing and using these robots are reviewed. Conclusions are drawn about cotton harvesting robot research and the potential of multipurpose robotic operations in general. The development of multipurpose robots that can do multiple operations on different crops to increase the value of the robots is discussed. In each of the sections except the conclusion, the analysis is divided into four robotic system categories; mobility and steering, sensing and localization, path planning, and robotic manipulation.
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Saab, Wael, William S. Rone, and Pinhas Ben-Tzvi. "Robotic tails: a state-of-the-art review." Robotica 36, no. 9 (May 25, 2018): 1263–77. http://dx.doi.org/10.1017/s0263574718000425.
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SUMMARYThis paper reviews the state-of-the-art in robotic tails intended for inertial adjustment applications on-board mobile robots. Inspired by biological tails observed in nature, robotic tails provide a separate means to enhance stabilization, and maneuverability from the mobile robot's main form of locomotion, such as legs or wheels. Research over the past decade has primarily focused on implementing single-body rigid pendulum-like tail mechanisms to demonstrate inertial adjustment capabilities on-board walking, jumping and wheeled mobile robots. Recently, there have been increased efforts aimed at leveraging the benefits of both articulated and continuum tail mechanism designs to enhance inertial adjustment capabilities and further emulate the structure and functionalities of tail usage found in nature. This paper discusses relevant research in design, modeling, analysis and implementation of robotic tails onto mobile robots, and highlight how this work is being used to build robotic systems with enhanced performance capabilities. The goal of this article is to outline progress and identify key challenges that lay ahead.
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Tagliavini, Luigi, Lorenzo Baglieri, Giovanni Colucci, Andrea Botta, Carmen Visconte, and Giuseppe Quaglia. "D.O.T. PAQUITOP, an Autonomous Mobile Manipulator for Hospital Assistance." Electronics 12, no. 2 (January 4, 2023): 268. http://dx.doi.org/10.3390/electronics12020268.
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The use of robotic technologies for caregiving and assistance has become a very interesting research topic in the field of robotics. Towards this goal, the researchers at Politecnico di Torino are developing robotic solutions for indoor assistance. This paper presents the D.O.T. PAQUITOP project, which aims at developing a mobile robotic assistant for the hospital environment. The mobile robot is composed of a custom omnidirectional platform, named PAQUITOP, a commercial 6 dof robotic arm, sensors for monitoring vital signs in patients, and a tablet to interact with the patient. To prove the effectiveness of this solution, preliminary tests were conducted with success in the laboratories of Politecnico di Torino and, thanks to the collaboration with the Onlus Fondazione D.O.T. and the medical staff of Molinette Hospital in Turin (Italy), at the hematology ward of Molinette Hospital.
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Wang, Yang, Liming Wang, and Yonghui Zhao. "Research on Door Opening Operation of Mobile Robotic Arm Based on Reinforcement Learning." Applied Sciences 12, no. 10 (May 20, 2022): 5204. http://dx.doi.org/10.3390/app12105204.
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The traditional robotic arm control method has strong dependence on the application scenario. To improve the reliability of the mobile robotic arm control when the scene is disturbed, this paper proposes a control method based on an improved proximal policy optimization algorithm. This study researches mobile robotic arms for opening doors. At first, the door handle position is obtained through an image-recognition method based on YOLOv5. Second, the simulation platform CoppeliaSim is used to realize the interaction between the robotic arm and the environment. Third, a control strategy based on a reward function is designed to train the robotic arm and applied to the opening-door task in the real environment. The experimental results show that the proposed method can accelerate the convergence of the training process. Besides, our method can effectively reduce the jitter of the robotic arm and improve the stability of control.
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Cuevas, Erik, Daniel Zaldivar, and Marco Pérez-Cisneros. "Low-Cost Commercial Lego™ Platform for Mobile Robotics." International Journal of Electrical Engineering & Education 47, no. 2 (April 2010): 132–50. http://dx.doi.org/10.7227/ijeee.47.2.4.
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This paper shows the potential of a Lego™-based low-cost commercial robotic platform for learning and testing prototypes in higher education and research. The overall set-up aims to explain mobile robotic issues, including mechatronics, robotics and automatic control theory. The capabilities and limitations of Lego robots are studied within two experiments: the first shows how to eliminate a number of restrictions in Lego robots using some programming alternatives; the second addresses the complex problem of multi-position control. Algorithms and their additional tools have been fully designed, applied and documented, and the results are shown throughout the paper. The platform was found to be suitable for teaching and researching key issues related to the aforementioned fields.
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Asama, Hajime. "Special Issue on Distributed Robotic Systems." Journal of Robotics and Mechatronics 8, no. 5 (October 20, 1996): 395. http://dx.doi.org/10.20965/jrm.1996.p0395.
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Distributed Robotic Systems are focused on as a new strategy to realize flexible, robust and fault-tolerant robotic systems. In conferences and symposia held recently, the number of papers related to the Distributed Robotic Systems has increased rapidly1,2,3) which shows this area has become one of the most interesting subjects in robotics. The Distributed Robotic Systems require a broad area of interdisciplinary technologies related not only to robotics and computer engineering (especially distributed artificial intelligence and artificial life), but also to biology and psychology. Distributed Robotic Systems can be defined as robot systems which are composed of various types and levels of units, such as cells, modules, agents and robots. One category of papers included in this volume is a robot with a distributed architecture, where modular structure is adopted and/or the robot system is controlled by many CPUs in a distributed manner. Cellular robotic systems are included in this category4). Another category of the papers is cooperative motion control of multiple robots. Coordinated control of multiple manipulators and cooperative motion control by multiple mobile robots using communication are discussed in these papers. The new elemental technologies are also presented, which are required for realization of advanced cooperative motion control of multiple autonomous mobile robots in this volume. The last category of the papers is self-organization of distributed robotic systems. Though the Journal of Robotics and MecharQnics has already published the special issues on the self-organization system,5,6) the latest progress is also presented in this volume. The papers belonging to this category are directed to swarm/collective intelligence in multi-robot cooperation issues. I believe this special issue will inspire the reader's interests in the Distributed Robotic Systems and accelerate the growth of this new arising interdisciplinary research area. References: 1)H.Asama, T.Fukuda, T.Arai and I.Endo eds., Distributed Autonomous Robotic Systems, Springer-Verlag, Tokyo, (1994). 2) H.Asama, T.Fukuda, T.Arai and I.Endo eds.,Distributed Autonomous Robotic Systems 2 , Springer-Verlag, Tokyo, (1996). 3) Robotics Society of Japan, Advanced Robotics 10,6, (1996). 4) T.Fukuda and T.Ueyama, Cellullar Robotics and Micro Robotic Systems,World Scientific, Singapore, (1994). 5) Fuji Technology Press Ltd., Journal of Robotics and Mechatronics,4,2,(1992). 6) Fuji Technology Press Ltd., Journal of Robotics and Mechatronics,4,3,(1992).
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Lob, W. S. "Robotic transportation." Clinical Chemistry 36, no. 9 (September 1, 1990): 1544–50. http://dx.doi.org/10.1093/clinchem/36.9.1544.
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Abstract Mobile robots perform fetch-and-carry tasks autonomously. An intelligent, sensor-equipped mobile robot does not require dedicated pathways or extensive facility modification. In the hospital, mobile robots can be used to carry specimens, pharmaceuticals, meals, etc. between supply centers, patient areas, and laboratories. The HelpMate (Transitions Research Corp.) mobile robot was developed specifically for hospital environments. To reach a desired destination, Help-Mate navigates with an on-board computer that continuously polls a suite of sensors, matches the sensor data against a pre-programmed map of the environment, and issues drive commands and path corrections. A sender operates the robot with a user-friendly menu that prompts for payload insertion and desired destination(s). Upon arrival at its selected destination, the robot prompts the recipient for a security code or physical key and awaits acknowledgement of payload removal. In the future, the integration of HelpMate with robot manipulators, test equipment, and central institutional information systems will open new applications in more localized areas and should help overcome difficulties in filling transport staff positions.
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Nordin, Nur Amira Atika, Nazatul Aini Abd Majid, and Noor Faridatul Ainun Zainal. "Mobile augmented reality using 3D ruler in a robotic educational module to promote STEM learning." Bulletin of Electrical Engineering and Informatics 9, no. 6 (December 1, 2020): 2499–506. http://dx.doi.org/10.11591/eei.v9i6.2235.
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Robotics education is gaining popularity among school children in line with the government desire to promote creative thinking in students through STEM based activities. However, the robots for educational games are usually made up of components and its description is usually one-way and static. Additionally, students find it difficult to visualize distances from robot movements when playing educational robotic games. Augmented reality (AR) technology is a viable tool to connect between in-context information and physical activities. The objective of this research is to design and develop an AR based application that can visualize the distance between two robots for supporting learning process in a game-based module. The application consists of three parts; the first part use AR in identification of components related to robots, while the second part involves the addition of real-time visualization in the form of AR, enabling students to learn the distance from the robot's movements. The third part used AR in providing the description of the robotic games through videos. The development of the application is based on the Agile model. The results show that the application has received positive feedbacks from students as it can increase their interest in playing robotic educational games.
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Chepkyi, V., V. Skachkov, O. Yefymchykov, V. Nabok, O. Sergeev, and O. Yelchaninov. "METHODOLOGICAL DESCRIPTION OF THE PROBLEM OF STABILIZATION OF THE ADAPTIVE CONTROL SYSTEM MOBILE STRUCTURES OF A GROUND-BASED ROBOTIC COMPLEX IN DISTURBED ENVIRONMENTS." Collection of scientific works of Odesa Military Academy 1, no. 12 (December 27, 2019): 5–18. http://dx.doi.org/10.37129/2313-7509.2019.12.1.5-18.
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In the article, the authors conduct research on the problem of stabilization of dynamic parameters of an adaptive information-control system of a ground-based robotic complex in disturbed environment. The research concept is based on the latest trends in the development of third-generation robotics objects; on the definition of the robotic complex, as an autonomous substrate means of reproducing physical functions and automating the intellectual activity of a person in the process of active interaction of the component structures of the robotic complex with the environment; on the technology of integrating the ground-based robotic complex into the system of the highest level of hierarchy, in particular, in the system of providing or performing special tasks in the interests of the Armed Forces of Ukraine. The methodological preamble of the stated problems is being updated, the description of which occurs in relation to the model of substrate modification of the spatially distributed structure of the ground-based robotic complex. The purpose of the study is related to the application of methodological description to the problem of stabilization of the dynamic parameters of the adaptive control system of the mobile substrate structure of a ground-based robotics complex in a disturbed environment. Consequences of the presented description were announced, according to which stability is given priority as an integral-substrate property, which combines various types of stability of mobile spatially distributed structures of the ground robotic complex in time, and also characterizes their general structural and functional organization throughout operating time. The existence of the potential stability of the substrate structures of the ground-based robotic complex in cases of their resistance to the negative influence of external disturbances in time is confirmed. The absence of an inverse relationship was noted, that is, the component structures of the ground-based robotic complex that are resistant to external factors will not necessarily be stable. The target result was obtained in the context of the general scientific paradigm and can serve as an application for the concept of ensuring the effective functioning of mobile spatially distributed structures of the ground-based robotic complex in the integrated project "object-system".
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Konečný, Zdeněk, Petr Široký, Václav Krys, and Tomáš Kot. "Mobile Chassis on a Modular Principle." Applied Mechanics and Materials 816 (November 2015): 294–99. http://dx.doi.org/10.4028/www.scientific.net/amm.816.294.
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The article describes design of a drive module of a modular mobile chassis. This chassis was developed at the Department of Robotics, Faculty of Mechanical Engineering, VŠB-Technical University of Ostrava, as a part of the student grant competition “Research and development of modular robotic systems.” The article describes variants and the final mechanical construction of the drive module and also the structural analysis of this module according to the possible positioning in the whole modular system. The obtained results and possible ways of additional future development and modifications of the module are summarized in the conclusion.
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Yang, Ting Jie. "Research and Development of Clean-Energy Vehicles." Applied Mechanics and Materials 345 (August 2013): 17–21. http://dx.doi.org/10.4028/www.scientific.net/amm.345.17.
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This article presents the research and development of all electric vehicle (EV) in Department of HumanRobotics Saitama Institute of Technology, Japan .Electric mobile systems developed in our laboratory include a converted electric automobile,electric wheelchair and personal mobile robot.These mobile system s contribute to realize clean transportation since energy sources an d devices from all vehicles,i.e.,batteries and electric motors,does not deteriorate the environment.To drive motors for vehicle traveling,robotic technologies were applied.
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Kristoffersson, Annica, Silvia Coradeschi, and Amy Loutfi. "A Review of Mobile Robotic Telepresence." Advances in Human-Computer Interaction 2013 (2013): 1–17. http://dx.doi.org/10.1155/2013/902316.
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Mobile robotic telepresence (MRP) systems incorporate video conferencing equipment onto mobile robot devices which can be steered from remote locations. These systems, which are primarily used in the context of promoting social interaction between people, are becoming increasingly popular within certain application domains such as health care environments, independent living for the elderly, and office environments. In this paper, an overview of the various systems, application areas, and challenges found in the literature concerning mobile robotic telepresence is provided. The survey also proposes a set terminology for the field as there is currently a lack of standard terms for the different concepts related to MRP systems. Further, this paper provides an outlook on the various research directions for developing and enhancing mobile robotic telepresence systems per se, as well as evaluating the interaction in laboratory and field settings. Finally, the survey outlines a number of design implications for the future of mobile robotic telepresence systems for social interaction.
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Chugunov, Mikhail V., Irina N. Polunina, Alexander G. Divin, Aleksandra A. Generalova, Artem A. Nikulin, and Dmitriy S. Bychkov. "Integrated Mobile Robotic Platform Model." Engineering Technologies and Systems 31, no. 4 (December 30, 2021): 609–27. http://dx.doi.org/10.15507/2658-4123.031.202104.609-627.
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Introduction. The “Smart Agroˮ committee of Research and Education Center “Engineering of the Future” has identified a number of tasks relevant for improving the efficiency of precision, soil-protecting and conservation agriculture. One of these tasks is the development of a digital multi-agent system, which provides a number of services for agricultural enterprises, developers and manufacturers of agricultural machinery. The purpose of the present study is to model an autonomous mobile robotic platform, including the development of software and hardware for trajectory control. Materials and Methods. To solve the problem, there are used modern CAx systems and their applications, the methods of 3D and full-body modeling, and the method of numerical solution of problems in solid mechanics. To expand and improve the standard functionality of CAx-systems (SolidWorks) in the software implementation of trajectory control algorithms, the methods and technologies of programming using API SolidWorks, VisualStudio C++ (MFC, ATL, COM) are used, and to build physical full-scale models ‒ Arduino and fischertechnik platforms. Results. The result of the study is a software and hardware module of trajectory control for an integrated (physical and virtual) model of a mobile robotic platform, which can be provided to the consumer as a service for technology autonomation. For the developed integrated model, control algorithms for various types of trajectories were tested. Discussion and Conclusion. The developed integrated software and hardware model of trajectory control can be used by developers and manufacturers of agricultural machinery, and directly by agro-enterprises for implementing typical technological processes. A feature of the implementation is an open hardware and software interface that provides the integration of mobile robotic platforms based on a digital multi-agent system.
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Kawabata, Kuniaki, Tsuyoshi Suzuki, Hayato Kaetsu, and Hajime Asama. "Omnidirectional Mobile Platform for Research and Development." Journal of Robotics and Mechatronics 14, no. 2 (April 20, 2002): 105–11. http://dx.doi.org/10.20965/jrm.2002.p0105.
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We detail an omnidirectional mobile platform for research and development (R&D). In 1995, we reported that a special driving mechanism for holonomic omnidirectional mobile robots was designed to enable 3 degree of freedom (DOF) motion control by 3 corresponding actuators decoupled with no redundancy. We constructed a omnidirectional mobile robot prototype with a drive. We took part in a RoboCup tournament as Uttori United with omnidirectional mobile robots: ZEN-450, using our driving mechanism, in 1997, and 2000. ZEN-450 showed high mobility during the tournament However, unpredictable problems occurred because ZEN-450 is not developed for robotic soccer. , We considered improving its hardware as a platform. We report the new platform and test-running results.
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TERAKAWA, Tatsuro, Masaharu KOMORI, Kippei MATSUDA, Hideaki NISHIHARA, and Takashi SEGOSHI. "S1110203 Research on Mobile Working Robot Using Robotic Driving Base." Proceedings of Mechanical Engineering Congress, Japan 2014 (2014): _S1110203——_S1110203—. http://dx.doi.org/10.1299/jsmemecj.2014._s1110203-.
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Wu, Shasha, Cheng Chi, Wei Wang, and Yaohua Wu. "Research of the layout optimization in robotic mobile fulfillment systems." International Journal of Advanced Robotic Systems 17, no. 6 (November 1, 2020): 172988142097854. http://dx.doi.org/10.1177/1729881420978543.
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To improve the order fulfillment throughput and space utilization in the robotic mobile fulfillment system (RMFS), the research developed two design aspects: the layout design and the warehouse structural parameter configuration. Based on the semiopen queue network theory, we built the queue network model to estimate the performance of RMFS. A scheme was proposed to move the picking stations inside the storage area, and seven layout scenes were designed according to the location arrangement of stations and storage area. The performance estimation and parameter configuration platform were developed to support the experiments on layout optimization and parameter configuration. The result shows that the station’s internal layout improves throughput when compared with the external scheme and increases space utilization without storage zones. Vertical zoning increases performance significantly. The performance is sensitive to the zoning strategy and storage area structural parameters.
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Abdelmoula, Chokri, Fakher Chaari, and Mohamed Masmoudi. "Real time algorithm implemented in Altera's FPGA for a newly designed mobile robot." Multidiscipline Modeling in Materials and Structures 10, no. 1 (June 3, 2014): 75–93. http://dx.doi.org/10.1108/mmms-11-2012-0019.
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Purpose – The purpose of this paper is to propose a generic platform for a robotic mobile system, seeking to obtain a support tool for under-graduation and graduation activities. Another objective was to gather knowledge in the mobile robotic area in order to provide practical solutions for industrial problems. Design/methodology/approach – The proposed new integrated platform would serve as didactic material for many disciplines, shown to be an ideal platform to teach DC motor drives, stepper motor and motion-control systems. To reach this objective, the ability of the robot to plan its motion autonomously is of vital importance. The control of a mobile robot in dynamic and unstructured environments typically requires efficient processing of data/information to ensure precise navigation and many other applications. Path planning is also one common method of auto-navigation. After the computation of the shortest path, mobile robot can navigate safely and without occlusion. Findings – The developed platform is an integrated system for intelligent software middleware to coordinate many activities in the field of electric drives, robotics, autonomous systems and artificial intelligence. Originality/value – As a result of the study, this paper contributed to research in the industrial development, principally in the fields of industrial robotics and also in different application purposes such as entertainment, personal use, welfare, education, rehabilitation, etc.
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Bogue, Robert. "The role of artificial intelligence in robotics." Industrial Robot: An International Journal 41, no. 2 (March 11, 2014): 119–23. http://dx.doi.org/10.1108/ir-01-2014-0300.
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Purpose – This paper aims to provide an insight into the use of artificial intelligence (AI) in robotics. Design/methodology/approach – Following an introduction to AI, this paper provides an overview of the application of AI to robotics. Mobile robots are then discussed, together with the various AI techniques employed and under development. The application of the OpenCog artificial general intelligence architecture is then considered and the paper concludes with a brief discussion. Findings – This shows that many AI concepts are being applied to humanoid, mobile and other classes of robots. Significant progress has been made and many innovative AI strategies are being studied which often seek to emulate aspects of human intelligence. Much development activity is being driven by military interests but as yet, the level of intelligence exhibited by the most advanced robots is at best equivalent to that of a very young child. Several academics argue that more rapid progress will arise from a closer integration of AI and robotic research. Originality/value – This article discusses the role of AI in robotics and provides details of number of robotic developments involving a range of AI concepts.
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Milford, Michael, and Ruth Schulz. "Principles of goal-directed spatial robot navigation in biomimetic models." Philosophical Transactions of the Royal Society B: Biological Sciences 369, no. 1655 (November 5, 2014): 20130484. http://dx.doi.org/10.1098/rstb.2013.0484.
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Mobile robots and animals alike must effectively navigate their environments in order to achieve their goals. For animals goal-directed navigation facilitates finding food, seeking shelter or migration; similarly robots perform goal-directed navigation to find a charging station, get out of the rain or guide a person to a destination. This similarity in tasks extends to the environment as well; increasingly, mobile robots are operating in the same underwater, ground and aerial environments that animals do. Yet despite these similarities, goal-directed navigation research in robotics and biology has proceeded largely in parallel, linked only by a small amount of interdisciplinary research spanning both areas. Most state-of-the-art robotic navigation systems employ a range of sensors, world representations and navigation algorithms that seem far removed from what we know of how animals navigate; their navigation systems are shaped by key principles of navigation in ‘real-world’ environments including dealing with uncertainty in sensing, landmark observation and world modelling. By contrast, biomimetic animal navigation models produce plausible animal navigation behaviour in a range of laboratory experimental navigation paradigms, typically without addressing many of these robotic navigation principles. In this paper, we attempt to link robotics and biology by reviewing the current state of the art in conventional and biomimetic goal-directed navigation models, focusing on the key principles of goal-oriented robotic navigation and the extent to which these principles have been adapted by biomimetic navigation models and why.
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Li, Guang Hui, Zhi Jian Jiang, and Bin Pan. "Research for Vision-Based Mobile Robot Self-Localization Strategy." Applied Mechanics and Materials 130-134 (October 2011): 2153–59. http://dx.doi.org/10.4028/www.scientific.net/amm.130-134.2153.
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Mobile robots are a very dynamic part of the robotic domain, self-localization is one of the basic functions of them, in the complex environment, and whether to achieve precise localization is the key factor for mobile robot navigates accurately. In this paper, on the basis of the mobile robot can identify the set artificial landmark correctly through its vision sensors, then, based on the observe landmark and perspective localization method, the mobile robot’s position and moving direction can be calculated in the world coordinate system. Finally, a lot of experiments are carried out, the experimental results show that in the structural environment, this mobile robot can realize self-localization under this method perfectly, and the localization accuracy and sampling frequency meet the need of practical requirement.
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Oksa, Petri Tapani, and Tarmo Lipping. "Reliability of ROS Networked Mobile Robots." International Journal of Open Source Software and Processes 10, no. 1 (January 2019): 34–48. http://dx.doi.org/10.4018/ijossp.2019010103.
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When working remotely with mobile robotics, a reliable wireless communication network becomes essential, especially in large operating regions. As most teleoperated robots rely on standard Wi-Fi communication, network behavior has a crucial effect on autonomous robot control. The main goal of this research is to measure and diagnose the system reliability, roaming issues, and bottlenecks of such data transmission. To study these significant factors, two measurement scenarios were conducted. Measurements consist of two Wi-Fi access points (AP) and a TurtleBot II robot used in two different system set-up configurations. In the first configuration, two APs are connected in bridge mode (LAN connection) and in the second configuration the APs are connected in WDS bridge (Wireless Data Distribution) mode. This article presents the results of Robot Operating System (ROS) IEEE 802.11 network measurements in roaming mode, in wireless bridge mode, and in an extended coverage area employed in WDS mode. Results of data transmission measurements, configurations, and evaluation of the entire system are also presented. All the measurements utilize the Open Cloud Robotic Platform (OpenCRP)1 an open-source cloud robotics ecosystem based on service-oriented PaaS architecture using the Ubuntu Linux operating system.
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Rone, William, and Pinhas Ben-Tzvi. "Mapping, localization and motion planning in mobile multi-robotic systems." Robotica 31, no. 1 (February 9, 2012): 1–23. http://dx.doi.org/10.1017/s0263574712000021.
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SUMMARYAs researchers have pushed the limits of what can be accomplished by a single robot operating in a known or unknown environment, a greater emphasis has been placed on the utilization of mobile multi-robotic systems to accomplish various objectives. In transitioning from a robot-centric approach to a system-centric approach, considerations must be made for the computational and communicative aspects of the group as a whole, in addition to electromechanical considerations of individual robots. This paper reviews the state-of-the-art of mobile multi-robotic system research, with an emphasis on the confluence of mapping, localization and motion control of robotic system. Methods that compose these three topics are presented, including areas of overlap, such as integrated exploration and simultaneous localization and mapping. From these methods, an analysis of benefits, challenges and tradeoffs associated with multi-robotic system design and use are presented. Finally, specific applications of multi-robotic systems are also addressed in various contexts.
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Kiran, Pindi. "Development of a Mobile based Voice Controlled Surveillance Robotic Vehicle." International Journal for Research in Applied Science and Engineering Technology 9, no. VI (June 25, 2021): 2366–73. http://dx.doi.org/10.22214/ijraset.2021.35515.
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Voice Controlled Robotic Vehicle is an example of controlling the bot with the help of daily used voice commands. An Android app is used for giving input voice commands and in order to control the motion of robotic vehicle. The voice commands given by us is processed by the app and voice module converts speech into text. A controller should be implemented with a Bluetooth module through the UART protocol. The converted text commands reach the controller via Bluetooth. The microcontroller will process this text and take a necessary action to control the motion of the robotic vehicle. The hardware development board used here is Atmega Arduino Board. The software programming part is done in Arduino Ide using Embedded C. The objective of the project described in this paper was to regulate the movement of the robotic vehicle using commands such as Forward, Backward, Left, Right. There is still a plenty of scope for research and development in the project described in this paper. Adding a very small size camera and using http communication protocol we can receive video streaming from the camera which is placed on the robotic vehicle. The Robotic vehicle now can be used for surveillance of terrorist prone areas, suspected areas.
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Wyller, Maria, Maria Yablonina, Martin Alvarez, and Achim Menges. "Adaptive kinematic textile architecture." Construction Robotics 4, no. 3-4 (November 30, 2020): 227–37. http://dx.doi.org/10.1007/s41693-020-00046-5.
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AbstractThe research presented in this paper explores how textiles can be formed into adaptive, kinematic spaces to be able to respond to its environment and users utilizing on-site, distributed, mobile robotic connectors. The project aimed at creating an adaptive system that consumes little energy while making use of textiles’ advantageous qualities—their lightweight, portability, and manipulability. This was achieved through the development of a bespoke on-material mobile machine able to locomote on suspended sheets of fabrics while shaping them. Together, the connector and the tectonic system compose a lightweight architectural robot controlled with a feedback loop that evaluates real-time environmental sensor data from the space against user-defined targets. This research demonstrates how the combination of mobile robotics and textile architecture opens up new design possibilities for adaptive spaces by proposing a system that is able to generate a significant architectural effect with minimal mechanical actuation.
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Lundberg, Cody Lee, Hakki Erhan Sevil, Deborah Behan, and Dan O. Popa. "Robotic Nursing Assistant Applications and Human Subject Tests through Patient Sitter and Patient Walker Tasks." Robotics 11, no. 3 (May 16, 2022): 63. http://dx.doi.org/10.3390/robotics11030063.
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This study presents the implementation of basic nursing tasks and human subject tests with a mobile robotic platform (PR2) for hospital patients. The primary goal of this study is to define the requirements for a robotic nursing assistant platform. The overall designed application scenario consists of a PR2 robotic platform, a human subject as the patient, and a tablet for patient–robot communication. The PR2 robot understands the patient’s request and performs the requested task by performing automated action steps. Two categories and three tasks are defined as: patient sitter tasks, include object fetching and temperature measurement, and patient walker tasks, including supporting the patient while they are using the walker. For this designed scenario and these tasks, human subject tests are performed with 27 volunteers in the Assistive Robotics Laboratory at the University of Texas at Arlington Research Institute (UTARI). Results and observations from human subject tests are provided. These activities are part of a larger effort to establish adaptive robotic nursing assistants (ARNA) for physical tasks in hospital environments.
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Bu, Chi Wu, and Li Xun Zhang. "System Modeling and Analysis of Wind Turbine Blade Grinding Robot." Applied Mechanics and Materials 80-81 (July 2011): 889–93. http://dx.doi.org/10.4028/www.scientific.net/amm.80-81.889.
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A mobile grinding robot is present here for the wind turbine blade grinding work. The robot is a mobile manipulator equipped with a grinding wheel. A mobile manipulator robot is built up with a mobile platform and a robotic arm mounted on it. The dynamic model of the robot is built, and the dynamic model of the two subsystems is derived from it, so the dynamic coupling items can be deduced. In order to discover how the coupling force influence the robotic manipulator, the SimMechanics model of the robot is built up and the simulation research is carried out by the built model. The results show the influence of coupling force on the manipulator.
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da Costa Barros, Ítalo Renan, and Tiago Pereira Nascimento. "Robotic Mobile Fulfillment Systems: A survey on recent developments and research opportunities." Robotics and Autonomous Systems 137 (March 2021): 103729. http://dx.doi.org/10.1016/j.robot.2021.103729.
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Mišković, Dragiša, Lazar Milić, Andrej Čilag, Tanja Berisavljević, Achim Gottscheber, and Mirko Raković. "Implementation of Robots Integration in Scaled Laboratory Environment for Factory Automation." Applied Sciences 12, no. 3 (January 25, 2022): 1228. http://dx.doi.org/10.3390/app12031228.
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Robotic systems for research and development of factory automation are complex and unavailable for broad deployment in robotic laboratory settings. The usual robotic factory automation setup consists of series of sensors, robotic arms and mobile robots integrated and orchestrated by a central information system. Cloud-based integration has been gaining traction in recent years. In order to build such a system in a laboratory environment, there are several practical challenges that have to be resolved to come to a point when such a system can become operational. In this paper, we present the development of one such system composed of (i) a cloud-based system built on top of open platform for innovation in logistics, (ii) a prototyped mobile robot with a forklift to manipulate pallets in a “factory” floor, and (iii) industrial robot ABB IRB 140 with a customized gripper and various sensors. A mobile robot is designed as an autonomous four Mecanum wheels system with on-board LiDAR and RGB-D sensor for simultaneous localization and mapping. The paper shows a use case of the overall system and highlights the advantages of having a laboratory setting with real robots for the research of factory automation in a laboratory environment. Moreover, the proposed solution could be scaled and replicated in real factory automation applications.
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Kristoffersson, Annica, Silvia Coradeschi, Amy Loutfi, and Kerstin Severinson-Eklundh. "Assessment of interaction quality in mobile robotic telepresence." Interaction Studies 15, no. 2 (August 20, 2014): 343–57. http://dx.doi.org/10.1075/is.15.2.16kri.
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In this paper, we focus on spatial formations when interacting via mobile robotic telepresence (MRP) systems. Previous research has found that those who used a MRP system to make a remote visit (pilot users) tended to use different spatial formations from what is typical in human-human interaction. In this paper, we present the results of a study where a pilot user interacted with ten elderly via a MRP system. Intentional deviations from known accepted spatial formations were made in order to study their effect on interaction quality from the local user perspective. Using a retrospective interviews technique, the elderly commented on the interaction and confirmed the importance of adhering to acceptable spatial configurations. The results show that there is a mismatch between pilot user behaviour and local user preference and that it is important to evaluate a MRP system from two perspectives, the pilot user’s and the local user’s. Keywords: F-formations; Mobile Robotic Telepresence; MRP systems; Quality of Interaction; Retrospective Interview; Spatial Formations; Spatial Configurations
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Ercan Jenny, Selen, Ena Lloret-Fritschi, Fabio Gramazio, and Matthias Kohler. "Crafting plaster through continuous mobile robotic fabrication on-site." Construction Robotics 4, no. 3-4 (November 12, 2020): 261–71. http://dx.doi.org/10.1007/s41693-020-00043-8.
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AbstractIndustrialization of architectural components and technological advances have had a significant impact on how we design and build. These developments, resulting in mass-produced and panelized architectural components, have rationalized building construction. However, they often do not reveal the true potential of the inherent qualities of malleable materials. This research investigates the bespoke design potentials of combining a cementitious plaster, with a robotic spraying and forming process, and proposes an adaptive thin-layer additive manufacturing method for plasterwork. Research goals address an on-site construction system that is capable of performing continuous robotic plaster spraying on building elements. To support the understanding of the complex-to-simulate material behavior in this process, systematic studies and physical testing are proposed to be conducted to collect empirical knowledge and data. The goal is to explore bespoke surface qualities, with minimal waste, moving away from the modular and standardized form of the material. The paper presents the preliminary results and findings of the method that aims addressing the challenge of an adaptive construction system capable of performing continuous fabrication, for which mobile robots are proposed to be deployed.
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Bedkowski, Janusz Marian, and Timo Röhling. "Online 3D LIDAR Monte Carlo localization with GPU acceleration." Industrial Robot: An International Journal 44, no. 4 (June 19, 2017): 442–56. http://dx.doi.org/10.1108/ir-11-2016-0309.
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Purpose This paper aims to focus on real-world mobile systems, and thus propose relevant contribution to the special issue on “Real-world mobile robot systems”. This work on 3D laser semantic mobile mapping and particle filter localization dedicated for robot patrolling urban sites is elaborated with a focus on parallel computing application for semantic mapping and particle filter localization. The real robotic application of patrolling urban sites is the goal; thus, it has been shown that crucial robotic components have reach high Technology Readiness Level (TRL). Design/methodology/approach Three different robotic platforms equipped with different 3D laser measurement system were compared. Each system provides different data according to the measured distance, density of points and noise; thus, the influence of data into final semantic maps has been compared. The realistic problem is to use these semantic maps for robot localization; thus, the influence of different maps into particle filter localization has been elaborated. A new approach has been proposed for particle filter localization based on 3D semantic information, and thus, the behavior of particle filter in different realistic conditions has been elaborated. The process of using proposed robotic components for patrolling urban site, such as the robot checking geometrical changes of the environment, has been detailed. Findings The focus on real-world mobile systems requires different points of view for scientific work. This study is focused on robust and reliable solutions that could be integrated with real applications. Thus, new parallel computing approach for semantic mapping and particle filter localization has been proposed. Based on the literature, semantic 3D particle filter localization has not yet been elaborated; thus, innovative solutions for solving this issue have been proposed. Recently, a semantic mapping framework that was already published was developed. For this reason, this study claimed that the authors’ applied studies during real-world trials with such mapping system are added value relevant for this special issue. Research limitations/implications The main problem is the compromise between computer power and energy consumed by heavy calculations, thus our main focus is to use modern GPGPU, NVIDIA PASCAL parallel processor architecture. Recent advances in GPGPUs shows great potency for mobile robotic applications, thus this study is focused on increasing mapping and localization capabilities by improving the algorithms. Current limitation is related with the number of particles processed by a single processor, and thus achieved performance of 500 particles in real-time is the current limitation. The implication is that multi-GPU architectures for increasing the number of processed particle can be used. Thus, further studies are required. Practical implications The research focus is related to real-world mobile systems; thus, practical aspects of the work are crucial. The main practical application is semantic mapping that could be used for many robotic applications. The authors claim that their particle filter localization is ready to integrate with real robotic platforms using modern 3D laser measurement system. For this reason, the authors claim that their system can improve existing autonomous robotic platforms. The proposed components can be used for detection of geometrical changes in the scene; thus, many practical functionalities can be applied such as: detection of cars, detection of opened/closed gate, etc. […] These functionalities are crucial elements of the safe and security domain. Social implications Improvement of safe and security domain is a crucial aspect of modern society. Protecting critical infrastructure plays an important role, thus introducing autonomous mobile platforms capable of supporting human operators of safe and security systems could have a positive impact if viewed from many points of view. Originality/value This study elaborates the novel approach of particle filter localization based on 3D data and semantic mapping. This original work could have a great impact on the mobile robotics domain, and thus, this study claims that many algorithmic and implementation issues were solved assuming real-task experiments. The originality of this work is influenced by the use of modern advanced robotic systems being a relevant set of technologies for proper evaluation of the proposed approach. Such a combination of experimental hardware and original algorithms and implementation is definitely an added value.
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Sanz, Pedro J. "Editorial." Robotica 25, no. 2 (March 2007): 129–30. http://dx.doi.org/10.1017/s0263574707003499.
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The idea underlying this Special Issue arises from previous successfully international events organized in this robotics context. Thus, during 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, hosted in Edmonton, Canada, a Workshop, with the same title was successfully organized by this guest editor. Moreover, this editor was involved in this research area, as co-Chair of the “Manipulation and Grasping Interest Group”, within the European Robotics Research Network (i.e. EURON), from 2001, organizing also a couple of International Summer Schools, supported by EURON, on these topics (Spain, 2001 and 2004). On the other hand, as time goes by, more and more robotics applications are oriented towards working in all kind of service domains, such as hospitals, museums, etc. Hence, the interest on those robotic systems, integrating manipulation and navigation capabilities, namely mobile manipulators, is drastically increasing around the entire world. Therefore, this special issue is trying to face this new scenario providing a comprehensive overview of some key topics, foundations and applications within the Mobile Manipulators context, including human-robot interaction aspects and critical issues related with navigation and manipulation performance, among others.
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Et. al., Zakoldaev D. A. ,. "Threat and Intruder Models of Multi-agent Robotic System Using Police Office Model with Quantum Encryption*." Turkish Journal of Computer and Mathematics Education (TURCOMAT) 12, no. 2 (April 10, 2021): 2649–58. http://dx.doi.org/10.17762/turcomat.v12i2.2279.
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The subject of this study is to ensure the confidentiality of information in mobile robotic systems. To ensure the confidentiality of information, it is proposed to use quantum encryption methods. Existing developments in this area allow to ensure the correct generation of quantum keys between two elements. The paper considers the functioning of the multi-agent robotic system based on the Police Office Model, the general scheme of functioning and basic processes of information interaction are given. The authors consider the issue of the protection of the multi-agent robotic system by using quantum keys from various threats, offering a classification of threats. Based on the model of the multi-agent robotic system, an intruder model is proposed that includes the level of access of the intruder to the system and the period of interaction of the intruder on the system, based on the life-cycle model. As a result of the research, a model of generalized functioning of a mobile robotic system with encryption based on quantum keys, a threat model and an intruder model was proposed.
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Ali, Hussein Mohammed, Yasir Hashim, and Ghadah Alaadden Al-Sakkal. "Design and implementation of Arduino based robotic arm." International Journal of Electrical and Computer Engineering (IJECE) 12, no. 2 (April 1, 2022): 1411. http://dx.doi.org/10.11591/ijece.v12i2.pp1411-1418.
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<p><span>This study presents the model, design, and construction of the Arduino based robotic arm, which functions across a distance as it is controlled through a mobile application. A six degree of freedom robotic arm has been designed and implemented for the purpose of this research. The design controlled by the Arduino platform receives orders from the user’s mobile application through wireless controlling signals, that is Bluetooth. The arm is made up of five rotary joints and an end effector, where rotary motion is provided by the servomotor. Each link has been first designed using solid works and then printed by 3D printer. The assembly of the parts of the robot and the motor’s mechanical shapes produce the final prototype of the arm. The Arduino has been programmed to provide rotation to each corresponding servo motor to the sliders in the designed mobile application for usage from distance.</span></p>
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Wulkiewicz, Adam, Maciej Łaski, Sylwester Błaszczyk, Piotr Duch, Rafał Jachowicz, and Dominik Sankowski. "The Concept of the Modularized Subsystem Performing Mobile Platform Navigation Tasks." Image Processing & Communications 17, no. 4 (December 1, 2012): 143–50. http://dx.doi.org/10.2478/v10248-012-0040-0.
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Abstract Robotic vehicles autonomy is the subject of many researches performed by various institutions. There is growing tendency to conduct research in the field of autonomous mobile units, unmanned vehicles and robots moving without operator supervision. Authors of this article presents the concept of the modularized subsystem implementing the functionality of the mobile platform navigation in an unknown environment. The concept has been implemented in the real mobile robot.
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Martínez, M. A., and J. L. Martínez. "Specification of operations for a manipulator on a mobile robot using grafcet." Robotica 23, no. 6 (November 2005): 789–91. http://dx.doi.org/10.1017/s0263574705002006.
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This technical note deals with the way of organizing the work of a manipulator on a mobile robot. Every robotic mission is composed of several navigation and manipulation operations. In this research, the robot arm actions have been sequenced, once the mobile robot has stopped, with the help of the graphical specification tool Grafcet. The proposed method has been successfully implemented in the mobile manipulator RAM-2 for transporting videotapes.
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Botta, Andrea, Paride Cavallone, Lorenzo Baglieri, Giovanni Colucci, Luigi Tagliavini, and Giuseppe Quaglia. "A Review of Robots, Perception, and Tasks in Precision Agriculture." Applied Mechanics 3, no. 3 (July 5, 2022): 830–54. http://dx.doi.org/10.3390/applmech3030049.
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This review reports the recent state of the art in the field of mobile robots applied to precision agriculture. After a brief introduction to precision agriculture, the review focuses on two main topics. First, it provides a broad overview of the most widely used technologies in agriculture related to crop, field, and soil monitoring. Second, the main robotic solutions, with a focus on land-based robots, and their salient features are described. Finally, a short case study about a robot developed by the authors is introduced. This work aims to collect and highlight the most significant trends in research on robotics applied to agriculture. This review shows that the most studied perception solutions are those based on vision and cloud point detection and, following the same trend, most robotic solutions are small robots dedicated exclusively to monitoring tasks. However, the robotisation of other agricultural tasks is growing.
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Wathes, C. M. "Interactions between animals and machines." Proceedings of the British Society of Animal Production (1972) 1992 (March 1992): 35. http://dx.doi.org/10.1017/s0308229600021590.
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A new age of mechanisation of animal agriculture is dawning following advances in robotic engineering, coupled with current knowledge of animal physiology, behaviour and disease. The advent of automated machines equipped with novel sensors and controlled by cheap microprocessors will eliminate many of the hazardous, tedious or unpleasant chores currently undertaken by farmers. Automatic attachment of teat cups to dairy cows, robotic sheep shearing and mechanical harvesting of broilers are now feasible and commercial exploitation is likely within a decade. Machines may tackle some tasks which are too difficult, dangerous or costly for man, who may be better employed elsewhere. Paradoxically, replacement of man by robotics designed according to animal needs may improve not only production efficiency but also welfare. Utilisation of robotics in animal agriculture requires research in sensing techniques, data interpretation, design of end effectors, machine control, and animal perception and response. Animal applications provide a particularly intriguing challenge to robotics engineers because animals are (relatively) fragile, and mobile. The dynamic interaction of animals with machines presents novel opportunities for animals to control their own environment as well as difficulties in machine design. Potential applications of robotics in animal husbandry are legion and include many husbandry tasks involving inspection, monitoring, handling, manipulation, treatment and caretaking.
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Tucker, Luke A., Ji Chen, Lauren Hammel, Diane L. Damiano, and Thomas C. Bulea. "An open source graphical user interface for wireless communication and operation of wearable robotic technology." Journal of Rehabilitation and Assistive Technologies Engineering 7 (January 2020): 205566832096405. http://dx.doi.org/10.1177/2055668320964056.
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Introduction Wearable robotic exoskeletons offer the potential to move gait training from the clinic to the community thereby providing greater therapy dosage in more naturalistic settings. To capitalize on this potential, intuitive and robust interfaces are necessary between robotic devices and end users. Such interfaces hold great promise for research if they are also designed to record data from the robot during its use. Methods We present the design and validation of an open source graphical user interface (GUI) for wireless operation of and real-time data logging from a pediatric robotic exoskeleton. The GUI was designed for trained users such as an engineer or clinician. A simplified mobile application is also provided to enable exoskeleton operation by an end-user or their caretaker. GUI function was validated during simulated walking with the exoskeleton using a motion capture system. Results Our results demonstrate the ability of the GUI to wirelessly operate and save data from exoskeleton sensors with high fidelity comparable to motion capture. Conclusion The GUI code, available in a public repository with a detailed description and step-by-step tutorial, is configurable to interact with any robotic device operated by a microcontroller and therefore represents a potentially powerful tool for deployment and evaluation of community based robotics.
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Nevliudov, Igor, Vladyslav Yevsieiev, Oleksandr Klymenko, Nataliia Demska, and Maksym Vzhesnievskyi. "EVOLUTIONS OF GROUP MANAGEMENT DEVELOPMENT OF MOBILE ROBOTIC PLATFORMS IN WAREHOUSING 4.0." Innovative Technologies and Scientific Solutions for Industries, no. 4 (18) (December 10, 2021): 57–64. http://dx.doi.org/10.30837/itssi.2021.18.057.
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The subject of this research is the technology of management of mobile robot groups in the concept of Industry 4.0 and its composition. The purpose of this article is to find ways to implement an effective strategy for building and managing mobile robotic platforms in Warehousing, as a key tool of Lean Production. To achieve this goal, it is necessary to solve the following tasks: to analyze the management of supply chains in Smart Manufacturing, within Industry 4.0 and its impact on achieving the goals of Lean Production; to study the evolution of technologies used in Warehousing in the dynamics of the Industrial Revolution; to analyze the evolution of Warehouse Management Systems (WMS) as one of the most important components on the basis of which the requirements for automation of Warehousing automation in Smart Manufacturing with group management of mobile robotic platforms are implemented and achieved; to compare the impact of the technologies used by Warehousing 4.0 and Warehouse Management Systems on the key indicators of Lean Production. Results: One of the promising ways to achieve the effectiveness of the implementation of Lean Production tools in WMS systems is the use of Collaborative Robot System technology, which makes it possible to ensure a high density of product storage in Warehousing. However, modern mobile robotic platforms have their limitations both in the methods of loading and unloading products, and in the design. Therefore, the authors see the task in improving the design of mobile robotic platforms, which will develop a new intelligent group method of loading and unloading products, increasing the storage density for a variety of goods. Conclusions: The paper compares the impact of Warehousing 4.0 and Warehouse Management Systems on key Lean Production tools, which shows how the introduction of new group management technologies for robotic platforms in Warehousing 4.0 and Warehouse Management Systems (WMS) affects the effectiveness of Lean Production tools such as Heijunka, Just-in-time, 5S. This suggests that the introduction of new models and methods of managing complex warehouses with high density and chaotic storage of products, through the use of mobile robotic autonomous systems, will significantly optimize the process of supply chain management in Smart Manufacturing.
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Nagatani, Keiji. "Recent Trends and Issues of Volcanic Disaster Response with Mobile Robots." Journal of Robotics and Mechatronics 26, no. 4 (August 20, 2014): 436–41. http://dx.doi.org/10.20965/jrm.2014.p0436.
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<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00260004/04.jpg"" width=""300"" />Volcano observation robots </span></div> Typically, volcanic eruptions cause heavy damage in its vicinity area, and the eruption often continues for years. During this period, a restricted area is set up in the vicinity of the crater, in order to ensure the safety of people. Therefore, it is important for mitigation of volcanic disaster to realize observation of the eruption and mudslide-control construction based on teleoperation-type robotic technology. To promote development of such technologies, various types of volcano exploration robots have been researched and developed in Japan and overseas. With regard to volcanic observations, this paper presents conventional methods for volcanic teleoperated observation, and discusses technical issues and research topics for the future technologies, particularly, mobile robotics and flying robotics. With regard to mudslide-control construction, the paper describes the teleoperated construction system that has been developed at Fugendake of Mount Unzen, and discusses technical problems in current unmanned construction system to be solved in the near future. </span>
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Sinha, Anurag, Ashish Bagwari, Pooja Joshi, Ramish, Sudhani Verma, and Jyotshana Kanti. "A∗WRBAS: Space Mobile Robotics Control Conceptual Model Using IoRT Reinforcement Learning and Tracking with Noise Estimation Using EKF." Mobile Information Systems 2022 (September 29, 2022): 1–17. http://dx.doi.org/10.1155/2022/9224025.
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With more than one billion connected devices, the notion of the Internet of Things (IoT) is now gaining momentum. The mobile robot must be able to find itself in space, which is a necessary ability for autonomous navigation. Every high-level navigation operation starts with the fundamental assumption that the user is aware of both their position and the locations of other points of interest throughout the world. A robot without a sense of position can only function in a localized, reactive manner and cannot plan actions that take place outside of the immediate area of its sensory capabilities. The ubiquity of sensors and objects with robotic and autonomous systems is combined in a novel idea known as the “Internet of Robotic Things.” Computer science and mechanical engineering come together in robotics. Designing and manufacturing mechanical parts and components for robot control systems benefits from the use of mechanical engineering. Space robots and robotics are recognized as tools that can improve astronauts’ manipulation, functions, and control; as a result, they can be referred to as their artificial assistance for in situ evaluations of the conditions in space. Human-robot contact is made possible by the fact that gestures and actions are so common in robot control systems. Contrary to AI and reinforcement learning, which have been used to regulate the operation of robots in a variety of sectors, IoRT (Internet of Robotic Things), a novel subset of IoT, has the potential to track a range of robot action plans. In this research, we provide a conceptual framework to help future researchers design and simulate such a prototype. It is based on an IoRT control system that has been enhanced using reinforcement learning and AI algorithms. We also use AKF to keep track of robots and reduce noise in sensors that have been combined with the A ∗ algorithm (adaptive Kalman filtering). It is necessary to develop and imitate this mental framework. Deep reinforcement learning is a promising approach for autonomously learning complex behaviors from little sensor data (RL). We also discuss the fundamental theoretical foundations and fundamental issues with current algorithms that limit the usage of reinforcement learning methods in practical robotics applications. We also go through some possible directions that reinforcement learning research may go in the future.
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Bedkowski, Janusz, Timo Röhling, Frank Hoeller, Dirk Shulz, and Frank E. Schneider. "Benchmark of 6D SLAM (6D Simultaneous Localisation and Mapping) Algorithms with Robotic Mobile Mapping Systems." Foundations of Computing and Decision Sciences 42, no. 3 (September 1, 2017): 275–95. http://dx.doi.org/10.1515/fcds-2017-0014.
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AbstractThis work concerns the study of 6DSLAM algorithms with an application of robotic mobile mapping systems. The architecture of the 6DSLAM algorithm is designed for evaluation of different data registration strategies. The algorithm is composed of the iterative registration component, thus ICP (Iterative Closest Point), ICP (point to projection), ICP with semantic discrimination of points, LS3D (Least Square Surface Matching), NDT (Normal Distribution Transform) can be chosen. Loop closing is based on LUM and LS3D. The main research goal was to investigate the semantic discrimination of measured points that improve the accuracy of final map especially in demanding scenarios such as multi-level maps (e.g., climbing stairs). The parallel programming based nearest neighborhood search implementation such as point to point, point to projection, semantic discrimination of points is used. The 6DSLAM framework is based on modified 3DTK and PCL open source libraries and parallel programming techniques using NVIDIA CUDA. The paper shows experiments that are demonstrating advantages of proposed approach in relation to practical applications. The major added value of presented research is the qualitative and quantitative evaluation based on realistic scenarios including ground truth data obtained by geodetic survey. The research novelty looking from mobile robotics is the evaluation of LS3D algorithm well known in geodesy.
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Varlashin, V. V., M. A. Ershova, V. A. Bunyakov, and O. U. Shmakov. "Real-Time Surround-View System for Mobile Robotic System." Mekhatronika, Avtomatizatsiya, Upravlenie 20, no. 3 (March 6, 2019): 162–70. http://dx.doi.org/10.17587/mau.20.162-170.
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The paper is devoted to the problem of increasing the adequacy of perception of the environment by the mobile robot operator using remote control. A variant of a real-time surround-view system for mobile robot based on the multiple cameras with fisheye lenses and overlapping fields of view is proposed. A prototype of the circular view system has been developed. In this paper, the key features of the architecture and software of the surround-view system are considered. The algorithms for determining the internal parameters of cameras and distortion correction are researched. New models for describing the distortions of wide-angle and fisheye lens are used. Algorithms for finding the external parameters of cameras, as well as homography matrices using invariant descriptors, are implemented. Static homography matrices are used during stitching images into panorama. Various image-stitching techniques based on the overlapped images region blending are investigated and implemented. The methods of projective geometry and augmented reality were studied to obtain a perspective third-person view. A surface variant for projecting panorama of a surround view is proposed. For the implementation of the software selected cross-platform game engine "Unity". Directions for further research are identified.
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Shaji, Ashwin K., and Rinku Dhiman. "Gesture Controlled Robotic Hand Using RF Unit and Accelerometer." International Journal of Research in Engineering, Science and Management 3, no. 11 (November 30, 2020): 125–27. http://dx.doi.org/10.47607/ijresm.2020.387.
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In the race of man v/s machine, automation comes as a companion of man and machine. Taking the technology to the next level from the mobile driven world to an automation driven world, will increase manufacturers their production rates, productivity and efficiency with materials, product quality, and worker safety. From ancient times the ingenuity and the brain power human beings have astonished researchers with engineering and mechanical marvels like the wheel, bow and arrow, cross bows, etc. What started from the wheel did not end there but evolved into the complex mechatronics systems that we see around us today. The robotics is one such human marvel that will be one-day equal human beings themselves. The robots thus have far more use in the daily life than any other systems. The robotics and automation is a rising piece of technology which could lessen the loads of work and solve the problems exponentially. As robotics is finding its place on every sector in this globe, the aim this project is to introduce robotics in the field of industry. The title of the system is ‘Gesture controlled robotic arm’. The aim of the system is to provide safety and to increase productivity in our industries. The research project should be designed in such a way that it should occupy minimum space, should possess high maneuverability and high agility. The project in discussion is types of robots which needs minimum space and are proved to be highly maneuverable and highly agile. The robot contains two main units, one is the robotic arm and second is the data glove with accelerometer using a RF controller. The robotic arm unit is responsible for the hand functions of the whole structure of the robot. The data glove is responsible for the input feedback to the robotic arm. The robotic unit will be controlled by an Arduino platform to improve its stability. The angle tilt will be measured using ADXL335 sensor. The ADXL335 uses angle, tilt and yaw values with Arduino for data transfer. Through advanced primary and secondary research techniques, system implementation hurdles and potential risks involved in developing such a system are identified. The project is fully planned using advanced project management techniques like PERT chart and Gantt chart in order to identify the critical activities and the timeline related with it.
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Hernandez-Mendez, Sergio, Elvia Ruth Palacios-Hernandez, Antonio Marin-Hernandez, Ericka Janet Rechy-Ramirez, and Hector Vazquez-Leal. "Design and Implementation of Composed Position/Force Controllers for Object Manipulation." Applied Sciences 11, no. 21 (October 21, 2021): 9827. http://dx.doi.org/10.3390/app11219827.
Full textAbstract:
In the design of a controller for grasping objects through a robotic manipulator, there are two key problems: to find the position of the object to be grasped accurately, and to apply the appropriate force to each finger to handle the object properly without causing undesirable movement of it during its manipulation. A proportional-integral-derivative (PID) controller is widely used to grasp objects in robotics; however, its main shortcomings are its sensitivity to controller gains, sluggish response, and high starting overshooting. This research presents three coupled (position/force) controllers for object manipulation using an assembled robotic manipulator (i.e., a gripper attached to a robotic arm mounted on a mobile robot). Specifically, an angular gripper was employed in this study, which was composed of two independent fingers with a piezoelectric force sensor attached to each fingertip. The main contributions of this study are the designs and implementations of three controllers: a classic PID controller, a type-I controller, and a type-II fuzzy controller. These three controllers were used to find an object to be grasped properly (position) and apply an equivalent force to each finger (force).
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Gonçalves, Fernando, Tiago Ribeiro, António Fernando Ribeiro, Gil Lopes, and Paulo Flores. "A Recursive Algorithm for the Forward Kinematic Analysis of Robotic Systems Using Euler Angles." Robotics 11, no. 1 (January 14, 2022): 15. http://dx.doi.org/10.3390/robotics11010015.
Full textAbstract:
Forward kinematics is one of the main research fields in robotics, where the goal is to obtain the position of a robot’s end-effector from its joint parameters. This work presents a method for achieving this using a recursive algorithm that builds a 3D computational model from the configuration of a robotic system. The orientation of the robot’s links is determined from the joint angles using Euler Angles and rotation matrices. Kinematic links are modeled sequentially, the properties of each link are defined by its geometry, the geometry of its predecessor in the kinematic chain, and the configuration of the joint between them. This makes this method ideal for tackling serial kinematic chains. The proposed method is advantageous due to its theoretical increase in computational efficiency, ease of implementation, and simple interpretation of the geometric operations. This method is tested and validated by modeling a human-inspired robotic mobile manipulator (CHARMIE) in Python.