Academic literature on the topic 'Robotic Capabilites'
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Journal articles on the topic "Robotic Capabilites"
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Joshi, Gaurav. "Innovations in Soft Robotics: Design and Control of Flexible Mechatronic Systems." Mathematical Statistician and Engineering Applications 70, no. 1 (January 31, 2021): 479–85. http://dx.doi.org/10.17762/msea.v70i1.2500.
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Soft robotics, an emerging field at the intersection of robotics and materials science, has gained significant attention in recent years due to its potential for creating highly adaptable and versatile robotic systems. Unlike traditional rigid robots, soft robotics focuses on designing and controlling flexible mechatronic systems that can mimic the natural movements and interactions of living organisms. This paper presents an overview of the recent innovations in soft robotics, specifically focusing on the design and control aspects of flexible mechatronic systems.The design of soft robots involves the integration of advanced materials and mechanisms that enable compliance and flexibility in the robot's body structure. Various materials, such as elastomers, hydrogels, and shape-memory polymers, have been explored for constructing soft robotic components that can deform and recover their shape. These materials exhibit unique properties, such as stretchability, elasticity, and self-healing capabilities, allowing soft robots to adapt to complex and dynamic environments. Additionally, the design of soft robotic systems often incorporates pneumatic or hydraulic actuation mechanisms to achieve locomotion and manipulation.In conclusion, this paper provides an overview of the recent innovations in soft robotics, focusing on the design and control of flexible mechatronic systems. Soft robots have the potential to revolutionize various fields by providing adaptive and versatile robotic systems. The integration of advanced materials, novel actuation mechanisms, and innovative control strategies has paved the way for the development of soft robots with remarkable capabilities. However, further research is needed to address the existing challenges and unlock the full potential of soft robotics in practical applications.
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Mukherjee, Anshit, Gunjan Mukherjee, Monalisa Halder, and Kamal Kumar Ghosh. "ChatGPT: A Breakthrough in Developing Human-Like Robots with Natural Language Capabilities." INTERANTIONAL JOURNAL OF SCIENTIFIC RESEARCH IN ENGINEERING AND MANAGEMENT 08, no. 01 (January 4, 2024): 1–13. http://dx.doi.org/10.55041/ijsrem27928.
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Robotic systems often require engineers to write code to specify the desired behaviour of the robots. This process is slow, costly, and inefficient, as it involves multiple iterations and manual tuning. ChatGPT is a tool that leverages a large language model (LLM) to enable natural language interaction, code generation, and learning from feedback for robotic applications. ChatGPT allows users, who may not have technical expertise, to provide high-level instructions and feedback to the LLM, while observing the robot's performance. ChatGPT can produce code for various scenarios of robots, using the LLM's knowledge to control different robotic factors. ChatGPT can also be integrated with other platforms, such as Snapchat and Duolingo, to enhance the user experience and management. ChatGPT is a novel tool that facilitates a new paradigm in robotics, where users can communicate with and teach robots using natural language. Keywords: ChatGPT, Large Language Model, Natural Language Processing, Human Robot Interaction
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Khattab, Afraa, and Csaba Felhő. "Robotic systems for advanced additive manufacturing." Multidiszciplináris Tudományok 14, no. 2 (December 1, 2024): 201–19. https://doi.org/10.35925/j.multi.2024.2.20.
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Additive manufacturing (AM) has revolutionized the way we layout and manufacture products. The inception of complicated geometries immediately from virtual models gives more freedom and flexibility. However, AM systems have boundaries in terms of building volume, space, and the capability to manufacture multi-material and multi-practical items. A mixture of robotics and AM has emerged as a promising solution. The robotic tool of AM expands its capabilities via the growing toolpath strategies and robotic trajectories, paving the way for the advent of large, more complicated, and functionally included factors. This review paper explores the current-day robotic structures of AM, outlining advantages and challenges, and highlighting studies’ achievements.
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Dipali Ghatge, Pratham Patil, Atharva Algude, Shubhangi Chikane, and Atharv Dhotre. "Interactive Robotic Arm Simulation." International Research Journal on Advanced Engineering Hub (IRJAEH) 2, no. 06 (June 15, 2024): 1665–68. http://dx.doi.org/10.47392/irjaeh.2024.0229.
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In the dynamic landscape of robotics and artificial intelligence, this research pioneers a groundbreaking fusion of simulation technology and advanced machine learning, specifically reinforcement learning, to enhance robotic arm capabilities. The focus centers on the utilization of a cutting-edge simulator, powered by the PyBullet physics engine, to faithfully replicate the intricate dynamics of a robotic arm within a digital environment. Serving as an experimental ground, the simulator enables the robotic arm to navigate, manipulate objects, and dynamically engage with its surroundings. Through a symbiotic relationship between simulation technology and reinforcement learning, this research focuses on an adaptive learning approach. This approach accelerates the robotic arm's skill acquisition, refining critical aspects such as precision, speed, and adaptability. The project contributes to the evolution of robotic arm capabilities, paving the way for more autonomous, versatile, and adept robotic systems in the realm of artificial intelligence and robotics.
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Fatoye, Joseph. "Enhancing Robotics with Cognitive Capabilities." Proceedings of the AAAI Conference on Artificial Intelligence 38, no. 21 (March 24, 2024): 23738–39. http://dx.doi.org/10.1609/aaai.v38i21.30547.
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In the pursuit of creating more effective and adaptable robots, the flourishing field of cognitive robotics has arisen to infuse machines with human-like cognitive functions. This paper delves into the significance of cognitive robotics and charts a course for empowering robots with advanced cognitive capabilities. Drawing inspiration from current research in cognitive architectures, the paper underscores the importance of refined perception, language processing, complex decision-making, emotional intelligence, and cognitive synergy. By integrating these cognitive functions into robotic systems, the goal is to equip robots to operate intelligently in dynamic environments, collaborate seamlessly with humans, and adeptly handle diverse tasks. The proposed enhancements mark crucial strides towards the development of more versatile and capable intelligent robots.
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Khanna, Omaditya, Ryan Beasley, Daniel Franco, and Simon DiMaio. "The Path to Surgical Robotics in Neurosurgery." Operative Neurosurgery 20, no. 6 (May 13, 2021): 514–20. http://dx.doi.org/10.1093/ons/opab065.
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Abstract Robotic systems may help efficiently execute complicated tasks that require a high degree of accuracy, and this, in large part, explains why robotics have garnered widespread use in a variety of neurosurgical applications, including intracranial biopsies, spinal instrumentation, and placement of intracranial leads. The use of robotics in neurosurgery confers many benefits, and inherent limitations, to both surgeons and their patients. In this narrative review, we provide a historical overview of robotics and its implementation across various surgical specialties, and discuss the various robotic systems that have been developed specifically for neurosurgical applications. We also discuss the relative advantages of robotic systems compared to traditional surgical techniques, particularly as it pertains to integration of image guidance with the ability of the robotic arm to reliably execute pre-planned tasks. As more neurosurgeons adopt the use of robotics in their practice, we postulate that further technological advancements will become available that will help achieve improved technical capabilities, user experience, and overall patient clinical outcomes.
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Baddam, Parikshith Reddy. "Surgical Robotics Unveiled: The Robotic Surgeon's Role in Modern Surgical Evolution." ABC Journal of Advanced Research 8, no. 2 (December 31, 2019): 131–44. http://dx.doi.org/10.18034/abcjar.v8i2.718.
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This article delves into the transformative impact of surgical robotics on modern medical practices, unveiling the pivotal role of robotic surgeons in the ongoing evolution of surgery. Through a comprehensive exploration of cutting-edge technologies, the paper investigates how robotic systems enhance precision, minimize invasiveness, and contribute to improved patient outcomes. By scrutinizing recent advancements in robotic-assisted procedures, the article sheds light on the integration of artificial intelligence, machine learning, and advanced imaging technologies in surgical workflows. Emphasizing the collaborative nature of human-robot teams, the discussion highlights the synergy between skilled surgeons and robotic counterparts, emphasizing the potential for enhanced surgical capabilities. Furthermore, the article addresses challenges and ethical considerations associated with the widespread adoption of robotic surgery. In essence, this exploration offers a nuanced understanding of how surgical robotics is shaping the landscape of modern healthcare, offering a glimpse into the future trajectory of this rapidly evolving field.
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Ramos, Leonardo, Gabriel Lisbôa Guimarães Divino, Guilherme Cano Lopes, Breno Bernard Nicolau De França, Leonardo Montecchi, and Esther Luna Colombini. "The RoCS Framework to Support the Development of Autonomous Robots." Journal of Software Engineering Research and Development 7 (December 21, 2019): 10. http://dx.doi.org/10.5753/jserd.2019.470.
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With the expansion of autonomous robotics and its applications (e.g. medical, competition, military), the biggest hurdle in developing mobile robots lies in endowing them with the ability to interact with the environment and to make correct decisions so that their tasks can be executed successfully. However, as the complexity of robotic systems grows, the need to organize and modularize software for their correct functioning also becomes a challenge, making the development of software for controlling robots a complex and intricate task. In the robotics domain, there is a lack of reference software architectures and, although most robot architectures available in the literature facilitate the creation process with their modularity, existing solutions do not provide development guidance on reusing existing modules. Based on the well-
known IBM Autonomic Computing reference architecture (known as MAPE-K), this work defines a refined architecture following the Robotics perspective. To explore the capabilities of the proposed refinement, we implemented the RoCS (Robotics and Cognitive Systems) framework for autonomous robots. We successfully tested the framework under simulated robotics scenarios that mimic typical robotics tasks and evidence the framework reuse capability. Finally, we understand the proposed framework needs further experimental evaluation, particularly, assessments on real-world scenarios.
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Wei, Yufei, Xiaotong Nie, Motoaki Hiraga, Kazuhiro Ohkura, and Zlatan Car. "Developing End-to-End Control Policies for Robotic Swarms Using Deep Q-learning." Journal of Advanced Computational Intelligence and Intelligent Informatics 23, no. 5 (September 20, 2019): 920–27. http://dx.doi.org/10.20965/jaciii.2019.p0920.
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In this study, the use of a popular deep reinforcement learning algorithm – deep Q-learning – in developing end-to-end control policies for robotic swarms is explored. Robots only have limited local sensory capabilities; however, in a swarm, they can accomplish collective tasks beyond the capability of a single robot. Compared with most automatic design approaches proposed so far, which belong to the field of evolutionary robotics, deep reinforcement learning techniques provide two advantages: (i) they enable researchers to develop control policies in an end-to-end fashion; and (ii) they require fewer computation resources, especially when the control policy to be developed has a large parameter space. The proposed approach is evaluated in a round-trip task, where the robots are required to travel between two destinations as much as possible. Simulation results show that the proposed approach can learn control policies directly from high-dimensional raw camera pixel inputs for robotic swarms.
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Tselegkaridis, Sokratis, and Theodosios Sapounidis. "Simulators in Educational Robotics: A Review." Education Sciences 11, no. 1 (January 1, 2021): 11. http://dx.doi.org/10.3390/educsci11010011.
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Educational robotics (ER) seems to have a positive effect on students and, in many cases, might help them to successfully assimilate knowledge and skills. Thus, this paper focuses on ER and carries out a literature review on educational robotics simulators with Graphical User Interfaces (GUIs). The review searches for relevant papers which were published in the period 2013–2020 and extracted the characteristics of the simulators used. The simulators that we describe in this article cover various robotic technologies, offering students an easy way to engage with virtual robots and robotics mechanisms, such as wheeled robots or drones. Using these simulators, students might cover their educational needs or prepare themselves for educational robotic competitions by working in as realistic as possible conditions without hardware restrictions. In many cases, simulators might reduce the required cost to obtain a robotic system and increase availability. Focusing on educational robotics simulators, this paper presents seventeen simulators emphasizing key features such as: user’s age, robot’s type and programming language, development platform, capabilities, and scope of the simulator.
Dissertations / Theses on the topic "Robotic Capabilites"
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Hornfeck, Kenneth B. "A Customizable Socially Interactive Robot with Wireless Health Monitoring Capability." Case Western Reserve University School of Graduate Studies / OhioLINK, 2011. http://rave.ohiolink.edu/etdc/view?acc_num=case1301595272.
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Yanick, Anthony Joseph. "Driving By Speaking: Capabilities and Requirements of a Vocal Joystick." Case Western Reserve University School of Graduate Studies / OhioLINK, 2012. http://rave.ohiolink.edu/etdc/view?acc_num=case1327677974.
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Gonthier, Yves. "Force task planning of robotic systems with limited actuator capabilities." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1997. http://www.collectionscanada.ca/obj/s4/f2/dsk2/ftp01/MQ29595.pdf.
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Gonthier, Yves. "Force task planning of robotic systems with limited actuator capabilities." Thesis, McGill University, 1996. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=27222.
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In this thesis, we study the problem of large wrench application using robotic systems with limited force or torque actuators. It is shown that such systems may be able to apply a wrench in some configurations only; therefore their useful Force Workspace is limited, and may be smaller than their reachable workspace.To improve the force capabilities of a system, base mobility or redundancy can be employed. A planning algorithm is proposed which results in proper base positioning relative to large-force quasi-static tasks. Similarly, the Force Workspace can be used to position such tasks relative to a robotic system. An efficient numerical algorithm is proposed to generate the Force Workspace, based on the 2$ sp{n}$-tree decomposition of the Cartesian space. Its efficiency stems from the variable resolution nature of the Cartesian space representation, and also from the use of four test levels that restrict the search to valid regions of the Cartesian space only. Examples of Force Workspaces are given for redundant and non-redundant planar manipulators, and spatial manipulators.
Next, the case of tasks requiring the application of a wrench along a given path is considered. The Task Workspace, the set of Cartesian space locations that are valid starting positions for such tasks, is shown to be a subset of the Force Workspace.
To plan redundant manipulator postures during large force-tasks, a new method based on a mini-max optimization scheme is developed. (Abstract shortened by UMI.)
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Gonzalez, Daniel Jesus. "Extra robotic legs for augmenting human payload and positioning capabilities." Thesis, Massachusetts Institute of Technology, 2019. https://hdl.handle.net/1721.1/122134.
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Thesis: Ph. D., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2019Cataloged from PDF version of thesis.
Includes bibliographical references (pages 119-123).
The Extra Robotic Legs (XRL) system is a robotic augmentation worn by a human operator that consists of two articulated robot legs that help bear a heavy backpack payload and a portion of the operator's own weight. The design was driven by a need to increase the effectiveness of Department of Energy hazardous material emergency response personnel who are encumbered by their Personal Protective Equipment. Essentially a backpack-with-legs, the XRL system must bear large loads during operation, but also requires a proprioceptive transmission to allow for close physical interaction with the human operator. The linkage and actuator design minimizes the maximum required actuator torque by exploiting torque redistribution using a closed kinematic chain. A prototype was fabricated utilizing insights gained from force analyses and human-robot interaction safety requirements.
A seamless hybrid control architecture was developed to allow the operator command over the pace of the XRL stand-to-squat transition. A fail-safe Hybrid Open-Loop/Closed-Loop Control Architecture splits the Cartesian space into a closed-loop subspace in which the robot controls its balance and stability, and an open-loop subspace in which the human operator may move the robot at will through only a force interaction. Distributing the control computation to the joint level wherever possible makes the system robust to disconnections from the central computer. Initial tests of balance control while performing squatting transitions indicate the feasibility of this control scheme for the XRL system. It is desirable for the Human-XRL quadruped system to walk with an ambling gait in which the rear legs lead the front legs by 25% of the gait period, which minimizes the energy lost from foot impacts while maximizing the margin of balance stability.
Unlike quadrupedal robots, the XRL system cannot command the human's limbs to coordinate quadrupedal locomotion. By modeling the human-robot system during steady state walking as a coupled pair of simple nonlinear limit cycle oscillators, it can be shown that, using only a coupling made of passive mechanical components, a stable limit cycle that synchronizes the gaits while maximizing stability between the human and robot during walking may be achieved. By exploiting these inherently stable passive dynamics, the margin of stability and rate of synchronization may be supplemented with active control. By using these key design, control, and gait synchronization techniques, the XRL System will ultimately walk, climb stairs, crouch down, and crawl with the operator while eliminating all equipment loads acting on them.
by Daniel Jesus Gonzalez.
Ph. D.
Ph.D. Massachusetts Institute of Technology, Department of Mechanical Engineering
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Williams, Kenton J. (Kenton James). "Physics-, social-, and capability- based reasoning for robotic manipulation." Thesis, Massachusetts Institute of Technology, 2012. http://hdl.handle.net/1721.1/70445.
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Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2012.Cataloged from PDF version of thesis.
Includes bibliographical references (p. 124-128).
Robots that can function in human-centric domains have the potential to help humans with the chores of everyday life. Moreover, dexterous robots with the ability to reason about the maneuvers they execute for manipulation tasks can function more autonomously and intelligently. This thesis outlines the development of a reasoning architecture that uses physics-, social-, and agent capability-based knowledge to generate manipulation strategies that a dexterous robot can implement in the physical world. The reasoning system learns object affordances through a combination of observations from human interactions, explicit rules and constraints imposed on the system, and hardcoded physics-based logic. Observations from humans performing manipulation tasks are also used to develop a unique manipulation repertoire suitable for the robot. The system then uses Bayesian Networks to probabilistically determine the best manipulation strategies for the robot to execute on new objects. The robot leverages this knowledge during experimental trials where manipulation strategies suggested by the reasoning architecture are shown to perform well in new manipulation environments.
by Kenton J. Williams.
S.M.
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Nemitz, Markus P. "HoverBot : a manufacturable swarm robot that has multi-functional sensing capabilities and uses collisions for two-dimensional mapping." Thesis, University of Edinburgh, 2018. http://hdl.handle.net/1842/33160.
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Swarm robotics is the study of developing and controlling large groups of robots. Collectives of robots possess advantages over single robots such as being robust to mission failures due to single-robot errors. Experimental research in swarm robotics is currently limited by swarm robotic technology. Current swarm robotic systems are either small groups of sophisticated robots or large groups of simple robots due to manufacturing overhead, functionality-cost dependencies, and their need to avoid collisions, amongst others. It is therefore useful to develop a swarm robotic system that is easy to manufacture, that utilises its sensors beyond standard usage, and that allows for physical interactions. In this work, I introduce a new type of low-friction locomotion and show its first implementation in the HoverBot system. The HoverBot system consists of an air-levitation and magnet table, and a HoverBot agent. HoverBots are levitating circuit boards which are equipped with an array of planar coils and a Hall-effect sensor. HoverBot uses its coils to pull itself towards magnetic anchors that are embedded into a levitation table. These robots consist of a Printed Circuit Board (PCB), surface mount components, and a battery. HoverBots are easily manufacturable, robots can be ordered populated; the assembly consists of plugging in a battery to a robot. I demonstrate how HoverBot's low-cost hardware can be used beyond its standard functionality. HoverBot's magnetic field readouts from its Hall-effect sensor can be associated with successful movement, robot rotation and collision measurands. I build a time series classifier based on these magnetic field readouts, I modify and apply signal processing techniques to enable the online classification of the time-variant magnetic field measurements on HoverBot's low-cost microcontroller. This method allows HoverBot to detect rotations, successful movements, and collisions by utilising readouts from its single Hall-effect sensor. I discuss how this classification method could be applied to other sensors and demonstrate how HoverBots can utilise their classifier to create an occupancy grid map. HoverBots use their multi-functional sensing capabilities to determine whether they moved successfully or collided with a static object to map their environment. HoverBots execute an "explore-and-return-to-nest" strategy to deal with their sensor and locomotion noise. Each robot is assigned to a nest (landmark); robots leave their nests, move n steps, return and share their observations. Over time, a group of four HoverBots collectively builds a probabilistic belief over its environment. In summary, I build manufacturable swarm robots that detect collisions through a time series classifier and map their environment by colliding with their surroundings. My work on swarm robotic technology pushes swarm robotics research towards studies on collision-dependent behaviours, a research niche that has been barely studied. Collision events occur more often in dense areas and/or large groups, circumstances that swarm robots experience. Large groups of robots with collision-dependent behaviours could become a research tool to help invent and test novel distributed algorithms, to understand the dependencies between local to global (emergent) behaviours and more generally the science of complex systems. Such studies could become tremendously useful for the execution of large-scale swarm applications such as the search and rescue of survivors after a natural disaster.
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Naqvi, Syed Muhammad Raza. "Exploration des LLM et de l'XAI sémantique pour les capacités des robots industriels et les connaissances communes en matière de fabrication." Electronic Thesis or Diss., Université de Toulouse (2023-....), 2025. http://www.theses.fr/2025TLSEP014.
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Dans l'industrie 4.0, la fabrication avancée est essentielle pour façonner les usines du futur, en permettant d'améliorer la planification, l'ordonnancement et le contrôle. La capacité d'adapter rapidement les lignes de production en réponse aux demandes des clients ou à des situations inattendues est essentielle pour améliorer l'avenir de la fabrication. Bien que l'IA apparaisse comme une solution, les industries s'appuient toujours sur l'expertise humaine en raison des problèmes de confiance et du manque de transparence des décisions de l'IA. L'IA explicable intégrant des connaissances de base liées à la fabrication est cruciale pour rendre les décisions de l'IA compréhensibles et dignes de confiance. Dans ce contexte, nous proposons le cadre S-XAI, une solution intégrée combinant les spécifications de la machine et le MCSK pour fournir une prise de décision explicable et transparente. L'accent est mis sur la fourniture de capacités machine en temps réel afin de garantir une prise de décision précise tout en expliquant simultanément le processus de prise de décision à toutes les parties prenantes concernées. En conséquence, le premier objectif était de formaliser les spécifications des machines, y compris les capacités, les fonctions, la qualité et les caractéristiques des processus, en se concentrant sur la robotique. Pour ce faire, nous avons créé une ontologie des capacités des robots qui formalise tous les aspects pertinents des spécifications des machines, tels que la capacité, l'aptitude, la fonction, la qualité et les caractéristiques du processus. En plus de cette formalisation, le RCO permet aux acteurs de la fabrication de capturer les capacités robotiques décrites dans les manuels de spécification (capacités annoncées) et de les comparer avec les performances réelles (capacités opérationnelles). Le RCO est basé sur le langage de description des services de machines, une ontologie de référence créée pour les services de fabrication et alignée sur l'ontologie formelle de base, l'ontologie de la fonderie industrielle, l'ontologie des artefacts d'information et l'ontologie des relations. Le deuxième objectif était la formalisation du MCSK. Nous introduisons le MCSK et présentons une méthodologie pour l'identifier, en commençant par reconnaître les différents modèles de CSK dans la fabrication et en les alignant sur les concepts de fabrication. L'extraction du MCSK sous une forme utilisable est un défi, c'est pourquoi notre approche structure le MCSK en énoncés NL en utilisant des LLM pour faciliter le raisonnement basé sur des règles, améliorant ainsi les capacités de prise de décision. Le troisième et dernier objectif est de proposer un cadre S-XAI utilisant le RCO et le MCSK pour évaluer si les machines existantes peuvent effectuer des tâches spécifiques et générer des explications NL compréhensibles. Cet objectif a été atteint en intégrant le RCO, qui fournit des capacités opérationnelles telles que la répétabilité et la précision, au MCSK, qui décrit les exigences du processus. En utilisant le raisonnement sémantique basé sur le MCSK, le système S-XAI fournit de manière transparente des explications NL qui détaillent chaque logique et chaque résultat.Dans le cadre du S-XAI, un NN prédit les capacités opérationnelles des robots, tandis que l'IA symbolique incorpore ces prédictions dans un système de raisonnement basé sur le MCSK et fondé sur le RCO.Cette configuration hybride maximise les forces de chaque système d'IA et garantit que les prédictions soutiennent un processus décisionnel transparent. En outre, la S-XAI améliore l'interprétabilité des prédictions du NN grâce à des techniques XAI telles que LIME, SHAP et PDP, clarifiant les prédictions du NN et permettant d'obtenir des informations détaillées pour un meilleur calibrage et une gestion proactive, favorisant ainsi un environnement de fabrication résilient et informéIn Industry 4.0, advanced manufacturing is vital in shaping future factories, enabling enhanced planning, scheduling, and control. The ability to adaptproduction lines swiftly in response to customer demands or unexpected situations is essential to enhance the future of manufacturing. While AI is emerging as a solution, industries still rely on human expertise due to trust issues and a lack of transparency in AI decisions. Explainable AI integrating commonsense knowledge related to manufacturing is crucial for making AI decisions understandable and trustworthy. Within this context, we propose the S-XAI framework, an integrated solution combining machine specifications with MCSK to provide explainable and transparent decision-making. The focus is on providing real-time machine capabilities to ensure precise decision-making while simultaneously explaining the decision-making process to all involved stakeholders. Accordingly, the first objective was formalizing machine specifications, including capabilities, capacities, functions, quality, and process characteristics, focusing on robotics. To do so, we created a Robot Capability ontology formalizing all relevant aspects of machine specifications, such as Capability, Capacity, Function, Quality, and Process Characteristics. On top of this formalization, the RCO allows manufacturing stakeholders to capture robotic capabilities described in specification manuals (advertised capabilities) and compare them with real-world performance (operational capabilities). RCO is based on the Machine Service Description Language, a domain reference ontology created for manufacturing services, and aligned with the Basic Formal Ontology, Industrial Foundry Ontology, Information Artifact Ontology, and Relations Ontology. The second objective was the formalization of MCSK. We introduce MCSK and present a methodology for identifying it, starting with recognizing different CSK patterns in manufacturing and aligning them with manufacturing concepts. Extracting MCSK in a usable form is challenging, so our approach structures MCSK into NL statements utilizing LLMs. to facilitate rule-based reasoning, thereby enhancing decision-making capabilities. The third and final objective is to propose an S-XAI framework utilizing RCO and MCSK to assess if existing machines can perform specific tasks and generate understandable NL explanations. This was achieved by integrating the RCO, which provides operational capabilities like repeatability and precision, with MCSK, which outlines the process requirements. By utilizing MCSK-based semantic reasoning, the S-XAI system seamlessly provides NL explanations that detail each logic and outcome. In the S-XAI framework, an NN predicts the operational capabilities of robots, while symbolic AI incorporates these predictions within an MCSK-based reasoning system grounded in the RCO. This hybrid setup maximizes the strengths of each AI system and ensures that predictions support a transparent decision-making process. Additionally, S-XAI enhances the interpretability of NN predictions through XAI techniques such as LIME, SHAP, and PDP, clarifying NN predictions and enabling detailed insights for better calibration and proactive management, ultimately fostering a resilient and informed manufacturing environment
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Elghazaly, Gamal. "Hybrid cable thruster-actuated underwater vehicle manipulator system : modeling, analysis and control." Thesis, Montpellier, 2017. http://www.theses.fr/2017MONTS067.
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L’industrie offshore, pétrolière et gazière est le principal utilisateur des robots sous-marins, plus particulièrement de véhicules télé-opérés (ou ROV, Remotely Operated Vehicle). L'inspection, la construction et la maintenance de diverses installations sous-marines font parties des applications habituelles des ROVs dans l’industrie offshore. La capacité à maintenir un positionnement stable du véhicule ainsi qu’à soulever et déplacer des charges lourdes est essentielle pour certaines de ces applications. Les capacités de levage des ROVs sont cependant limitées par la puissance de leur propulsion. Dans ce contexte, cette thèse présente un nouveau concept d’actionnement hybride constitué de câbles et de propulseurs. Le concept vise à exploiter les fortes capacités de levage des câbles, actionnés par exemple depuis des navires de surfaces, afin de compléter l’actionnement d’un robot sous-marin. Plusieurs problèmes sont soulevés par la nature hybride (câbles et propulseurs) de ce système d'actionnement. En particulier, nous étudions l’effet de l'actionnement supplémentaire des câbles par rapport à un actionnement exploitant uniquement des propulseurs et nous tâchons de minimiser les efforts exercés par ces derniers. Ces deux objectifs sont les principales contributions de cette thèse. Dans un premier temps, nous modélisons la cinématique et la dynamique d'un robot sous-marin actionné à la fois par des propulseurs et des câbles et équipé d'un bras manipulateur. Un tel système possède une redondance cinématique et d'actionnement.. L'étude théorique sur l'influence de l'actionnement supplémentaire par câbles est appuyée par une étude en simulation, comparant les capacités de force d'un système hybride (câbles et propulseurs) à celles d'un système actionné uniquement par des propulseurs. L'évaluation des capacités est basée sur la détermination de l'ensemble des forces disponibles, en considérant les limites des forces d'actionnement. Une nouvelle méthode de calcul est proposée, pour déterminer l'ensemble des forces disponibles. Cette méthode est basée sur le calcul de la projection orthogonale de polytopes et son coût calculatoire est analysé et comparé à celui d'une méthode de l’état de l’art. Nous proposons également une nouvelle méthode pour le calcul de la distribution des forces d'actionnement, permettant d'affecter une priorité supérieure au sous-système d'actionnement par câbles afin de minimiser les efforts exercés par les propulseurs. Plusieurs cas d'études sont proposés pour appuyer les méthodes proposéesThe offshore industry for oil and gas applications is the main user of underwater robots, particularly, remotely operated vehicles (ROVs). Inspection, construction and maintenance of different subsea structures are among the applications of ROVs in this industry. The capability to keep a steady positioning as well as to lift and deploy heavy payloads are both essential for most of these applications. However, these capabilities are often limited by the available on-board vehicle propulsion power. In this context, this thesis introduces the novel concept of Hybrid Cable-Thruster (HCT)-actuated Underwater Vehicle-Manipulator Systems (UVMS) which aims to leverage the heavy payload lifting capabilities of cables as a supplementary actuation for ROVs. These cables are attached to the vehicle in a setting similar to Cable-Driven Parallel Robots (CDPR). Several issues are raised by the hybrid vehicle actuation system of thrusters and cables. The thesis aims at studying the impact of the supplementary cable actuation on the capabilities of the system. The thesis also investigate how to minimize the forces exerted by thrusters. These two objectives are the main contributions of the thesis. Kinematic, actuation and dynamic modeling of HCT-actuated UVMSs are first presented. The system is characterized not only by kinematic redundancy with respect to its end-effector, but also by actuation redundancy of the vehicle. Evaluation of forces capabilities with these redundancies is not straightforward and a method is presented to deal with such an issue. The impact of the supplementary cable actuation is validated through a comparative study to evaluate the force capabilities of an HCT-actuated UVMS with respect to its conventional UVMS counterpart. Evaluation of these capabilities is based on the determination of the available forces, taking into account the limits on actuation forces. A new method is proposed to determine the available force set. This method is based on the orthogonal projection of polytopes. Moreover, its computational cost is analyzed and compared with a standard method. Finally, a novel force resolution methodology is introduced. It assigns a higher priority to the cable actuation subsystem, so that the forces exerted by thrusters are minimized. Case studies are presented to illustrate the methodologies presented in this thesis
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Lauwers, Tom. "Aligning Capabilities of Interactive Educational Tools to Learner Goals." Research Showcase @ CMU, 2010. http://repository.cmu.edu/dissertations/556.
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This thesis is about a design process for creating educationally relevant tools. I submit that the key to creating tools that are educationally relevant is to focus on ensuring a high degree of alignment between the designed tool and the broader educational context into which the tool will be integrated. The thesis presents methods and processes for creating a tool that is both well aligned and relevant.
The design domain of the thesis is described by a set of tools I refer to as “Configurable Embodied Interfaces”. Configurable embodied interfaces have a number of key features, they: Can sense their local surroundings through the detection of such environmental and physical parameters as light, sound, imagery, device acceleration, etc. Act on their local environment by outputting sound, light, imagery, motion of the device, etc. Are configurable in such a way as to link these inputs and outputs in a nearly unlimited number of ways. Contain active ways for users to either directly create new programs linking input and output, or to easily re-configure them by running different programs on them. Are user focused; they assume that a human being is manipulating them in some way, through affecting input and observing output of the interface.
Spurred by the growth of cheap computation and sensing, a large number of educational programs have been built around use of configurable embodied interfaces in the last three decades. These programs exist in both formal and informal educational settings and are in use from early childhood through adult and community education. Typically, configurable embodied interfaces are used as tools in three major and sometimes overlapping areas: computer Science education, creative and engineering design education, and traditional science and math education.
This work details three examples of collaborations between technologists and educators that led to the creation of educationally successful tools; these three examples share a focus on creating a configurable embodied interface to tackle a specific cognitive and affective set of learning goals, but differ completely in the location of the learning environment, the age and interests of the learners, and the nature of the learning goals. Through the exploration of the methods used, an analysis of the general and context-specific features of the design processes of the three accounts, and a comparison of the process used in this thesis to a conventional engineering design process, this work provides case studies and a set of guidelines that can inform technologists interested in designing educationally relevant embodied interfaces
Books on the topic "Robotic Capabilites"
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W, Jackson Stewart, and United States. National Aeronautics and Space Administration., eds. Manned Mission on-orbit operations FTS capabilities assessment: Final report. Germantown, Md: Fairchild Space Co., 1993.
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W, Jackson Stewart, and United States. National Aeronautics and Space Administration., eds. Manned Mars Mission on-orbit operations FTS capabilities assessment: Final report. Germantown, Md: Fairchild Space Co., 1993.
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1938-, Zuech Nello, ed. Machine vision: Capabilities for industry. Dearborn, Mich: Machine Vision Association of SME, Publications Development Dept., Marketing Division, 1986.
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Rossini, Luca, Dario Izzo, and Leopold Summerer. Brain machine interfaces for space applications: Enhancing astronaut capabilities. Amsterdam: Academic, 2009.
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Astronomical Society of the Pacific. Annual meeting, ed. Robotic telescopes: Current capabilities, present developments, and future prospects for automated astronomy : background for the 106th annual meeting of the Astronomical Society of the Pacific. [San Francisco, Calif: Astronomical Society of the Pacific, 1994.
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W, Henry Gregory, Eaton Joel A, and Astronomical Society of the Pacific. Meeting, eds. Robotic telescopes: Current capabilities, present developments, and future prospects for automated astronomy : proceedings of a symposium held as part of the 106th annual meeting of the Astronomical Society of the Pacific, Flagstaff, Arizona, 28-30 June 1994. San Francisco: Astronomical Society of the Pacific, 1995.
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Cangelosi, Angelo, and Minoru Asada, eds. Cognitive Robotics. The MIT Press, 2022. http://dx.doi.org/10.7551/mitpress/13780.001.0001.
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The current state of the art in cognitive robotics, covering the challenges of building AI-powered intelligent robots inspired by natural cognitive systems. A novel approach to building AI-powered intelligent robots takes inspiration from the way natural cognitive systems—in humans, animals, and biological systems—develop intelligence by exploiting the full power of interactions between body and brain, the physical and social environment in which they live, and phylogenetic, developmental, and learning dynamics. This volume reports on the current state of the art in cognitive robotics, offering the first comprehensive coverage of building robots inspired by natural cognitive systems. Contributors first provide a systematic definition of cognitive robotics and a history of developments in the field. They describe in detail five main approaches: developmental, neuro, evolutionary, swarm, and soft robotics. They go on to consider methodologies and concepts, treating topics that include commonly used cognitive robotics platforms and robot simulators, biomimetic skin as an example of a hardware-based approach, machine-learning methods, and cognitive architecture. Finally, they cover the behavioral and cognitive capabilities of a variety of models, experiments, and applications, looking at issues that range from intrinsic motivation and perception to robot consciousness. Cognitive Robotics is aimed at an interdisciplinary audience, balancing technical details and examples for the computational reader with theoretical and experimental findings for the empirical scientist.
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Springer, Paul J. Outsourcing War to Machines. ABC-CLIO, LLC, 2018. http://dx.doi.org/10.5040/9798400694707.
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Military robots are affecting both the decision to go to war and the means by which wars are conducted. This book covers the history of military robotics, analyzes their current employment, and examines the ramifications of their future utilization. Robotic systems are the future of military conflicts: their development is already revolutionizing the nature of human conflict—and eroding the standards of acceptable behavior in wartime. Written by a professor who teaches strategy and leadership for the U.S. Air Force, one of the global leaders in the development and utilization of military robots, this book both addresses the history of military robotics and discusses the troubling future ramifications of this game-changing technology. Organized both chronologically and thematically, the book’s chapters describe the development and evolution of unmanned warfare; clarify the past, current, and future capabilities of military robotics; and offer a detailed and convincing argument that limits should be placed upon their development before it is too late. This standout work presents an eye-opening analysis that military personnel, civil servants, and academic instructors who teach military history, social policy, and ethics can ill afford to ignore, and will also provide the general public with information that will correct misconceptions about military robotics derived through popular culture and the news media.
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Prescott, Tony J. Mammals and mammal-like robots. Oxford University Press, 2018. http://dx.doi.org/10.1093/oso/9780199674923.003.0045.
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Mammals are warm-blooded tetrapod vertebrates that evolved from reptilian ancestors during the late Triassic period around 225 million years ago. This chapter focuses on some of the most distinctive mammalian characteristics and on integrated robotic systems that seek to capture these capabilities in biomimetic artifacts. Topics covered include the mammalian brain, novel sensory systems, agile locomotion, dextrous grasp, and social cognition. Attempts to build integrated robotic systems that broadly match the behaviour and appearance of specific mammalian species have focused most strongly on humans, on quadrupeds such as cats and dogs, and on rodents. The goal of creating robots that resemble mammals will be encouraged by interest in mammal-like robots that can emulate some of the capacities for social companionship provided by domesticated mammals such as rabbits, dogs, and cats.
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Ayers, Joseph. Biohybrid robots are synthetic biology systems. Oxford University Press, 2018. http://dx.doi.org/10.1093/oso/9780199674923.003.0051.
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This chapter describes how synthetic biology and organic electronics can integrate neurobiology and robotics to form a basis for biohybrid robots and synthetic neuroethology. Biomimetic robots capture the performance advantages of animal models by mimicking the behavioral control schemes evolved in nature, based on modularized devices that capture the biomechanics and control principles of the nervous system. However, current robots are blind to chemical senses, difficult to miniaturize, and require chemical batteries. These obstacles can be overcome by integration of living engineered cells. Synthetic biology seeks to build devices and systems from fungible gene parts (gene systems coding different proteins) integrated into a chassis (induced pluripotent eukaryotic cells, yeast, or bacteria) to produce devices with properties not found in nature. Biohybrid robots are examples of such systems (interacting sets of devices). A nascent literature describes genes that can mediate organ levels of organization. Such capabilities, applied to biohybrid systems, portend truly biological robots guided, controlled, and actuated solely by life processes.
Book chapters on the topic "Robotic Capabilites"
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Operto, Fiorella. "Elements of Roboethics." In Makers at School, Educational Robotics and Innovative Learning Environments, 73–79. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-77040-2_10.
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AbstractRoboethics analyzes the ethical, legal and social aspects of robotics, especially with regard to advanced robotics applications. These issues are related to liability, the protection of privacy, the defense of human dignity, distributive justice and the dignity of work. Today, roboethics is becoming an important component in international standards for advanced robotics, and in various aspects of artificial intelligence. An autonomous robot endowed with deep learning capabilities shows specificities in terms of its growing autonomy and decision-making functions and, thus, gives rise to new ethical and legal issues. The learning models for a care robot assisting an elderly person or a child must be free of bias related to the selected attributes and should not be subject to any stereotypes unintentionally included in their design. As roboethics goes hand in hand with developments in robotics applications, it should be the concern of all actors in the field, from designers and manufacturers to users. There is one very important element in this—albeit one that is related indirectly—that should not be overlooked: namely, how robotics and robotic applications are represented to the general public. Of the many representations, the legacy of mythology, science fiction and the legend still play an important role. The world of robotics is often marked by icons and images from literature. Exaggerated expectations of their functions, magical descriptions of their behavior, over-anthropomorphization, insistence on their perfection and their rationality compared to that of humans are only some of the false qualities attributed to robotics.
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Rodriguez, Alberto, Matthew T. Mason, and Siddhartha S. Srinivasa. "Manipulation Capabilities with Simple Hands." In Experimental Robotics, 285–99. Berlin, Heidelberg: Springer Berlin Heidelberg, 2014. http://dx.doi.org/10.1007/978-3-642-28572-1_20.
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Nuccio, Carlo, Agnese Augello, Salvatore Gaglio, and Giovanni Pilato. "Interaction Capabilities of a Robotic Receptionist." In Intelligent Interactive Multimedia Systems and Services 2017, 171–80. Cham: Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-59480-4_18.
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Khodabandehloo, K., and P. T. Clarke. "Capabilities and potential of robotics." In Robotics in Meat, Fish and Poultry Processing, 1–25. Boston, MA: Springer US, 1993. http://dx.doi.org/10.1007/978-1-4615-2129-7_1.
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Ruiz Garcia, Manuel A., Erwin Rauch, Renato Vidoni, and Dominik T. Matt. "AI and ML for Human-Robot Cooperation in Intelligent and Flexible Manufacturing." In Implementing Industry 4.0 in SMEs, 95–127. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-70516-9_3.
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AbstractHuman–robot cooperation aims to increase the flexibilization of manufacturing systems. This requires safe human–machine interaction (e.g. with collaborative robots) as well as self and environment awareness capabilities to interact autonomously and smartly between humans and machines. Therefore, the goal of this chapter is to conceptualize and identify the set of real-time information processing and decision-making capabilities required for collaborative robots to be considered as a safe companion in the context of human–robot cooperation (HRC). In particular, the chapter provides an overview of appropriate artificial intelligence (AI) and machine learning (ML) concepts, formally introduces the concept of a safety-aware cyber-physical system and defines a general taxonomy for the perceptive and cognitive problems arising in the context of intelligent and flexible HRC.
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Darapureddy, Nagadevi, Muralidhar Kurni, and Saritha K. "A Comprehensive Study on Artificial Intelligence and Robotics for Machine Intelligence." In Methodologies and Applications of Computational Statistics for Machine Intelligence, 203–22. IGI Global, 2021. http://dx.doi.org/10.4018/978-1-7998-7701-1.ch011.
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Artificial intelligence (AI) refers to science-generating devices with functions like reasoning, thinking, learning, and planning. A robot is an intelligent artificial machine capable of sensing and interacting with its environment utilizing integrated sensors or computer vision. In the present day, AI has become a more familiar presence in robotic resolutions, introducing flexibility and learning capabilities. A robot with AI provides new opportunities for industries to produce work safer, save valuable time, and increase productivity. Economic impact assessment and awareness of the social, legal, and ethical problems of robotics and AI are essential to optimize the advantages of these innovations while minimizing adverse effects. The impact of AI and robots affects healthcare, manufacturing, transport, and jobs in logistics, security, retail, agri-food, and construction. The chapter outlines the vision of AI, robot's timeline, highlighting robot's limitations, hence embedding AI to robotic real-world applications to get an optimized solution.
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Muratore, Luca, Arturo Laurenzi, and Nikos G. Tsagarakis. "XBot: A Cross-Robot Software Framework for Real-Time Control." In Robotics Software Design and Engineering. IntechOpen, 2021. http://dx.doi.org/10.5772/intechopen.97066.
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The widespread use of robotics in new application domains outside the industrial workplace settings requires robotic systems which demonstrate functionalities far beyond that of classical industrial robotic machines. The implementation of these capabilities inevitably increases the complexity of the robotic hardware, control a and software components. This chapter introduces the XBot software architecture for robotics, which is capable of Real-Time (RT) performance with minimum jitter at relatively high control frequency while demonstrating enhanced flexibility and abstraction features making it suitable for the control of robotic systems of diverse hardware embodiment and complexity. A key feature of the XBot is its cross-robot compatibility, which makes possible the use of the framework on different robots, without code modifications, based only on a set of configuration files. The design of the framework ensures easy interoperability and built-in integration with other existing software tools for robotics, such as ROS, YARP or OROCOS, thanks to a robot agnostic API called XBotInterface. The framework has been successfully used and validated as a software infrastructure for collaborative robotic arms as KUKA lbr iiwa/lwr 4+ and Franka Emika Panda, other than humanoid robots such as WALK-MAN and COMAN+, and quadruped centaur-like robots as CENTAURO.
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Gowda V., Dankan, Kirti Rahul Kadam, Suma S. G., Shrikant D. Bhopale, and R. Nithya. "Scaling Robot Intelligence With Cloud-Based Cloning Platforms." In Advances in Computational Intelligence and Robotics, 120–42. IGI Global, 2024. http://dx.doi.org/10.4018/979-8-3693-1914-7.ch007.
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Robotics needs to be applied in many different areas which requires the existence of better-quality platforms whose performance and function can be refined. The cloud and robotic cloning in this chapter offer an innovative idea. As a result, utilizing the immense capabilities and scalability of cloud computing can only make robotic systems better and more capable in multi-robot cooperative scenarios. The chapter offers an outline of the theoretical foundations, advantages, possible concurrent applications, and future direction for cloud-based cloning platforms. By exploring the subject in depth, readers will discover how cloud-based cloning platforms can play the role of a major enabling factor making scaling up intelligence and capability possible as multi-robot systems open new frontiers for robotics.
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D’Silva, Blaren, and Rathishchandra R. Gatti. "Applications of AI-enabled Robotics in Healthcare." In IoT and Big Data Analytics, 248–61. BENTHAM SCIENCE PUBLISHERS, 2023. http://dx.doi.org/10.2174/9789815196054123050018.
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Robotics began roughly 30 years ago in medical applications, but it is still relatively young for biological applications. Because of the precision, accuracy and reproducibility of robotic technology, robotic interventions in medical fields, such as robotic surgery, can enable doctors to work inside the human body, which is either non-invasive or minimally invasive, with improved surgical results. The importance of medical robots in the medical sector is intended to deliver good outcomes to assist people in doing complex tasks that need a significant amount of time, accuracy, concentration, and other routines that cannot be accomplished solely through human capability. Due to advancements in AI and IoT and their convergence to AIoT, the potential of medical robots has tremendously increased in the healthcare industry. The chapter outlines the various applications of robotics in the healthcare sector, including surgical, rehabilitation, telemedicine, and diagnostic. The advantages of robotics in Healthcare are highlighted, along with the discussion on the current and future challenges in their deployment and adoption. The role of AIoT in enhancing these healthcare robots' cognitive and other capabilities is also discussed. Finally, the future of robotics in Healthcare is explored, including emerging trends and technologies, their impact on the healthcare industry, and the potential for innovation and growth.
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Barua, Ranjit. "The Emerging Potential of 21st Century Bio-Inspired Swarm Robotics in Modern Medical Surgery." In Bio-inspired Swarm Robotics and Control, 28–45. IGI Global, 2024. http://dx.doi.org/10.4018/979-8-3693-1277-3.ch003.
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Bio-inspired swarm robotics in medical surgery involves taking inspiration from the collective behaviors and coordination strategies observed in natural swarms, such as ants, bees, fish schools, and bird flocks, and applying these principles to develop robotic systems for medical procedures. This innovative approach holds the potential to revolutionize various aspects of medical surgery. In swarm robotics, individual robots work together to accomplish tasks that are beyond the capabilities of a single robot. Similarly, in surgery, a group of small robots could collaborate to perform complex tasks like tissue manipulation, suturing, or assisting in delicate procedures. This chapter aims to offer a synopsis of the current state of swarm robotics technology in analysis, research potentials, and applications in the modern medical field.
Conference papers on the topic "Robotic Capabilites"
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Banjanović-Mehmedović, Lejla, Anel Husaković, Azra Gurdić Ribić, Naser Prljača, and Isak Karabegović. "Advancements in Robotic Intelligence: The Role of Computer Vision, DRL, Transformers and LLMs." In Artificial Intelligence in Industry 4.0: The future that comes true, 94–127. Academy of Sciences and Arts of Bosnia and Herzegovina, 2024. http://dx.doi.org/10.5644/pi2024.215.05.
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In recent advancements in robotics, Artificial Intelligence (AI) methods such as Deep Learning, Deep Reinforcement Learning (DRL), Transformers, and Large Language Models (LLMs) have significantly enhanced robotic capabilities. Key AI models driving advancements in robotic vision include Convolutional Neural Networks (CNNs), Vision Transformers (ViTs), the DEtection Transformers (DETR), the YOLO family of algorithms, segmentation techniques, and 3D vision technologies. Deep Reinforcement Learning (DRL), an AI technique where agents learn optimal behaviors through trial and error interactions with their environment, enables robots to perform complex tasks autonomously. Transformers, originally developed for natural language processing, have been adapted to robotics for tasks involving sequence prediction and data understanding, improving perception and decision-making processes. LLMs leverage vast amounts of text data to enhance robot-human interaction, enabling robots to understand and generate human-like language, thus improving their communicative and collaborative abilities in various applications. The integration of these AI methods enhances the adaptability, efficiency, and overall performance of robotic systems, paving the way for more sophisticated and intelligent autonomous agents.
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Schilberg, Daniel, Jelena Borovica, Lea Vianden, Meiko Litzba, and Florian Millmann. "Robots in Popular Sciences Compared with their Real Capabilities." In 13th International Conference on Applied Human Factors and Ergonomics (AHFE 2022). AHFE International, 2022. http://dx.doi.org/10.54941/ahfe1002316.
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In this paper, statements from popular science sources are contrasted with data from primary science articles and studies. It is observed to what extent the opinions and statements of the popular science articles differ from the studies and scientific articles in terms of ethics and acceptance. For this purpose, the field is divided into 4 fields, which are processed independently.To begin with, the industrial robots are examined. These are used in the area of production as well as in the area of maintenance and repair. These robots are able to learn from each other and to work with each other and with humans. Even a tire change can be carried out by an industrial robot today. Likewise, new developments offer construction spaces that are difficult for humans to access. Activities that do not serve industrial production, but rather the performance of services for people and facilities, are carried out by service robots. They are freely programmable motion devices that perform services partially or fully automatically and are used in the areas of care, gastronomy, tourism, as well as private households. In the future, skills such as flexibility and judgment must be perfected. The use of some service robots is already safe for humans. Similar to service robots, social robotics also focuses on interaction between humans and robots. These are sensorimotor robots that can communicate with humans in a social manner. In doing so, they can build social relationships and constantly learn. The social robots are usually in a human-like (humanoid) or animal-like (animaloid) body, but can also be used merely as software. Examples for application are care, therapy and entertainment robots. In addition to the three physical robots, software robots (software bots) are virtual robots used for process automation. They are the result of the application of Robotic Process Automation (RPA), which includes various approaches and technologies. They are used in almost every industry. In the following paper, the applications of softwarebots in finance, healthcare, public administration, and law are examined. Only minor discrepancies between the secondary literature studied and the state of the art can be observed in the texts examined.For the industrial robots, no deviations from statements from popular science sources can be found. In the secondary literature, however, these are not found as frequently as the other robot types studied. This is probably since the interested parties tend to be companies that are advertised through other channels. Nevertheless, some publications can be found for the manufacturing and maintenance and repair sectors. The largest application area today is still manufacturing. However, current robot developments offer promising and potential benefits for the maintenance and repair of industrial plants. In comparison, the research on service robots have shown that a variety of characteristics and capabilities are attributed to them in the secondary literature, most of which are consistent with the status quo of service robotics. In the next area examined, social robotics, the claims from the secondary literature, as with the previous robot types, deviate little from the primary scientific facts. In the technical area, the claims of the secondary literature are fundamentally true, although the ability of robots is generalized in some aspects. Softawarebots, on the other hand, are partially distinct from the previously mentioned robots. Especially the terms used for software applications as software bots in popular science articles do not refer to scientific classifications.
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Moreno-Rueda, David, Cole Maynard, Julio Hernandez, Tyler Tallman, Jose Garcia, and Brittany Newell. "3D Printed Flexible Gripper With Capacitance Sensing." In ASME 2023 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. American Society of Mechanical Engineers, 2023. http://dx.doi.org/10.1115/smasis2023-110732.
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Abstract Soft robotics has changed the way people think and interact with robots. Robots were traditionally perceived as metallic rigid structures. However, soft-robot implementation has become essential in many medical devices (where conditions are highly dynamic and are susceptible to physical contact), smartphones, and industrial and human-robot applications. Some of the key features these devices offer are high dexterity, compliance, large amplitude, repeatability of motion, and improved safety. Pneumatic actuation is the dominant technology in soft robotics in terms of ease of implementation, low mass, and fast response time. Pneumatically actuated soft robots are mainly used for manipulation and gripping due to their capacity to generate high forces with minimal weight. Manufacturing these devices has decreased the cost and time to manufacture while increasing flexibility of materials used in comparison to traditional metal robotic manufacturing. Particularly, soft robotics has allowed for production using 3D printing for manufacturing soft pneumatic actuators. This is advantageous due to the capability of customization and ease of fabrication by using elastomeric materials. Also, by using 3D-printing it is possible to produce complex shapes and therefore motions including bending, rotating, twisting, jumping, rolling, and their combinations with high precision. Pneumatic gripper robots in particular are often used in applications where specific forces are required or nonuniform shape lifting is needed. In these applications, sensing the robot’s grip is critical. This paper presents a pneumatic soft robot sensing and actuating system. This system consists of a flexible pneumatic actuator, that can create rotational or linear motion and due to connection of two actuators can in turn be used for gripping. The actuator is manufactured fully via 3D printing using the softest commercially available thermoplastic polyurethane (TPU) filament. Both the actuator and sensor produced were manufactured using fused deposition modeling (FDM) techniques. This actuator incorporates 3D printed capacitance-based sensors made from commercial conductive thermoplastic polyurethane and a custom conductive thermoplastic polyurethane material. The capacitance-based sensors enable a pressure analysis of the robot’s grip. Both the soft-actuator and the capacitance-based sensor have been previously characterized and manufactured separately. This work integrates the two for a real-world application and provides a comparison between the commercial material and a custom carbon nano-fiber-based conductive filament for sensor and actuator response optimization. The actuator’s deformation along with applied pressure when gripping was assessed in this work for robot performance optimization. Results showed linear responses for commercial material and 10 wt% custom materials. The 10 wt% custom material demonstrated the widest sensing range (36.2–49.1 pF) and lowest standard deviation compared to both the commercial and 7.5 wt % custom material demonstrating grip sensing capabilities.
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Fan, Hongyi, Adnan Munawar, Manish Sahu, Russell Taylor, and Peter Kazanzides. "Integrating a Real-time Surgical Robot Dynamic Simulator with 3D Slicer." In THE HAMLYN SYMPOSIUM ON MEDICAL ROBOTICS. The Hamlyn Centre, Imperial College London London, UK, 2023. http://dx.doi.org/10.31256/hsmr2023.45.
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Background Medical robotics, particularly image- guided robotic systems, have revolutionized the surgical field by improving precision and accuracy. 3D Slicer(1), an open-source platform, has become a crucial tool in this field as it allows for visualization, processing, and registration of 2D and 3D medical imaging data, making it an essential component in current research in robotic intervention(2) (3). However, there is a missing compo- nent in 3D Slicer - a native physics engine for simulating the interaction of a robot with the anatomy. AMBF(4), an open-source software, was designed to address this issue by simulating the kinematics, dynamics, and in- teraction of complex surgical robots. By integrating 3D Slicer and AMBF using Robot Operating System (ROS), we can empower researchers to utilize both the extensive capabilities of 3D Slicer for visualization, processing, and registration of medical imaging data, and the physics- based constraint of AMBF for simulating the interac- tion of a robot with the anatomy. By combining these two platforms, researchers will have a comprehensive tool to study and develop projects in medical robotics, ulti- mately contributing to the advancement of the field.
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Saber, Omid, and Hassan Zohoor. "Workspace Analysis of a Cable-Suspended Robot With Active/Passive Cables." In ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2013. http://dx.doi.org/10.1115/detc2013-12646.
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Cable-driven parallel robots have several outstanding characteristics that make them unique in many robotic applications. Since cables can only pull, one of the most important issues associated with these robots is obtaining their workspace. In this paper a spatial translational cable-driven robot with active/passive cables is considered and its workspace is investigated from several points of views. First the moment resisting capability of the robot is discussed and the effects of some robot’s parameters on the workspace are studied. Then, both force-feasibility and moment-resisting capability of the robot are considered to find the region where the end-effector may exert the required force-set and resist an external moment simultaneously. Furthermore, the wrench-feasibility of the redundant cable-driven robot is studied and finally a method of obtaining non-fluctuating positive tensions in all cables is proposed by using a particle swarm optimization approach.
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Umbrico, Alessandro, Gabriella Cortellessa, Andrea Orlandini, and Amedeo Cesta. "Modeling Affordances and Functioning for Personalized Robotic Assistance." In 17th International Conference on Principles of Knowledge Representation and Reasoning {KR-2020}. California: International Joint Conferences on Artificial Intelligence Organization, 2020. http://dx.doi.org/10.24963/kr.2020/94.
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A key aspect of robotic assistants is their ability to contextualize their behavior according to different needs of assistive scenarios. This work presents an ontology-based knowledge representation and reasoning approach supporting the synthesis of personalized behavior of robotic assistants. It introduces an ontological model of health state and functioning of persons based on the International Classification of Functioning, Disability and Health. Moreover, it borrows the concepts of affordance and function from the literature of robotics and manufacturing and adapts them to robotic (physical and cognitive) assistance domain. Knowledge reasoning mechanisms are developed on top of the resulting ontological model to reason about stimulation capabilities of a robot and health state of a person in order to identify action opportunities and achieve personalized assistance. Experimental tests assess the performance of the proposed approach and its capability of dealing with different profiles and stimuli.
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Rosati, Giulio, Riccardo Secoli, Damiano Zanotto, Aldo Rossi, and Giovanni Boschetti. "Planar Robotic Systems for Upper-Limb Post-Stroke Rehabilitation." In ASME 2008 International Mechanical Engineering Congress and Exposition. ASMEDC, 2008. http://dx.doi.org/10.1115/imece2008-67273.
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Rehabilitation is the only way to promote recovery of lost function in post-stroke hemiplegic subjects, leading to independence and early reintegration into social and domestic life. In particular, upper limb rehabilitation is fundamental to regain ability in Activities of Daily Living (ADLs). Robot-aided rehabilitation is an emerging field seeking to employ leading-edge robotic systems to increase patient recovery in the rehabilitation treatment. Even though the effectiveness of robotic therapy is still being discussed, the use of robotic devices can increase therapists’ efficiency by alleviating the labor-intensive aspects of physical rehabilitation, and can produce a reduction in treatment costs. This paper presents a comparison between different planar robotic devices designed for upper-limb rehabilitation in chronic patients. A planar configuration of the workspace leads to straightforward mechanical and control system design, and allows to define very simple and understandable treatment exercises. Also, the graphical user interface becomes very intuitive for the patient, and a set of Cartesian-based measures of the patient’s performance can be defined easily. In the paper, SCARA (Selective Compliance Assembly Robot Arm) robots such as the MIT-Manus, Cartesian robots and cable-driven robots are considered and compared in terms of inertial properties and force exertion capabilities. Two cable-driven devices, designed at the Robotics Lab of the Department if Innovation In Mechanics and Management, University of Padua, Italy, are presented for the first time. The first robot employs four driven cables to produce a planar force on the end-effector, whereas the second one is based on a three-cable configuration plus a linear actuator to obtain better overall robot performance.
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Pholsiri, Chalongrath, Chetan Kapoor, and Delbert Tesar. "Real-Time Robot Capability Analysis." In ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2005. http://dx.doi.org/10.1115/detc2005-84353.
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Robot Capability Analysis (RCA) is a process in which force/motion capabilities of a manipulator are evaluated. It is very useful in both the design and operational phases of robotics. Traditionally, ellipsoids and polytopes are used to both graphically and numerically represent these capabilities. Ellipsoids are computationally efficient but tend to underestimate while polytopes are accurate but computationally intensive. This article proposes a new approach to RCA called the Vector Expansion (VE) method. The VE method offers accurate estimates of robot capabilities in real time and therefore is very suitable in applications like task-based decision making or online path planning. In addition, this method can provide information about the joint that is limiting a robot capability at a given time, thus giving an insight as to how to improve the performance of the robot. This method is then used to estimate capabilities of 4-DOF planar robots and the results discussed and compared with the conventional ellipsoid method. The proposed method is also successfully applied to the 7-DOF Mitsubishi PA10-7C robot.
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Liao, Hao-Yu, Terrin Pulikottil, Jef R. Peeters, and Sara Behdad. "A Disassembly Score for Human-Robot Collaboration Considering Robots’ Capabilities." In ASME 2024 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2024. http://dx.doi.org/10.1115/detc2024-143517.
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Abstract Product disassembly is essential for remanufacturing operations and recovery of end-of-use devices. However, disassembly has often been performed manually with significant safety issues for human workers. Recently, human-robot collaboration has become popular to reduce the human workload and handle hazardous materials. However, due to the current limitations of robots, they are not fully capable of performing every disassembly task. It is critical to determine whether a robot can accomplish a specific disassembly task. This study develops a disassembly score which represents how easy is to disassemble a component by robots, considering the attributes of the component along with the robotic capability. Five factors, including component weight, shape, size, accessibility, and positioning, are considered when developing the disassembly score. Further, the relationship between the five factors and robotic capabilities, such as grabbing and placing, is discussed. The MaxViT (Multi-Axis Vision Transformer) model is used to determine component sizes through image processing of the XPS 8700 desktop, demonstrating the potential for automating disassembly score generation. Moreover, the proposed disassembly score is discussed in terms of determining the appropriate work setting for disassembly operations, under three main categories: human-robot collaboration (HRC), semi-HRC, and worker-only settings. A framework for calculating disassembly time, considering human-robot collaboration, is also proposed.
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Van Lewen, Daniel, Taylor Janke, Harin Lee, Ryan Austin, Ehab Billatos, and Sheila Russo. "A Fluidic Actuated Soft Robot for Improving Bronchoscopic Biopsy." In THE HAMLYN SYMPOSIUM ON MEDICAL ROBOTICS. The Hamlyn Centre, Imperial College London London, UK, 2023. http://dx.doi.org/10.31256/hsmr2023.48.
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Lung cancer has long been one of the deadliest forms of cancer in large part due to the difficulty in diagnosis when at its earlier stages [1]. Because of their large diameter (i.e., ≈ 6 mm) preventing them from navigating in the peripheral lung, traditional bronchoscopes used in minimally invasive biopsy encounter difficulty when trying to reach smaller, deep-seated lesions [2]. Robotic solutions have been developed to address these limitations in surgical navigation. Commercial robotic bronchoscopy systems, like the Auris Monarch™ and Intuitive Ion™ , con- sist of tendon-actuated continuum robots which focus on navigation and biopsy deeper into the lung periphery [3]. Soft robots present a promising alternative to these commercial robotic systems due to their scalability, in- herent flexibility, and potential for safer interactions with biological tissue, making them well-suited for procedures in the peripheral lung [4]. Furthermore, the materials used in soft robotics are generally more economical and allow seamless integration of soft robotic actuation and sensing mechanisms. Exploration of various actuation methods, such as magnetic and fluidic, have demonstrated navigation capabilities in hard-to-reach areas of the lung and the ability to integrate useful tools, such as needles and cameras [5], [6]. However, with miniaturization, the ability of soft robots to transmit forces and interact with the surrounding biological tissue diminishes. We propose a 3.5 mm diameter soft robot with em- bedded degrees of freedom (DOFs) for tip steering, tip stabilization, and needle deployment for tissue biopsy in bronchoscopy procedures (Fig. 1). Via soft actuators embedded in its continuum body, the robot can navigate through the lung branches to the target lesion and anchor itself within an anatomical channel. After anchoring, a needle may be deployed from the robot tip using an origami-inspired soft actuator to puncture the target lesion and take a biopsy. The fluidic actuated DOFs embedded in the proposed robot seek to reach deeper into the lungs, actively increase force transmission at the millimeter scale, and distally control the biopsy needle laying the framework for enhanced surgical capabilities in minimally invasive bronchoscopy procedures.
Reports on the topic "Robotic Capabilites"
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Groot, K. J. Robotic capabilities for printed wiring assembly processing. Office of Scientific and Technical Information (OSTI), October 1991. http://dx.doi.org/10.2172/5121973.
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Kornelakis, Andreas, Chiara Benassi, Damian Grimshaw, and Marcela Miozzo. Robots at the Gates? Robotic Process Automation, Skills and Institutions in Knowledge-Intensive Business Services. Digital Futures at Work Research Centre, May 2022. http://dx.doi.org/10.20919/vunu3389.
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Against the backdrop of the fourth industrial revolution, this paper examines the emergence of Robotic Process Automation (RPA) as one of the new technologies that are shaping the future of work and reconfiguring sectoral business and innovation systems and models. It discusses how the institutional context can potentially mediate the digital transformation of services, how RPA affects workers’ employment and skills, and how it alters inter-organisational relationships and capabilities. Bringing together different strands of academic literature on employment studies, innovation, and technology studies, it deploys a comparative institutional perspective to explore the potential effects of RPA and illustrates their plausibility through mini case studies from knowledge-intensive business services
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Hosoi, Anette. Enabling Novel Minimally-Actuated Robotic Capabilities Through Active Fluids. Fort Belvoir, VA: Defense Technical Information Center, July 2013. http://dx.doi.org/10.21236/ada606388.
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Barnes, Evan A. Capability Driven Robotic Swarms in Reconnaissance-Based Operations. Fort Belvoir, VA: Defense Technical Information Center, May 2008. http://dx.doi.org/10.21236/ada486673.
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Bak, A. Spicer, Patrick Durkin, Brittany Bruder, Matthew Saenz, Michael Forte, and Katherine Brodie. Amphibious uncrewed ground vehicle for coastal surfzone survey. Engineer Research and Development Center (U.S.), January 2024. http://dx.doi.org/10.21079/11681/48130.
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The capability of a commercial off-the-shelf amphibious bottom crawling robot is explored for surveying seamless topography and bathymetry across the beachface, surfzone, and very nearshore. A real-time-kinematic (RTK) antenna on a mast was added to the robotic platform, a Bayonet-350 (previously the C2i SeaOx). Data collected from the robot were compared with those collected by the Coastal Research Amphibious Buggy (CRAB) and the Lighter Amphibious Resupply Cargo (LARC), unique amphibious vessels capable of collecting seamless topography and bathymetry in use for decades at the US Army Engineer Research and Development Center’s Field Research Facility (FRF). Data were compared on five different days in a range of wave conditions (Hs < 1 m in 8-m depth) resulting in a root-mean square difference of 8.7 cm and bias of 2 cm for 24 different cross-shore profile comparisons. Additionally, a repeatability test was performed to assess measurement uncertainty. The repeatability test indicated a total vertical uncertainty (TVU) of 5.8 cm, with the highest spatial error at the shoreline.
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Falco, Joe, Jeremy Marvel, Rick Norcross, and Karl Van Wyk. Benchmarking Robot Force Control Capabilities: Experimental Results. National Institute of Standards and Technology, January 2016. http://dx.doi.org/10.6028/nist.ir.8097.
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Ravi, Atul. The Impact of Robots and Automation Systems on Globalization: A Comprehensive Analysis. Intellectual Archive, February 2024. http://dx.doi.org/10.32370/iaj.3032.
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In recent years, the use of robots across various industries has grown paramount. Robots and automation technologies have played a significant impact in various aspects including productivity growth, reshoring opportunities, and customization capabilities for consumers, and have also helped foster international collaboration between nations and businesses. This article does an empirical analysis with the help of case studies to analyse the impact of automation and robots on various industries by discussing their pros and cons. It is also found that although robots have a very positive impact in various spheres of manufacturing, nation development, and helping people, it is that robots are to be implemented with appropriate care to prevent the displacement of people in various economies while also generating jobs for many.
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Cook, Joshua, Laura Ray, and James Lever. Dynamics modeling and robotic-assist, leader-follower control of tractor convoys. Engineer Research and Development Center (U.S.), February 2022. http://dx.doi.org/10.21079/11681/43202.
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This paper proposes a generalized dynamics model and a leader-follower control architecture for skid-steered tracked vehicles towing polar sleds. The model couples existing formulations in the literature for the powertrain components with the vehicle-terrain interaction to capture the salient features of terrain trafficability and predict the vehicles response. This coupling is essential for making realistic predictions of the vehicles traversing capabilities due to the power-load relationship at the engine output. The objective of the model is to capture adequate fidelity of the powertrain and off-road vehicle dynamics while minimizing the computational cost for model based design of leader-follower control algorithms. The leader-follower control architecture presented proposes maintaining a flexible formation by using a look-ahead technique along with a way point following strategy. Results simulate one leader-follower tractor pair where the leader is forced to take an abrupt turn and experiences large oscillations of its drawbar arm indicating potential payload instability. However, the follower tractor maintains the flexible formation but keeps its payload stable. This highlights the robustness of the proposed approach where the follower vehicle can reject errors in human leader driving.
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Matson, Eric, and Scott DeLoach. Using Dynamic Capability Evaluation to Organize a Team of Cooperative, Autonomous Robots. Fort Belvoir, VA: Defense Technical Information Center, January 2003. http://dx.doi.org/10.21236/ada451686.
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Wyatt, Austin, Joanne Nicholson, Marigold Black, and Andrew Dowse. Understanding How to Scale and Accelerate the Adoption of Robotic and Autonomous Systems into Deployable Capability Phase 1—Identifying Barriers. Australian Army Research Centre, 2024. http://dx.doi.org/10.61451/267504.
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