Literatura académica sobre el tema "Robotic applications"

The emergence of the cloud computing, and the other advanced technologies has made possible the extension of the computing and the data distribution competencies of the robotics that are networked by developing an cloud based robotic architecture by utilizing both the centralized and decentralized cloud that is manages the machine to cloud and the machine to machine communication respectively. The incorporation of the robotic system with the cloud makes probable the designing of the cost effective robotic architecture that enjoys the enhanced efficiency and a heightened real- time performance. This cloud based robotics designed by amalgamation of robotics and the cloud technologies empowers the web enabled robots to access the services of cloud on the fly. The paper is a survey about the cloud based robotic architecture, explaining the forces that necessitate the robotics merged with the cloud, its application and the major concerns and the challenges endured in the robotics that is integrated with the cloud. The paper scopes to provide a detailed study on the changes influenced by the cloud computing over the industrial robots.

The authors have developed a shark ray robotic fish based on biomimetic approaches. The paper describes the newly developed robotic fish technology and its application to mechatronics in the space. It is found that robotic fish technology creates not only new underwater robotics, but also the next generation space mechatronics for geological survey of lunar/planets and dust cleaning in the space station.

This review is dedicated to the advanced applications of robotic technologies in the industrial field. Robotic solutions in areas with non-intensive applications are presented, and their implementations are analysed. We also provide an overview of survey publications and technical reports, classified by application criteria, and the development of the structure of existing solutions, and identify recent research gaps. The analysis results reveal the background to the existing obstacles and problems. These issues relate to the areas of psychology, human nature, special artificial intelligence (AI) implementation, and the robot-oriented object design paradigm. Analysis of robot applications shows that the existing emerging applications in robotics face technical and psychological obstacles. The results of this review revealed four directions of required advancement in robotics: development of intelligent companions; improved implementation of AI-based solutions; robot-oriented design of objects; and psychological solutions for robot–human collaboration.

✓ Stereotactic radiosurgery has undergone a remarkable evolution since its conception and the subsequent introduction of image-guided radiosurgery, primarily because of the concurrent advances in imaging and computer technology. However, recent improvements in real-time imaging, inverse planning techniques, and frameless alternatives have greatly enhanced the conformity and accuracy of the radiosurgical procedure. As a consequence, the possibility of hypofractionation is offered, and both intra- and extracranial targets can now be ablated with sustained submillimetric precision. Although all indispensable features, none is as impressive or useful as the incorporation of robotics, robotic beam delivery, or robotic-assisted planning, which has only served to improve the accuracy and homogeneity of therapy. The aim of this article was to describe the general technological basis of robots in radiosurgery and to review current clinical usage of robotic radiosurgery devices. Emphasis has been placed on robotic principles and the various popular applications currently available.

Robot-aids or Rehabilitators are our chosen neologism to name a new class of robotic devices that represent a substantially departure from prior applications of robotics in rehabilitation. Rather than use robotics as an assistive technology for a disabled individual, we envision robots and computers as supporting and enhancing the productivity of clinicians in their efforts to facilitate a disabled individual's recovery. In this paper, we attempt a brief overview of our work in what promises to be a ground breaking field. We discuss the concept of robot-aided neuro-rehabilitation as a means to deliver therapy, measure patient performance, and also as a design tool. To illustrate the broad spectrum of neurological diseases that this technology might impact, we will illustrate each case with a different pathology, namely cerebral vascular accident (CVA – also known as stroke), Parkinson's disease (PD), and cerebral palsy (CP).

An important application of field robotics research is robotic assistance for search and rescue operations. The problem of robotic search and rescue requires techniques to map, navigate, and search unknown complex environments. In subterranean domains such as tunnels, caves, and underground urban environments these activities are made more difficult due to communication constraints and unavailability of global positioning systems. We present here Coordinated Robotics participation in the Urban Circuit of the Defense Advanced Research Projects Agency (DARPA) Subterranean Challenge which addresses these problems in the underground urban environment. Our Teleoperation strategy serves as a baseline approach by which to compare autonomous solutions. Our aim is to provide insight into our system design and our lessons learned from the competition.

<span lang="EN-US">This article describes the development of a remote lab environment used to test and training sessions for robotics tasks. This environment is made up of the components and devices based on two robotic arms, a network link, Arduino card and Arduino shield for Ethernet, as well as an IP camera. The remote laboratory is implemented to perform remote control of the robotic arms with visual feedback by camera, of the robots actions, where, with a group of test users, it was possible to obtain performance ranges in tasks of telecontrol of up to 92%.</span>

The last decade (2010-2021) has witnessed the evolution of robotic applications in orthodontics. This review scopes and analyzes published orthodontic literature in eight different domains: (1) robotic dental assistants; (2) robotics in diagnosis and simulation of orthodontic problems; (3) robotics in orthodontic patient education, teaching, and training; (4) wire bending and customized appliance robotics; (5) nanorobots/microrobots for acceleration of tooth movement and for remote monitoring; (6) robotics in maxillofacial surgeries and implant placement; (7) automated aligner production robotics; and (8) TMD rehabilitative robotics. A total of 1,150 records were searched, of which 124 potentially relevant articles were retrieved in full. 87 studies met the selection criteria following screening and were included in the scoping review. The review found that studies pertaining to arch wire bending and customized appliance robots, simulative robots for diagnosis, and surgical robots have been important areas of research in the last decade (32%, 22%, and 16%). Rehabilitative robots and nanorobots are quite promising and have been considerably reported in the orthodontic literature (13%, 9%). On the other hand, assistive robots, automated aligner production robots, and patient robots need more scientific data to be gathered in the future (1%, 1%, and 6%). Technological readiness of different robotic applications in orthodontics was further assessed. The presented eight domains of robotic technologies were assigned to an estimated technological readiness level according to the information given in the publications. Wire bending robots, TMD robots, nanorobots, and aligner production robots have reached the highest levels of technological readiness: 9; diagnostic robots and patient robots reached level 7, whereas surgical robots and assistive robots reached lower levels of readiness: 4 and 3, respectively.

An emerging need for interactive architecture is currently making buildings mutable, flexible in use, and adaptable to changes in climate by introducing robotic systems. However, the feasibility of the seamless integration of building construction details and kinetic robotics has become a critical issue for developing robotic architecture. The objective of this work is to develop a robotic architecture with an emphasis on the integration of cellular robotics with a distributed kinetic building surface. The kinetic building surface integrates an actuating system, a localization and remote control system, which become part of the kinetic building system. This paper presents a systematic framework by reviewing theories and related work of robotic architecture and automated control. An architectural design scheme is proposed to simulate a scenario of application in a physical space. The functionality of the electrical and control system and the integration of the effects of actual construction were examined by a prototype of a kinetic surface. Our prototype presents a feasible construction method, and a prominent energy-saving effect. The potential strength and restrictions of the cellular robotic approach to architectural applications are discussed. The applicability of the prototype system and issues about controlling the behavior of spatial robots are demonstrated in this paper.

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.

Thesis (Doctor of Philosophy)--Case Western Reserve University, 2010
Department of EECS - Computer Engineering Title from PDF (viewed on 2010-05-25) Includes abstract Includes bibliographical references and appendices Available online via the OhioLINK ETD Center

In this thesis a multilayer actuator structure is developed for the I-SWARM project. In order to build an energy efficient and low voltage actuator system for the 3x3x3 mm3 robot, the resonance drive mode in combination with a ten layer multilayer structure build upon the most suitable substrate material was used. Two different sizes of the locomotion module were built. The first one is five times larger than the small version. It has five active layers and is simpler to work with and to test. The small module has three 2x0.4 mm can-tilevers on a 3x3mm body and ten active layers.

The multilayer process involve easily defined flexible printed circuit (FPC) board as substrate material, spin coating piezoelectric poly(vinylidenefluoride- tetrafluoroethylene) P(VDF-TrFE) as active stack material, and evaporated aluminum electrodes on each active polymer layer. By using different shadow masks for each electrode layer, special inter con-tact areas can be contacted from above after the polymer has been removed by an Inductively Coupled Plasma (ICP) etch. The contours of the locomo-tion module was etched in a Reactive Ion Etch (RIE) equipment. Both the cupper layer in the FPC and the electrode layers of the active stack, were used as etch mask.

The deflections of the cantilevers were measured at low voltages to ensure as realistic drive voltage as possible for the I-SWARM robot. The large struc-ture showed a 250 µm deflection at 4 V and 170 Hz resulting in a Q-value of 19. The deflection of the small structure was 8 µm at 3.3 V and 5000 Hz and the measured Q-value was 31.

Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 1990.
Title as it appears in the M.I.T. Graduate List, June, 1990: Machine vision for simulated spacecraft operations.
Includes bibliographical references (leaf 70).
by Ender St. John-Olcayto.
M.S.

Mestrado em Engenharia Electrónica e Telecomunicações
A procura e reconhecimento de padrões foi sempre um desafio para a mente humana e sem dúvida a sua maior capacidade. Esta tese encontra-se inserida no domínio do RoboCup e apresenta uma solução em tempo-real para a detecção de objectos através do processamento de imagem. Ao longo do trabalho, desenvolvemos vários algoritmos para análise de imagem com vista a encontrar objectos através da sua cor e das suas propriedades morfológicas. Nos algoritmos baseados na procura por cor, foram usados métodos de segmentação de cor e procura radial na imagem, permitindo bom desempenho em tempo-real. A pesquisa por propriedades morfológicas baseia-se em algoritmos de detecção de contornos em conjunto com a transformada circular de Hough. Ambos algoritmos, procura por cor e por características morfológicas, provaram a sua fiabilidade, sendo capazes de boas taxas de detecção em condições de tempo-real. Para além do anteriormente referido, foi desenvolvida uma biblioteca para manipular imagens e assegurar uma abstracção sobre os possíveis modos da imagem e uma ferramenta para ajudar na calibração da visão perspectiva. ABSTRACT: The search and recognition of patterns has always been a challenge for the human mind, and without any doubts its biggest capacity. This thesis is inserted in the RoboCup domain and presents a real-time solution to object detection using image analysis. In this work, we developed several image analysis algorithms to find objects based in their color and morphological properties. The color based search algorithms use color segmentation methods along with radial image scanning, allowing real-time performances. The morphological analysis is based in edge detection algorithms and the circular Hough transform. Both algorithms, search for color and morphological properties, proved their reliability, being capable of good detection ratios in real-time situations. Moreover, this thesis presents several tools, namely, an image library created to better manipulate the images and assure abstraction over the possible image modes acquired by digital cameras, and a tool to help in the perspective vision calibration.

Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2012.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 204-208).
This work investigates, defines, and expands on the use of robotic arms in digital fabrication, design, and art through methods including 3D printing, milling, sculpting, functionally graded fabrication, construction-scale additive manufacturing, jammable granular system design, light painting, and volumetric sensing. While most current applications of robotics in manufacturing rely on repetitive automation and assembly tasks, the flexibility, dexterity, and precision of industrial robotic arms provide for design opportunities of multi-functionary roles. Through exploration and demonstration, a multipurpose fabrication platform was developed using a KUKA KR5 sixx R850 robotic arm. The platform is capable of conventional manufacturing techniques spanning the three traditional fabrication categories: additive, subtractive, and formative. Case studies and digital design fabrication protocols were developed as part of the robotic platform to demonstrate these three types of fabrication including 3D printing, multi-axis milling, and clay sculpting, respectively. Compound processes, such as combining 3D printing and milling, were developed that offer product-, and process-based improvements over standalone techniques. The benefits and drawbacks of a multi-fabrication platform are discussed, including cost, physical footprint, resolution, and flexibility. In addition to replicating conventional manufacturing techniques with a single robotic platform, several novel applications were developed which take advantage of the flexibility of an arm system. First, functionally graded 3D printing was explored using concrete through which density gradients were shown to achieve higher structural efficiency. A novel construction-scale additive manufacturing process capable of 3D printing building components was developed. Secondly, direct recycling 3D printing was developed where waste thermoplastic products are transformed into feedstock and printed into new components within a single operation. Work conducted on jammed granular structures, where external pressure controls system stiffness and strength, resulted in several new formative fabrication possibilities. Combined with robotics, waste-free digital casting using jammable materials was enabled along with a variety of design projects including the design of robotic arms themselves. Finally, the use of robotic arms for fabrication of material and environmental properties without mechanical force transfer was explored. Coined immaterial fabrication,t his fabrication category captures methods that do not fall within the definitions of additive, subtractive, or formative processes. Work produced in this area includes a volumetric sensing technique and robotic light paintings that reveal thermal, electromagnetic, and optical fields.
by Steven J. Keating.
S.M.

Aquesta tesi s'emmarca dins del projecte CICYT TAP 1999-0443-C05-01. L'objectiu d'aquest projecte és el disseny, implementació i avaluació de robots mòbils, amb un sistema de control distribuït, sistemes de sensorització i xarxa de comunicacions per realitzar tasques de vigilància. Els robots han de poder-se moure per un entorn reconeixent la posició i orientació dels diferents objectes que l'envolten. Aquesta informació ha de permetre al robot localitzar-se dins de l'entorn on es troba per poder-se moure evitant els possibles obstacles i dur a terme la tasca encomanada. El robot ha de generar un mapa dinàmic de l'entorn que serà utilitzat per localitzar la seva posició. L'objectiu principal d'aquest projecte és aconseguir que un robot explori i construeixi un mapa de l'entorn sense la necessitat de modificar el propi entorn.
Aquesta tesi està enfocada en l'estudi de la geometria dels sistemes de visió estereoscòpics formats per dues càmeres amb l'objectiu d'obtenir informació geomètrica 3D de l'entorn d'un vehicle. Aquest objectiu tracta de l'estudi del modelatge i la calibració de càmeres i en la comprensió de la geometria epipolar. Aquesta geometria està continguda en el que s'anomena emph{matriu fonamental}. Cal realitzar un estudi del càlcul de la matriu fonamental d'un sistema estereoscòpic amb la finalitat de reduir el problema de la correspondència entre dos plans imatge. Un altre objectiu és estudiar els mètodes d'estimació del moviment basats en la geometria epipolar diferencial per tal de percebre el moviment del robot i obtenir-ne la posició. Els estudis de la geometria que envolta els sistemes de visió estereoscòpics ens permeten presentar un sistema de visió per computador muntat en un robot mòbil que navega en un entorn desconegut. El sistema fa que el robot sigui capaç de generar un mapa dinàmic de l'entorn a mesura que es desplaça i determinar quin ha estat el moviment del robot per tal de emph{localitzar-se} dins del mapa.
La tesi presenta un estudi comparatiu dels mètodes de calibració de càmeres més utilitzats en les últimes dècades. Aquestes tècniques cobreixen un gran ventall dels mètodes de calibració clàssics. Aquest mètodes permeten estimar els paràmetres de la càmera a partir d'un conjunt de punts 3D i de les seves corresponents projeccions 2D en una imatge. Per tant, aquest estudi descriu un total de cinc tècniques de calibració diferents que inclouen la calibració implicita respecte l'explicita i calibració lineal respecte no lineal. Cal remarcar que s'ha fet un gran esforç en utilitzar la mateixa nomenclatura i s'ha estandaritzat la notació en totes les tècniques presentades. Aquesta és una de les dificultats principals a l'hora de poder comparar les tècniques de calibració ja què cada autor defineix diferents sistemes de coordenades i diferents conjunts de paràmetres. El lector és introduït a la calibració de càmeres amb la tècnica lineal i implícita proposada per Hall i amb la tècnica lineal i explicita proposada per Faugeras-Toscani. A continuació es passa a descriure el mètode a de Faugeras incloent el modelatge de la distorsió de les lents de forma radial. Seguidament es descriu el conegut mètode proposat per Tsai, i finalment es realitza una descripció detallada del mètode de calibració proposat per Weng. Tots els mètodes són comparats tant des del punt de vista de model de càmera utilitzat com de la precisió de la calibració. S'han implementat tots aquests mètodes i s'ha analitzat la precisió presentant resultats obtinguts tant utilitzant dades sintètiques com càmeres reals.
Calibrant cada una de les càmeres del sistema estereoscòpic es poden establir un conjunt de restriccions geomètri ques entre les dues imatges. Aquestes relacions són el que s'anomena geometria epipolar i estan contingudes en la matriu fonamental. Coneixent la geometria epipolar es pot: simplificar el problema de la correspondència reduint l'espai de cerca a llarg d'una línia epipolar; estimar el moviment d'una càmera quan aquesta està muntada sobre un robot mòbil per realitzar tasques de seguiment o de navegació; reconstruir una escena per aplicacions d'inspecció, propotipatge o generació de motlles. La matriu fonamental s'estima a partir d'un conjunt de punts en una imatges i les seves correspondències en una segona imatge. La tesi presenta un estat de l'art de les tècniques d'estimació de la matriu fonamental. Comença pels mètode lineals com el dels set punts o el mètode dels vuit punts, passa pels mètodes iteratius com el mètode basat en el gradient o el CFNS, fins arribar las mètodes robustos com el M-Estimators, el LMedS o el RANSAC. En aquest treball es descriuen fins a 15 mètodes amb 19 implementacions diferents. Aquestes tècniques són comparades tant des del punt de vista algorísmic com des del punt de vista de la precisió que obtenen. Es presenten el resultats obtinguts tant amb imatges reals com amb imatges sintètiques amb diferents nivells de soroll i amb diferent quantitat de falses correspondències.
Tradicionalment, l'estimació del moviment d'una càmera està basada en l'aplicació de la geometria epipolar entre cada dues imatges consecutives. No obstant el cas tradicional de la geometria epipolar té algunes limitacions en el cas d'una càmera situada en un robot mòbil. Les diferencies entre dues imatges consecutives són molt petites cosa que provoca inexactituds en el càlcul de matriu fonamental. A més cal resoldre el problema de la correspondència, aquest procés és molt costós en quant a temps de computació i no és gaire efectiu per aplicacions de temps real. En aquestes circumstàncies les tècniques d'estimació del moviment d'una càmera solen basar-se en el flux òptic i en la geometria epipolar diferencial. En la tesi es realitza un recull de totes aquestes tècniques degudament classificades. Aquests mètodes són descrits unificant la notació emprada i es remarquen les
semblances i les diferencies entre el cas discret i el cas diferencial de la geometria epipolar. Per tal de poder aplicar aquests mètodes a l'estimació de moviment d'un robot mòbil, aquest mètodes generals que estimen el moviment d'una càmera amb sis graus de llibertat, han estat adaptats al cas d'un robot mòbil que es desplaça en una superfície plana. Es presenten els resultats obtinguts tant amb el mètodes generals de sis graus de llibertat com amb els adaptats a un robot mòbil utilitzant dades sintètiques i seqüències d'imatges reals.
Aquest tesi finalitza amb una proposta de sistema de localització i de construcció d'un mapa fent servir un sistema estereoscòpic situat en un robot mòbil. Diverses aplicacions de robòtica mòbil requereixen d'un sistema de localització amb l'objectiu de facilitar la navegació del vehicle i l'execució del les trajectòries planificades. La localització es sempre relativa al mapa de l'entorn on el robot s'està movent. La construcció de mapes en un entorn desconegut és una tasca important a realitzar per les futures generacions de robots mòbils. El sistema que es presenta realitza la localització i construeix el mapa de l'entorn de forma simultània. A la tesi es descriu el robot mòbil GRILL, que ha estat la plataforma de treball emprada per aquesta aplicació, amb el sistema de visió estereoscòpic que s'ha dissenyat i s'ha muntat en el robot. També es descriu tots el processos que intervenen en el sistema de localització i construcció del mapa. La implementació d'aquest processos ha estat possible gràcies als estudis realitzats i presentats prèviament (calibració de càmeres, estimació de la matriu fonamental, i estimació del moviment) sense els quals no s'hauria pogut plantejar aquest sistema. Finalment es presenten els mapes en diverses trajectòries realitzades pel robot GRILL en el laboratori.
Les principals contribucions d'aquest treball són:
·Un estat de l'art sobre mètodes de calibració de càmeres. El mètodes són comparats tan des del punt de vista del model de càmera utilitzat com de la precisió dels mètodes.
·Un estudi dels mètodes d'estimació de la matriu fonamental. Totes les tècniques estudiades són classificades i descrites des d'un punt de vista algorísmic.
·Un recull de les tècniques d'estimació del moviment d'una càmera centrat en el mètodes basat en la geometria epipolar diferencial. Aquestes tècniques han estat adaptades per tal d'estimar el moviment d'un robot mòbil.
·Una aplicació de robòtica mòbil per tal de construir un mapa dinàmic de l'entorn i localitzar-se per mitja d'un sistema estereoscòpic. L'aplicació presentada es descriu tant des del punt de vista del maquinari com del programari que s'ha dissenyat i implementat.
Human eyes have been widely studied by the scientific community so that its operation principle is widely known. Computer vision tries to copy the way human beings perceive visual information by means of using cameras acting as eyeballs and computers aspiring to process this information in an --intelligent way". The complex task of being conscious of reality is obviously divided into a set of simpler problems which covers from image acquisition to scene description. One of the main applications is robot perception in which a mobile robot is equipped with a computer vision system. Robots may be able to navigate around an unknown structured environment acquiring visual information of their surroundings with the aim of estimating the position and orientation of every obstacle. Moreover, the pose of the vehicle has to be estimated as accurate as possible. Hence, the motion of the vehicle might be also computed allowing the localization of the vehicle with respect to the 3D map.
This thesis is focused on the study of the geometry involved in stereo vision systems composed by two cameras with the aim of obtaining 3D geometric information of the vehicle surroundings. This objective deals to the study of camera modelling and calibration and the comprehension of the epipolar geometry. Then, the computation of the fundamental matrix of a stereoscopic system is surveyed with the aim of reducing the correspondence problem between both image planes. An accurate estimation of the fundamental matrix allows us not only to compute 3D information of the vehicle environments, but to validate it. Nevertheless, the traditional case of the epipolar geometry has some limitations in the common case of a single camera attached to a mobile robot. Disparities between two consecutive images are rather small at common image rates leading to numerical inaccuracies on the computation of the fundamental matrix. Then, another objective is the study of general vision-based egomotion estimation methods based on the differential epipolar constraint with the aim of perceiving the robot movement instead of its position.
The study of the geometry involved in stereo vision systems leads us to present a computer vision system mounted on a vehicle which navigates in an unknown environment. Two main tasks are faced: a) the localization of the vehicle; and b) the building of an absolute 3D map.
El sistema de visión humano ha sido ampliamente estudiado por la comunidad científica de forma que su principio de funcionamiento es profundamente conocido. La Visión por Computador trata de copiar la forma que nosotros los humanos percibimos la información visual por medio del uso de cámaras actuando como ojos y un ordenador aspirando a procesar toda la información de "forma inteligente". La compleja tarea de ser consciente de la realidad es obviamente dividida en un conjunto de problemas mucho más simples, los cuales abarcan des de la adquisición de la imagen a la descripción de la escena. Una de las numerosas aplicaciones es la percepción por parte de un robot, donde un robot móvil es equipado con un sistema informático de visión por computador. Estos robots deben ser capaces de navegar a lo largo de un entorno estructurado desconocido mediante la adquisición de información visual de su alrededor, con el objetivo de estimar la posición y orientación de todos los obstáculos. Además, la posición del vehículo debe ser estimada de la forma más precisa posible. De esta forma, el movimiento del vehículo puede ser también calculado lo que permite la localización del vehículo con respeto al mapa 3D.
Esta tesis profundiza en el estudio de la geometría existente en los sistemas de visión estéreo compuestos por dos cámaras con la intención de obtener información geométrica 3D del entorno del vehículo. Este objetivo lleva consigo la necesidad inicial de realizar un estudio de modelado de la cámara y calibración, y la compensación de la geometría epipolar. A continuación, el cálculo de la matriz fundamental de un sistema esteresocópico es analizado para reducir el problema de la correspondencia entre ambos planos de la imagen. Una estimación precisa de la matriz fundamental nos permite no solamente obtener la información 3D del entorno, sino también validar la misma. No obstante, la geometría epipolar tradicional sufre algunas limitaciones en el caso de una cámara montada en un robot móvil. La disparidad entre dos imágenes consecutivas es realmente mínima trabajando a velocidad estándar lo que conlleva a errores numéricos en el cálculo de la matriz fundamental. Por esta razón, otro objetivo es el estudio de los métodos de estimación del movimiento basados en la geometría epipolar diferencial con el objetivo de pervivir el movimiento del robot y su posición.
El estudio de la geometría inmersa en los sistemas de visión estéreo nos lleva a presentar un sistema de visión por computador montado en un vehículo capaz de navegar en un entorno desconocido. Dos tareas básicas son consideradas: a) la localización del vehículo; y b) la construcción de un mapa 3D absoluto.

Mestrado em Engenharia Eletrónica e Telecomunicações
The computer vision assumes an important relevance in the development of robotic applications. In several applications, robots need to use vision to detect objects, a challenging and sometimes difficult task. This thesis is focused on the study and development of algorithms to be used in detection and identification of objects on digital images to be applied on robots that will be used in practice cases. Three problems are addressed: Detection and identification of decorative stones for textile industry; Detection of the ball in robotic soccer; Detection of objects in a service robot, that operates in a domestic environment. In each case, different methods are studied and applied, such as, Template Matching, Hough transform and visual descriptors (like SIFT and SURF). It was chosen the OpenCv library in order to use the data structures to image manipulation, as well as other structures for all information generated by the developed vision systems. Whenever possible, it was used the implementation of the described methods and have been developed new approaches, both in terms of pre-processing algorithms and in terms of modification of the source code in some used functions. Regarding the pre-processing algorithms, were used the Canny edge detector, contours detection, extraction of color information, among others. For the three problems, there are presented and discussed experimental results in order to evaluate the best method to apply in each case. The best method for each application is already integrated or in the process of integration in the described robots.
A visão por computador assume uma importante relevância no desenvolvimento de aplicações robóticas, na medida em que há robôs que precisam de usar a visão para detetar objetos, uma tarefa desafiadora e por vezes difícil. Esta dissertação foca-se no estudo e desenvolvimento de algoritmos para a deteção e identificação de objetos em imagem digital para aplicar em robôs que serão usados em casos práticos. São abordados três problemas: Deteção e identificação de pedras decorativas para a indústria têxtil; Deteção da bola em futebol robótico; Deteção de objetos num robô de serviço, que opera em ambiente doméstico. Para cada caso, diferentes métodos são estudados e aplicados, tais como, Template Matching, transformada de Hough e descritores visuais (como SIFT e SURF). Optou-se pela biblioteca OpenCv com vista a utilizar as suas estruturas de dados para manipulação de imagem, bem como as demais estruturas para toda a informação gerada pelos sistemas de visão desenvolvidos. Sempre que possivel utilizaram-se as implementações dos métodos descritos tendo sido desenvolvidas novas abordagens, quer em termos de algoritmos de preprocessamento quer em termos de alteração do código fonte das funções utilizadas. Como algoritmos de pre-processamento foram utilizados o detetor de arestas Canny, deteção de contornos, extração de informação de cor, entre outros. Para os três problemas, são apresentados e discutidos resultados experimentais, de forma a avaliar o melhor método a aplicar em cada caso. O melhor método em cada aplicação encontra-se já integrado ou em fase de integração dos robôs descritos.

Tactile sensing is essential to the way humans and robots physically interact with the world. Humans use a complex system of nerves to touch and feel their surroundings. Researchers are attempting to achieve the same for robotics by studying and improving tactile sensing systems. Notably, tactile sensing for anthropomorphic robotics is of ongoing interest in homecare/ assistant, culinary, agriculture, and medical areas. The contribution to the development of tactile feedback systems can aid in advancing these robotic systems, allowing for more complex tasks to be performed. However, many of the available tactile sensing systems are currently very expensive and not practical for use in education and areas without access to expensive equipment. The price and complexity of available tactile sensing systems are currently challenging problems. This project investigates and explores sensing mechanisms, sensor structures, and fabrication methods to develop and evaluate several low-cost and accessible tactile sensors. Introducing novel designs and implementations of low-cost tactile sensors may bring more robotic systems closer to public application, positively affecting the funding and development of robotic advancements. Sequential implementation of varying materials and methods is performed to balance cost and complexity. This thesis reports: (1) An ultra low-cost graphite on paper sensor boasting an incredibly high response rate; (2) A low-cost and soft ionic liquid filled sensor capable of discerning directional pressures and temperature; (3) An easily integrable and flexible multifunctional pressure and temperature sensor; (4) A low-cost and easily integrable, flexible, and highly versatile multimodal pressure sensor. Evaluation of tactile sensing performance in robotic grippers successfully demonstrates the potential for these sensors in practical applications. This work has introduced and diversified existing technologies in robotic tactile sensing, improving the overall understanding and effectiveness of the materials and processes reported within. Presented works show the feasibility for ongoing research in areas that have been tapped into, furthering the development of smart and highly reliable low-cost tactile sensors.
Thesis (PhD Doctorate)
Doctor of Philosophy (PhD)
School of Eng & Built Env
Science, Environment, Engineering and Technology
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The ability to be programmed for a wide range of tasks is what differentiates robots from dedicated automation. Consequently, robots can be faced with often-changing requirements and conditions. Conventional application development based on teach programming takes robots out of production and occupies personnel, limiting robots’ effectiveness in these environments. Off-line programming solves these problems, but robot inaccuracy must be compensated by a combination of calibration, compliance, and sensing. This complicates up-front systems engineering and application development, but results in systems that can operate in a wider range of requirements and conditions. Performance can be optimized if application tolerances and process uncertainties are known. If they often change, optimization must be done dynamically. Automating this optimization is a goal of smart manufacturing. With its trend of increasing connectivity between the components of robotic systems both within workcells and to the enterprise, exchanging this information has become more important. This includes tolerance information from design through process planning to production and inspection, and measurement uncertainty from sensors into operations. Standards such as ISO 10303 (STEP), the Quality Information Framework (QIF), the Robot Operating System (ROS), and MT-Connect support this exchange to varying degrees. Examples include the assignment of assembly tasks based on part tolerances and robot capabilities; the automated generation of robot paths with tolerances arising from sensed obstacles; and the optimization of part placement to minimize the effects of position uncertainty. This paper examines requirements for exchanging tolerance and uncertainty in robotics applications, identifies how these requirements are being met by existing standards, and suggests improvements to enable more automated information exchange.

Abstract Soft robotics is projected to have a significant impact on healthcare, industry, and the military to deliver assistance in rehabilitation, daily living activities, repetitive motion tasks, and human performance augmentation. Many attempts have been made for application-specific robotic joints, robots, and exoskeletons using various actuator types, materials, and designs. The progress of creating soft robotic systems can be accelerated if a set of actuators with defined characteristics were developed, similar to conventional robotic actuators, which can be assembled to create desired systems including exoskeletons and end effectors. This work presents such an attempt by designing a modular corrugated diaphragm actuator that can apply linear displacement, force, and bending motion. This modular actuator approach allows for creating various robotic joints by arranging them into different configurations. Numerical simulation, fabrication, and testing were carried out to evaluate the displacement, force, and bending characteristics of the corrugated diaphragm actuator as a single unit and in multi-unit arrays to understand their applicability for different scenarios. Actuator arrays that are configured in a serial and parallel manner were investigated. The results will be presented in terms of using this modular actuator concept to create single and multi-DOF joints, which will demonstrate the versatility of this modular actuator approach.

Abstract Robotics is a very active and diverse field with new applications found daily for emerging designs. This year ASME SDC emphasizes one such application with small RC robotic vehicles. These vehicles are primarily cargo carriers with the ability to harness wind and solar renewable energy sources to recharge their limited battery. Analog to modern electric battery-powered cars the robot utilizes a single AAA battery which was the biggest challenge of the competition. To satisfy all the requirements posed by the competition, a brand new vehicle platform was developed including both wind and solar charging capabilities. As part of the development process a new drive train, control system, wind turbine, and robot frame was developed. For performance maximization, all outsourced, as well as custom-designed components, were extensively researched and tested. Using test data and CAD software the final design was created including all the components selected during testing. This produced a successful prototype satisfying all competition requirements and being accepted to take part in SDC 2021. The maximum score achieved by the robot reached 0.4488 points using the given scoring matrix, however, it did not qualify for the final rounds of the competition. This project indicated several ideas that may improve the performance of small robots, such as the effective use of solar panels, the creation of systems with low power requirements, as well as the use of RC toys to develop more complex robotic vehicles.

Most engineering schools currently include a curriculum component that introduces students to the field of robotics. Multiple methods and techniques are used by engineering educators to help students gain familiarity and interest in robotic systems and their applications. However, very rarely the students get the opportunity to gain the ultimate experience of applying acquired knowledge of the field through building an actual robot. This is because building a robot during a college course involves multiple challenges including robotic systems high complexity and the requirement of combining multiple knowledge bases. Students studying robotics end up, at the most, programming purchased robots, or simulating robots using software, but not actually going through the realities and challenges of putting the system together and making it functional to the point of experimenting with it. In this paper, a unique experience in learning robotic systems and building actual robots is presented. This experience is made available in an elective course on robotic systems engineering at Grand Valley State University (GVSU), School of Engineering (SOE). The produced robots are two or three jointed arm configuration robots, controlled by a programmable microcontroller and built based on classroom gained knowledge. In the classroom, the students learn the kinematics and simplified dynamics of robots, as well as other related topics. In the laboratory, the students are required to apply the learned concepts of kinematics and design in combination with control systems to build a robot that will help them understand and demonstrate these concepts. The course final projects include robotic systems that are built or integrated by teams of students. These projects provide a range of challenges that extends from mechanical design to control systems. The projects are taken up by teams of students having diversified interests and skill bases within the course. The final outcomes of the course are working robotic systems that can demonstrate the students’ knowledge and interest, which the students use significantly as a proof of their competence level when putting together their resumes to move into the next level of their careers. From an educational angle, the course provides the students with an opportunity to combine multiple knowledge sets, skills, and interest to gain the ultimate experience in education: producing a functional system to specifications.

Robotic alternative to many manual operations falls short in application due to the difficulties in capturing the manual skill of an expert operator. One of the main problems to be solved if robots are to become flexible enough for various manufacturing needs is that of end-user programming. An end-user with little or no technical expertise in robotics area needs to be able to efficiently communicate its manufacturing task to the robot. This paper proposes a new method for robot task planning using some concepts of Artificial Intelligence. Our method is based on a hierarchical knowledge representation and propositional logic, which allows an expert user to incrementally integrate process and geometric parameters with the robot commands. The objective is to provide an intelligent and programmable agent such as a robot with a knowledge base about the attributes of human behaviors in order to facilitate the commanding process. The focus of this work is on robot programming for manufacturing applications. Industrial manipulators work with low level programming languages. This work presents a new method based on Natural Language Processing (NLP) that allows a user to generate robot programs using natural language lexicon and task information. This will enable a manufacturing operator (for example for painting) who may be unfamiliar with robot programming to easily employ the agent for the manufacturing tasks.

This SAE EDGE™ Research Report builds a comprehensive picture of the current state-of-the-art of human-robot applications, identifying key issues to unlock the technology’s potential. It brings together views of recognized thought leaders to understand and deconstruct the myths and realities of human- robot collaboration, and how it could eventually have the impact envisaged by many. Current thinking suggests that the emerging technology of human-robot collaboration provides an ideal solution, combining the flexibility and skill of human operators with the precision, repeatability, and reliability of robots. Yet, the topic tends to generate intense reactions ranging from a “brave new future” for aircraft manufacturing and assembly, to workers living in fear of a robot invasion and lost jobs. It is widely acknowledged that the application of robotics and automation in aerospace manufacturing is significantly lower than might be expected. Reasons include product variability, size, design philosophy, and relatively low volumes. Also, the occasional reticence due to a history of past false starts plays a role too. Unsettled Issues on Human-Robot Collaboration and Automation in Aerospace Manufacturing goes deep into the core questions that really matter so the necessary step changes can move the industry forward.

Over the last century, agriculture has evolved from a labor-intensive industry to one that uses mechanized, high-powered production systems. The introduction of robotic technology in agriculture could be a new step towards labor productivity. By mimicking or extending human skills, robots overcome critical human limitations, including the ability to operate in harsh agricultural environments. In this context, in 2014 the development of the first agricultural robot in Mexico (“Voltan”) began at Chapingo Autonomous University. The research’s objective was to develop an autonomous multitasking vehicle for agricultural work. As a result of this development, a novel suspension system was created. In addition, autonomous navigation between crop rows was achieved through computer vision, allowing crop monitoring, fertilizer application and, in general, pest and disease control.

Information and communication technology is fundamentally changing the way we live and operate in cities, such as instant access to events, transportation, bookings, payments, and other services. At the same time, three “megatrends” in the automotive industry—self-driving, electrification, and advanced manufacturing technology—are enabling the design of innovative, application-specific vehicles that capitalize on city connectivity. Applications could countless; however, they also need to be safe and securely integrated into a city’s physical and digital infrastructure, and into the overall urban ecosystem. Unsettled Issues Concerning Automated Driving Services in the Smart City Infrastructure examines the current state of the industry, the developments in automated driving and robotics, and how these new urban, self-driving city applications are different. It also analyzes higher level challenges for urban applications. Ultimately, this report includes several options for sharing lessons learned among different cities and their stakeholders.