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Artykuły w czasopismach na temat "Single group- Robots"
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Stipančić, Tomislav, Bojan Jerbić i Petar Ćurković. "Probabilistic Approach to Robot Group Control". Advanced Materials Research 317-319 (sierpień 2011): 742–49. http://dx.doi.org/10.4028/www.scientific.net/amr.317-319.742.
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The objective of this paper is to discuss the probabilistic part of the model for robot group control applied in industrial applications. The proposed model is based on well-known concepts of Ubiquitous Computing [1] and enables contextual perception of a working environment. Compared with classical industrial robots, usually preprogrammed for a limited number of operations / actions, the system based on this model can react in uncertain situations and scenarios. The model combines ontology to describe the specific domain of interest and decision–making mechanisms based on Bayesian Networks (BN) to enable the work of a single robot without human intervention by learning Behavioral Patterns (BP) of other robots in the group.
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Chen, Wenzhou, Shizheng Zhou, Zaisheng Pan, Huixian Zheng i Yong Liu. "Mapless Collaborative Navigation for a Multi-Robot System Based on the Deep Reinforcement Learning". Applied Sciences 9, nr 20 (9.10.2019): 4198. http://dx.doi.org/10.3390/app9204198.
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Compared with the single robot system, a multi-robot system has higher efficiency and fault tolerance. The multi-robot system has great potential in some application scenarios, such as the robot search, rescue and escort tasks, and so on. Deep reinforcement learning provides a potential framework for multi-robot formation and collaborative navigation. This paper mainly studies the collaborative formation and navigation of multi-robots by using the deep reinforcement learning algorithm. The proposed method improves the classical Deep Deterministic Policy Gradient (DDPG) to address the single robot mapless navigation task. We also extend the single-robot Deep Deterministic Policy Gradient algorithm to the multi-robot system, and obtain the Parallel Deep Deterministic Policy Gradient (PDDPG). By utilizing the 2D lidar sensor, the group of robots can accomplish the formation construction task and the collaborative formation navigation task. The experiment results in a Gazebo simulation platform illustrates that our method is capable of guiding mobile robots to construct the formation and keep the formation during group navigation, directly through raw lidar data inputs.
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Choi, Taeyong, Jongwoo Park, Jeong-Jung Kim, Young-Sik Shin i Hyunuk Seo. "Work Efficiency Analysis of Multiple Heterogeneous Robots for Harvesting Crops in Smart Greenhouses". Agronomy 12, nr 11 (14.11.2022): 2844. http://dx.doi.org/10.3390/agronomy12112844.
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Extensive research is being conducted on using robots to automate harvest. However, most of the existing research is focused on the realization of harvesting using a single robot, and there have been very few studies on harvesting and transporting crops from a smart-greenhouse perspective. In this study, we demonstrate that the work efficiency is higher when a plurality of harvesting and transporting robots are used in tandem for harvesting crops in a smart greenhouse, compared to that when a single robot is used. The harvesting and transporting speeds of these robots are modeled in accordance with the facility environment. The operating speed of the robot group comprising only the harvesting robot and the harvesting and transporting robots is derived. In addition, the derived operating speed is analyzed based on the experimental data of the developed harvesting and transporting robots, and it was found that the overall operating speed increased when an appropriate combination of harvesting and transporting robots was used.
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Sueoka, Yuichiro, Wei Jie Yong, Naoto Takebe, Yasuhiro Sugimoto i Koichi Osuka. "Effect of Robotic Pile-Up Mechanism on Cooperative Transportation for Versatile Objects". Journal of Robotics and Mechatronics 35, nr 4 (20.08.2023): 938–47. http://dx.doi.org/10.20965/jrm.2023.p0938.
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In recent years, cooperative transportation systems using multiple mobile robots have been studied. The advantage will be to transport objects that cannot be dealt with by a single robot and transport them by using smaller robots. Although cooperative transportation by a group of robots has been studied, the conventional transportation targets are limited to objects whose posture is stable. In this paper, we propose a system in which robots pile up on each other to support an object, aiming at a system for more versatile object transportation, including unstable objects. After deriving the conditions by modeling the support system in object transportation, we verify the transporting performance including the robotic pile-up effect through actual robot experiments.
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Sugawara, Ken, Masaki Sano i Toshinori Watanabe. "A Study on a Foraging Behavior of Interacting Simple Robots". Journal of Advanced Computational Intelligence and Intelligent Informatics 7, nr 2 (20.06.2003): 108–14. http://dx.doi.org/10.20965/jaciii.2003.p0108.
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Considerable research is currently being conducted in the area of multi-robot systems. The most remarkable characteristic of these types of systems is that the robots are able to work cooperatively to complete a task that a single robot cannot accomplish by itself. This characteristic is essential in the investigation of the effect of the number of robots in a given system. Out of the various possible multi-robot tasks, a foraging task was chosen for these experiments. The robots used in the experiments referenced by this paper had a simple interaction method with a light signal. The robots’ behavior in a one feeding point field was first discussed. This behavior was analyzed by both a robot simulation and a mathematical model. In the next experiment, numerous feeding points, equidistant from the home location, were arranged in the foraging field. The performance of the robots in this arrangement was then discussed. This report highlights the ordered behavior of the robot group, which greatly depends upon the number of robots and the strength of their interaction.
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Rubtsov, V. I., K. J. Mashkov i K. V. Konovalov. "Multi-Level Control System for an Intelligent Robot that is Part of a Group". Mekhatronika, Avtomatizatsiya, Upravlenie 22, nr 11 (9.11.2021): 610–15. http://dx.doi.org/10.17587/mau.22.610-615.
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The article is devoted to the application of a group of robotic complexes for military purposes. The current state of control systems of single robotic complexes does not allow solving all the tasks assigned to the robot. The analysis of methods of controlling a group of robots in combat conditions is carried out. The necessity of using a multi-level control system for an intelligent combat robot is justified. A multi-level control system for an intelligent robot is proposed. Such a system assumes the possibility of controlling the robot in one of four modes: remote, supervisory, autonomous and group. Moreover, each robot, depending on the external conditions and its condition, can be in any control mode. The application of the technique is shown by the example of the movement of a group of robots with an interval along the front. The problem of the movement of slave robots behind the leader is considered. When forming the robot control algorithm, the method of finite automata was used. The algorithm controls the movement of the RTK in various operating modes: group control mode and autonomous movement mode. In the group control mode, the task is implemented: movement for the leader. For the state of "Movement in formation", an algorithm for forming the trajectory of the movement of guided robots was implemented. An algorithm for approximating the Bezier curve was used. It allows you to build a trajectory for the slave robot. On the basis of the obtained trajectory, the angular and linear velocity were calculated. In the autonomous control mode, two tasks are solved: moving to a given point and avoiding obstacles. Vector Field Histogram was used as an algorithm for detouring an obstacle, which determines the direction of movement without obstacles. The state of "Movement to a given point" is based on Pure Pursuit as a simple and reliable algorithm for solving such problems. A computer model of the movement of a group of robots was developed. The model is implemented in the MATLAB program using the Simulink and Mobile Robotics Simulation Toolbox libraries. Several different variants of the movement of the RTK group are modeled, which differ from each other in the initial location of the robots and the position of obstacles. The conducted computer simulation showed the efficiency and effectiveness of the proposed method of RTC control.
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Endo, Takahiro, Ryuma Maeda i Fumitoshi Matsuno. "Stability Analysis of Swarm Heterogeneous Robots with Limited Field of View". Informatics and Automation 19, nr 5 (13.10.2020): 942–66. http://dx.doi.org/10.15622/ia.2020.19.5.2.
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This paper presents a stability analysis of swarm robots, a group of multiple robots. In particular, we focus on robot swarms with heterogeneous abilities, in which each robot has a different sensing range and physical limitations, including maximum velocity and acceleration. In addition, each robot has a unique sensing region with a limited angle field of view. We previously proposed a decentralized navigation method for such heterogeneous swarm robots consisting of one leader and multiple followers. With the decentralized navigation method, a single leader can navigate for followers while maintaining connectivity and satisfying the physical limitations unique to each robot; i.e., each follower has a target robot and follows it without violating its physical limitations. In this paper, we focus on a stability analysis of such swarm robots. When the leader moves at a constant velocity, we mathematically prove that the shape and orientations of all robots eventually converge to the equilibrium state. For this, we must first prove that the equilibrium state exists. Then, we show the convergence of the state to its equilibrium. Finally, we carry out experiments and numerical simulations to confirm the stability analysis, i.e., the convergence of the swarm robots to the equilibrium states.
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Geng, Mingyang, Shuqi Liu i Zhaoxia Wu. "Sensor Fusion-Based Cooperative Trail Following for Autonomous Multi-Robot System". Sensors 19, nr 4 (17.02.2019): 823. http://dx.doi.org/10.3390/s19040823.
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Autonomously following a man-made trail in the wild is a challenging problem for robotic systems. Recently, deep learning-based approaches have cast the trail following problem as an image classification task and have achieved great success in the vision-based trail-following problem. However, the existing research only focuses on the trail-following task with a single-robot system. In contrast, many robotic tasks in reality, such as search and rescue, are conducted by a group of robots. While these robots are grouped to move in the wild, they can cooperate to lead to a more robust performance and perform the trail-following task in a better manner. Concretely, each robot can periodically exchange the vision data with other robots and make decisions based both on its local view and the information from others. This paper proposes a sensor fusion-based cooperative trail-following method, which enables a group of robots to implement the trail-following task by fusing the sensor data of each robot. Our method allows each robot to face the same direction from different altitudes to fuse the vision data feature on the collective level and then take action respectively. Besides, considering the quality of service requirement of the robotic software, our method limits the condition to implementing the sensor data fusion process by using the “threshold” mechanism. Qualitative and quantitative experiments on the real-world dataset have shown that our method can significantly promote the recognition accuracy and lead to a more robust performance compared with the single-robot system.
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Otte, Michael. "An emergent group mind across a swarm of robots: Collective cognition and distributed sensing via a shared wireless neural network". International Journal of Robotics Research 37, nr 9 (23.07.2018): 1017–61. http://dx.doi.org/10.1177/0278364918779704.
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We pose the “trained-at-runtime heterogeneous swarm response problem,” in which a swarm of robots must do the following three things: (1) Learn to differentiate between multiple classes of environmental feature patterns (where the feature patterns are distributively sensed across all robots in the swarm). (2) Perform the particular collective behavior that is the appropriate response to the feature pattern that the swarm recognizes in the environment at runtime (where a collective behavior is defined by a mapping of robot actions to robots). (3) The data required for both (1) and (2) is uploaded to the swarm after it has been deployed, i.e., also at runtime (the data required for (1) is the specific environmental feature patterns that the swarm should learn to differentiate between, and the data required for (2) is the mapping from feature classes to swarm behaviors). To solve this problem, we propose a new form of emergent distributed neural network that we call an “artificial group mind.” The group mind transforms a robotic swarm into a single meta-computer that can be programmed at runtime. In particular, the swarm-spanning artificial neural network emerges as each robot maintains a slice of neurons and forms wireless neural connections between its neurons and those on nearby robots. The nearby robots are discovered at runtime. Experiments on real swarms containing up to 316 robots demonstrate that the group mind enables collective decision-making based on distributed sensor data, and solves the trained-at-runtime heterogeneous swarm response problem. The group mind is a new tool that can be used to create more complex emergent swarm behaviors. The group mind also enables swarm behaviors to be a function of global patterns observed across the environment—where the patterns are orders of magnitude larger than the robots themselves.
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Beloglazov, Denis, Vladimir Pereverzev, Victor Soloviev, Viacheslav Pshikhopov i Morozov Roman. "Method of Formation of Quantitative Indicators of Complexity of the Environment by a Group of Autonomous Mobile Robots". Journal of Robotics 2020 (30.04.2020): 1–14. http://dx.doi.org/10.1155/2020/6874291.
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This article presents the methods that allow forming quantitative estimations of functional characteristics of a group of autonomous mobile robots (AMRs) and local areas of the environment surrounding it. The evaluation of the environment is based on the analysis of scattering of the cloud of obstacle points and made using the information formed by the computer vision system (CVS), which every robot in the group has. The core element of CSV is 3D lidar. Quantitative data about the complexity of the environment can be used for determining the optimal methods of solving the planning tasks and forming the patterns of group formation. Such data about the complexity of local areas of the environment can also be used for determining them as insurmountable for a single robot or a group of robots. The reason for such a decision can be the violation of safety rules and breaking of the group formation. The assessment of robots’ functional characteristics is performed based on the fuzzy model that consists of separate fuzzy classifiers; each of them allows obtaining a quantitative estimation of one of the parameters. The hierarchic structure of the used fuzzy model makes it significantly easier to synthesize and analyze it.
Rozprawy doktorskie na temat "Single group- Robots"
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Sarkar, Soumic. "Formation topologies and cooperative control of multi-agent systems". Thesis, 2016. http://localhost:8080/xmlui/handle/12345678/7140.
Pełny tekst źródłaKsiążki na temat "Single group- Robots"
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Lin, Patrick, Keith Abney i Ryan Jenkins, red. Robot Ethics 2.0. Oxford University Press, 2017. http://dx.doi.org/10.1093/oso/9780190652951.001.0001.
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As a game-changing technology, robotics naturally will create ripple effects through society. Some of them may become tsunamis. So it’s no surprise that “robot ethics”—the study of these effects on ethics, law, and policy—has caught the attention of governments, industry, and the broader society, especially in the past several years. Since our first book on the subject in 2012, a groundswell of concern has emerged, from the Campaign to Stop Killer Robots to the Campaign Against Sex Robots. Among other bizarre events, a robot car has killed its driver, and a kamikaze police robot bomb has killed a sniper. Given these new and evolving worries, we now enter the second generation of the debates—robot ethics 2.0. This edited volume is a one-stop authoritative resource for the latest research in the field, which is often scattered across academic journals, books, media articles, reports, and other channels. Without presuming much familiarity with either robotics or ethics, this book helps to make the discussion more accessible to policymakers and the broader public, as well as academic audiences. Besides featuring new use-cases for robots and their challenges—not just robot cars, but also space robots, AI, and the internet of things (as massively distributed robots)—we also feature one of the most diverse group of researchers on the subject for truly global perspectives.
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Orentlicher, Diane. Living in Compulsory Denial (Bosnia). Oxford University Press, 2018. http://dx.doi.org/10.1093/oso/9780190882273.003.0008.
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Many Bosnians hoped the Tribunal would dispel denial and forge a shared understanding among their country’s ethnic communities about wartime atrocities. During a period of robust international engagement in the early years of the twenty-first century, there was significant progress in Serb acknowledgment of Serb atrocities, as well as acknowledgment by other ethnic groups that members of their in-group committed war crimes. Since 2006, however, there has been a sharp rise in nationalist rhetoric, which has included strident rejection of ICTY judgments. Moreover public opinion surveys reflect sharp cleavages among Bosnia’s major ethnic groups concerning beliefs about wartime atrocities. This chapter explores factors behind these trends, including the dynamics of competitive victimhood, the polarizing incentives of governance structures established in the Dayton Peace Agreement, and the retreat of the Office High Representative from robust engagement in Bosnia at a time of rising nationalism.
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Turnbull, Martha. Local and Global Jihadist Narratives in Afghanistan. Oxford University Press, 2017. http://dx.doi.org/10.1093/acprof:oso/9780190650292.003.0009.
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This chapter explores the relationship between local and global jihadist narratives in Afghanistan by examining the public messages of the Afghan Taliban and Al-Qaeda since 2011. It argues that the two groups have formed a closer partnership following the emergence of the Islamic State and its affiliate group the Islamic State Khorasan Province. Unlike the events of the Arab Spring, which had little impact in Afghanistan, the rise of the Islamic State and its offshoot in the region forced the Taliban and Al-Qaeda to create a robust counter-narrative which has brought the two groups closer together. This development marks a new era in the relationship between the Taliban and Al-Qaeda and has significant negative implications for the peace process in Afghanistan.
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Auerbach, Charles, i Wendy Zeitlin. SSD for R. Wyd. 2. Oxford University Press, 2021. http://dx.doi.org/10.1093/oso/9780197582756.001.0001.
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Single-subject research designs have been used to build evidence to the effective treatment of problems across various disciplines, including social work, psychology, psychiatry, medicine, allied health fields, juvenile justice, and special education. This book serves as a guide for those desiring to conduct single-subject data analysis. The aim of this text is to introduce readers to the various functions available in SSD for R, a new, free, and innovative software package written in R, the robust open-source statistical programming language written by the book’s authors. SSD for R has the most comprehensive functionality specifically designed for the analysis of single-subject research data currently available. SSD for R has numerous graphing and charting functions to conduct robust visual analysis. Besides the ability to create simple line graphs, features are available to add mean, median, and standard deviation lines across phases to help better visualize change over time. Graphs can be annotated with text. SSD for R contains a wide variety of functions to conduct statistical analyses traditionally conducted with single-subject data. These include numerous descriptive statistics and effect size functions and tests of statistical significance, such as t tests, chi-squares, and the conservative dual criteria. Finally, SSD for R has the capability of analyzing group-level data. Readers are led step by step through the analytical process based on the characteristics of their data. Numerous examples and illustrations are provided to help readers understand the wide range of functions available in SSD for R and their application to data analysis and interpretation.
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Galliott, Jai, Duncan MacIntosh i Jens David Ohlin, red. Lethal Autonomous Weapons. Oxford University Press, 2021. http://dx.doi.org/10.1093/oso/9780197546048.001.0001.
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The question of whether new rules or regulations are required to govern, restrict, or even prohibit the use of autonomous weapons systems has been the subject of debate for the better part of a decade. Despite the claims of advocacy groups, the way ahead remains unclear since the international community has yet to agree on a specific definition of Lethal Autonomous Weapons Systems, and the great powers have largely refused to support an effective ban. In this vacuum, the public has been presented with a heavily one-sided view of “Killer Robots.” This volume presents a more nuanced approach to autonomous weapon systems that recognizes the need to progress beyond a discourse framed by the Terminator and HAL 9000. Reshaping the discussion around this emerging military innovation requires a new line of thought and a willingness to challenge the orthodoxy. Lethal Autonomous Weapons: Re-Examining the Law and Ethics of Robotic Warfare therefore focuses on exploring the moral and legal issues associated with the design, development, and deployment of lethal autonomous weapons. In this volume, we bring together some of the most prominent academics and academic-practitioners in the lethal autonomous weapons space and seek to return some balance to the debate. As part of this effort, we recognize that society needs to invest in hard conversations that tackle the ethics, morality, and law of these new digital technologies and understand the human role in their creation and operation.
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Rouse, Greg, Fredrik Pleijel i Ekin Tilic. Annelida. Oxford University Press, 2022. http://dx.doi.org/10.1093/oso/9780199692309.001.0001.
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Annelids (the segmented worms) exist in a remarkably diverse range of mostly marine but also freshwater and terrestrial habitats, varying greatly in size and form. This text provides. This text begins with an introduction to the phylum and an outline of annelid taxonomy. The book describes their collection and the methods to ensure their optimal preservation, and provides an overview of anatomy with its relevant terminology. It includes the latest molecular phylogenomic evidence and is organised based on a new, robust phylogenetic hypothesis. It looks at groups which include Clitellata (comprising more than a third of total annelid diversity), Sipuncula, and Thalassematidae (formerly Echiura). It reflects the enormous amount of research on these organisms that has burgeoned since the millennium, principally due to their use as model organisms to address wider and more general evolutionary and ecological questions.
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Smith, Katherine, Justyna Bandola-Gill, Nasar Meer, Ellen Stewart i Richard Watermeyer. The Impact Agenda. Policy Press, 2020. http://dx.doi.org/10.1332/policypress/9781447339854.001.0001.
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As international interest in promoting and assessing the impact of research grows, this book examines the ensuing controversies, consequences and challenges. It places a particular emphasis on learning from experiences in the UK, since this is the country at the forefront of a range of new approaches to incentivising, monitoring and rewarding research impact achievements. The book aims to understand the origins and rationale for these changes and to critically assess their consequences for academic practice. Combining a review of existing literature with a range of new qualitative data (from interviews, focus groups and documentary analysis), The Impact Agenda is unique in providing a comprehensive, cross-disciplinary empirical examination of the ways in which various forms of research impact assessment are shaping academic practices. Although the primary focus of the book is on the UK, the book also considers the different approaches that other countries with an interest in research impact are taking (notably Australia, Canada and the Netherlands). While noting the benefits that the increasing emphasis on outward facing work is bringing, the book draws attention to a wide range of challenges and controversies associated with research impact assessment and, in particular, with the UK’s chosen approach. It concludes by using the insights in the book to propose an alternative, more theoretically robust approach to incentivising and rewarding efforts to undertake and use academic research for societal benefit.
Części książek na temat "Single group- Robots"
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Recker, Tobias, Bin Zhou, Marvin Stüde, Mark Wielitzka, Tobias Ortmaier i Annika Raatz. "LiDAR-Based Localization for Formation Control of Multi-Robot Systems". W Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2021, 363–73. Cham: Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-030-74032-0_30.
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AbstractControlling the formation of several mobile robots allows for the connection of these robots to a larger virtual unit. This enables the group of mobile robots to carry out tasks that a single robot could not perform. In order to control all robots like a unit, a formation controller is required, the accuracy of which determines the performance of the group. As shown in various publications and our previous work, the accuracy and control performance of this controller depends heavily on the quality of the localization of the individual robots in the formation, which itself depends on the ability of the robots to locate themselves within a map. Other errors are caused by inaccuracies in the map. To avoid any errors related to the map or external sensors, we plan to calculate the relative positions and velocities directly from the LiDAR data. To do this, we designed an algorithm which uses the LiDAR data to detect the outline of individual robots. Based on this detection, we estimate the robots pose and combine this estimate with the odometry to improve the accuracy. Lastly, we perform a qualitative evaluation of the algorithm using a Faro laser tracker in a realistic indoor environment, showing benefits in localization accuracy for environments with a low density of landmarks.
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Yang, Xin, Keigo Watanabe, Kazuo Kiguchi i Kiyotaka Izumi. "Coordinated Transportation of a Single Object by a Group of Nonholonomic Mobile Robots". W Distributed Autonomous Robotic Systems 5, 175–84. Tokyo: Springer Japan, 2002. http://dx.doi.org/10.1007/978-4-431-65941-9_18.
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Marzoli, Irene, Nico Rizza, Alessandro Saltarelli i Euro Sampaolesi. "Arduino: From Physics to Robotics". W Makers at School, Educational Robotics and Innovative Learning Environments, 309–14. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-77040-2_41.
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AbstractThis paper discusses how a microcontroller, like Arduino, can improve laboratory practice in Italian upper secondary school and change students’ attitudes towards STEM subjects. Since 2015, we started a close and fruitful collaboration with several high school teachers in the Marche region to introduce microcontroller programming to the physics lab. Notably, the project also involved teachers of other subjects, such as computer science, and with different backgrounds, for example electronic engineering, thus showing the inherently interdisciplinary character and versatility of Arduino. Students were engaged in hands-on activities, working in small groups of four to five people, supervised by learning assistants and teachers. Arduino was used to interface with sensors, to control the experimental setup, and for data acquisition. Finally, we could also make contact with robotics, by building a simple prototype of a rover.
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Willadsen, Peter. "Ticks and Their Control." W The impact of the International Livestock Research Institute, 366–86. Wallingford: CABI, 2020. http://dx.doi.org/10.1079/9781789241853.0366.
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Abstract This book chapter describes the most common control methods: the use of genetically resistant animals and the application of acaricides. Acaricides may be applied through dips, sprays or pour-on formulations as well as intra-ruminal boluses, ear tagscand footbaths. Resistance to acaricides is thecability in a strain of ticks to tolerate doses of acaricides that would prove lethal to most individuals in a normal population of the same species, and this is a major and growing problem. An anti-tick vaccine is commercially available for only a single tick species. Pasture management also has a role in integrated control. Each of these options would be about developing technologies, at best partial solutions to practical problems. As has been described above, a robust solution to the control of ticks and tickborne disease requires an understanding of tick distributions and economic impacts; the current and future effects of climate change; and the regulatory system and the production environment in which tick control is to be applied. ILRI has skills in all of these areas and a strong focus on at least one target group, the smallholder livestock farmer. Thus, ILRI has, in principle, not only the potential to develop new technologies but also the infrastructure and experience to facilitate their effective adoption.
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V., Santhy, Nagamani Sandra, Kundapura V. Ravishankar i Bhavya Chidambara. "Molecular Techniques for Testing Genetic Purity and Seed Health". W Seed Science and Technology, 365–89. Singapore: Springer Nature Singapore, 2023. http://dx.doi.org/10.1007/978-981-19-5888-5_15.
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AbstractWith the globalization of seed trade and transgenic variety development, the application of molecular technologies for seed quality gained more significance in both the internal and international markets. Besides germination, genetic purity and seed health are the two most important seed quality parameters that determine the planting value of a seed lot. Compared to the conventional methods of testing, molecular marker technologies are more efficient for quality analysis as these are more accurate, robust, abundant, and faster. Among the various markers, simple sequence repeats (SSRs), due to their genome-wide presence, reproducibility, multi-allelic nature, and co-dominant inheritance, have emerged as the best markers, for establishing varietal distinctness, identity, and variety/hybrid seed purity testing. With the advent of the next-generation sequencing (NGS) technology, single nucleotide polymorphic (SNP) markers also became widely popular, and the closest to being an ideal marker besides SSRs, in seed genetic purity testing. With large-scale GM crop cultivation, testing for the adventitious presence and trait purity are two added components of seed quality testing. The methods of GM seed quality testing include DNA-based (conventional and real-time PCR), protein-based (lateral flow test and ELISA), and bioassay-based technologies. DNA-based methods including PCR/real-time PCR assays have been successfully employed to detect the adventitious presence of transgenic seeds in seed trade especially at international level, as well as in the national gene banks for germplasm conservation. ISTA plays a prominent role in international harmonization and providing universal guidelines on use of different methods to detect GM seeds. The BMT group of UPOV and the Working Group on DNA Methods of the Variety Committee of ISTA, work in tandem to standardize suitable molecular techniques for establishing variety identity and purity testing, respectively. In the area of seed health testing also, molecular detection assays such as, PCR (nested PCR, multiplex PCR, real-time PCR), loop-mediated isothermal amplification (LAMP), and DNA microarray with many advantages over the conventional assays have been proven highly useful. However, there is a need to validate the usefulness of molecular markers through stringent multi-laboratory tests for their reproducibility before recommending them in routine seed purity and health testing.
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Andersson, Ragnar, i Thomas Gell. "Vision Zero on Fire Safety". W The Vision Zero Handbook, 1143–64. Cham: Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-030-76505-7_44.
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AbstractSince 2010, Sweden has a Vision Zero policy on fire safety: no one should die or be seriously injured as a result of fire. Compared to the traffic safety model, however, the preconditions for successful implementation appear more immature and less convincing in the fire area. The purpose of this chapter is to illustrate, using the Vision Zero policy on fire safety as an example, how a Vision Zero initiative in a new area, where the conditions for governance may differ significantly from the area of inspiration, can be dealt with as a dynamic process to gradually establish credibility and effectiveness.Globally, fire is a significant cause of death and injury. The general trend is toward a slow decline, especially among middle-income and high-income countries. The decline may be due to successful fire safety efforts, but also to other conditions affecting it indirectly. Both risk-increasing and risk-reducing factors determine fire safety. Risk increasing factors include an ageing population, an increasing diversity of possible ignition sources, and a change in the composition and amount of combustible materials present in our homes. The risk-reducing factors include generally favorable socioeconomic and technological developments, including concrete societal actions directed against fire risks such as the promotion of smoke detectors and sprinkler systems.Fire safety is one of the oldest documented examples of societal risk management. City planning and construction were early influenced by fire safety considerations, while in contrast, the legal responsibility for residential fire safety has largely remained a private and individual matter. The situation is similar to the one that for long prevailed in the traffic sector, that is, the primary responsibility rests with the system’s users, not with its designers.The launch of the Vision Zero on fire safety in 2010 represented a clear boost in ambition. Along with the vision, a strategy intended to guide the work toward the visionary goal was also presented. The strategy included four items: information, technical solutions, local collaboration, and evaluation/research. Several actions were taken in line with the strategy, including a significant research effort and the development of a set of indicators to monitor progress.Ten years later, the research effort has brought new knowledge that puts previous perceptions into partly new light. The notion that survival depends on the individual’s personal capacities is strengthened. Adverse outcomes such as death and serious injury appear mainly linked to specific vulnerabilities of certain groups for medical and social reasons. Most fires are handled by the residents themselves without injuries and without assistance from Rescue Services; on the other hand, even minor fires can be fatal for vulnerable residents. This turns the problem framing toward social aspects rather than technical, since broad groups of residents lack the capacities needed, conflicting with the prevailing view that the individual should bear the primary responsibility.Other findings relate to the proven inefficiency of certain measures for groups at elevated risk and the need for re-thinking and innovations to meet the challenges ahead. This includes extended inter-sectoral collaboration on a broader spectrum of residential risks besides fire, threatening the same groups for similar social and medical reasons.This updated state of knowledge is now being used as a basis for renewing current national fire safety strategies. With reference to general principles of systems control, this chapter will discuss obstacles and challenges to establish a more robust and systematic national control of the fire problem in line with the Vision Zero policy. The appropriateness of launching Vision Zero policies in fields that are not yet ripe for systematic governance is also discussed. It is concluded that a Vision Zero initiative can still be meaningful and successfully pursued, provided that limitations in the ability to influence crucial elements in the system are openly identified and systematically addressed in a process in which strategical and policy developments interact with research and innovation.
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Andersson, Ragnar, i Thomas Gell. "Vision Zero on Fire Safety". W The Vision Zero Handbook, 1–22. Cham: Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-030-23176-7_44-1.
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AbstractSince 2010, Sweden has a Vision Zero policy on fire safety: no one should die or be seriously injured as a result of fire. Compared to the traffic safety model, however, the preconditions for successful implementation appear more immature and less convincing in the fire area. The purpose of this chapter is to illustrate, using the Vision Zero policy on fire safety as an example, how a Vision Zero initiative in a new area, where the conditions for governance may differ significantly from the area of inspiration, can be dealt with as a dynamic process to gradually establish credibility and effectiveness.Globally, fire is a significant cause of death and injury. The general trend is toward a slow decline, especially among middle-income and high-income countries. The decline may be due to successful fire safety efforts, but also to other conditions affecting it indirectly. Both risk-increasing and risk-reducing factors determine fire safety. Risk increasing factors include an ageing population, an increasing diversity of possible ignition sources, and a change in the composition and amount of combustible materials present in our homes. The risk-reducing factors include generally favorable socioeconomic and technological developments, including concrete societal actions directed against fire risks such as the promotion of smoke detectors and sprinkler systems.Fire safety is one of the oldest documented examples of societal risk management. City planning and construction were early influenced by fire safety considerations, while in contrast, the legal responsibility for residential fire safety has largely remained a private and individual matter. The situation is similar to the one that for long prevailed in the traffic sector, that is, the primary responsibility rests with the system’s users, not with its designers.The launch of the Vision Zero on fire safety in 2010 represented a clear boost in ambition. Along with the vision, a strategy intended to guide the work toward the visionary goal was also presented. The strategy included four items: information, technical solutions, local collaboration, and evaluation/research. Several actions were taken in line with the strategy, including a significant research effort and the development of a set of indicators to monitor progress.Ten years later, the research effort has brought new knowledge that puts previous perceptions into partly new light. The notion that survival depends on the individual’s personal capacities is strengthened. Adverse outcomes such as death and serious injury appear mainly linked to specific vulnerabilities of certain groups for medical and social reasons. Most fires are handled by the residents themselves without injuries and without assistance from Rescue Services; on the other hand, even minor fires can be fatal for vulnerable residents. This turns the problem framing toward social aspects rather than technical, since broad groups of residents lack the capacities needed, conflicting with the prevailing view that the individual should bear the primary responsibility.Other findings relate to the proven inefficiency of certain measures for groups at elevated risk and the need for re-thinking and innovations to meet the challenges ahead. This includes extended inter-sectoral collaboration on a broader spectrum of residential risks besides fire, threatening the same groups for similar social and medical reasons.This updated state of knowledge is now being used as a basis for renewing current national fire safety strategies. With reference to general principles of systems control, this chapter will discuss obstacles and challenges to establish a more robust and systematic national control of the fire problem in line with the Vision Zero policy. The appropriateness of launching Vision Zero policies in fields that are not yet ripe for systematic governance is also discussed. It is concluded that a Vision Zero initiative can still be meaningful and successfully pursued, provided that limitations in the ability to influence crucial elements in the system are openly identified and systematically addressed in a process in which strategical and policy developments interact with research and innovation.
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Drwiega, Michał, i Elżbieta Roszkowska. "Multi-Robot Mapping Based on 3D Maps Integration". W Autonomous Mobile Mapping Robots [Working Title]. IntechOpen, 2022. http://dx.doi.org/10.5772/intechopen.107978.
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An unknown environment could be mapped more efficiently by a group of robots than a single robot. The time reduction due to parallelization is crucial in complex area mapping. There are two general solutions used in the multi-robot mapping. In the first one, robots exchange raw data from sensors. The second approach assumes that each robot creates a local map independently that is exchanged with other robots and integrated. In this chapter, we present a 3D maps integration algorithm that utilizes overlapping regions in the feature-based alignment process. The algorithm does not need any initial guess about the transformation between local maps. However, for successful integration, maps need to have a common area. We showed that the implemented method is effective in various environments. The approach has been verified in experiments with wheeled mobile robots and using public datasets with octree-based maps.
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Nath, Amar, i Rajdeep Niyogi. "A Distributed Approach for Autonomous Cooperative Transportation". W Robotics Software Design and Engineering. IntechOpen, 2021. http://dx.doi.org/10.5772/intechopen.98270.
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Autonomous mobile robots have now emerged as a means of transportation in several applications, such as warehouse, factory, space, and deep-sea where direct human intervention is impossible or impractical. Since explicit communication provides a better and reliable way of multi-robot coordination compared to implicit communication, so it is preferred in critical missions, such as search and rescue, where efficient and continuous coordination between robots is required. Cooperative object transportation is needed when the object is either heavy or too large or needs extra care to handle (e.g., shifting a glass table) or has a complex shape, which makes it difficult for a single robot to transport. All group members need no participation in the physical act of transport; cooperation can still be achieved when some robots transport the object, and others are involved in, say, coordination and navigation along the desired trajectory and/or clear obstacles along the path. A distributed approach for autonomous cooperative transportation in a dynamic multi-robot environment is discussed.
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Kube, C. Ronald, Chris A. C. Parker, Tao Wang i Hong Zhang. "Biologically Inspired Collective Robotics". W Recent Developments in Biologically Inspired Computing, 367–97. IGI Global, 2005. http://dx.doi.org/10.4018/978-1-59140-312-8.ch015.
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In this chapter, we review our recent research in the area of collective robotics, and the problem of controlling multiple robots in the completion of common tasks. Our approach is characterized with a strong inclination for biological inspiration in which examples in nature — social insects in particular — are used as a way of designing strategies for controlling robots. This approach has been successfully applied to the study of three representative tasks, namely, collective box-pushing, collective construction, and collective sorting. Collective box-pushing deals with the purposeful motion of an object too large to be moved by a single robot and we rely on the group prey transport phenomenon found in ants to derive the necessary behaviors for accomplishing this task. Collective construction is concerned with the building of a geometric structure with the combined efforts of many individuals in parallel, without centralized control and we study a species of ant known to possess this capability, to model and control the process of creating a circular nest with multiple robots. Finally, in collective sorting the broad behavior in ants serves as the motivation behind designing robotic behaviors that depend on only local sensing in clustering objects of different types into separate piles. The success of our proposed approach is supported by both simulation and physical experiments using robots.
Streszczenia konferencji na temat "Single group- Robots"
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Balkan, Tuna, M. Kemal Özgören, M. A. Sahir Arikan i H. Murat Baykurt. "A Kinematic Structure Based Classification of Six-DOF Industrial Robots and a Method of Inverse Kinematic Solution". W ASME 1999 Design Engineering Technical Conferences. American Society of Mechanical Engineers, 1999. http://dx.doi.org/10.1115/detc99/dac-8672.
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Abstract A kinematic structure based classification of six degree-of-freedom industrial robotic manipulators is introduced, and sample compact kinematic equations are given according to this classification. For the classification, one hundred industrial robots are surveyed. These robots are first classified into main groups and then into subgroups under each main group, and nine kinematic main groups, each having one to ten subgroups are obtained. The main groups are based on the end-effector rotation matrices and characterized by the twist angles. On the other hand, the subgroups are based on the wrist point positions and characterized by the link lengths and offsets. Compact kinematic equations are derived for one main group and one of its subgroups by utilizing the properties of exponential rotation matrices. In the inverse kinematic solutions, most of these simplified compact equations can be solved analytically and the remaining few of them can be solved semi-analytically through a single univariate equation. In these solutions, the singularities and the multiple configurations of the manipulators can be determined easily. Utilizing the method introduced in this study, the kinematic analysis of any manipulator or designed-to-be manipulator can be performed and using the solutions, the inverse kinematics can also be computerized by means of short and fast algorithms. As an example for, the demonstration of the presented method, Unimate 4000 industrial robot is selected which has five revolute joints and one prismatic joint and its compact forward kinematic equations are given as well as the inverse kinematic solution. To generalize the solution for the corresponding subgroup, a structural parameter related to the prismatic joint is assumed to have two different possible values leading to a closed-form or a semi-analytical solution.
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Wang, Tianlu, i Metin Sitti. "Flexible Magnetic Soft Stent for Mobile Flow Diversion". W THE HAMLYN SYMPOSIUM ON MEDICAL ROBOTICS. The Hamlyn Centre, Imperial College London London, UK, 2023. http://dx.doi.org/10.31256/hsmr2023.23.
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With the advantages in dimensions and exceptional locomotion capabilities, small-scale mobile robots have offered new opportunities for medical interventions in hard-to-reach regions, including the distal arteries in the circulatory systems. In this field, the wireless soft robots fabricated with compliant materials further provide unique adaptation capabilities and, thus, many exciting potential applications [1]. Although various locomotion abilities have been demonstrated and studied from the aspects of robot design, control strategies, and soft- bodied interactions [2], rare effective functions other than drug delivery have been properly incorporated into these robots for potential in-vivo utilities. Our group has recently developed a medical robotic system with a stent- shaped magnetic soft device (Stentbot) and the associated spatial magnetic actuation setup, which realized the on- demand local drug delivery and the flow diversion using a millimeter wireless robot design [3]. Its flexible locomotion capabilities have indicated its benefits of working as a mobile flow diverter if clinical migrations or misplacements happen when treating brain aneurysms using stent-like structures. However, this single-material development traded off the performance in locomotion abilities and the efficacy of flow diversion. For example, pure mesh-like structures ensure full body adaptation for the retrievable locomotion among the lumens with varying diameters, but the effectiveness of flow diversion is reduced since flow could go through the meshes freely. On the other hand, a full surface-sealed, hollow tube structure where all the gaps among meshes are filled could have a perfect flow diversion effect. However, the radial stiffness of the structure is notably increased, such that the shape adaptation capability is reduced. Therefore, there is a missing solution for the effective flow diverter with proper adaptation for the future treatments of brain aneurysms and other diseases, such as arteriovenous malformation.
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Valencia, Guillermo E., John C. Turizo i Marco E. Sanjuan. "A Matlab® GUI (Graphical User Interface) for Generating the Inverse Dynamic Model for Industrial Manipulator Until Five Degrees of Freedom". W ASME 2010 International Mechanical Engineering Congress and Exposition. ASMEDC, 2010. http://dx.doi.org/10.1115/imece2010-40778.
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A Graphical User Interface program in Matlab® for generating the inverse dynamic non linear model of industrial manipulator in symbolic form is presented, that is, the joint torques required for a given set of joint angles, velocities and accelerations of the end -effector. The program, called RIDMD (Robotic Inverse Dynamic Modeling Deduction), is an application of Newton-Euler (NE) Recursive Methods to the derivation of closed form dynamic equations of robots, considered as a group of rigid bodies connected by suitable single degree-of-freedom (DOF) joints. The general procedure implemented in the program in order to calculated the model, begin estimating the Denavit-Hartenberg parameter, selecting a frame attached to each link of the robot arm and calculating the transformation matrix, which is a homogeneous transformation matrix that expresses the position and orientation of consecutives frames of reference for the robot. In addition, the kinematic inicial condition for the first link is determinate, and the kinematic variables transformation is developed, for prismatic or sliding joint. Finally, the force and torque transformation is solved with the program, which is transparent to the user and allows the symbolic calculation of dynamical models until five DOF.
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Zuo, Wenyu, John Allen, James B. Dabney i Ramanan Krishnamoorti. "Robotics Workforce Training, Offshore Energy Transformation". W Offshore Technology Conference. OTC, 2023. http://dx.doi.org/10.4043/32666-ms.
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Abstract There is an increasing demand for robotics systems in production, inspection, and maintenance in the energy industry from offshore to onshore, to reduce operating costs and lower the risk of exposing humans to hazardous environments. However, a gap exists between existing workforce expertise and technologies that are developing rapidly. The deployment of robots requires the engineer to have rich experience in production and sufficient understanding of the robotic multidisciplinary system so they can identify and deploy the robot in the use case that can maximize the robot's efficiency. The nature of robotics and automation presents a challenge to the workforce since the existing workforce's background, in specific engineering disciplines or business, hinders them from adapting and then keeping up with the transition to robotic (not normally manned) operations. Directed by the University of Houston, the Subsea Systems Institute (SSI) is developing, in collaboration with Sprint Robotics, the National Robotarium (UK) and the Society of Underwater Technology (SUT), a robotic training program. The objective is to upskill and reskill the energy industry personnel (offshore and onshore) to meet the emerging industry demand for multidisciplinary robotics expertise. This group is collaborating to fill the gap between required knowledge and application in the energy industry by identifying the necessary knowledge and skillsets, and then developing an adaptable modular program with use cases to train the existing workforce. The SSI led effort will adjust to the differing needs that drive the adoption of this evolving technology, including engineers and scientists and other stakeholders such as managers, influencers, and the public.
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"Changes in Center of Mass during Preliminary Motion for Prediction of Direction Change". W Structural Health Monitoring. Materials Research Forum LLC, 2021. http://dx.doi.org/10.21741/9781644901311-35.
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Abstract. In recent years, the number of single elderly people has been increasing, and the needs of residents have been diversifying. Towards these backgrounds, we propose the concept of "Biofiled bulding". The aim of Biofied Building is to create living spaces where residents can live safely, securely and comfortably. Small robots are used as an interface between residents and living space in Biofied Building. The aim of using robots is to sense the position and movement of residents in real time and providing feedback to them. However,he present control systems of the robot do not have enough functions to estimate the risk of accidents such as falls and choose the pathways which do not disturb residents. Therefore, the purpose of this research is to recognize and predict human behavior in a living space by using a robot to realize Biofied Building. In particular, we focus on the direction change motion, which is an important behavior in a living space, and extract the prediction parameters. In particular, it is reported that the direction change motion account for about 20% of gait during the daily life. Therefore, our research group decided to focus on direction change motion. In this study, we focused on the center of the head to extract parameters for prediction of the direction change motion. There are features in the velocity change of the center of the head compared with straight-line gait. There was a velocity amplification of the opposite direction of the direction change before the start of the motion. It is assumed that the shift of the center of mass make it to easier to step out to the direction of the turn.
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Cheng, Marvin, i Ezzat Bakhoum. "Tracking Control Design and Implementation of Multiaxial Controller for Social Robotic Devices". W ASME 2021 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2021. http://dx.doi.org/10.1115/imece2021-70510.
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Abstract In the recent years, robotic devices have been widely used to interact with human beings in various scenarios, including healthcare, education, tourism, and manufacturing applications. These applications of robotic devices have also been expanded to many social activities. These social robots can take the form of a traditional mobile robot or a humanoid system that provide one-on-one interaction. Among different types of robotic devices, the bio-inspired humanoid robotics has received extensive attention in therapeutic settings by providing psychological and physiological benefits. With the social benefits, humanoid type of social robots can be an important tool to assist people in many different situations. To allow social robotic devices to better interact with human being, it is desired that these robotic systems can identify on-going human motions and respond to the motions by mimicking human movements. Thus, these systems need to acquire human motions and predict the types of these movements in real-time. Such a technique has been investigated by various research groups. Once the human motions have been identified, corresponding reactions of the robots can be determined accordingly, which usually requires the involved joints to move along specific trajectories. To synthesize such an interactive robotic system, a platform of a multi-axial robotic device, a motion identification model of human motions, a reference generator based on the identified motions, the sensors used for real-time motion measurements, and an adequate control strategy need to be integrated as a single system. The major bottleneck of such a system is that the processing and control units might not be efficient enough and can cause dramatic legacy. To validate the overall process, a simplified system was developed to investigate the feasibility of such an interactive robotic system. In this study, an experimental multi-axial robotic arm was adopted. A developed motion identification model was used to determine the on-going motions of the interacting person. Once the motion being identified, the responding motion of robotic device can be determined based on a pre-selected motion library. The trajectories of individual joints of the robotic arm can then also be generated accordingly. The robotic arm was then following the pre-selected trajectories for corresponding interactions. To compensate for the nonlinear factors caused by existing mechanical/electrical components and the cross-coupled dynamics among the mechanical components, a control strategy that integrates an adaptive robust control method and a linear controller for motion tracking was applied. With the proposed control scheme, an adequate controlled outcome can be achieved.
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Simas, Henrique, i Raffaele Di Gregorio. "Kinematics of a Particular 3T1R Parallel Manipulator of Type 2PRPU". W ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/detc2017-67174.
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Schoenflies-motion generators (SMGs) are 4-degrees-of-freedom (dof) manipulators whose end effector can perform translations along three independent directions, and rotations around one fixed direction (Schoenflies motions). Such motions constitute the 4-dimensional (4-D) Schoenflies subgroup of the 6-D displacement group. The most known SMGs are the serial robots named SCARA. Pick-and-place tasks are typical industrial applications that SMGs can accomplish. In the literature, 3T1R parallel manipulators (PMs) have been also proposed as SMGs. Here, a somehow novel 3T1R PM is presented and studied. Its finite and instantaneous kinematics are analyzed in depth, and analytic and geometric tools that are useful for its design are presented. The proposed SMG has a single-loop not-overconstrained architecture with actuators on or near the base and can make the end effector perform a complete rotation.
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Liang, Yi, i Ho-Hoon Lee. "Avoidance of Multiple Obstacles for a Mobile Robot With Nonholonomic Constraints". W ASME 2005 International Mechanical Engineering Congress and Exposition. ASMEDC, 2005. http://dx.doi.org/10.1115/imece2005-81744.
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In this study, a decoupled controller, consisting of a force controller and a torque controller, is designed to achieve a smooth translational and rotational motion control of a group of nonholonomic mobile robots. The proposed controller also solves the problem of obstacle avoidance, where obstacles with arbitrary boundary shapes are taken into account. Since the tangential direction of obstacle boundary is adopted as the guiding direction of a robot, the proposed controller allows a mobile robot to escape from a concave obstacle, while the robot could be trapped with most of the conventional obstacle avoidance algorithms.
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Pyke, Aryn, Rebecca Bouchelle i David Uzhca. "Out of Sight but Still In Mind: Making ‘Invisible’ Cyber Threats More Salient Via Concrete Analogies". W 14th International Conference on Applied Human Factors and Ergonomics (AHFE 2023). AHFE International, 2023. http://dx.doi.org/10.54941/ahfe1003716.
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It can be easier to conceive of and anticipate physical threats than cyber threats. Cyber threats can involve unseen remote hackers, and capitalize on invisible wireless signals as vectors. As such cyber threats are often out of sight and out of mind. How can we make these abstract, 'invisible' threats more intuitive and salient? We employed concrete analogies to enable future Army Officers to better anticipate cyber threats in tactical contexts. Modern multi-domain battle involves not only physical threats like fire fights and improvised explosive devices (IEDs), but also, increasingly, cyber threats. For example, the enemy may jam, intercept or track communication signals, hack into computing systems to exfiltrate or alter information, and/or hack equipment with electronic and autonomous components (including navigation systems, drones and robots). To ensure readiness, all soldiers, (not only cyber specialists) must have some awareness of this 'threatscape'. We developed the problem anticipation task (PAT) to gauge the degree to which participants would anticipate cyber as well as non-cyber tactical threats. They read a hypothetical mission description and tried to anticipate various problems that could arise. The mission explicitly mentioned several cyber-vulnerable components (e.g., radios, navigation systems, drones, biosensors, cell phones). Prior research using a sample from the same population indicated that about 40% of subjects did not anticipate a single cyber threat (Pyke, Ness, Feltner, in press). The current research used the PAT as a pre- and post-test and included an intervening intervention. Experimental subjects read a passage about a fictitious historical mission set in the 1800s. The version of the passage presented to the experimental group included historical issues (e.g., carrier pigeon intercepted by enemy) that were intended to be analogous to modern cyber-related issues (e.g., wireless communications signal intercepted/tapped by enemy). The intervention for the comparison group involved a passage describing historical issues (e.g., horse losing a shoe) that were intended to be analogous to modern non-cyber related issues (e.g., vehicle breakdown). Note that the link to the corresponding modern situation was not made explicit to the participants, they were just exposed to a historical situation that could lend itself to being analogous to a modern cyber situation. For the experimental group (but not the control) there was a significant gain in the percent of participants who were able anticipate one or more cyber issues. Thus, concrete analogies can serve to make 'invisible' cyber threats more intuitive and easier to anticipate.
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Jaggi, Tejinder Singh. "To compare the effects of dexmedetomidine versus propofol infusion on various parameters intraoperatively and their effects on the recovery profile postoperatively in patients undergoing laparoscopic assisted robotic pelvic surgeries". W 16th Annual International Conference RGCON. Thieme Medical and Scientific Publishers Private Ltd., 2016. http://dx.doi.org/10.1055/s-0039-1685387.
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Methods: 80 ASA physical status I-II patients, 30-65 years, BMI ≤30 undergoing surgery for 120-180 minutes. Computer randomisation, 40 each, in dexmedetomidine group D and in propofol group P. Induction with fentanyl 1.5 mcg mkg−1 and propofol 2 mg kg−1. Maintained with desflurane 3-5% with air 50% and O2 50%. In D group (bolus 0.5 mcg mkg−1 for 10 minutes then maintenance 0.2-0.5 mcg mkg−1 hr−1) and in P group (propofol @ 50-150 mcg kg−1 min−1) started. At docking of robotic arms single dose morphine @ 0.075 mg kg−1 in both groups is given. Hemodynamic stability (MAP and HR) is adjusted within 20% of base line values. Results: Early and intermediate recovery was fast in D group and total fentanyl requirement intraoperatively was less in D group. Discussion: Dexmedetomidine is known to decrease sympathetic outflow and circulating catecholamine’s levels therefore has caused decrease in both MAP and HR similar to propofol. Dexmedetomidine has analgesia sparing effect hence less total fentanyl dose both intraoperatively. Patients with dexmedetomidine are early aroused, so early and intermediate recoveries were faster with dexmedetomidine than propofol. Thus dexmedetomidine may prove to be useful adjuvant for robotic surgeries. Conclusion: Dexmedetomidine more effective for both intraoperative and postoperative analgesia. Recoveries both early and intermediate are faster in dexmedetomidine group.
Raporty organizacyjne na temat "Single group- Robots"
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Cook, Stephen, i Loyd Hook. Developmental Pillars of Increased Autonomy for Aircraft Systems. ASTM International, styczeń 2020. http://dx.doi.org/10.1520/tr2-eb.
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Increased automation for aircraft systems holds the promise to increase safety, precision, and availability for manned and unmanned aircraft. Specifically, established aviation segments, such as general aviation and light sport, could utilize increased automation to make significant progress towards solving safety and piloting difficulties that have plagued them for some time. Further, many emerging market segments, such as urban air mobility and small unmanned (e.g., small parcel delivery with drones) have a strong financial incentive to develop increased automation to relieve the pilot workload, and/or replace in-the-loop pilots for most situations. Before these advances can safely be made, automation technology must be shown to be reliable, available, accurate, and correct within acceptable limits based on the level of risk these functions may create. However since inclusion of these types of systems is largely unprecedented at this level of aviation, what constitutes these required traits (and at what level they must be proven to) requires development as well. Progress in this domain will likely be captured and disseminated in the form of best practices and technical standards created with collaboration from regulatory and industry groups. This work intends to inform those standards producers, along with the system designers, with the goal of facilitating growth in aviation systems toward safe, methodical, and robust inclusion of these new technologies. Produced by members of the manned and unmanned small aircraft community, represented by ASTM task group AC 377, this work strives to suggest and describe certain fundamental principles, or “pillars”, of complex aviation systems development, which are applicable to the design and architectural development of increased automation for aviation systems.
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Wozniakowska, P., D. W. Eaton, C. Deblonde, A. Mort i O. H. Ardakani. Identification of regional structural corridors in the Montney play using trend surface analysis combined with geophysical imaging, British Columbia and Alberta. Natural Resources Canada/CMSS/Information Management, 2021. http://dx.doi.org/10.4095/328850.
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The Western Canada Sedimentary Basin (WCSB) is a mature oil and gas basin with an extraordinary endowment of publicly accessible data. It contains structural elements of varying age, expressed as folding, faulting, and fracturing, which provide a record of tectonic activity during basin evolution. Knowledge of the structural architecture of the basin is crucial to understand its tectonic evolution; it also provides essential input for a range of geoscientific studies, including hydrogeology, geomechanics, and seismic risk analysis. This study focuses on an area defined by the subsurface extent of the Triassic Montney Formation, a region of the WCSB straddling the border between Alberta and British Columbia, and covering an area of approximately 130,000 km2. In terms of regional structural elements, this area is roughly bisected by the east-west trending Dawson Creek Graben Complex (DCGC), which initially formed in the Late Carboniferous, and is bordered to the southwest by the Late Cretaceous - Paleocene Rocky Mountain thrust and fold belt (TFB). The structural geology of this region has been extensively studied, but structural elements compiled from previous studies exhibit inconsistencies arising from distinct subregions of investigation in previous studies, differences in the interpreted locations of faults, and inconsistent terminology. Moreover, in cases where faults are mapped based on unpublished proprietary data, many existing interpretations suffer from a lack of reproducibility. In this study, publicly accessible data - formation tops derived from well logs, LITHOPROBE seismic profiles and regional potential-field grids, are used to delineate regional structural elements. Where seismic profiles cross key structural features, these features are generally expressed as multi-stranded or en echelon faults and structurally-linked folds, rather than discrete faults. Furthermore, even in areas of relatively tight well control, individual fault structures cannot be discerned in a robust manner, because the spatial sampling is insufficient to resolve fault strands. We have therefore adopted a structural-corridor approach, where structural corridors are defined as laterally continuous trends, identified using geological trend surface analysis supported by geophysical data, that contain co-genetic faults and folds. Such structural trends have been documented in laboratory models of basement-involved faults and some types of structural corridors have been described as flower structures. The distinction between discrete faults and structural corridors is particularly important for induced seismicity risk analysis, as the hazard posed by a single large structure differs from the hazard presented by a corridor of smaller pre-existing faults. We have implemented a workflow that uses trend surface analysis based on formation tops, with extensive quality control, combined with validation using available geophysical data. Seven formations are considered, from the Late Cretaceous Basal Fish Scale Zone (BFSZ) to the Wabamun Group. This approach helped to resolve the problem of limited spatial extent of available seismic data and provided a broader spatial coverage, enabling the investigation of structural trends throughout the entirety of the Montney play. In total, we identified 34 major structural corridors and number of smaller-scale structures, for which a GIS shapefile is included as a digital supplement to facilitate use of these features in other studies. Our study also outlines two buried regional foreland lobes of the Rocky Mountain TFB, both north and south of the DCGC.
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Microbial Evolution: This report is based on a colloquium convened by the American Academy of Microbiology on August 28-30, 2009, in San Cristobal, Ecuador. American Society for Microbiology, sierpień 2011. http://dx.doi.org/10.1128/aamcol.28aug.2009.
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The year 2009 marked both the 200th anniversary of Darwin's birth and the 150th anniversary of the publication of his landmark book, On the Origin of Species. In August 2009, to celebrate these milestones, the American Academy of Microbiology convened a colloquium in the Galapagos Islands, where Darwin made some of his most crucial observations, to consider a new question: what would Darwin have made of the microbial world? The ability to sail to remote sites like the Galapagos, and access to specimens collected by himself and other avid naturalists, gave Darwin the information he needed to develop a conceptual framework for understanding life's visible diversity. Today, new discoveries and technical capabilities in microbiology are providing information that for the first time makes it possible to develop a conceptual framework for deepening our understanding of the diversity of the microbial world. Darwin focused his attention on visible life forms, which actually make up only a small fraction of the living world—the invisible world of microorganisms was as yet largely unexplored in his time. Yet Darwin's theory has proven remarkably robust; despite some fundamental differences between microorganisms and the rest of the living world, the two lynchpins of Darwin's theory—descent with modification and natural selection—have proven as powerful in explaining microbial evolution as they have in explaining macrobial evolution. Since Darwin, the advent of Mendelian Genetics and the Modern Synthesis have provided a wealth of new tools to evolutionists; these tools are also of fundamental importance in the modern study of microbiology. The scientists gathered at the colloquium considered two fundamental questions: ▪ Is the balance of evolutionary mechanisms, for example natural selection or drift, or individual and group selection, consistent among microbes and similar between microbes and macrobes? ▪ How are the mode and tempo of microbial evolution influenced by Earth's diversity of environments, and the changing global environment, and how are microbes themselves driving these changes? The colloquium provided an opportunity for individuals with expertise in evolutionary biology, genetic engineering, mycology, virology, microbial ecology, and other fields to discuss these issues and review the areas in which research is needed to fill gaps in our understanding.