Статті в журналах: "Mobile Service Robotic"

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Prada, Erik, Srikanth Murali, Ľubica Miková, and Jana Ligušová. "APPLICATION OF DENAVIT HARTENBERG METHOD IN SERVICE ROBOTICS." Acta Mechatronica 5, no. 4 (December 31, 2020): 47–52. http://dx.doi.org/10.22306/am.v5i4.68.

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This work focuses primarily on the D-H method, as one of the most important methods used in the process of designing robotic structures. In the introduction, the history of the D-H method and its general use is briefly mentioned. In the following section, the algorithm for applying D-H in the form of mathematical formalism is explained. In this part, the individual steps of creating transformational relationships are explained in more detail. The next chapters deal in more detail with individual application types within service robotics. The first type deals with the application deployment of the mobile robotic platform, the second deals with the mobile humanoid robotic structure, the other deals with the fourlegged robotic mechanism and the last type with the application of the robotic arm.

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Chugunov, Mikhail V., Irina N. Polunina, Alexander G. Divin, Aleksandra A. Generalova, Artem A. Nikulin, and Dmitriy S. Bychkov. "Integrated Mobile Robotic Platform Model." Engineering Technologies and Systems 31, no. 4 (December 30, 2021): 609–27. http://dx.doi.org/10.15507/2658-4123.031.202104.609-627.

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Introduction. The “Smart Agroˮ committee of Research and Education Center “Engineering of the Future” has identified a number of tasks relevant for improving the efficiency of precision, soil-protecting and conservation agriculture. One of these tasks is the development of a digital multi-agent system, which provides a number of services for agricultural enterprises, developers and manufacturers of agricultural machinery. The purpose of the present study is to model an autonomous mobile robotic platform, including the development of software and hardware for trajectory control. Materials and Methods. To solve the problem, there are used modern CAx systems and their applications, the methods of 3D and full-body modeling, and the method of numerical solution of problems in solid mechanics. To expand and improve the standard functionality of CAx-systems (SolidWorks) in the software implementation of trajectory control algorithms, the methods and technologies of programming using API SolidWorks, VisualStudio C++ (MFC, ATL, COM) are used, and to build physical full-scale models ‒ Arduino and fischertechnik platforms. Results. The result of the study is a software and hardware module of trajectory control for an integrated (physical and virtual) model of a mobile robotic platform, which can be provided to the consumer as a service for technology autonomation. For the developed integrated model, control algorithms for various types of trajectories were tested. Discussion and Conclusion. The developed integrated software and hardware model of trajectory control can be used by developers and manufacturers of agricultural machinery, and directly by agro-enterprises for implementing typical technological processes. A feature of the implementation is an open hardware and software interface that provides the integration of mobile robotic platforms based on a digital multi-agent system.

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Campeau-Lecours, Alexandre, Hugo Lamontagne, Simon Latour, Philippe Fauteux, Véronique Maheu, François Boucher, Charles Deguire, and Louis-Joseph Caron L'Ecuyer. "Kinova Modular Robot Arms for Service Robotics Applications." International Journal of Robotics Applications and Technologies 5, no. 2 (July 2017): 49–71. http://dx.doi.org/10.4018/ijrat.2017070104.

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This article presents Kinova's modular robotic systems, including the robots JACO2 and MICO2, actuators and grippers. Kinova designs and manufactures robotics platforms and components that are simple, sexy and safe under two business units: Assistive Robotics empowers people living with disabilities to push beyond their current boundaries and limitations while Service Robotics empowers people in industry to interact with their environment more efficiently and safely. Kinova is based in Boisbriand, Québec, Canada. Its technologies are exploited in over 25 countries and are used in many applications, including as service robotics, physical assistance, medical applications, mobile manipulation, rehabilitation, teleoperation and in research in different areas such as computer vision, artificial intelligence, grasping, planning and control interfaces. The article describes Kinova's hardware platforms, their different control modes (position, velocity and torque), control features and possible control interfaces. Integration to other systems and application examples are also presented.

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Carbone, Giuseppe, Franco Tedeschi, Arturo Gallozzi, and Michela Cigola. "A Robotic Mobile Platform for Service Tasks in Cultural Heritage." International Journal of Advanced Robotic Systems 12, no. 7 (July 10, 2015): 88. http://dx.doi.org/10.5772/60527.

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Bogue, Robert. "Cloud robotics: a review of technologies, developments and applications." Industrial Robot: An International Journal 44, no. 1 (January 16, 2017): 1–5. http://dx.doi.org/10.1108/ir-10-2016-0265.

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Purpose This paper aims to provide an insight into the current state of cloud robotics developments, technology and applications. Design/methodology/approach Following a short introduction, this paper first considers the potential benefits of cloud robotics. It discusses cloud service providers and then considers a range of recent applications and developments involving humanoid, mobile and industrial robots. This is followed by details of some recent market entrants and their developments. Finally, brief concluding comments are drawn. Findings Cloud robotics is a rapidly developing technology made possible by the current ubiquitous internet connectivity and the growing number of powerful cloud computing services available. Benefits include access to big data sets, open-source algorithms, code and programmes, massively powerful parallel or grid computing and the sharing of information between robots. The technology has been applied successfully to humanoid, industrial, mobile and other classes of robots, often through direct collaborations between robot manufacturers and major IT companies. Several new companies have been established in very recent years to exploit the capabilities of cloud robotic technologies. Originality/value Cloud robotics is a highly topical and rapidly developing field, and this paper provides a detailed insight into recent developments and applications.

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Oksa, Petri Tapani, and Tarmo Lipping. "Reliability of ROS Networked Mobile Robots." International Journal of Open Source Software and Processes 10, no. 1 (January 2019): 34–48. http://dx.doi.org/10.4018/ijossp.2019010103.

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When working remotely with mobile robotics, a reliable wireless communication network becomes essential, especially in large operating regions. As most teleoperated robots rely on standard Wi-Fi communication, network behavior has a crucial effect on autonomous robot control. The main goal of this research is to measure and diagnose the system reliability, roaming issues, and bottlenecks of such data transmission. To study these significant factors, two measurement scenarios were conducted. Measurements consist of two Wi-Fi access points (AP) and a TurtleBot II robot used in two different system set-up configurations. In the first configuration, two APs are connected in bridge mode (LAN connection) and in the second configuration the APs are connected in WDS bridge (Wireless Data Distribution) mode. This article presents the results of Robot Operating System (ROS) IEEE 802.11 network measurements in roaming mode, in wireless bridge mode, and in an extended coverage area employed in WDS mode. Results of data transmission measurements, configurations, and evaluation of the entire system are also presented. All the measurements utilize the Open Cloud Robotic Platform (OpenCRP)1 an open-source cloud robotics ecosystem based on service-oriented PaaS architecture using the Ubuntu Linux operating system.

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Ho, Dinh-Khanh, Karim Ben Chehida, Benoit Miramond, and Michel Auguin. "Learning-Based Adaptive Management of QoS and Energy for Mobile Robotic Missions." International Journal of Semantic Computing 13, no. 04 (December 2019): 513–39. http://dx.doi.org/10.1142/s1793351x19400221.

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Mobile robotic systems are normally confronted with the shortage of on-board resources such as computing capabilities and energy, as well as significantly influenced by the dynamics of surrounding environmental conditions. This context requires adaptive decisions at run-time that react to the dynamic and uncertain operational circumstances for guaranteeing the performance requirements while respecting the other constraints. In this paper, we propose a reinforcement learning (RL)-based approach for Quality of Service QoS and energy-aware autonomous robotic mission manager. The mobile robotic mission manager leverages the idea of (RL) by monitoring actively the state of performance and energy consumption of the mission and then selecting the best mapping parameter configuration by evaluating an accumulative reward feedback balancing between QoS and energy. As a case study, we apply this methodology to an autonomous navigation mission. Our simulation results demonstrate the efficiency of the proposed management framework and provide a promising solution for the real mobile robotic systems.

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Šarloši, Juraj, Róbert Surovec, Ondrej Šimko, Jaromír Jezný, Ladislav Vargovčík, and Martin Varga. "Early-Stage Design of Robotic Manipulator Using Dual Visual Perception." Applied Mechanics and Materials 611 (August 2014): 316–24. http://dx.doi.org/10.4028/www.scientific.net/amm.611.316.

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Many service mobile robots have an articulated robotic manipulator mounted on their platform. The mobile platform extends the workspace of the arm, whereas the arm offers several operational functionalities. The basic idea is to mount two cameras to the robotic arm. One camera provides the perception of the surrounding environment and navigation of the robot, the second one located on the robot arm provides for the perception of the object of cooperation. This paper deals with an early-stage design process of the mentioned robotic manipulator using dual visual perception. It includes kinematic, dynamic and stress-strength analysis. For the kinematic analysis the homogeneous matrix method and for dynamic analysis the Newton-Euler method has been used. These analyses are required for control solution.

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Pransky, Joanne. "The Pransky interview: Dr Steve Cousins, CEO, Savioke, Entrepreneur and Innovator." Industrial Robot: An International Journal 43, no. 1 (January 18, 2016): 1–5. http://dx.doi.org/10.1108/ir-11-2015-0196.

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Purpose – The following paper is a “Q & A interview” conducted by Joanne Pransky of Industrial Robot Journal as a method to impart the combined technological, business and personal experience of a prominent, robotic industry engineer-turned successful business leader, regarding the commercialization and challenges of bringing technological inventions to market while overseeing a company. The paper aims to discuss these issues. Design/methodology/approach – The interviewee is Dr Steve Cousins, a seasoned executive, entrepreneur and innovator with a strong track record for managing research and development organizations and realizing a significant return on investment. Dr Cousins has dedicated the past near-decade of his life to the mission of building and deploying personal and service robotic technology to assist people. In this interview, Dr Cousins discusses some of the technical and business insights that have led to his most recent robotic advancements as Chief Executive Officer (CEO) of Savioke, a company that is creating autonomous robot helpers for the services industry. Findings – Dr Cousins received his BS and MS degrees in computer science from Washington University, and holds a PhD in computer science from Stanford University. Dr Cousins managed the Advanced Systems Development Laboratory at the Xerox Palo Alto Research Center (PARC) and then went on to lead the IBM Almaden Research Center, one of the top human–computer interaction research groups in the world, as the Senior Manager of the User-Focused Systems Research Group. While at IBM, Dr Cousins earned a micro-MBA. Originality/value – Dr Cousins is spearheading a new business model for robotics, Robots as a Service (RaaS), with Savioke’s flagship mobile robot, Relay. Based on the information technology industry service trend of improving customer experiences, Savioke is successfully applying RaaS to the hospitality industry with about 10 Relays at half a dozen US major hotels. Before founding Savioke, Dr Cousins was the President and CEO of Willow Garage, where he oversaw the creation of the robot operating system (ROS), the PR2 robot and the open-source TurtleBot. In the last three years of his tenure at Willow Garage, Dr Cousins spun off eight successful companies: Suitable Technologies (maker of the Beam remote presence system); Industrial Perception, Inc. (acquired by Google in 2013); Redwood Robotics (acquired by Google in 2013); HiDOF (ROS and robotics consulting); Unbounded Robotics; The Open Source Robotics Foundation; The OpenCV Foundation; and The Open Perception Foundation. Dr Cousins is an active participant in the Robots for Humanity project.

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Dudek, Wojciech, and Wojciech Szynkiewicz. "Cyber-security for Mobile Service Robots – Challenges for Cyber-physical System Safety." Journal of Telecommunications and Information Technology 2 (June 28, 2019): 29–36. http://dx.doi.org/10.26636/jtit.2019.131019.

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A review of the known and an indication of the new threats for cyber-physical robotic systems, caused by cybernetic attacks, serves, in this paper, as a basis for the analysis of the known methods relied upon to detect and mitigate consequences of such attacks. A particular emphasis is placed on threats speciﬁc for cyber-physical systems, as they are a feature distinguishing these systems from their traditional Information and Communication Technologies (ICT) counterparts. Based on the review of literature and own analyses, unresolved issues regarding the cyber-security of robot systems are presented and discussed.

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Sanz, Pedro J. "Editorial." Robotica 25, no. 2 (March 2007): 129–30. http://dx.doi.org/10.1017/s0263574707003499.

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The idea underlying this Special Issue arises from previous successfully international events organized in this robotics context. Thus, during 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, hosted in Edmonton, Canada, a Workshop, with the same title was successfully organized by this guest editor. Moreover, this editor was involved in this research area, as co-Chair of the “Manipulation and Grasping Interest Group”, within the European Robotics Research Network (i.e. EURON), from 2001, organizing also a couple of International Summer Schools, supported by EURON, on these topics (Spain, 2001 and 2004). On the other hand, as time goes by, more and more robotics applications are oriented towards working in all kind of service domains, such as hospitals, museums, etc. Hence, the interest on those robotic systems, integrating manipulation and navigation capabilities, namely mobile manipulators, is drastically increasing around the entire world. Therefore, this special issue is trying to face this new scenario providing a comprehensive overview of some key topics, foundations and applications within the Mobile Manipulators context, including human-robot interaction aspects and critical issues related with navigation and manipulation performance, among others.

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Hasler, O., and S. Nebiker. "IMAGE-BASED ORIENTATION DETERMINATION OF MOBILE SENSOR PLATFORMS." International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLIII-B1-2021 (June 28, 2021): 215–20. http://dx.doi.org/10.5194/isprs-archives-xliii-b1-2021-215-2021.

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Abstract. Estimating the pose of a mobile robotic platform is a challenging task, especially when the pose needs to be estimated in a global or local reference frame and when the estimation has to be performed while the platform is moving. While the position of a platform can be measured directly via modern tachymetry or with the help of a global positioning service GNSS, the absolute platform orientation is harder to derive. Most often, only the relative orientation is estimated with the help of a sensor mounted on the robotic platform such as an IMU, with one or multiple cameras, with a laser scanner or with a combination of any of those. Then, a sensor fusion of the relative orientation and the absolute position is performed. In this work, an additional approach is presented: first, an image-based relative pose estimation with frames from a panoramic camera using a state-of-the-art visual odometry implementation is performed. Secondly, the position of the platform in a reference system is estimated using motorized tachymetry. Lastly, the absolute orientation is calculated using a visual marker, which is placed in the space, where the robotic platform is moving. The marker can be detected in the camera frame and since the position of this marker is known in the reference system, the absolute pose can be estimated. To improve the absolute pose estimation, a sensor fusion is conducted. Results with a Lego model train as a mobile platform show, that the trajectory of the absolute pose calculated independently with four different markers have a deviation < 0.66 degrees 50% of the time and that the average difference is < 1.17 degrees. The implementation is based on the popular Robotic Operating System ROS.

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Brunete, Alberto, Ernesto Gambao, Miguel Hernando, and Raquel Cedazo. "Smart Assistive Architecture for the Integration of IoT Devices, Robotic Systems, and Multimodal Interfaces in Healthcare Environments." Sensors 21, no. 6 (March 22, 2021): 2212. http://dx.doi.org/10.3390/s21062212.

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This paper presents a new architecture that integrates Internet of Things (IoT) devices, service robots, and users in a smart assistive environment. A new intuitive and multimodal interaction system supporting people with disabilities and bedbound patients is presented. This interaction system allows the user to control service robots and devices inside the room in five different ways: touch control, eye control, gesture control, voice control, and augmented reality control. The interaction system is comprised of an assistive robotic arm holding a tablet PC. The robotic arm can place the tablet PC in front of the user. A demonstration of the developed technology, a prototype of a smart room equipped with home automation devices, and the robotic assistive arm are presented. The results obtained from the use of the various interfaces and technologies are presented in the article. The results include user preference with regard to eye-base control (performing clicks, and using winks or gaze) and the use of mobile phones over augmented reality glasses, among others.

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Subbulakshmi T. and Balaji N. "Autonomous Intelligent Robotic Navigation System Architecture With Mobility Service for IoT." International Journal of Robotics Applications and Technologies 5, no. 2 (July 2017): 32–48. http://dx.doi.org/10.4018/ijrat.2017070103.

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This article presents the platform for autonomous vehicle architecture, navigation optimization and mobility services. The basic approach is to develop an intelligent agent to create a safety journey and redefine the world of transportation. The goal is to eliminate human driving errors and save human life from accidents. AI robots are a concept of future transportation with full automation and self-learning. Velodyne laser sensors are used for obstacle detection and autonomous navigation of ground vehicles and to create 3D images of the surround so that navigation and controls are optimized. In this article, existing system accessibility will be optimized by multiple features. The agent accessibility is improved, and users can access the vehicles through different ways like mobile apps, speech recognition and gestures. This article concentrates on the mobility services of autonomous vehicles.

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Yuschenko, A. S., and Yin Shuai. "Dialogue Control of Collaborative Robots Based on Artifi cial Neural Networks." Mekhatronika, Avtomatizatsiya, Upravlenie 22, no. 11 (November 9, 2021): 567–76. http://dx.doi.org/10.17587/mau.22.567-576.

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Collaborative robotics progress is based on the possibility to apply robots to the wide range activity of peoples. Now the user can control the robot without any special knowledge in robotics and safe. The price of such possibilities is complication of control system of robot which now has to aquire an opportunity of autonomous behavior under human’s control, using the necessary sensors and elements of artificial intelligence. In our research we suppose the collaborative robot as mobile robotic device possible to fulfil some work under the human’s speech demands not only in the same space with the human. We also suppose the necessity of bilateral dialogue human-robot to make it clear the task, the current situation, the state as robot as human. The complex task of control, or may be the collaboration of human with his artificial partner need new means of control, situation recognition, speech dialogue management. As a mean to solve the whole complex of problems we propose the combination of different artificial neural networks. Such as convolution networks for image recognition, deep networks for speech recognition, LSTM networks for autonomous movement of robot control in current situation. Investigations in the field of mobile and manipulation robots including the human-robot control have been proceeded for some years in the department "Robotic systems and mechatronics" BMSTU celebrating now it 70th years Jubilee. The reader may find some of the works in the bibliography. In result of all these investigations we obtain the service robot model which may find a wide application.

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Heikkilä, Tapio, Daniel Pakkala, Tuomas Seppälä, Jarkko Kotaniemi, Pekka Pääkkönen, Janne Saukkoriipi, and Ilkka Niskanen. "Manufacturing operations as services by robots with skills." Open Engineering 12, no. 1 (January 1, 2022): 627–39. http://dx.doi.org/10.1515/eng-2022-0380.

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Abstract This work considers flexible manufacturing operations based on reconfigurable robotic skills and their usage in fully automated service manufacturing. In agile and ultra-flexible manufacturing operations, where lot sizes go down to one, the setup and execution of new tasks must be instant. We extend service manufacturing towards applications of multi-purpose autonomous mobile robots. We take digital data and service-oriented approach to configure and utilize re-usable robot operations formulated as robot skills. We integrate service requests, and system and robot skill models for an easily executable manufacturing service system. We show the feasibility of our approach by experimental tests with merged indoor logistics, assembly, and finishing tasks.

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Qureshi, Haneya Naeem, Marvin Manalastas, Aneeqa Ijaz, Ali Imran, Yongkang Liu, and Mohamad Omar Al Kalaa. "Communication Requirements in 5G-Enabled Healthcare Applications: Review and Considerations." Healthcare 10, no. 2 (February 2, 2022): 293. http://dx.doi.org/10.3390/healthcare10020293.

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Fifth generation (5G) mobile communication technology can enable novel healthcare applications and augment existing ones. However, 5G-enabled healthcare applications demand diverse technical requirements for radio communication. Knowledge of these requirements is important for developers, network providers, and regulatory authorities in the healthcare sector to facilitate safe and effective healthcare. In this paper, we review, identify, describe, and compare the requirements for communication key performance indicators in relevant healthcare use cases, including remote robotic-assisted surgery, connected ambulance, wearable and implantable devices, and service robotics for assisted living, with a focus on quantitative requirements. We also compare 5G-healthcare requirements with the current state of 5G capabilities. Finally, we identify gaps in the existing literature and highlight considerations for this space.

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Ushakov, I. B., A. V. Polyakov, V. M. Usov, M. M. Knyazkov, and A. I. Motienko. "Using service robots to counter the SARS-CoV-2 virus spread in enclosed medical premises." Medicо-Biological and Socio-Psychological Problems of Safety in Emergency Situations, no. 2 (June 2, 2021): 104–14. http://dx.doi.org/10.25016/2541-7487-2021-0-2-104-114.

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Relevance. Spreading of the COVID-19 epidemic highlighted a number of new challenges related to protecting the health of first-line emergency and specialized medical personnel, as the high incidence of COVID-19 among healthcare workers can lead to risks of health system collapse. At the same time, in the interests of personnel safety, robotic technologies can be applied for heavy and dangerous works of air disinfection in enclosed medical environments.Intention: To present current views on robotic air disinfection of enclosed medical environments based on the analysis of robot prototypes developed to counteract the spread of the SARS-CoV-2 virus.Methodology. Analysis of tasks related to maintaining a safe working environment for healthcare professionals was based on the description of the functionality and specifications of robots designed to decontaminate the working environment of medical personnel deployment. When systematizing solutions for robot design, the main criteria used were the selection of control modes (Automatic, Supervisory, Manual and their combinations), hardware for disinfection in the external environment and in premises, and features of Human-Machine interaction for the safety of robotic support in enclosed medical premises.Results and Discussion. The features of using service (disinfection) robots are formulated based on epidemiological knowledge of the primary transmission routes and methods of disinfection of premises. It is shown that the tactical and technical characteristics of existing models of Autonomous mobile robots are mainly aimed at implementing unmanned technologies. Solving problems of massive processing of objects of the external environment, as well as vast areas of airports, stadiums, hypermarkets, warehouses, vehicles in a reasonable time involves automatic modes and/or Supervisory control of such robots by the operator in remote mode. The use of disinfection robots in enclosed medical premises requires additional consideration of the factor of introducing robots into the social environment. From these positions and on the basis of the selected prototypes, the prospects are considered for using a group of small mobile robots equipped with systems that enhance sensory and communication capabilities in the work environment.Conclusion. Using robots to reduce risks of the SARS-CoV-2 contamination opens the way to improving the working conditions of healthcare professionals who are at risk of COVID-19. The proposed methods of robotic disinfection of medical premises also help reduce the mental strain of being in a dangerous environment by expanding robotic support for decontamination of premises and flexible response to changes in the environment

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Sun, Quan, Tao Tang, Hongfeng Chai, Jie Wu, and Yang Chen. "Boosting Fraud Detection in Mobile Payment with Prior Knowledge." Applied Sciences 11, no. 10 (May 11, 2021): 4347. http://dx.doi.org/10.3390/app11104347.

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With the prevalence of mobile e-commerce, fraudulent transactions conducted by robots are becoming increasingly common in mobile payments, which is severely undermining market fairness and resulting in financial losses. It has become a difficult problem for mobile applications to identify robotic automation accurately and efficiently from a massive number of transactions. The current research does not propose any effective method or engineering implementation. In this article, an extension to boost algorithms is presented that permits the incorporation of prior human knowledge as a means of compensating for a training data shortage and improving prediction results. Prior human knowledge is accumulated from historical fraud transactions or transferred from different domains in the form of expert rules and blacklists. The knowledge is applied to extract risk features from transaction data, risk features together with normal features are input into the boosting algorithm to perform training, and therefore we incorporate boosting algorithm with prior human knowledge to improve the performance of the model. For the first time we verified the effectiveness of the method via a widely deployed mobile APP with 150+ million users, and by taking experiments on a certain dataset, the extended boosting model shows an accuracy increase from 0.9825 to 0.9871 and a recall rate increase from 0.888 to 0.948. We also investigated feature differences between robots and normal users and we discovered the behavior patterns of robotic automation that include less spatial motion detected by device sensors (1/10 of normal user pattern), higher IP group-clustering ratio (60% in robots vs. 15% in normal users), higher jailbroken device rate (92.47% vs. 4.64%), more irregular device names and fewer IP address changes. The quantitative analysis result is helpful for APP developers and service providers to understand and prevent fraudulent transactions from robotic automation.This article proposed an optimized boosting model, which has better use in the field of robotic automation detection of mobile phones. By combining prior knowledge and feature importance analysis, the model is more robust when the actual dataset is unbalanced or with few-short samples. The model is also more explainable as feature analysis is available which can be used for generating disposal rules in the actual fake mobile user blocking systems.

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Jánoš, Rudolf. "ANALYSIS OF RESCUE ROBOTS." TECHNICAL SCIENCES AND TECHNOLOGIES, no. 3(17) (2019): 62–67. http://dx.doi.org/10.25140/2411-5363-2019-3(17)-62-67.

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Urgency of the research. The analysis shows that besides keeping pace in “classic” applications of robots (industrial robots) for manufacturing (engineering) industrial processes, at the same time the applications tend to concentrate mainly in the so-called non-engineering industrial and non-manufacturing (service) industries. Target setting. Trends bring functional and constructional new requirements for robots and their applications, especially those related to the efficient usability of robots in new segments of the non-manufacturing and service sector. Actual scientific researches and issues analysis. Actual research is nowadays focused at such problematics, because return of investments based on robotic devices seems to be reliable and people at workplace can realize and focus to another type of tasks. Uninvestigated parts of general matters defining. Within this sector, it is primarily the area of rescue, where service robots have to overcome various obstacles in the performance of their activities, get into hard-to-reach and dangerous places, etc. depend mainly on its conceptual solution. The research objective. Given that the company's priority is to continually improve its products, this group of robots is also looking for new innovative approaches that would improve the conceptual solutions of service robots and their operation in the application space. On this basis, it can be assumed that this aspect of continuous innovation opens up a large number of possibilities for new improvements to this group of robots. The statement of basic materials. The emergence of this group of robots was conditioned by the requirements of practice, which required the concept of robots to be incorporated into non-industrial and non-production areas where robots would only perform activities that would be useful to humans or to technical and operational systems. For these reasons, the first designs of these robots began to emerge, which have been continuously improved over time and adapted to the needs of practice to such an extent that today they are an integral part of the service industry. Conclusions. Mobile robotic systems are currently under intensive development. Variety brings service activities in service robotics need to use different principles for dealing with their mobility. The most prevalent application of the principle of a wheeled chassis. In terms of theory as well as technical solutions are the most sophisticated wheeled chassis and most widely used in service robotics. This work is developed in the direction of the current service robotics and the essential characteristics and problems associated with the solution that we applied in the educational process.

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HAN, LONG, XINYU WU, YONGSHENG OU, YEN-LUN CHEN, CHUNJIE CHEN, and YANGSHENG XU. "HOUSEHOLD SERVICE ROBOT WITH CELLPHONE INTERFACE." International Journal of Information Acquisition 09, no. 02 (June 2013): 1350009. http://dx.doi.org/10.1142/s0219878913500095.

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In this paper, an efficient and low-cost cellphone-commandable mobile manipulation system is described. Aiming at house and elderly caring, this system can be easily commanded through common cellphone network to efficiently grasp objects in household environment, utilizing several low-cost off-the-shelf devices. Unlike the visual servo technology using high quality vision system with high cost, the household-service robot may not afford to such high quality vision servo system, and thus it is essential to use some of low-cost device. However, it is extremely challenging to have the said vision for precise localization, as well as motion control. To tackle this challenge, we developed a realtime vision system with which a reliable grasping algorithm combining machine vision, robotic kinematics and motor control technology is presented. After the target is captured by the arm camera, the arm camera keeps tracking the target while the arm keeps stretching until the end effector reaches the target. However, if the target is not captured by the arm camera, the arm will take a move to help the arm camera capture the target under the guidance of the head camera. This algorithm is implemented on two robot systems: the one with a fixed base and another with a mobile base. The results demonstrated the feasibility and efficiency of the algorithm and system we developed, and the study shown in this paper is of significance in developing a service robot in modern household environment.

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Lin, Shu Ping, Ya Hui Chan, and I. Ying Lu. "A hybrid framework for understanding mobile robotic financial service adoption, encompassing utility and trust theories to define service redesign actions." International Journal of Mobile Communications 20, no. 2 (2022): 196. http://dx.doi.org/10.1504/ijmc.2022.121435.

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Chan, Ya Hui, Shu Ping Lin, and I. Ying Lu. "A Hybrid Framework for Understanding Mobile Robotic Financial Service Adoption, Encompassing Utility and Trust Theories to Define Service Redesign Actions." International Journal of Mobile Communications 1, no. 1 (2022): 1. http://dx.doi.org/10.1504/ijmc.2022.10033840.

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MAEDA, Yoshio, Masahiro ISHIBASHI, Yuhki ISHIGURO, Makoto MIZUKAWA, Yoshinobu ANDO, and Takashi YOSHIMI. "1A1-S01 Development of Mobile Robot employment system using Robotic Localization Service(Integrating Ambient Intelligence(1))." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2012 (2012): _1A1—S01_1—_1A1—S01_2. http://dx.doi.org/10.1299/jsmermd.2012._1a1-s01_1.

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Basha, Mudasar, M. Siva Kumar, and M. C. Chinnaiah. "Implementation of Robotic Navigation Algorithms Using Partial Reconfiguration on Zynq SoC." ECS Transactions 107, no. 1 (April 24, 2022): 13887–901. http://dx.doi.org/10.1149/10701.13887ecst.

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The purpose for this research work is to design a heterogeneous method for adaptive, task-based computer hardware reconfiguration for adaptive mobile robotic applications. The proposed method uses the dynamic reconfiguration technique to modify the navigation system to meet the requirements of various navigation algorithms for accomplishing an assigned task. In this work, we have proposed an efficient architecture that satisfies the requirements with adequate hardware and software resources by dynamically reconfiguring the system. The ability to change resources allows robots to collaborate more easily, to enhance performance and fault tolerance. The method is endorsed with case studies in which a multiple mobile robots are loaded with bitfile and their behaviors are dynamically modified during runtime. This paper also proposes the hardware implementation of navigation algorithms on Zynq SoC, XC7Z020CLG484-1, using Xilinx Vivado 2017.3 to simulate and synthesize the design. Verilog is a real-time hardware description language, which is used to deploy multiple robots. Software Development Kit (SDK) is used to facilitate the generation of integrated software applications for Xilinx embedded processors. One of the important aspects of this work is adopting an FPGA-based robot in service-based applications for assisting humans in their daily lives.

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Yamanobe, Natsuki, Ee Sian Neo, Eiichi Yoshida, Nobuyuki Kita, Kazuyuki Nagata, Kazuhito Yokoi, and Yosuke Takano. "Integration of Manipulation, Locomotion, and Communication Intelligent RT Software Components for Mobile Manipulator System Using Scenario Tools in OpenRT Platform." Journal of Robotics and Mechatronics 22, no. 3 (June 20, 2010): 322–32. http://dx.doi.org/10.20965/jrm.2010.p0322.

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The OpenRT Platform, an integrated development environment for component-based robot system development, is being constructed in order to enhance intelligent robot research and development efficiency. In this paper, a mobile manipulator system that can bring human indicated objects like a service dog is developed based on the OpenRT Platform. The system works with several components providing manipulation, locomotion, and communication functions developed as examples modularizing intelligent robotic functions. These components are integrated using scenario tools in the OpenRT Platform for achieving target tasks.

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Sturm, J., C. Stachniss, and W. Burgard. "A Probabilistic Framework for Learning Kinematic Models of Articulated Objects." Journal of Artificial Intelligence Research 41 (August 30, 2011): 477–526. http://dx.doi.org/10.1613/jair.3229.

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Robots operating in domestic environments generally need to interact with articulated objects, such as doors, cabinets, dishwashers or fridges. In this work, we present a novel, probabilistic framework for modeling articulated objects as kinematic graphs. Vertices in this graph correspond to object parts, while edges between them model their kinematic relationship. In particular, we present a set of parametric and non-parametric edge models and how they can robustly be estimated from noisy pose observations. We furthermore describe how to estimate the kinematic structure and how to use the learned kinematic models for pose prediction and for robotic manipulation tasks. We finally present how the learned models can be generalized to new and previously unseen objects. In various experiments using real robots with different camera systems as well as in simulation, we show that our approach is valid, accurate and efficient. Further, we demonstrate that our approach has a broad set of applications, in particular for the emerging fields of mobile manipulation and service robotics.

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Pransky, Joanne. "The Pransky interview – Martin Haegele, Head of Department Robotics and Assistive Systems, Fraunhofer IPA." Industrial Robot: An International Journal 45, no. 3 (May 21, 2018): 307–10. http://dx.doi.org/10.1108/ir-04-2018-0060.

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Анотація:

Purpose The following paper is a “Q&A interview” conducted by Joanne Pransky of Industrial Robot Journal as a method to impart the combined technological, business and personal experience of a prominent, robotic industry engineer-turned successful innovator and leader, regarding the challenges of bringing technological discoveries to fruition. This paper aims to discuss these issues. Design/methodology/approach The interviewee is Martin Haegele, a renowned expert in industrial and service robot applications, technologies and markets. He is Division Director “Intelligent Automation and Clean Manufacturing” and Head of the department “Robot and Assistive Systems” at the Fraunhofer Institute for Manufacturing Engineering and Automation (Fraunhofer IPA). In this interview, Haegele details some of the robotics projects he led and provides his outlook on the European robotics industry. Findings Haegele received a Dipl.-Ing. in Mechanical Engineering from the University of Stuttgart in 1989 and a Master of Science in Mechanical Engineering from George Washington University, Washington DC in 1989. Haegele has led the Robot Systems Department at the Fraunhofer Institute for Manufacturing Engineering and Automation IPA in Stuttgart, Germany since 1993, and is a member of the Fraunhofer IPA Board. Originality/value Inspired by the book Robotics in Service written by Joseph Engelberger in 1989, Haegele spearheaded ground-breaking applications in the service robot industry. He led a German study on the market potentials and challenges of service robots. He was the project leader and supervisor of numerous service robot developments including a fuel-refilling robot resulting in a fully operational gas station and several generations of mobile robots developed for museums, shopping centers and home applications. Haegele coordinated many publicly funded research projects to develop robot technologies for industrial and service applications. He was coordinator of two large-scale European initiatives (SMErobot and SMErobotics) for the creation of technologies and a new family of robots suitable for small and medium-sized enterprises. He has published more than 80 papers and book chapters and holds four patents. He is a 2007 recipient of the prestigious Joseph Engelberger Award. Furthermore, Haegele is active in the International Federation of Robotics and the euRobotics association.

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Harun, Sariffuddin, and Mohd Faisal Ibrahim. "A genetic algorithm based task scheduling system for logistics service robots." Bulletin of Electrical Engineering and Informatics 8, no. 1 (March 1, 2019): 206–13. http://dx.doi.org/10.11591/eei.v8i1.1437.

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The demand for autonomous logistics service robots requires an efficient task scheduling system in order to optimise cost and time for the robot to complete its tasks. This paper presents a Genetic algorithm (GA) based task scheduling system for a ground mobile robot that is able to find a global near-optimal travelling path to complete a logistics task of pick-and-deliver items at various locations. In this study, the chromosome representation and the fitness function of GA is carefully designed to cater for a single load logistics robotic task. Two variants of GA crossover are adopted to enhance the performance of the proposed algorithm. The performance of the scheduling is compared and analysed between the proposed GA algorithms and a conventional greedy algorithm in a virtual map and a real map environments that turns out the proposed GA algorithms outperform the greedy algorithm by 40% to 80% improvement.

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Tanaka, Takayuki, Junji Ohwi, Ludmila V. Litvintseva, Kazuo Yamafuji, and Sergei V. Ulyanov. "Intelligent Control of a Mobile Robot for Service Use in Office Buildings and Its Soft Computing Algorithms." Journal of Robotics and Mechatronics 8, no. 6 (December 20, 1996): 538–54. http://dx.doi.org/10.20965/jrm.1996.p0538.

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The arrangement principles and design methodology on soft computing for complex control framework of AI control system are introduced. The basis of this methodology is computer simulation of dynamics for mechanical robotic system with the help of qualitative physics and search for possible solutions by genetic algorithms (GA). On fuzzy neural network (FNN) optimal solutions for navigation with avoidance of obstacles and technological operations as opening of door with a manipulator are obtained and knowledge base (KB) for fuzzy controller is formed. Fuzzy qualitative simulation, GA and hierarchical node map (HN), and FNN have demonstrated their effectiveness for path planning of a mobile robot for service use. New approach for direct human-robot communication with natural language and cognitive graphics is introduced. The results of fuzzy robot control simulation, monitoring, and experimental investigations are presented.

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Walter, Matthew, Siddharth Patki, Andrea Daniele, Ethan Fahnestock, Felix Duvallet, Sachithra Hemachandra, Jean Oh, Anthony Stentz, Nicholas Roy, and Thomas Howard. "Language Understanding for Field and Service Robots in a Priori Unknown Environments." Field Robotics 2, no. 1 (March 10, 2022): 1191–231. http://dx.doi.org/10.55417/fr.2022040.

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Анотація:

Contemporary approaches to perception, planning, estimation, and control have allowed robots to operate robustly as our remote surrogates in uncertain, unstructured environments. This progress now creates an opportunity for robots to operate not only in isolation, but also with and alongside humans in our complex environments. Realizing this opportunity requires an efficient and flexible medium through which humans can communicate with collaborative robots. Natural language provides one such medium, and through significant progress in statistical methods for natural-language understanding, robots are now able to interpret a diverse array of free-form navigation, manipulation, and mobile-manipulation commands. However, most contemporary approaches require a detailed, prior spatial-semantic map of the robot’s environment that models the space of possible referents of an utterance. Consequently, these methods fail when robots are deployed in new, previously unknown, or partially-observed environments, particularly when mental models of the environment differ between the human operator and the robot. This paper provides a comprehensive description of a novel learning framework that allows field and service robots to interpret and correctly execute natural-language instructions in a priori unknown, unstructured environments. Integral to our approach is its use of language as a “sensor”—inferring spatial, topological, and semantic information implicit in natural-language utterances and then exploiting this information to learn a distribution over a latent environment model. We incorporate this distribution in a probabilistic, language grounding model and infer a distribution over a symbolic representation of the robot’s action space, consistent with the utterance. We use imitation learning to identify a belief-space policy that reasons over the environment and behavior distributions. We evaluate our framework through a variety of different navigation and mobile-manipulation experiments involving an unmanned ground vehicle, a robotic wheelchair, and a mobile manipulator, demonstrating that the algorithm can follow natural-language instructions without prior knowledge of the environment.

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Gliebov, V., V. Zhadan, V. Korolov, Ia Mormylo, S. Strimovskyi, O. Volkovoi, Yu Hanzera, V. Lypovets, and S. Folynin. "The development of a heavy class combat robotic ground complex based on the BTR-4E armored personnel carrier." Military Technical Collection, no. 27 (November 30, 2022): 3–10. http://dx.doi.org/10.33577/2312-4458.27.2022.3-10.

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The article considers the development of a heavy-class robotic ground combat system based on the BTR-4E armored personnel carrier. Analysis of samples the heavy class combat robotic ground complexes showed that they can be developed on the basis of serial crewed military vehicles HMMWV (AM General), M-ATV (Oshkosh), BMP-3 (Russia), T-72 (Russia), M113 (Israel), Patria AMV (Finland) or create a new design MDARS (AM General), Black Knight (BAE Systems), "Uran-9" (Russia), TYPE-X (Milrem Robotics). They are made on a tracked or wheeled platform. What unites this class of robotic ground combat systems is a remotely controlled combat module with a 25-30 mm cannon, anti-tank guided missiles, a machine gun and a grenade launcher, which can be controlled from a distance. A comparative analysis of the tactical and technical characteristics the BTR-4E armored personnel carrier with military vehicles with a 30 mm cannon in service with the Armed Forces of Ukraine has been performed. As a result, the choice of BTR-4E armored personnel carrier as the basic crew unit for the construction of a heavy class robotic ground combat system has been substantiated. The analysis of the design of control drives of the power plant, transmission, braking system, steering system and combat module installed on the BTR-4E armored personnel carrier was carried out in terms of the possibility of implementing remote control of movement and fire. The structure of a combat ground robotic complex based on the BTR-4E armored personnel carrier with different variants of remote control panels, means of establishing communication channels and construction of a remote control station is proposed. For example, the driver's remote control panel may be designed on the basis a tablet or on the basis a simulator for full simulation of control commands. Remote controls for the commander and gunner can be designed on the basis of regular controls and be similar to them for quick training of the crew to work. Communication between remote control units and the controlled armored personnel carrier can be arranged using ultrashort-wave radios or via the 4G, 5G mobile network. The remote control point can also be developed on the basis a BTR-4E armored personnel carrier, a military vehicle or deployed on the ground. It depends on the concept of application of the heavy class combat ground robotic complex.

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Lachuga, Yu F., A. Yu Izmaylov, Ya P. Lobachevsky, and Yu Kh Shogenov. "The Results of Scientific Research of Agro-engineering Scientific Organizations on the Development of Digital Systems in Agriculture." Machinery and Equipment for Rural Area, no. 4 (April 26, 2022): 2–6. http://dx.doi.org/10.33267/2072-9642-2022-4-2-6.

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Scientific institutions of agro-engineering profile of the Ministry of Science and Higher Education of the Russian Federation, which are under the scientific and methodological guidance of the Department of Agricultural Sciences of the Russian Academy of Sciences (RAS) in the section of mechanization, electrification and automation, have presented the main scientific and technical achievements and research results for 2021 of in the field of developing new machine technologies, energy-saturated agricultural machinery, mobile energy and robotic technical means, digital systems for the production of the main types of competitive agricultural products, development of efficient energy supply systems using artificial intelligence, renewable energy and modern technical service in the agribusiness.

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Lachuga, Yu f., A. Yu Izmaylov, YA P. Lobachevskiy, and Yu Kh Shogenov. "The Results of Scientific Research of Agro-engineering Scientific Organizations on the Development of Digital Systems in Agriculture." Machinery and Equipment for Rural Area, no. 3 (March 30, 2022): 2–9. http://dx.doi.org/10.33267/2072-9642-2022-3-2-9.

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Анотація:

The main scientific and technical achiev ements and research results for 2021 of scientific institutions of agro-engineering profile of the Ministry of Science and Higher Education of the Russian Federation, which are under the scientific and methodological guidance of the Department of Agricultural Sciences of the Russian Academy of Sciences (RAS) in the section of mechanization, electrification and automation in the field of development of new machine technologies, energy-packed agricultural machinery, mobile energy and robotic technical means, digital systems for the production of the main types of competitive agricultural products, the development of efficient energy supply systems using artificial intelligence, renewable energy and modern technical service in the agribusiness.

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Pransky, Joanne. "The Pransky interview: Jack Morrison, CEO and Co-Founder, Scythe Robotics." Industrial Robot: the international journal of robotics research and application 49, no. 1 (December 2, 2021): 1–5. http://dx.doi.org/10.1108/ir-10-2021-0233.

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Анотація:

Purpose The purpose of this paper is to provide a “Q&A interview” conducted by Joanne Pransky of Industrial Robot Journal as a method to impart the combined technological, business and personal experience of a prominent, robotic industry engineer-turned entrepreneur regarding his pioneering efforts in starting robotic companies and commercializing technological inventions. The paper aims to discuss these issues. Design/methodology/approach The interviewee is Jack Morrison, CEO and Co-Founder, Scythe Robotics. Morrison shares how he and his co-founders started this innovative company, the milestones and challenges he’s faced and his long-term goals. Findings Morrison received Bachelor of Arts degrees in Computer Science and German from Bowdoin College. He attended The George Washington University as a PhD student in Computer Science but left to co-found Replica Labs, a producer of software that turns any mobile phone into a high-quality 3D scanner. Morrison served as Replica’s CTO until it was acquired by Occipital in 2016, where he stayed on as a computer vision engineer until co-founding Scythe Robotics in April 2018. Originality/value While mowing his lawn in Colorado, Jack Morrison had a sudden insight: what if he could apply the latest robotics technology he was so familiar with to the challenge of commercialized landscaping? In 2018, Morrison teamed up with Replica Labs co-founder Isaac Roberts and Occipital’s Davis Foster, to create Scythe Robotics, a company that builds autonomous robotics solutions for the $105bn commercial landscaping industry. In June 2021, Scythe Robotics emerged from stealth with over $18m in funding with its first commercial product: a transformational, all-electric, fully autonomous mower designed to keep crew productivity high while also increasing the quality of cut and worker safety. The machine features eight high dynamic range cameras and a suite of other sensors that enable it to operate safely in dynamic environments by identifying and responding to the presence of humans, animals and other potential obstacles. Simultaneously, the machine captures valuable property and mower performance data, which helps landscape contractors improve workflow, identify upsell opportunities, schedule more efficiently and manage labor costs. The all-electric powertrain is quiet, emissions-free and radically more reliable than gas-powered manual mowers. Scythe Robotics’ business model is based on Robot as a Service. Instead of buying machines outright, customers are billed by acres mowed. This massively reduces contractors’ expenses and eliminates substantial costs. Scythe Robotics is headquartered in Boulder, Colorado and has offices in Vero Beach, FL and Austin, TX. Scythe is the recipient of the 2020 ALCC (Associated Landscape Contractors CO) Innovation Winner and the 2021 Colorado OEDIT Advanced Industries Grantee.

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Bauer, Jochen, Simon Dengler, Leoni Faubel, Jörg Franke, Bruno Ristok, Matthias Struck, Robert Frischholz, and Thomas Wittenberg. "Pandemic Robot." Current Directions in Biomedical Engineering 7, no. 2 (October 1, 2021): 601–4. http://dx.doi.org/10.1515/cdbme-2021-2153.

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Abstract Robot-based service platforms are currently establishing themselves as new and affordable variants for supporting care in elderly, retirement and nursing homes. Many are open multifunctional platforms, which can potentially be integrated into such environments, if the necessary infrastructure is available. Furthermore, many services can be realized on these platforms, which can be used to foster distant interactions between inhabitants and care-providers, while simultaneously keeping up the quality of life of the inhabitants. Open mobile robotic platforms allow the extension with adequate new sensors. To detect infectious diseases of residents and healthcare-professionals, optical sensors can be used for the assessment of vital data such as heartrate and heartrate variability, respiratory rate, SpO2 or temperature. Additionally, you can consider demographic data (age, gender, constitution) of the observed person for the optical assessment, i.e. obtained by facial image analysis. As these mobile platforms are also equipped for telepresence, in case of detecting an infected person, these systems support video conferencing with their built-in cameras and microphones. Finally, the interaction with the electronic care record is necessary to upload all acquired vital data and further relevant information. All the named technologies have been under investigation in the past years and are currently moving from laboratory settings to real-world scenarios. Nevertheless, the smooth integration of all components into one system architecture in combination with (AI-based) data analysis are still open issues.

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Boughdiri, Rim, Habib Nasser, Hala Bezine, Nacer K. M’Sirdi, Aziz Naamane, and Adel M. Alimi. "Lagrange Dynamic Modeling of a Multi-Fingered Robot Hand in Free Motion Considering the Coupling Dynamics." Advanced Materials Research 588-589 (November 2012): 1659–63. http://dx.doi.org/10.4028/www.scientific.net/amr.588-589.1659.

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Multi-fingered robot hands have been one of the major research topics because several robotic systems, including service robots, industrial robots and wheel-type mobile robots require grasping and manipulation of a variety of objects as crucial functionalities. Roughly speaking, there are two different types of robotic behavior: free motion, purpose of this paper and constrained motion that would be published in the near future. In this paper, we address the problem of multi-fingered robot hand’s dynamic modeling which is fundamental in design of model-based controllers for grasping and manipulation tasks. Based on the specified multi-fingered robot hand, a new methodology for deriving an efficient dynamic equation by the Lagrange formulation is presented. This methodology is new in the sense that it considers the coupling dynamics of the system in the identification of the parameters of the dynamic equation. Furthermore the developed dynamic model leads to decoupling dynamic characteristics, by which the control of different parts of the system can be separately simulated. So the new structure of the dynamic model was very useful and effective for the simulation and the diagnostic. Several simulation results proved that the derived dynamic model can predict the motion of the multi-fingered hand in free motion.

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Murugan, Dr R. Thiru, Prof Dr N. Ganga Vidya, and Dr S. Sundar. "Predictors of Customer Loyalty in Digital Banking among Indian Youth." International Journal for Research in Applied Science and Engineering Technology 10, no. 5 (May 31, 2022): 745–54. http://dx.doi.org/10.22214/ijraset.2022.42344.

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Abstract: Loyalty is a highly priced term as the market has one, too many of the same kind mushrooming with a very small variant on the unique selling proposition. This delta variant in the banking industry is called Internet Banking. You could use the same from any geography at any time and on any holiday in any currency. Now this kind of convenience is available in all segments of the service industry globally. All we want to understand is the customer loyalty of the generation born after the introduction of digital banking services in India. This generation never experienced the transition from a train to plane, landline to mobile, automatic to robotic, cash to digicash. The research investigates which factors are essential to build loyalty among these youth and new generation customers using internet banking. A questionnaire was developed and distributed to 328 youth between age 18 and 25 years. They were identified using convenience sampling. The results show that, perceived Ease of use, Attitude, Trust has high impact on Customer loyalty in new generation of Internet banking users. Index Terms: Digital Banking, Customer Loyalty, Structural Equational Modelling

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Veiga, Tiago S., Miguel Silva, Rodrigo Ventura, and Pedro U. Lima. "A Hierarchical Approach to Active Semantic Mapping Using Probabilistic Logic and Information Reward POMDPs." Proceedings of the International Conference on Automated Planning and Scheduling 29 (May 25, 2021): 773–81. http://dx.doi.org/10.1609/icaps.v29i1.3546.

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Maintaining a semantic map of a complex and dynamic environment, where the uncertainty originates in both noisy perception and unexpected changes, is a challenging problem. In particular, we focus on the problem of maintaining a semantic map of an environment by a mobile agent. In this paper we address this problem in an hierarchical fashion. Firstly, we employ a probabilistic logic model representing the semantic map, as well as the associated uncertainty. Secondly, we model the interaction of the robot with the environment with a set of information-reward POMDP models, one for each partition of the environment (e.g., a room). The partition is performed in order to address the scalability limitations of POMDP models over very large state spaces. We then use probabilistic inference to determine which POMDP and policy to execute next. Experimental results show the efficiency of this architecture in real domestic service robotic scenarios.

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Azhar, Kamran, Sohail Zafar, Agha Kashif, and Michael Onyango Ojiema. "Fault-Tolerant Partition Resolvability of Cyclic Networks." Journal of Mathematics 2021 (December 16, 2021): 1–8. http://dx.doi.org/10.1155/2021/7237168.

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Graph invariants provide an amazing tool to analyze the abstract structures of networks. The interaction and interconnection between devices, sensors, and service providers have opened the door for an eruption of mobile over the web applications. Structure of web sites containing number of pages can be represented using graph, where web pages are considered to be the vertices, and an edge is a link between two pages. Figuring resolving partition of the graph is an intriguing inquest in graph theory as it has many applications such as sensor design, compound classification in chemistry, robotic navigation, and Internet network. The partition dimension is a graph parameter akin to the concept of metric dimension, and fault-tolerant partition dimension is an advancement in the line of research of partition dimension of the graph. In this paper, we compute fault-tolerant partition dimension of alternate triangular cycle, mirror graph, and tortoise graphs.

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Matthies, Larry, Aaron Johnson, Monroe Kennedy, Cynthia Matuszek, and Dilip Patel. "Editorial: Special Issue on Robotics Collaborative Technology Alliance (RCTA) Program." Field Robotics 2, no. 1 (March 10, 2022): 1943–46. http://dx.doi.org/10.55417/fr.2022061.

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The growing technology investment in driverless cars, warehouse automation, human-service robots, and artificial intelligence applications in our daily lives is inspiring. However, the majority of this effort assumes a structured environment, which leaves significant, unsolved problems for autonomous robots operating in unstructured environments. Beginning in 2010, the U.S. Combat Capabilities Development Command, Army Research Laboratory (ARL), funded a 10-year research program, the Robotics Collaborative Technology Alliance (RCTA), which brought together scientists and engineers from government, academia, and industry to develop autonomous mobile robot technologies focused on solving the unique research challenges of operating in unstructured environments. While the underlying motivation came from helping soldiers operating in Army-relevant environments, the benefits extend to scenarios ranging from disasters, to planetary exploration, to reducing reliance on extensive prior knowledge in structured environments. Initially, the program focused around four key robotics technology areas: perception, intelligence, human-robot interaction, and dexterous manipulation and unique mobility (DMUM). In the program’s last several years, focus shifted to integrated capabilities, built upon the pillars of success already achieved. This revised, system-oriented approach laid the foundation for many experiments in laboratory, simulation, and field environments. The program concluded with a capstone demonstration that showcased advanced robotic capabilities for the stakeholders. This special issue highlights robotics technology developed during the RCTA program, progress of which was evaluated and documented through research articles, field experiments, and hardware/ software system descriptions. The program produced hundreds of published papers describing innovations in multiple, autonomy-related research areas throughout the program. The papers selected for this special issue describe more recent work, and range from individual research advances to lessons learned from conducting system-level field experiments. The following is a short summary of each paper.

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Consuelo, Nava. "Advanced Design For Manufacturing of Integrated Sustainability “Off-Shore” and “Off-Site” Prototype - MVP “S2_HOME”." Civil Engineering Journal 6, no. 9 (September 1, 2020): 1752–64. http://dx.doi.org/10.28991/cej-2020-03091580.

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The "S2_Home" research project - double safety home - the double safety of living (seismic and social / environmental), pursues the development and research strategy of the De Masi Mechanical Industries of Antonino De Masi, on the themes of innovation related to technologies of automated mechanics, applied to the realization of systems and components at the service of health and quality of life of users. S2_Home pursues the integrated sustainability model between "off-shore" and "off-site" processes. "Off-site" because it applies solutions inspired by robotic automation and advanced manufacturing for the components of a building system between machine shops and off-site. a laboratory for the assembly of systems and services; "off-shore" because it initiates processes of "energy transition" for small and medium-sized user communities. The design process transfers the housing energy-environmental performance of the standard module to the whole integrated supply system, up to the realization of a superior energetic functional model entrusted to the "smart grid". The S2_Home housing module is realized through mobile and self-mounting living systems, that meet the demand for emergency settlements, focusing on the quality of living, the efficiency of operation and usage, and the versatility of construction for different climates and sites sensitive, to the innovation of technological systems and supplies, that are able to characterize the module and make it available to aggregation settlement systems. To realize the economic value through optimizing energy and service operations, as well as the economy of scale on the production chain, using techniques and processes of the company's machine shops.

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Wang, Kuan-Yuan, Cheng-Sheng Chen, Hui-Mei Chen, and I.-Te Chen. "A Pilot Study of an Innovative Model of Care Delivery: Service Robot for Older People with Dementia in a Rural Community." Innovation in Aging 4, Supplement_1 (December 1, 2020): 927–28. http://dx.doi.org/10.1093/geroni/igaa057.3402.

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Abstract Background: The telehealth approach offers enhanced service delivery for older patients living in rural areas. Purpose: We conducted a pilot study to evaluate the feasibility of using the Zenbo robot to improve the quality of care of elderly individuals with dementia. Methodology: In this study, we developed a digital solution on service robots and smart devices, which can leverage the capacity of the user-friendly interactive interface and digital dialog system. A group of eleven volunteered older adults was selected for this study. To assess the likability and acceptance of the Zenbo, we conducted a one-on-one (robot vs human) pilot study in our long-term care stations. Each participant engaged in conversational interactions for five consecutive days and completed a survey of 12 questions about the experiences they had with the Zenbo, at the beginning and the end of the study respectively. Results: Subjects with lower GDS-15 scores have more positive attitudes toward the robot before the intervention. 27% of older adults had an increase in positive attitudes toward the interaction with the Zenbo robot. With the aid of teleoperated mobile robotic systems at home, the innovative service model can be achieved through telecommunication between primary health professionals or caregivers at remote locations and psychiatrists at the medical center to make the seamless care environment real. Conclusion: The IoT technologies can be used to assist physicians in switching from a hospital-centered model of care to a home-based service for older people with dementia. It merits more future clinical trials and usability tests.

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Chen, Chin S., Chia J. Lin, Chun C. Lai, and Si Y. Lin. "Velocity Estimation and Cost Map Generation for Dynamic Obstacle Avoidance of ROS Based AMR." Machines 10, no. 7 (June 22, 2022): 501. http://dx.doi.org/10.3390/machines10070501.

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In the past few years, due to the growth of the open-source community and the popularity of perceptual computing resources, the ROS (Robotic Operating System)Ecosystem has been widely shared and used in academia, industrial applications, and service fields. With the advantages of reusability of algorithms and system modularity, service robot applications are flourishing via the released ROS navigation framework. In the ROS navigation framework, the grid cost maps are majorly designed for path planning and obstacle avoidance with range sensors. However, the robot will often collide with dynamic obstacles since the velocity information is not considered within the navigation framework in time. This study aims to improve the feasibility of high-speed dynamic obstacle avoidance for an ROS-based mobile robot. In order to enable the robot to detect and estimate dynamic obstacles from a first-person perspective, vision tracking and a laser ranger with an Extend Kalman Filter (EKF) have been applied. In addition, an innovative velocity obstacle layer with truncated distance is implemented for the path planner to analyze the performances between the simulated and actual avoidance behavior. Finally, via the velocity obstacle layer, as the robot faces the high-speed obstacle, safe navigation can be achieved.

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Fontanelli, Daniele, David Macii, and Tizar Rizano. "A fast and low-cost vision-based line tracking measurement system for robotic vehicles." ACTA IMEKO 4, no. 2 (June 29, 2015): 90. http://dx.doi.org/10.21014/acta_imeko.v4i2.245.

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Localization and tracking systems are nowadays a quite common solution for automated guided vehicles (AGV) in industrial environments. The bunch of technological solutions developed in this sector is now being revitalized by their applications in service robots, e.g. for safe navigation in crowded public spaces or in autonomous cars. Related to this field are robotic competitions and races. In this particular scenario, the robot often has to track a line painted on the ground. Line tracking techniques typically rely on light dependent resistors (LDR), photo-diodes or photo-transistors detecting the light generated by normal or infrared Light Emitting Diodes (LEDs), arrays of electric inductance sensors or vision systems. Crucial issues for line tracking are: accuracy and reliability in estimating the direction of the moving vehicle with respect to the line and processing speed. Such problems are particularly critical when high-speed mobile robots are considered. To address this issue, in this paper a vision-based technique of moderate computational complexity is described.Â The proposed solution has been implemented on a low-cost embedded platform and relies on a high frame rate light contrast sensor, a tailored RANSAC-based algorithm and a Kalman filter. The reported experimental results prove that the proposed solution is able to track the direction of the vehicle in real-time even when the field of view of the camera is limited and the vehicle moves at high speed.

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Nevliudov, Igor, Dmytro Yanushkevych, and Leonid Ivanov. "Analysis of the state of creation of robotic complexes for humanitarian demining." Technology audit and production reserves 6, no. 2(62) (December 7, 2021): 47–52. http://dx.doi.org/10.15587/2706-5448.2021.245803.

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The object of research is robotic military complexes used in the system of humanitarian demining. This work aims to study the requirements for robotic military complexes (including manipulators that are sucked into them) and to develop proposals for their use in humanitarian demining. The research is based on the application of a functional approach to the construction of models for the formation of requirements for robotic military complexes (RMC), which are sucked into the system of humanitarian demining. It is established that the creation of RMC requires a significant study of the core of the most important technologies that are needed to create the entire range of promising RMC. Thus the standard sample RMC can be presented in the form of set of functionally connected elements: the basic carrier, the mobile platform, the specialized hinged/built-in equipment in the form of a set of removable modules of useful (target) purpose, means of maintenance and service used at preparation for application and technical operation robot. The composition of specialized equipment is set based on the functional purpose of the RMC. The classification of RMC is given, which provides for their division into three categories: the first generation – controlled devices, the second generation – semi-autonomous devices and the third generation – autonomous devices. The analysis of modern RMC which are developed in Ukraine and the advanced countries of the world and the analysis of structure of components of system of humanitarian demining is carried out. It is established that the organization of the humanitarian demining system with the use of RMC should include of explosive objects (EO) reconnaissance, search, marking, their identification and direct demining. Unmasking signs of EO, as well as modern methods and detectors of EO detection are considered. One of the new promising methods of mine detection is parametric. However, in real application, the most promising is the use of a combination of electromagnetic, optical and mechanical methods. The application of the proposed approaches will increase the efficiency of humanitarian demining and reduce human losses in its implementation.

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Dahir, Muna Ali, Alyaa Obaid, Aisha Ali, Amna Mohammed, Ali Abou-ElNour, and Mohammed Tarique. "Mobile Based Robotic Wireless Path Controller." Network Protocols and Algorithms 8, no. 2 (July 21, 2016): 20. http://dx.doi.org/10.5296/npa.v8i2.8947.

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For the past decade robotic systems have been successfully used to perform specific tasks with various degree of intelligence. Now-a-days, commercial robotics solutions are focusing more on personal services. Personal services robots are designed with necessary mobility and functional capabilities so that they can operate in a wide range of environments and can provide variety of services including health care, educational, domestic chore, entertainment, and rehabilitation. These personal robots perform various tasks and duties that are often unpredictable in nature. But, there are some technological challenges that need yet to be resolved. Integrating a robotic system with its components is usually a very complex task. Developing a modular robotic system that can perform well in various environments is also challenging. In addition robots should be provided with necessary skills so that they can perform various tasks. Keeping all these challenges in mind we presents a networked robotic system in this paper. The system is controlled by a smart phone. The path followed by the robot can be monitored via an LED panel. In order to control the operation an Android OS mobile application has been developed. Through this application a user can set a path for the robot to follow or can choose a path from a set of already defined paths. We tested our system in a controlled environments and the test results show that the robot can follow a path (either user defined or chosen) with a high accuracy.

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Rai, Ankush, and Jagadeesh Kannan R. "COMPRESSED TRANSMISSION OF DEPTH MAPS IN 3D STREAM SERVICES FOR ROBOTICS & SURVEILLANCE." Asian Journal of Pharmaceutical and Clinical Research 10, no. 13 (April 1, 2017): 222. http://dx.doi.org/10.22159/ajpcr.2017.v10s1.19644.

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Building high end processing hardware for depth mapping in mobile robotics is a major drawback. The problem could be addressed by processing thescene through one end and then streaming it to the other robotic mobile platforms or actuators to perform physical operations; thereby renderingglobal depth map for all the arbitrary viewpoints of the robots. In this study, we present the algorithm for compressed transmission of depth mapsover a network and provide a synthetic viewpoint with low geometric distortions.

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Kelemen, Michal. "DESIGN OF PUCK COLLECTING ROBOT." TECHNICAL SCIENCES AND TECHNOLOG IES, no. 4 (14) (2018): 178–82. http://dx.doi.org/10.25140/2411-5363-2018-4(14)-178-182.

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Urgency of the research. There is a need for service robots for cleaning, cutting the grass, vacuum cleaners, waste collectors etc. Service robots also can help with dangerous application like mine removing or inspection of dangerous places. Target setting. Puck collecting robot is designed for collecting of wood pucks in arena and bringing to home position. Actual scientific researches and issues analysis. Other similar task is collecting of products on production line in factory. Next possible application is collecting of any fruits or vegetable on plantation. Uninvestigated parts of general matters defining. The questions of the design of waste collecting robots are uninvestigated, because the next research will be focused to this. The research objective. Puck collecting competition is based on collecting of pucks of selected colour and bringing to home position of the same colour. Two wheeled concept of the robot with differentially driven wheels has been selected for high manoeuvrability on small place. The statement of basic materials. Locomotion System structure consist of undercarriage with two geared DC motors with rubber wheels with diameter 110 mm controlled via using of locomotion microcontroller. Puck collecting system includes mechanical collector with puck color sensor, home base color sensor, puck sorter and puck handling microcontroller. Conclusions. Key role of the solved robotic project is obtaining of practical experiences from the robot design and building. Robot developing is as perfect example of practical exercises. The robot is also designed as didactic tool for students training. The task of this mobile robot is similar to application in industry.

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Kabir, Raihan, Yutaka Watanobe, Md Rashedul Islam, Keitaro Naruse, and Md Mostafizer Rahman. "Unknown Object Detection Using a One-Class Support Vector Machine for a Cloud–Robot System." Sensors 22, no. 4 (February 10, 2022): 1352. http://dx.doi.org/10.3390/s22041352.

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Inter-robot communication and high computational power are challenging issues for deploying indoor mobile robot applications with sensor data processing. Thus, this paper presents an efficient cloud-based multirobot framework with inter-robot communication and high computational power to deploy autonomous mobile robots for indoor applications. Deployment of usable indoor service robots requires uninterrupted movement and enhanced robot vision with a robust classification of objects and obstacles using vision sensor data in the indoor environment. However, state-of-the-art methods face degraded indoor object and obstacle recognition for multiobject vision frames and unknown objects in complex and dynamic environments. From these points of view, this paper proposes a new object segmentation model to separate objects from a multiobject robotic view-frame. In addition, we present a support vector data description (SVDD)-based one-class support vector machine for detecting unknown objects in an outlier detection fashion for the classification model. A cloud-based convolutional neural network (CNN) model with a SoftMax classifier is used for training and identification of objects in the environment, and an incremental learning method is introduced for adding unknown objects to the robot knowledge. A cloud–robot architecture is implemented using a Node-RED environment to validate the proposed model. A benchmarked object image dataset from an open resource repository and images captured from the lab environment were used to train the models. The proposed model showed good object detection and identification results. The performance of the model was compared with three state-of-the-art models and was found to outperform them. Moreover, the usability of the proposed system was enhanced by the unknown object detection, incremental learning, and cloud-based framework.

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