This paper presents the design and implementation of a Human Interface for a housekeeper robot. It bases on the idea of making the robot understand the human needs without making the human go through the details of robots work, for example, the way that the robot implements the work or the method that the robot uses to plan the path in order to reach the work area. The interface commands based on idioms of the natural human language and designed in a manner that the user gives the robot several commands with their execution date/time.
In this paper, we propose an operation procedure for our previously developed in-pipe robotic system that is used for water quality monitoring in water distribution systems (WDS). The proposed operation procedure synchronizes a developed wireless communication system that is suitable for harsh environments of soil, water, and rock with a multi-phase control algorithm. The new wireless control algorithm facilitates smart navigation and near real-time wireless data transmission during operation for our in-pipe robot in WDS. The smart navigation enables the robot to pass through different configu…
We introduce our concept on the modular wireless robot consisting of three main modules : main unit, data acquisition and data processing modules. We have developed a generic prototype with an integrated control and monitoring system to enhance its flexibility, and to enable simple operation through a web-based interface accessible wirelessly. In present paper, we focus on the microcontroller based hardware to enable data acquisition and remote mechanical control.
Science teaching in secondary schools is often abstract for students. Even if some experiments can be conducted in classrooms, mainly for chemistry or some physics fields, mathematics is not an experimental science. Teachers have to convince students that theorems have practical implications. We present teachers an original and easy-to-use pedagogical tool: a cable-driven robot with a Web-based remote control interface. The robot implements several scientific concepts such as 3D-geometry and kinematics. The remote control enables the teacher to move freely in the classroom.
State Key Laboratory of High Performance Computing (HPCL)（高性能计算国家重点实验室）；School of Computer, National University of Defense Technology（国防科技大学计算机学院）
Recent years have witnessed the prosperity of robots and in order to support consensus and cooperation for multi-robot system, wireless communications and networking among robots and the infrastructure have become indispensable. In this technical note, we first provide an overview of the research contributions on communication-aware motion planning (CAMP) in designing wireless-connected robotic networks (WCRNs), where the degree-of-freedom (DoF) provided by motion and communication capabilities embraced by the robots have not been fully exploited. Therefore, we propose the framework of joint c…
Missouri University of Science and Technology（密苏里科技大学）；Wrocław University of Science and Technology（弗罗茨瓦夫理工大学）
This paper deals with random sensors initially randomly deployed on the line according to general random process and on the plane according to two independent general random processes. The mobile robot with carrying capacity $k$ placed at the origin point is to move the sensors to achieve the general scheduling requirement such as coverage, connectivity and thus to satisfy the desired communication property in the network. We study tradeoffs between the energy consumption in robot's movement, the numbers of sensors $n$, the sensor range $r$, the interference distance $s$, and the robot capacit…
Berkeley Sensor & Actuator Center（伯克利传感器与执行器中心）；University of California, Berkeley（加州大学伯克利分校）
Robots and control systems rely upon precise timing of sensors and actuators in order to operate intelligently. We present a functioning hexapod robot that walks with a dual tripod gait; each tripod is actuated using its own local controller running on a separate wireless node. We compare and report the results of operating the robot using two different decentralized control schemes. With the first scheme, each controller relies on its own local clock to generate control signals for the tripod it controls. With the second scheme, each controller relies on a variable that is local to itself but…
Water Distribution Systems(WDS) are critical infrastructures that deliver potable water to residential areas. Incidents to pipelines cause water loss and contamination in pipelines. Hence, water quality monitoring is one of the requirements for utility managers to ensure the health of water. However, it is challenging to access all parts of the WDS since they are long and comprise pipes with different configurations and sizes. In this paper, we propose a size-adaptable and modular in-pipe robot so-called SmartCrawler that works based on wheel wall press mechanism. We develop a two-phase motion…
Harvard University（哈佛大学）；John A. Paulson School of Engineering and Applied Sciences（约翰·A·保尔森工程与应用科学学院）；Technical University of Delft（代尔夫特理工大学）；Faculty of Mechanical, Maritime and Materials Engineering（机械、海事与材料工程学院）
In this paper we propose a novel algorithm, Wi-Closure, to improve computational efficiency and robustness of loop closure detection in multi-robot SLAM. Our approach decreases the computational overhead of classical approaches by pruning the search space of potential loop closures, prior to evaluation by a typical multi-robot SLAM pipeline. Wi-Closure achieves this by identifying candidates that are spatially close to each other by using sensing over the wireless communication signal between robots, even when they are operating in non-line-of-sight or in remote areas of the environment from o…
The need for customizable properties in autonomous robotic platforms, such as in-home nursing care for the elderly and parallel implementations of human-to-machine control interfaces creates an opportunity to introduce methods deploying commonly available mobile devices running robotic command applications in managed code. This paper will discuss a human-to-machine interface and demonstrate a prototype consisting of a mobile device running a configurable application communicating with a mobile robot using a managed, type-safe language, C#.NET, over Bluetooth.
For a robot to be perfect and enter the everyday life of humans,like computers did, it needs to move from special-purpose robots to general-purpose. So, the idea of modularity is considered in this project.Thus, any type of task that falls in the 4 D's of Robotization: Dull, Dirty, Dangerous and Dear can be achieved by adding a module to the robot.
We consider a fundamental problem concerning the deployment of a wireless robotic network: to fulfill various end-to-end performance requirements, a "sufficient" number of robotic relays must be deployed to ensure that links are of acceptable quality. Prior work has not addressed how to find this number. We use the properties of Carrier Sense Multiple Access (CSMA) based wireless communication to derive an upper bound on the spacing between any transmitter-receiver pair, which directly translates to a lower bound on the number of robots to deploy. We focus on SINR-based performance requirement…
In a diverse set of robotics applications, including RoboCup categories, mobile robots require control commands to interact with surrounding environment correctly. These control commands should come wirelessly to not interfere in robots' movement; also, the communication has a set of requirements, including low latency and consistent delivery. This paper presents a complete communication architecture consisting of computer communication with a base station, which transmits the data to robots and returns robots telemetry to the computer. With the proposed communication, it is possible to send m…
The arrangement of an in-pipe climbing robot that works using a sharp transmission part to explore complex relationship of lines. Standard wheeled/continued in-pipe climbing robots are leaned to slip and take while researching in pipe turns. The instrument helps in achieving the really unavoidable consequence of getting out slip and drag in the robot tracks during progression. The proposed transmission likes the useful uttermost scopes of the standard two-yield transmission, which is fostered the fundamental time for a transmission with three outcomes. The instrument decisively changes the tra…
Localization of a wireless mobile device or a robot in indoor and GPS-denied environments is a difficult problem, particularly in dynamic scenarios where traditional cameras and LIDAR-based alternative sensing and localization modalities may fail. We propose a method for estimating the location of a mobile robot in relation to static wireless sensor nodes (WSN) deployed in the environment. The method employs a novel particle filter that updates its weights using a Gauss probability over Direction of Arrival (DOA) estimate in conjunction with the mobile robot's mobility model. We evaluate and v…
Bristol Research and Innovation Laboratory, Toshiba Europe Ltd.（东芝欧洲有限公司布里斯托尔研究与创新实验室）
Mobile robots have disrupted the material handling industry which is witnessing radical changes. The requirement for enhanced automation across various industry segments often entails mobile robotic systems operating in logistics facilities with little/no infrastructure. In such environments, out-of-box low-cost robotic solutions are desirable. Wireless connectivity plays a crucial role in successful operation of such mobile robotic systems. A wireless mesh network of mobile robots is an attractive solution; however, a number of system-level challenges create unique and stringent service requi…
Hong Kong University of Science and Technology（香港科技大学）
In this paper, we propose a coverage control system for a multi-robot team with heterogeneous capabilities to patrol or monitor a bounded environment. The capability could be defined as any criterion of robots like remaining power or mobile speed, depending on the purpose. The proposed control system aims to allocate different portions of the environment to the robots according to their capabilities, i.e., the robot with higher capability takes a larger portion of the environment while the robot with lower capability takes a smaller one. We use the block coordinate descent (BCD) method to opti…
Centro Universitario de la Defensa（国防大学中心）；Purdue University（普渡大学）；KTH Royal Institute of Technology（瑞典皇家理工学院）
The Robot Operating System (ROS) is rapidly becoming the de facto framework for building robotics systems, thanks to its flexibility and the large acceptance that it has received in the robotics community. With the growth of its popularity, it has started to be used in multi-robot systems as well. However, the TCP connections that the platform relies on for connecting the so-called ROS nodes, presents several issues in terms of limited-bandwidth, delays and jitter, when used in wireless ad-hoc networks. In this paper, we present a thorough analysis of the problem and propose a new ROS node cal…
University of Calabria（卡拉布里亚大学）；Middlesex University London（伦敦密德萨斯大学）
The mine detection in an unexplored area is an optimization problem where multiple mines, randomly distributed throughout an area, need to be discovered and disarmed in a minimum amount of time. We propose a strategy to explore an unknown area, using a stigmergy approach based on ants behavior, and a novel swarm based protocol to recruit and coordinate robots for disarming the mines cooperatively. Simulation tests are presented to show the effectiveness of our proposed Ant-based Task Robot Coordination (ATRC) with only the exploration task and with both exploration and recruiting strategies. M…
The evaluation of robot capabilities to navigate human crowds is essential to conceive new robots intended to operate in public spaces. This paper initiates the development of a benchmark tool to evaluate such capabilities; our long term vision is to provide the community with a simulation tool that generates virtual crowded environment to test robots, to establish standard scenarios and metrics to evaluate navigation techniques in terms of safety and efficiency, and thus, to install new methods to benchmarking robots' crowd navigation capabilities. This paper presents the architecture of the …
Near East University（近东大学）；University of Camerino（卡梅里诺大学）
Optical Wireless Communication (OWC) is regarded as an auspicious communication approach that can outperform the existing wireless technology. It utilizes LED lights, whose subtle variation in radiant intensity generate a binary data stream. This is perceived by a photodiode, that converts it to electric signals for further interpretation. This article aims at exploring the use of this emerging technology in order to control wirelessly industrial robots, overcoming the need for wires, especially in environments where radio waves are not working due to environmental factors or not allowed for s…
Design and construction of a wireless robot that simulates head movements in cone beam computed tomography imaging
Hamedan University of Technology（哈马丹理工大学）；Hamadan University of Medical Sciences（哈马丹医科大学）；Pprime Institute CNRS（法国国家科学研究中心Pprime研究所）；ENSMA（国立高等机械与航空技术学院）；University of Poitiers（普瓦捷大学）
In human-robot teams, humans often start with an inaccurate model of the robot capabilities. As they interact with the robot, they infer the robot's capabilities and partially adapt to the robot, i.e., they might change their actions based on the observed outcomes and the robot's actions, without replicating the robot's policy. We present a game-theoretic model of human partial adaptation to the robot, where the human responds to the robot's actions by maximizing a reward function that changes stochastically over time, capturing the evolution of their expectations of the robot's capabilities. …
Inspect Robots: Evaluating the Capabilities and Safety of Embodied AI
Robocurve；University of Southern California（南加州大学）；San Jose State University（圣何塞州立大学）；Indian Institute of Technology Bhilai（印度理工学院比莱校区）；University of Maryland（马里兰大学）；Stony Brook University（石溪大学）；Arizona State University（亚利桑那州立大学）；Brown University（布朗大学）
Nirma University（尼尔玛大学）；Institute for Plasma Research（等离子体研究所）
Sensor networks and robots are both quickly evolving fields, the union of two fields seems inherently symbiotic. Collecting data from stationary sensors can be time consuming task and thus can be automated by adding wireless communication capabilities to the sensors. This proposed project takes advantage of wireless sensor networks in remote handling environment which can send signals over far distances by using a mesh topology, transfers the data wirelessly and also consumes low power. In this paper a testbed is created for wireless sensor network using custom build sensor nodes for temperatu…
Lincoln Institute for Agri-food Technology, University of Lincoln（林肯大学林肯农业食品技术研究所）
Global food security is an issue that is fast becoming a critical matter in the world today. Global warming, climate change and a range of other impacts caused by humans, such as carbon emissions, sociopolitical and economical challenges (e.g. war), traditional workforce/labour decline and population growth are straining global food security. The need for high-speed and reliable wireless communication in agriculture is becoming more of a necessity rather than a technological demonstration or showing superiority in the field. Governments and industries around the world are seeing more urgency i…
To reliably model real robot characteristics, interval linear systems of equations allow to describe families of problems that consider sets of values. This allows to easily account for typical complexities such as sets of joint states and design parameter uncertainties. Inner approximations of the solutions to the interval linear systems can be used to describe the common capabilities of a robotic manipulator corresponding to the considered sets of values. In this work, several classes of problems are considered. For each class, reliable and efficient polytope, n-cube, and n-ball inner approx…
Enhancing Robot Explanation Capabilities through Vision-Language Models: a Preliminary Study by Interpreting Visual Inputs for Improved Human-Robot Interaction
Capability-based Frameworks for Industrial Robot Skills: a Survey
Siemens Technology（西门子技术）；Institute of Robotics and Mechatronics, German Aerospace Center (DLR)（德国航空航天中心机器人与机电一体化研究所）；Chair of Human-centered Assistive Robotics, Technical University of Munich (TUM)（慕尼黑工业大学以人为中心的辅助机器人学教席）；Autonomous Systems, Technische Universität Wien (TU Wien)（维也纳工业大学自主系统研究所）
We introduce a novel capabilities-based bi-directional multi-task trust model that can be used for trust prediction from either a human or a robotic trustor agent. Tasks are represented in terms of their capability requirements, while trustee agents are characterized by their individual capabilities. Trustee agents' capabilities are not deterministic; they are represented by belief distributions. For each task to be executed, a higher level of trust is assigned to trustee agents who have demonstrated that their capabilities exceed the task's requirements. We report results of an online experim…
Ultra-wideband (UWB) technology is a mature technology that contested other wireless technologies in the advent of the IoT but did not achieve the same levels of widespread adoption. In recent years, however, with its potential as a wireless ranging and localization solution, it has regained momentum. Within the robotics field, UWB positioning systems are being increasingly adopted for localizing autonomous ground or aerial robots. In the Industrial IoT (IIoT) domain, its potential for ad-hoc networking and simultaneous positioning is also being explored. This survey overviews the state-of-the…
Wireless Center of Pressure Feedback System for Humanoid Robot Balance Control using ESP32-C3
Department of Computer Engineering, Institut Teknologi Sepuluh Nopember, Surabaya, Indonesia（印度尼西亚十月份十日理工大学计算机工程系）；Graduate School of Science and Technology, Kumamoto University, Japan（日本熊本大学研究生院）；The Science and Technology Center of Artificial Intelligence for Healthcare and Society (PUI AIHeS), Indonesia（印度尼西亚人工智能医疗与社会科技中心）；Department of Electrical Automation Engineering, Institut Teknologi Sepuluh Nopember, Surabaya, Indonesia（印度尼西亚十月份十日理工大学电气自动化工程系）；Department of Computing, Imperial College London, United Kingdom（英国伦敦帝国学院计算系）
KTH Royal Institute of Technology（瑞典皇家理工学院）；Purdue University（普渡大学）；Sapienza University of Rome（罗马大学）
Mobile robots, be it autonomous or teleoperated, require stable communication with the base station to exchange valuable information. Given the stochastic elements in radio signal propagation, such as shadowing and fading, and the possibilities of unpredictable events or hardware failures, communication loss often presents a significant mission risk, both in terms of probability and impact, especially in Urban Search and Rescue (USAR) operations. Depending on the circumstances, disconnected robots are either abandoned or attempt to autonomously back-trace their way to the base station. Althoug…
Rescue robots are expected to carry out reconnaissance and dexterity operations in unknown environments comprising unstructured obstacles. Although a wide variety of designs and implementations have been presented within the field of rescue robotics, embedding all mobility, dexterity, and reconnaissance capabilities in a single robot remains a challenging problem. This paper explains the design and implementation of Karo, a mobile robot that exhibits a high degree of mobility at the side of maintaining required dexterity and exploration capabilities for urban search and rescue (USAR) missions.…
Shenzhen Institute of Advanced Technology（深圳先进技术研究院）；Southern University of Science and Technology（南方科技大学）；South China University of Technology（华南理工大学）；University of Essex（埃塞克斯大学）；Instituto de Telecomunicaões（葡萄牙电信研究所）；University of New South Wales（新南威尔士大学）
Wireless energy transfer (WET) is a ground-breaking technology for cutting the last wire between mobile sensors and power grids in smart cities. Yet, WET only offers effective transmission of energy over a short distance. Robotic WET is an emerging paradigm that mounts the energy transmitter on a mobile robot and navigates the robot through different regions in a large area to charge remote energy harvesters. However, it is challenging to determine the robotic charging strategy in an unknown and dynamic environment due to the uncertainty of obstacles. This paper proposes a hardware-in-the-loop…
Cornell University（康奈尔大学）；University of the Witwatersrand（金山大学）；Brown University（布朗大学）
We present a framework that, given a set of skills a robot can perform, abstracts sensor data into symbols that we use to automatically encode the robot's capabilities in Linear Temporal Logic. We specify reactive high-level tasks based on these capabilities, for which a strategy is automatically synthesized and executed on the robot, if the task is feasible. If a task is not feasible given the robot's capabilities, we present two methods, one enumeration-based and one synthesis-based, for automatically suggesting additional skills for the robot or modifications to existing skills that would m…
