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Seo, Jungwon, Jamie Paik, and Mark Yim. "Modular Reconfigurable Robotics." Annual Review of Control, Robotics, and Autonomous Systems 2, no. 1 (May 3, 2019): 63–88. http://dx.doi.org/10.1146/annurev-control-053018-023834.
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This article reviews the current state of the art in the development of modular reconfigurable robot (MRR) systems and suggests promising future research directions. A wide variety of MRR systems have been presented to date, and these robots promise to be versatile, robust, and low cost compared with other conventional robot systems. MRR systems thus have the potential to outperform traditional systems with a fixed morphology when carrying out tasks that require a high level of flexibility. We begin by introducing the taxonomy of MRRs based on their hardware architecture. We then examine recent progress in the hardware and the software technologies for MRRs, along with remaining technical issues. We conclude with a discussion of open challenges and future research directions.
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Jánoš, Rudolf. "Application Area of Multiagent Systems – Modular Robotics." Applied Mechanics and Materials 613 (August 2014): 226–29. http://dx.doi.org/10.4028/www.scientific.net/amm.613.226.
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The main application area of multiagents systems, demonstrated in this article is the modular robot, a type of robotic system that is composed of many autonomous modules. The paper shows theoretical and design approaches to the solution of metamorphic service robots. It gives selected specific questions and problems connected with its design and construction. While various decentralized algorithms have been developed in the field of modular robotics, most approaches lack theoretical treatment; furthermore, most are specialized for particular tasks and dificult to generalize to other modular robot tasks or configurations. Theoretical understanding allows us to identify the scope of this approach and to further generalize it to a broader application area. [1]
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Kazanzides, Peter, Anton Deguet, Balazs Vagvolgyi, Zihan Chen, and Russell H. Taylor. "Modular Interoperability in Surgical Robotics Software." Mechanical Engineering 137, no. 09 (September 1, 2015): S19—S22. http://dx.doi.org/10.1115/1.2015-sep-10.
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This article reviews on modular interoperability of the software that is used for these types of systems. One key point is that while hierarchical multi-rate control may be suitable for the master and slave robots, there is also a requirement to handle the video and ultrasound images. This article presented an overview of surgical robot systems, with the recognition that these systems are not just robots, but integrated systems that include robots, databases, and real-time sensors such as video and other medical imaging devices. Common research platforms, such as the da Vinci Research Kit and Raven II, have recently become available. This has underscored the need for modular software interoperability, so that researchers can share software modules and more easily integrate other robots and devices. Standardization and interoperability are most applicable at the higher software layers, and can benefit from the availability of widely-adopted middleware such as ROS. Other interface protocols, such as OpenIGTLink, can be useful due to their wide support within the medical imaging and image-guided intervention domains.
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Chennareddy, S. Sankhar Reddy, Anita Agrawal, and Anupama Karuppiah. "Modular Self-Reconfigurable Robotic Systems: A Survey on Hardware Architectures." Journal of Robotics 2017 (2017): 1–19. http://dx.doi.org/10.1155/2017/5013532.
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Modular self-reconfigurable robots present wide and unique solutions for growing demands in the domains of space exploration, automation, consumer products, and so forth. The higher utilization factor and self-healing capabilities are most demanded traits in robotics for real world applications and modular robotics offer better solutions in these perspectives in relation to traditional robotics. The researchers in robotics domain identified various applications and prototyped numerous robotic models while addressing constraints such as homogeneity, reconfigurability, form factor, and power consumption. The diversified nature of various modular robotic solutions proposed for real world applications and utilization of different sensor and actuator interfacing techniques along with physical model optimizations presents implicit challenges to researchers while identifying and visualizing the merits/demerits of various approaches to a solution. This paper attempts to simplify the comparison of various hardware prototypes by providing a brief study on hardware architectures of modular robots capable of self-healing and reconfiguration along with design techniques adopted in modeling robots, interfacing technologies, and so forth over the past 25 years.
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Yim, Mark, Wei-min Shen, Behnam Salemi, Daniela Rus, Mark Moll, Hod Lipson, Eric Klavins, and Gregory Chirikjian. "Modular Self-Reconfigurable Robot Systems [Grand Challenges of Robotics]." IEEE Robotics & Automation Magazine 14, no. 1 (March 2007): 43–52. http://dx.doi.org/10.1109/mra.2007.339623.
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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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Zykov, Victor, Efstathios Mytilinaios, Mark Desnoyer, and Hod Lipson. "Evolved and Designed Self-Reproducing Modular Robotics." IEEE Transactions on Robotics 23, no. 2 (April 2007): 308–19. http://dx.doi.org/10.1109/tro.2007.894685.
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Garcia, Ricardo Franco Mendoza, Jonathan D. Hiller, Kasper Stoy, and Hod Lipson. "A Vacuum-Based Bonding Mechanism for Modular Robotics." IEEE Transactions on Robotics 27, no. 5 (October 2011): 876–90. http://dx.doi.org/10.1109/tro.2011.2153010.
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Svetlík, Jozef. "Connecting Interface for Construction of Modular Structures." Applied Mechanics and Materials 613 (August 2014): 190–95. http://dx.doi.org/10.4028/www.scientific.net/amm.613.190.
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Article deals the issue of connecting modules in modular structures applied in robotics, manufacturing engineering and technology in general. Themselves joining motion module is implemented interconnecting interfaces, which are placed stringent requirements of strength, stiffness, weight and the possibility of transporting energy and data flow through the interface. On the market can be founds similar solutions. However, these solutions are mostly designed for output stages of industrial robots. Primarily, these solutions focus on the end effector exchange systems in robotics. To determine the total track modular machine was necessary to design a new model for connecting interface that meets all the requirements placed on it.
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Asama, Hajime. "Special Issue on Distributed Robotic Systems." Journal of Robotics and Mechatronics 8, no. 5 (October 20, 1996): 395. http://dx.doi.org/10.20965/jrm.1996.p0395.
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Distributed Robotic Systems are focused on as a new strategy to realize flexible, robust and fault-tolerant robotic systems. In conferences and symposia held recently, the number of papers related to the Distributed Robotic Systems has increased rapidly1,2,3) which shows this area has become one of the most interesting subjects in robotics. The Distributed Robotic Systems require a broad area of interdisciplinary technologies related not only to robotics and computer engineering (especially distributed artificial intelligence and artificial life), but also to biology and psychology. Distributed Robotic Systems can be defined as robot systems which are composed of various types and levels of units, such as cells, modules, agents and robots. One category of papers included in this volume is a robot with a distributed architecture, where modular structure is adopted and/or the robot system is controlled by many CPUs in a distributed manner. Cellular robotic systems are included in this category4). Another category of the papers is cooperative motion control of multiple robots. Coordinated control of multiple manipulators and cooperative motion control by multiple mobile robots using communication are discussed in these papers. The new elemental technologies are also presented, which are required for realization of advanced cooperative motion control of multiple autonomous mobile robots in this volume. The last category of the papers is self-organization of distributed robotic systems. Though the Journal of Robotics and MecharQnics has already published the special issues on the self-organization system,5,6) the latest progress is also presented in this volume. The papers belonging to this category are directed to swarm/collective intelligence in multi-robot cooperation issues. I believe this special issue will inspire the reader's interests in the Distributed Robotic Systems and accelerate the growth of this new arising interdisciplinary research area. References: 1)H.Asama, T.Fukuda, T.Arai and I.Endo eds., Distributed Autonomous Robotic Systems, Springer-Verlag, Tokyo, (1994). 2) H.Asama, T.Fukuda, T.Arai and I.Endo eds.,Distributed Autonomous Robotic Systems 2 , Springer-Verlag, Tokyo, (1996). 3) Robotics Society of Japan, Advanced Robotics 10,6, (1996). 4) T.Fukuda and T.Ueyama, Cellullar Robotics and Micro Robotic Systems,World Scientific, Singapore, (1994). 5) Fuji Technology Press Ltd., Journal of Robotics and Mechatronics,4,2,(1992). 6) Fuji Technology Press Ltd., Journal of Robotics and Mechatronics,4,3,(1992).
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Marti, P., L. Giusti, and H. H. Lund. "The Role of Modular Robotics in Mediating Nonverbal Social Exchanges." IEEE Transactions on Robotics 25, no. 3 (June 2009): 602–13. http://dx.doi.org/10.1109/tro.2009.2020346.
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Lund, Henrik Hautop, and Luigi Pagliarini. "Distributed Robotics Education." Journal of Robotics and Mechatronics 23, no. 5 (October 20, 2011): 859–70. http://dx.doi.org/10.20965/jrm.2011.p0859.
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Distributed robotics takes many forms, for instance, multirobots, modular robots, and self-reconfigurable robots. The understanding and development of such advanced robotic systems demand extensive knowledge in engineering and computer science. In this paper, we describe the concept of a distributed educational system as a valuable tool for introducing students to interactive parallel and distributed processing programming as the foundation for distributed robotics and human-robot interaction development. This is done by providing an educational tool that enables problem representation to be changed, related to multirobot control and human-robot interaction control from virtual to physical representation. The proposed system is valuable for bringing a vast number of issues into education – such as parallel programming, distribution, communication protocols, master dependency, connectivity, topology, island modeling software behavioral models, adaptive interactivity, feedback, and user interaction. We show how the proposed system can be considered a tool for easy, fast, flexible hands-on exploration of these distributed robotic issues. Through examples, we show how to implement interactive parallel and distributed processing in robotics with different software models such as openloop, randomness-based, rule-based, user-interactionbased, AI- and ALife-based, and morphology-based control.
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Konečný, Zdeněk, Petr Široký, Václav Krys, and Tomáš Kot. "Mobile Chassis on a Modular Principle." Applied Mechanics and Materials 816 (November 2015): 294–99. http://dx.doi.org/10.4028/www.scientific.net/amm.816.294.
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The article describes design of a drive module of a modular mobile chassis. This chassis was developed at the Department of Robotics, Faculty of Mechanical Engineering, VŠB-Technical University of Ostrava, as a part of the student grant competition “Research and development of modular robotic systems.” The article describes variants and the final mechanical construction of the drive module and also the structural analysis of this module according to the possible positioning in the whole modular system. The obtained results and possible ways of additional future development and modifications of the module are summarized in the conclusion.
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Bihl, Trevor, Todd Jenkins, Chadwick Cox, Ashley DeMange, Kerry Hill, and Edmund Zelnio. "From Lab to Internship and Back Again: Learning Autonomous Systems through Creating a Research and Development Ecosystem." Proceedings of the AAAI Conference on Artificial Intelligence 33 (July 17, 2019): 9635–43. http://dx.doi.org/10.1609/aaai.v33i01.33019635.
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As research and development (R&D) in autonomous systems progresses further, more interdisciplinary knowledge is needed from domains as diverse as artificial intelligence (AI), bi-ology, psychology, modeling and simulation (M&S), and robotics. Such R&D efforts are necessarily interdisciplinary in nature and require technical as well as further soft skills of teamwork, communication and integration. In this paper, we introduce a 14 week, summer long internship for developing these skills in undergraduate science and engineering interns through R&D. The internship was designed to be modular and divided into three parts: training, innovation, and application/integration. The end result of the internship was 1) the development of an M&S ecosystem for autonomy concepts, 2) development and robotics testing of reasoning methods through both Bayesian methods and cognitive models of the basal ganglia, and 3) a process for future internships within the modular construct. Through collaboration with full-time professional staff, who actively learned with the interns, this internship incorporates a feedback loop to educate and per-form fundamental R&D. Future iterations of this internship can leverage the M&S ecosystem and adapt the modular internship framework to focus on different innovations, learning paradigms, and/or applications.
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Pransky, Joanne. "The Pransky interview: Dr Howie Choset, CTO, Advanced Robotics for Manufacturing Institute; Professor, Carnegie Mellon; snake robotics inventor and entrepreneur." Industrial Robot: An International Journal 44, no. 5 (August 21, 2017): 571–74. http://dx.doi.org/10.1108/ir-06-2017-0113.
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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 PhD-turned-entrepreneur regarding the commercialization and challenges of bringing a technological invention to market. The paper aims to discuss these issues. Design/methodology/approach The interviewee is Dr Howie Choset, Chief Technical Officer at the Advanced Robotics for Manufacturing Institute and Professor of Robotics at Carnegie Mellon University (CMU). Motivated by applications in confined spaces, Dr Choset created a comprehensive program in modular, high degree(s) of freedom (DOF) and multirobot systems. This research led Dr Choset to cofound three companies. In this interview, Dr Choset shares some of his personal and business experiences of working in academia and industry. Findings Dr Choset received his Bachelor of Science, Engineering (BSE) degree in computer science and his Bachelor of Science, Economics (BSEcon) degree in business from the University of Pennsylvania in 1990. Dr Choset received his Masters and PhD from Caltech in mechanical engineering and robotics in 1991 and 1996. Since 1996, Dr Choset has been a Professor of Robotics at CMU and Director of the CMU Biorobotics Lab. He is also the Director of CMU’s undergraduate major and minor of Robotics. Along with his students, Choset formed several companies including Medrobotics (2005) for surgical systems; Hebi Robotics (2014) for modular robots; and Bito Robotics (2017) for autonomous guided vehicles. In 2017, Choset co-led the formation of the Advanced Robotics for Manufacturing Institute, which is a $250m national institute advancing both technology development and education for robotics in manufacturing. Choset is a founding editor of the journal Science Robotics and is currently serving on the editorial board of International Journal Robotics Research. Originality/value Motivated by collaborating with his students and colleagues, Dr Choset continues to make fundamental contributions in design, motion planning, path planning and estimation with the goal of bringing the precision of computer science and applied mathematics to the realities and uncertainties of mechanical systems. Choset’s work has been supported by both industry and government. Medrobotics Corp., a medical robotics company based on Choset’s snake robots, has received US Food and Drug Administration (FDA) regulatory clearance for both colorectal and otolaryngology procedures in the USA.
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González-Nalda, Pablo, Ismael Etxeberria-Agiriano, and Isidro Calvo. "Towards a Generic Architecture for Building Modular CPS as Applied to Mobile Robotics." International Journal of Online Engineering (iJOE) 12, no. 1 (January 18, 2016): 4. http://dx.doi.org/10.3991/ijoe.v12i1.4833.
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This paper presents a generic architecture for the
design of Cyber-Physical Systems (CPS) based on
inexpensive and easily available hardware and open source
software components. . This architecture provides a
framework aimed at building CPS in a robust, flexible and
modular way. The presented architecture intends to ease the
construction of this kind of systems together with its
evolution and management.
The potential of the proposed architecture is illustrated by
means of a case study consisting of a mobile robotics
application built with low cost hardware modules modules.
There is a large community of users for these components and plenty
of related technical information is available. As a
consequence, these inexpensive components were found
suitable for being used at different application domains,
including research and education.
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Jahn, Uwe, Carsten Wolff, and Peter Schulz. "Concepts of a Modular System Architecture for Distributed Robotic Systems." Computers 8, no. 1 (March 14, 2019): 25. http://dx.doi.org/10.3390/computers8010025.
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Modern robots often use more than one processing unit to solve the requirements in robotics. Robots are frequently designed in a modular manner to fulfill the possibility to be extended for future tasks. The use of multiple processing units leads to a distributed system within one single robot. Therefore, the system architecture is even more important than in single-computer robots. The presented concept of a modular and distributed system architecture was designed for robotic systems. The architecture is based on the Operator–Controller Module (OCM). This article describes the adaption of the distributed OCM for mobile robots considering the requirements on such robots, including, for example, real-time and safety constraints. The presented architecture splits the system hierarchically into a three-layer structure of controllers and operators. The controllers interact directly with all sensors and actuators within the system. For that reason, hard real-time constraints need to comply. The reflective operator, however, processes the information of the controllers, which can be done by model-based principles using state machines. The cognitive operator is used to optimize the system. The article also shows the exemplary design of the DAEbot, a self-developed robot, and discusses the experience of applying these concepts on this robot.
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Bingham, Brian S., Jeffrey M. Walls, and Ryan M. Eustice. "Development of a Flexible Command and Control Software Architecture for Marine Robotic Applications." Marine Technology Society Journal 45, no. 3 (May 1, 2011): 25–36. http://dx.doi.org/10.4031/mtsj.45.3.4.
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AbstractThis paper reports the implementation of a supervisory control framework and modular software architecture built around the lightweight communication and marshalling (LCM) publish/subscribe message passing system. In particular, we examine two diverse marine robotics applications using this modular system: (i) the development of an unmanned port security vehicle, a robotic surface platform to support first responders reacting to transportation security incidents in harbor environments, and (ii) the adaptation of a commercial off-the-shelf autonomous underwater vehicle (the Ocean-Server Iver2) for visual feature-based navigation. In both cases, the modular vehicle software infrastructures are based around the open-source LCM software library for low-latency, real-time message passing. To elucidate the real-world application of LCM in marine robotic systems, we present the software architecture of these two successful marine robotic applications and illustrate the capabilities and flexibilities of this approach to real-time marine robotics. We present benchmarking test results comparing the throughput of LCM with the Mission-Oriented Operating Suite, another robot software system popular in marine robotics. Experimental results demonstrate the capacity of the LCM framework to make large amounts of actionable information available to the operator and to allow for distributed supervisory control. We also provide a discussion of the qualitative tradeoffs involved in selecting software infrastructure for supervisory control.
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Saab, Wael, Peter Racioppo, and Pinhas Ben-Tzvi. "A review of coupling mechanism designs for modular reconfigurable robots." Robotica 37, no. 2 (October 11, 2018): 378–403. http://dx.doi.org/10.1017/s0263574718001066.
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SUMMARYWith the increasing demands for versatile robotic platforms capable of performing a variety of tasks in diverse and uncertain environments, the needs for adaptable robotic structures have been on the rise. These requirements have led to the development of modular reconfigurable robotic systems that are composed of a numerous self-sufficient modules. Each module is capable of establishing rigid connections between multiple modules to form new structures that enable new functionalities. This allows the system to adapt to unknown tasks and environments. In such structures, coupling between modules is of crucial importance to the overall functionality of the system. Over the last two decades, researchers in the field of modular reconfigurable robotics have developed novel coupling mechanisms intended to establish rigid and robust connections, while enhancing system autonomy and reconfigurability. In this paper, we review research contributions related to robotic coupling mechanism designs, with the aim of outlining current progress and identifying key challenges and opportunities that lay ahead. By presenting notable design approaches to coupling mechanisms and the most relevant efforts at addressing the challenges of sensorization, misalignment tolerance, and autonomous reconfiguration, we hope to provide a useful starting point for further research into the field of modular reconfigurable robotics and other applications of robotic coupling.
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Romanov, A. M. "A review on control systems hardware and software for robots of various scale and purpose. Part 1. Industrial robotics." Russian Technological Journal 7, no. 5 (October 15, 2019): 30–46. http://dx.doi.org/10.32362/2500-316x-2019-7-5-30-46.
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A review of robotic systems is presented. The paper analyzes applied hardware and software solutions and summarizes the most common block diagrams of control systems. The analysis of approaches to control systems scaling, the use of intelligent control, achieving fault tolerance, reducing the weight and size of control system elements belonging to various classes of robotic systems is carried out. The goal of the review is finding common approaches used in various areas of robotics to build on their basis a uniform methodology for designing scalable intelligent control systems for robots with a given level of fault tolerance on a unified component base. This part is dedicated to industrial robotics. The following conclusions are made: scaling in industrial robotics is achieved through the use of the modular control systems and unification of main components; multiple industrial robot interaction is organized using centralized global planning or the use of previously simulated control programs, eliminating possible collisions in working area; intellectual technologies in industrial robotics are used primarily at the strategic level of the control system which is usually non-real time, and in some cases even implemented as a remote cloud service; from the point of view of ensuring fault tolerance, the industrial robots developers are primarily focused on the early prediction of faults and the planned decommissioning of the robots, and are not on highly-avaliability in case of failures; industrial robotics does not impose serious requirements on the dimensions and weight of the control devices.
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Bar-On, David, Shaul Gutman, and Amos Israeli. "The Track: Technion Robot And Controller Kit." Robotica 11, no. 2 (March 1993): 119–28. http://dx.doi.org/10.1017/s0263574700019226.
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SUMMARYA modular hierarchical model for controlling robots is presented. This model is targeted mainly for research and development; it enables researchers to concentrate on a certain specific task of robotics, while using existing building blocks for the rest of their applications. The presentation begins by discussing the problems with which researchers and engineers of robotics are faced whenever trying to use existing commercial robots. Based on this discussion we propose a new general model for robot control to be referred as TERM (TEchnion Robotic Model). The viability of the new model is demonstrated by implementing a general purpose robot controller.
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Zygomalas, Apollon, Konstantinos Giokas, and Dimitrios Koutsouris. "In Silico Investigation of a Surgical Interface for Remote Control of Modular Miniature Robots in Minimally Invasive Surgery." Minimally Invasive Surgery 2014 (2014): 1–5. http://dx.doi.org/10.1155/2014/307641.
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Aim. Modular mini-robots can be used in novel minimally invasive surgery techniques like natural orifice transluminal endoscopic surgery (NOTES) and laparoendoscopic single site (LESS) surgery. The control of these miniature assistants is complicated. The aim of this study is the in silico investigation of a remote controlling interface for modular miniature robots which can be used in minimally invasive surgery.Methods. The conceptual controlling system was developed, programmed, and simulated using professional robotics simulation software. Three different modes of control were programmed. The remote controlling surgical interface was virtually designed as a high scale representation of the respective modular mini-robot, therefore a modular controlling system itself.Results. With the proposed modular controlling system the user could easily identify the conformation of the modular mini-robot and adequately modify it as needed. The arrangement of each module was always known. The in silico investigation gave useful information regarding the controlling mode, the adequate speed of rearrangements, and the number of modules needed for efficient working tasks.Conclusions. The proposed conceptual model may promote the research and development of more sophisticated modular controlling systems. Modular surgical interfaces may improve the handling and the dexterity of modular miniature robots during minimally invasive procedures.
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Wirkus, Malte, Sascha Arnold, and Elmar Berghöfer. "Online Reconfiguration of Distributed Robot Control Systems for Modular Robot Behavior Implementation." Journal of Intelligent & Robotic Systems 100, no. 3-4 (September 18, 2020): 1283–308. http://dx.doi.org/10.1007/s10846-020-01234-9.
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AbstractThe use of autonomous robots in areas that require executing a broad range of different tasks is currently hampered by the high complexity of the software that adapts the robot controller to different situations the robot would face. Current robot software frameworks facilitate implementing controllers for individual tasks with some variability, however, their possibilities for adapting the controllers at runtime are very limited and don’t scale with the requirements of a highly versatile autonomous robot. With the software presented in this paper, the behavior of robots is implemented modularly by composing individual controllers, between which it is possible to switch freely at runtime, since the required transitions are calculated automatically. Thereby the software developer is relieved of the task to manually implement and maintain the transitions between different operational modes of the robot, what largely reduces software complexity for larger amounts of different robot behaviors. The software is realized by a model-based development approach. We will present the metamodels enabling the modeling of the controllers as well as the runtime architecture for the management of the controllers on distributed computation hardware. Furthermore, this paper introduces an algorithm that calculates the transitions between two controllers. A series of technical experiments verifies the choice of the underlying middleware and the performance of online controller reconfiguration. A further experiment demonstrates the applicability of the approach to real robotics applications.
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Moubarak, Paul M., and Pinhas Ben-Tzvi. "A Tristate Rigid Reversible and Non-Back-Drivable Active Docking Mechanism for Modular Robotics." IEEE/ASME Transactions on Mechatronics 19, no. 3 (June 2014): 840–51. http://dx.doi.org/10.1109/tmech.2013.2261531.
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White, Paul J., Shai Revzen, Chris E. Thorne, and Mark Yim. "A general stiffness model for programmable matter and modular robotic structures." Robotica 29, no. 1 (January 2011): 103–21. http://dx.doi.org/10.1017/s0263574710000743.
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SUMMARYThe fields of modular reconfigurable robotics and programmable matter study how to compose functionally useful systems from configurations of modules. In addition to the external shape of a module configuration, the internal arrangement of modules and bonds between them can greatly impact functionally relevant mechanical properties such as load bearing ability. A fast method to evaluate the mechanical property aids the search for an arrangement of modules achieving a desired mechanical property as the space of possible configurations grows combinatorially. We present a fast approximate method where the bonds between modules are represented with stiffness matrices that are general enough to represent a wide variety of systems and follows the natural modular decomposition of the system. The method includes nonlinear modeling such as anisotropic bonds and properties that vary as components flex. We show that the arrangement of two types of bonds within a programmable matter systems enables programming the apparent elasticity of the structure. We also present a method to experimentally determine the stiffness matrix for chain style reconfigurable robots. The efficacy of applying the method is demonstrated on the CKBot modular robot and two programmable matter systems: the Rubik's snake folding chain toy and a right angle tetrahedron chain called RATChET7mm. By allowing the design space to be rapidly explored we open the door to optimizing modular structures for desired mechanical properties such as enhanced load bearing and robustness.
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Coyle, Scott M. "Ciliate behavior: blueprints for dynamic cell biology and microscale robotics." Molecular Biology of the Cell 31, no. 22 (October 15, 2020): 2415–20. http://dx.doi.org/10.1091/mbc.e20-04-0275.
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Place a drop of pond water under the microscope, and you will likely find an ocean of extraordinary and diverse single-celled organisms called ciliates. This remarkable group of single-celled organisms wield microtubules, active systems, electrical signaling, and chemical sensors to build intricate geometrical structures and perform complex behaviors that can appear indistinguishable from those of macroscopic animals. Advances in computer vision and machine learning are making it possible to completely digitize and track the dynamics of complex ciliates and mine these data for the hidden structure, patterns, and motifs that are responsible for their behaviors. By deconstructing the diversity of ciliate behaviors in the natural world, themes for organizing and controlling matter at the microscale are beginning to take hold, suggesting new modular approaches for the design of autonomous molecular machines that emulate nature’s finest examples.
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Kotarski, Denis, Petar Piljek, Marko Pranjić, Carlo Giorgio Grlj, and Josip Kasać. "A Modular Multirotor Unmanned Aerial Vehicle Design Approach for Development of an Engineering Education Platform." Sensors 21, no. 8 (April 13, 2021): 2737. http://dx.doi.org/10.3390/s21082737.
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The development of multirotor unmanned aerial vehicles (UAVs) has enabled a vast number of applications. Since further market growth is expected in the future it is important that modern engineers be familiar with these types of mechatronic systems. In this paper, a comprehensive mathematical description of a multirotor UAV, with various configuration parameters, is given. A modular design approach for the development of an educational multirotor platform is proposed. Through the stages of computer-aided design and rapid prototyping an experimental modular multirotor (EMMR) platform is presented. Open-source control system and a novel EMMR enable students to create and test control algorithms for various multirotor configurations. The presented EMMR platform is suitable for students to expand their educational objectives in aerial robotics and control theory.
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Karthikeyan, D., Sayon Koley, Mayukh Bagchi, Avijit Bhattacharya, and K. Vijayakumar. "Wireless charging scheme for medium power range application systems." International Journal of Power Electronics and Drive Systems (IJPEDS) 11, no. 4 (December 1, 2020): 1979. http://dx.doi.org/10.11591/ijpeds.v11.i4.pp1979-1986.
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Wireless power transmission (WPT) has attracted a wide variety of subjects in various disciplines and has also become a highly active research field due to its capacity to facilitate charging systems. Wireless power transmission will be compulsory to use soon as this technology enables electrical energy to be transmitted from a power source to an electrical load over an air gap without connecting wires. Wireless power transmission has been developed in the low power (1W to 10W) and high power (100W-500W) region. While the low power region development focuses on powering medical transplants and mobile charging, the higher end of the power spectrum is being developed for the electric vehicle (EV) applications. However medium power range (10W to 100W) is relatively unexplored due to lack of proper applications. The commercial WPT scheme is mainly used for the charging of lithium-ion batteries. Sensitive medium power loads like Lithium Polymer (LiPo) batteries do not have a wireless modular charging system. This paper discusses a proposed scheme for wireless charging of medium-range loads. LiPo batteries are used as the targeted charging load. A minimalistic approach has been considered while designing the electronics for efficiency improvement and a compact, modular scheme. The proposed scheme has been developed for drone and robotics applications and the results are validated.
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Kayhani, Navid, Hosein Taghaddos, Ali Mousaei, Saeed Behzadipour, and Ulrich Hermann. "Heavy mobile crane lift path planning in congested modular industrial plants using a robotics approach." Automation in Construction 122 (February 2021): 103508. http://dx.doi.org/10.1016/j.autcon.2020.103508.
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Koukolová, Lucia, Mikuláš Hajduk, and Andrej Belovezcik. "Possibilities of Use of Virtual Reality in the Field of Manufacturing Systems." Applied Mechanics and Materials 186 (June 2012): 188–93. http://dx.doi.org/10.4028/www.scientific.net/amm.186.188.
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The paper presents the structure and performance of the system created by a work team at Department of Production Systems and Robotics at Technical University of Kosice. System MSEVR – „ Modular system for experimentation in virtual reality“ is universal flexible system created for teaching automated and robotic systems by means of new advanced teaching aids, including virtual reality. It has been created as a specialized website and its possibilities are varied. Particular use depends on creativity of a user. Built-in tools enable to use it adequately when teaching construction of industrial robots, to present their kinematic structure or other properties of individual machines. It also enables to work with machine aggregate. In real-life working the system has been tested for optimization of process layout where the full advantages of virtual reality were taken.
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Weel, Berend, M. D'Angelo, Evert Haasdijk, and A. E. Eiben. "Online Gait Learning for Modular Robots with Arbitrary Shapes and Sizes." Artificial Life 23, no. 1 (February 2017): 80–104. http://dx.doi.org/10.1162/artl_a_00223.
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Evolutionary robotics using real hardware is currently restricted to evolving robot controllers, but the technology for evolvable morphologies is advancing quickly. Rapid prototyping (3D printing) and automated assembly are the main enablers of robotic systems where robot offspring can be produced based on a blueprint that specifies the morphologies and the controllers of the parents. This article addresses the problem of gait learning in newborn robots whose morphology is unknown in advance. We investigate a reinforcement learning method and conduct simulation experiments using robot morphologies with different size and complexity. We establish that reinforcement learning does the job well and that it outperforms two alternative algorithms. The experiments also give insights into the online dynamics of gait learning and into the influence of the size, shape, and morphological complexity of the modular robots. These insights can potentially be used to predict the viability of modular robotic organisms before they are constructed.
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Boschi, Anna, Francesco Salvetti, Vittorio Mazzia, and Marcello Chiaberge. "A Cost-Effective Person-Following System for Assistive Unmanned Vehicles with Deep Learning at the Edge." Machines 8, no. 3 (August 28, 2020): 49. http://dx.doi.org/10.3390/machines8030049.
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The vital statistics of the last century highlight a sharp increment of the average age of the world population with a consequent growth of the number of older people. Service robotics applications have the potentiality to provide systems and tools to support the autonomous and self-sufficient older adults in their houses in everyday life, thereby avoiding the task of monitoring them with third parties. In this context, we propose a cost-effective modular solution to detect and follow a person in an indoor, domestic environment. We exploited the latest advancements in deep learning optimization techniques, and we compared different neural network accelerators to provide a robust and flexible person-following system at the edge. Our proposed cost-effective and power-efficient solution is fully-integrable with pre-existing navigation stacks and creates the foundations for the development of fully-autonomous and self-contained service robotics applications.
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Yang, Yi, Mi Pan, and Wei Pan. "‘Co-evolution through interaction’ of innovative building technologies: The case of modular integrated construction and robotics." Automation in Construction 107 (November 2019): 102932. http://dx.doi.org/10.1016/j.autcon.2019.102932.
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Roehr, Thomas M. "A Constraint-based Mission Planning Approach for Reconfigurable Multi-Robot Systems." Inteligencia Artificial 21, no. 62 (September 7, 2018): 25. http://dx.doi.org/10.4114/intartif.vol21iss62pp25-39.
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The application of reconfigurable multi-robot systems introduces additional degrees of freedom to design robotic missions compared to classical multi-robot systems. To allow for autonomous operation of such systems, planning approaches have to be investigated that cannot only cope with the combinatorial challenge arising from the increased flexibility of modular systems, but also exploit this flexibility to improve for example the safety of operation. While the problem originates from the domain of robotics it is of general nature and significantly intersects with operations research. This paper suggests a constraint-based mission planning approach, and presents a set of revised definitions for reconfigurable multi-robot systems including the representation of the planning problem using spatially and temporally qualified resource constraints. Planning is performed using a multi-stage approach and a combined use of knowledge-based reasoning, constraint-based programming and integer linear programming. The paper concludes with the illustration of the solution of a planned example mission.
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Shintemirov, Almas, Tasbolat Taunyazov, Bukeikhan Omarali, Aigerim Nurbayeva, Anton Kim, Askhat Bukeyev, and Matteo Rubagotti. "An Open-Source 7-DOF Wireless Human Arm Motion-Tracking System for Use in Robotics Research." Sensors 20, no. 11 (May 29, 2020): 3082. http://dx.doi.org/10.3390/s20113082.
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To extend the choice of inertial motion-tracking systems freely available to researchers and educators, this paper presents an alternative open-source design of a wearable 7-DOF wireless human arm motion-tracking system. Unlike traditional inertial motion-capture systems, the presented system employs a hybrid combination of two inertial measurement units and one potentiometer for tracking a single arm. The sequence of three design phases described in the paper demonstrates how the general concept of a portable human arm motion-tracking system was transformed into an actual prototype, by employing a modular approach with independent wireless data transmission to a control PC for signal processing and visualization. Experimental results, together with an application case study on real-time robot-manipulator teleoperation, confirm the applicability of the developed arm motion-tracking system for facilitating robotics research. The presented arm-tracking system also has potential to be employed in mechatronic system design education and related research activities. The system CAD design models and program codes are publicly available online and can be used by robotics researchers and educators as a design platform to build their own arm-tracking solutions for research and educational purposes.
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Caluwaerts, Ken, Jérémie Despraz, Atıl Işçen, Andrew P. Sabelhaus, Jonathan Bruce, Benjamin Schrauwen, and Vytas SunSpiral. "Design and control of compliant tensegrity robots through simulation and hardware validation." Journal of The Royal Society Interface 11, no. 98 (September 6, 2014): 20140520. http://dx.doi.org/10.1098/rsif.2014.0520.
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To better understand the role of tensegrity structures in biological systems and their application to robotics, the Dynamic Tensegrity Robotics Lab at NASA Ames Research Center, Moffett Field, CA, USA, has developed and validated two software environments for the analysis, simulation and design of tensegrity robots. These tools, along with new control methodologies and the modular hardware components developed to validate them, are presented as a system for the design of actuated tensegrity structures. As evidenced from their appearance in many biological systems, tensegrity (‘tensile–integrity’) structures have unique physical properties that make them ideal for interaction with uncertain environments. Yet, these characteristics make design and control of bioinspired tensegrity robots extremely challenging. This work presents the progress our tools have made in tackling the design and control challenges of spherical tensegrity structures. We focus on this shape since it lends itself to rolling locomotion. The results of our analyses include multiple novel control approaches for mobility and terrain interaction of spherical tensegrity structures that have been tested in simulation. A hardware prototype of a spherical six-bar tensegrity, the Reservoir Compliant Tensegrity Robot, is used to empirically validate the accuracy of simulation.
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Dominguez, Raul, Mark Post, Alexander Fabisch, Romain Michalec, Vincent Bissonnette, and Shashank Govindaraj. "Common Data Fusion Framework: An open-source Common Data Fusion Framework for space robotics." International Journal of Advanced Robotic Systems 17, no. 2 (March 1, 2020): 172988142091176. http://dx.doi.org/10.1177/1729881420911767.
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Multisensor data fusion plays a vital role in providing autonomous systems with environmental information crucial for reliable functioning. In this article, we summarize the modular structure of the newly developed and released Common Data Fusion Framework and explain how it is used. Sensor data are registered and fused within the Common Data Fusion Framework to produce comprehensive 3D environment representations and pose estimations. The proposed software components to model this process in a reusable manner are presented through a complete overview of the framework, then the provided data fusion algorithms are listed, and through the case of 3D reconstruction from 2D images, the Common Data Fusion Framework approach is exemplified. The Common Data Fusion Framework has been deployed and tested in various scenarios that include robots performing operations of planetary rover exploration and tracking of orbiting satellites.
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Ivorra, Eugenio, Mario Ortega, José Catalán, Santiago Ezquerro, Luis Lledó, Nicolás Garcia-Aracil, and Mariano Alcañiz. "Intelligent Multimodal Framework for Human Assistive Robotics Based on Computer Vision Algorithms." Sensors 18, no. 8 (July 24, 2018): 2408. http://dx.doi.org/10.3390/s18082408.
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Assistive technologies help all persons with disabilities to improve their accessibility in all aspects of their life. The AIDE European project contributes to the improvement of current assistive technologies by developing and testing a modular and adaptive multimodal interface customizable to the individual needs of people with disabilities. This paper describes the computer vision algorithms part of the multimodal interface developed inside the AIDE European project. The main contribution of this computer vision part is the integration with the robotic system and with the other sensory systems (electrooculography (EOG) and electroencephalography (EEG)). The technical achievements solved herein are the algorithm for the selection of objects using the gaze, and especially the state-of-the-art algorithm for the efficient detection and pose estimation of textureless objects. These algorithms were tested in real conditions, and were thoroughly evaluated both qualitatively and quantitatively. The experimental results of the object selection algorithm were excellent (object selection over 90%) in less than 12 s. The detection and pose estimation algorithms evaluated using the LINEMOD database were similar to the state-of-the-art method, and were the most computationally efficient.
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Hamann, Heiko, Thomas Schmickl, and Karl Crailsheim. "A Hormone-Based Controller for Evaluation-Minimal Evolution in Decentrally Controlled Systems." Artificial Life 18, no. 2 (April 2012): 165–98. http://dx.doi.org/10.1162/artl_a_00058.
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One of the main challenges in automatic controller synthesis is to develop methods that can successfully be applied for complex tasks. The difficulty is increased even more in the case of settings with multiple interacting agents. We apply the artificial homeostatic hormone system (AHHS) approach, which is inspired by the signaling network of unicellular organisms, to control a system of several independently acting agents decentrally. The approach is designed for evaluation-minimal, artificial evolution in order to be applicable to complex modular robotics scenarios. The performance of AHHS controllers is compared with neuroevolution of augmenting topologies (NEAT) in the coupled inverted pendulums benchmark. AHHS controllers are found to be better for multimodular settings. We analyze the evolved controllers with regard to the usage of sensory inputs and the emerging oscillations, and we give a nonlinear dynamics interpretation. The generalization of evolved controllers to initial conditions far from the original conditions is investigated and found to be good. Similarly, the performance of controllers scales well even with module numbers different from the original domain the controller was evolved for. Two reference implementations of a similar controller approach are reported and shown to have shortcomings. We discuss the related work and conclude by summarizing the main contributions of our work.
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Stan, Gheorghe. "Poly-Articulated System with Spatial Positioning." Applied Mechanics and Materials 371 (August 2013): 411–15. http://dx.doi.org/10.4028/www.scientific.net/amm.371.411.
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Researchers in the field of robotics have intense preoccupations on building cheaper and faster robots, with higher accuracy and repeatability, with modulated architectures, diversified in terms of design and oriented to the most diverse activities. The present work is placed in this context; it presents a new poly-articulated system, brevetted, with availability for spatial positioning at high accuracy and repeatability. Thus the robot can insert its arm through windows of small size and place the arm behind a panel etc. The modular structure of its joints provides the possibility for obtaining several advantages on performing various configurations in a short time and on lower expenses. At the same time, the driving and control systems of the rotary axes are conceived in closed loop that confers the premises for obtaining a high positioning accuracy.
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Aladem, Mohamed, and Samir Rawashdeh. "Lightweight Visual Odometry for Autonomous Mobile Robots." Sensors 18, no. 9 (August 28, 2018): 2837. http://dx.doi.org/10.3390/s18092837.
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Vision-based motion estimation is an effective means for mobile robot localization and is often used in conjunction with other sensors for navigation and path planning. This paper presents a low-overhead real-time ego-motion estimation (visual odometry) system based on either a stereo or RGB-D sensor. The algorithm’s accuracy outperforms typical frame-to-frame approaches by maintaining a limited local map, while requiring significantly less memory and computational power in contrast to using global maps common in full visual SLAM methods. The algorithm is evaluated on common publicly available datasets that span different use-cases and performance is compared to other comparable open-source systems in terms of accuracy, frame rate and memory requirements. This paper accompanies the release of the source code as a modular software package for the robotics community compatible with the Robot Operating System (ROS).
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Di Natali, Christian, Tommaso Poliero, Matteo Sposito, Eveline Graf, Christoph Bauer, Carole Pauli, Eliza Bottenberg, et al. "Design and Evaluation of a Soft Assistive Lower Limb Exoskeleton." Robotica 37, no. 12 (February 26, 2019): 2014–34. http://dx.doi.org/10.1017/s0263574719000067.
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SummaryWearable devices are fast evolving to address mobility and autonomy needs of elderly people who would benefit from physical assistance. Recent developments in soft robotics provide important opportunities to develop soft exoskeletons (also called exosuits) to enable both physical assistance and improved usability and acceptance for users. The XoSoft EU project has developed a modular soft lower limb exoskeleton to assist people with low mobility impairments. In this paper, we present the design of a soft modular lower limb exoskeleton to improve person’s mobility, contributing to independence and enhancing quality of life. The novelty of this work is the integration of quasi-passive elements in a soft exoskeleton. The exoskeleton provides mechanical assistance for subjects with low mobility impairments reducing energy requirements between 10% and 20%. Investigation of different control strategies based on gait segmentation and actuation elements is presented. A first hip–knee unilateral prototype is described, developed, and its performance assessed on a post-stroke patient for straight walking. The study presents an analysis of the human–exoskeleton energy patterns by way of the task-based biological power generation. The resultant assistance, in terms of power, was 10.9% ± 2.2% for hip actuation and 9.3% ± 3.5% for knee actuation. The control strategy improved the gait and postural patterns by increasing joint angles and foot clearance at specific phases of the walking cycle.
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Elkady, Ayssam, Jovin Joy, Tarek Sobh, and Kimon Valavanis. "Modular Design: A Plug and Play Approach to Sensory Modules, Actuation Platforms, and Task Descriptions for Robotics and Automation Applications." Journal of Intelligent & Robotic Systems 75, no. 2 (October 30, 2013): 271–89. http://dx.doi.org/10.1007/s10846-013-9991-7.
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Dresp-Langley, Birgitta. "Seven Properties of Self-Organization in the Human Brain." Big Data and Cognitive Computing 4, no. 2 (May 10, 2020): 10. http://dx.doi.org/10.3390/bdcc4020010.
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The principle of self-organization has acquired a fundamental significance in the newly emerging field of computational philosophy. Self-organizing systems have been described in various domains in science and philosophy including physics, neuroscience, biology and medicine, ecology, and sociology. While system architecture and their general purpose may depend on domain-specific concepts and definitions, there are (at least) seven key properties of self-organization clearly identified in brain systems: (1) modular connectivity, (2) unsupervised learning, (3) adaptive ability, (4) functional resiliency, (5) functional plasticity, (6) from-local-to-global functional organization, and (7) dynamic system growth. These are defined here in the light of insight from neurobiology, cognitive neuroscience and Adaptive Resonance Theory (ART), and physics to show that self-organization achieves stability and functional plasticity while minimizing structural system complexity. A specific example informed by empirical research is discussed to illustrate how modularity, adaptive learning, and dynamic network growth enable stable yet plastic somatosensory representation for human grip force control. Implications for the design of “strong” artificial intelligence in robotics are brought forward.
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Chomyim, Chiraphorn, Settachai Chaisanit, and Apichai Trangansri. "Low Cost Mobile Robot Kits Design as a Teaching Tool for Education and Research." Applied Mechanics and Materials 752-753 (April 2015): 1010–15. http://dx.doi.org/10.4028/www.scientific.net/amm.752-753.1010.
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Robot technology is important for students to be able to work in 21st century and to share technical knowhow. Learning robot technology is very difficult because the high costs of hardware equipment; it was used mainly in the hi-tech subject’s area such as military affairs, space, medicine, engineering, etc. With the improvements and developments of technology, Robot technology is now open for the general public’s use. In basic education, it is also more and more popular to use robot when teaching science, physics, technology, etc. Unfortunately, the robot equipment also still high costs. This project concentrates on the design and develops a low cost mobile robot kits as a teaching tool for education and research. In this project we developed a tool that will help students to understand technology based on mobile robotics technology and electronic engineering. The robot kit in this project was designed to create modular systems, considering assembly requirements of different types of objects as well as various user activities. Each module of the robot kit takes care of a core function required to operate automata. The modules help students build kinetic sculptures quickly and easily, eliminating the need for unsafe tasks such as soldering. Further, the features of this robot kit can be expanded to allow integration with programming modular and multimedia programming environment, making it possible to develop more creative automata for improve education and research forward.
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Oliveri, Giorgio, Lucas C. van Laake, Cesare Carissimo, Clara Miette, and Johannes T. B. Overvelde. "Continuous learning of emergent behavior in robotic matter." Proceedings of the National Academy of Sciences 118, no. 21 (May 10, 2021): e2017015118. http://dx.doi.org/10.1073/pnas.2017015118.
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One of the main challenges in robotics is the development of systems that can adapt to their environment and achieve autonomous behavior. Current approaches typically aim to achieve this by increasing the complexity of the centralized controller by, e.g., direct modeling of their behavior, or implementing machine learning. In contrast, we simplify the controller using a decentralized and modular approach, with the aim of finding specific requirements needed for a robust and scalable learning strategy in robots. To achieve this, we conducted experiments and simulations on a specific robotic platform assembled from identical autonomous units that continuously sense their environment and react to it. By letting each unit adapt its behavior independently using a basic Monte Carlo scheme, the assembled system is able to learn and maintain optimal behavior in a dynamic environment as long as its memory is representative of the current environment, even when incurring damage. We show that the physical connection between the units is enough to achieve learning, and no additional communication or centralized information is required. As a result, such a distributed learning approach can be easily scaled to larger assemblies, blurring the boundaries between materials and robots, paving the way for a new class of modular “robotic matter” that can autonomously learn to thrive in dynamic or unfamiliar situations, for example, encountered by soft robots or self-assembled (micro)robots in various environments spanning from the medical realm to space explorations.
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Dömel, Andreas, Simon Kriegel, Michael Kaßecker, Manuel Brucker, Tim Bodenmüller, and Michael Suppa. "Toward fully autonomous mobile manipulation for industrial environments." International Journal of Advanced Robotic Systems 14, no. 4 (July 1, 2017): 172988141771858. http://dx.doi.org/10.1177/1729881417718588.
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This work presents a concept for autonomous mobile manipulation in industrial environments. Utilizing autonomy enables an unskilled human worker to easily configure a complex robotics system in a setup phase before carrying out fetch and carry operations in the execution phase. In order to perform the given tasks in real industrial production sites, we propose a robotic system consisting of a mobile platform, a torque-controlled manipulator, and an additional sensor head. Multiple sensors are attached which allow for perception of the environment and the objects to be manipulated. This is essential for coping with uncertainties in real-world application. In order to provide an easy-to-use and flexible system, we present a modular software concept which is handled and organized by a hierarchical flow control depending on the given task and environmental requirements. The presented concept for autonomous mobile manipulation is implemented exemplary for industrial manipulation tasks and proven by real-world application in a water pump production site. Furthermore, the concept has also been applied to other robotic systems and other domains for planetary exploration with a rover.
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KRAUSP, VALENTIN. "FROM GOELRO TO ELECTRO-ROBOTIZATION OF AGRICULTURE ACCORDING. ON THE 90TH ANNIVERSARY OF FEDERAL SCIENTIFIC AGROENGINEERING CENTER VIM." Tekhnicheskiy servis mashin 4, no. 141 (December 2020): 176–87. http://dx.doi.org/10.22314/2618-8287-2020-58-4-176-187.
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For almost 100 years that have passed from GOELRO to the ECO-1VK project (Electro-Robotic organic plants of the 1st modification of Valentin Krausp), new theoretical positions are developed, practical solutions made under the guidance of the founders of scientific schools, including the author of this article, are found and patented, and subsequent scientific and technical, technological and complex interdisciplinary solutions for electrification, automation and electrobotization of agricultural conveyor machine technologies are shown. (Research purpose). The research purpose is in analyzing the time stages of development and implementation of industrial technologies in agricultural production. (Materials and methods). The research materials are historical documents, archives, and scientific works of famous scientists who laid the foundations for the development of electrification, automation, and robotics in the agro-industrial complex. (Results and discussion). Author analyzed the stages of development and implementation of electrification, automation and robotization of agricultural production. The article describes each stage, notes their advantages and features. The article presents the final stage of creating conveyor technologies for food production in the full "field-shop" cycle, in which the main role is played by electric robotics and intellectualization of production and processing of organic waste into fertilizer. (Conclusions) The article highlights the history of the development of agricultural science and the author's youth scientific school. International cooperation through CMEA has allowed us to reach the international level in the automation of dairy farming. It also allowed the developing of mathematical optimizations of technologies for dairy farms and fattening of young farm animals. Research has been conducted and have been developed integrated automation systems with automated control systems for farms in dairy farming. The author's developed model design of ECO-1VK modular plant of 1st modification, which comprehensively solved all the problems: social by creating agricultural cities that provides youth in urban life; brought a new generation of youth: cyber-zoo-technologists, veterinarians, engineers, managers. The ecological cleanliness of feed production fields is ensured; animals are kept in natural conditions without the use of antibiotics; milk and meat are processed into organic food.
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Lenkutis, Tadas, Andrius Dzedzickis, Oleksii Balitskyi, Liudas Petrauskas, Rimgaudas Urbonas, Vytautas Bučinskas, Donatas Valiulis, and Inga Morkvėnaitė-Vilkončienė. "„KUKA YOUBOT“ DINAMINIŲ CHARAKTERISTIKŲ TYRIMAS / RESEARCH OF KUKA YOUBOT DYNAMICAL CHARACTERISTICS." Mokslas - Lietuvos ateitis 11 (February 1, 2019): 1–3. http://dx.doi.org/10.3846/mla.2019.7072.
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In order to maintain competitiveness and a technical edge business entity are increasingly implementing advanced technical solutions in their operational processes, most of which include the installation of various type robotic systems. One of the best known and widely distributed examples of universal robotic system is Kuka-Youbot, which is a modular robotic system developed by KUKA as open source project for education and research. This system consists of two main modules, a robotic arm with 5 degrees of freedom, and a omni-directional mobile platform. It can be assembled in various configuration, such as a stationary robotic arm, a mobile platform, a robotic arm mounted on mobile platform and, two robotics arms mounted on one mobile platform. Positions of robot grabber were determined using two photo cameras of 1920×1080 in resolution, rulers and special algorithm in Matlab software. The longest duration of the vibrations was recorded when rotating Joint II on the vertical plane. The shortest-lasting vibrations were recorded when rotating the Joint V. In order to reduce the duration of the manipulator’s vibration time in operating mode, it is recommended to use the robot’s operating positions located at the horizontal plane.
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Кravchuk, О., V. Symonenkov, I. Symonenkova, and O. Hryhorev. "THE SOME QUESTIONS OF AUTONOMOUS MOTION AND MANAGEMENT OF LAND-MOBILE ROBOTIC COMPLEXES FOR UKRAINIAN GROUND FORCESE." Collection of scientific works of Odesa Military Academy, no. 11 (December 27, 2019): 53–58. http://dx.doi.org/10.37129/2313-7509.2019.11.53-58.
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Today, more than forty countries of the world are engaged in the development of military-purpose robots. A number of unique mobile robots with a wide range of capabilities are already being used by combat and intelligence units of the Armed forces of the developed world countries to conduct battlefield intelligence and support tactical groups. At present, the issue of using the latest information technology in the field of military robotics is thoroughly investigated, and the creation of highly effective information management systems in the land-mobile robotic complexes has acquired a new phase associated with the use of distributed information and sensory systems and consists in the transition from application of separate sensors and devices to the construction of modular information subsystems, which provide the availability of various data sources and complex methods of information processing. The purpose of the article is to investigate the ways to increase the autonomy of the land-mobile robotic complexes using in a non-deterministic conditions of modern combat. Relevance of researches is connected with the necessity of creation of highly effective information and control systems in the perspective robotic means for the needs of Land Forces of Ukraine. The development of the Armed Forces of Ukraine management system based on the criteria adopted by the EU and NATO member states is one of the main directions of increasing the effectiveness of the use of forces (forces), which involves achieving the principles and standards necessary for Ukraine to become a member of the EU and NATO. The inherent features of achieving these criteria will be the transition to a reduction of tasks of the combined-arms units and the large-scale use of high-precision weapons and land remote-controlled robotic devices. According to the views of the leading specialists in the field of robotics, the automation of information subsystems and components of the land-mobile robotic complexes can increase safety, reliability, error-tolerance and the effectiveness of the use of robotic means by standardizing the necessary actions with minimal human intervention, that is, a significant increase in the autonomy of the land-mobile robotic complexes for the needs of Land Forces of Ukraine.