Статті в журналах з теми "Commande multi-robots"

In this paper, we present a multi-modal control framework to provide compliant behaviors on industrial robots, even when the robots are position commanded. This is obtained by fusing multi-modal sensor signals from robot skin with different control approaches. These compliant behaviors allow to teach robots safely. The presented framework is able to bridge kinesthetically demonstrated activities with low-level robot commands using a state-of-the-art teaching by demonstration method based on a semantic engine. We validate our framework in a real wheeled robot for an industrial scenario, where our presented framework enables a stiff robotic system to be compliant, flexible, and adaptable to different working conditions, e.g. different end-effectors with multiple command interfaces (position/velocity and torque interfaces).

In this study, we investigated the relationship between the finger force and the neural command in multi-finger force production tasks in order to characterize the neural enslaving effect and the force-deficit effect among fingers. Seven healthy male subjects were instructed to press one, two, three and four fingers on the finger sensors as hard as possible acting in parallel in all possible combinations. Then, the finger forces in each task were recorded and analyzed to represent the neural enslaving effect and the force-deficit effect. The results confirmed that individual finger forces were smaller in multi-finger maximal voluntary contraction tasks than in single-finger tasks. The force deficit effect increased with the number of fingers involved. A mathematical model proposed in this paper based on the experimental results could explicitly describe the two effects of finger interaction by representing the relationship between the neural commands and finger forces. The present results could be useful information to understand the basic neuro-muscular mechanism in hand biomechanics and the fundamentals of intelligent hand robots.

The article develops multi-pattern formation exchange using A* searching algorithm, and programs the shortest motion paths for mobile robots. The system contains an image recognition system, a motion platform, some wireless RF modules and five mobile robots. We use Otsu algorithm to recognize the variety 2D bar code to classify variety pattern, and control five mobile robots to execute formation exchange, and present the movement scenario on the motion platform. We have been developed some pattern formations according to game applications, such as hook pattern formation, T pattern formation, L pattern formation, rectangle pattern formation, sward pattern formation and so on, and develop the user interface of the multi-robot system to program motion paths for variety pattern formation exchange on the supervised computer. The supervised computer programs pattern formation exchange according to the image recognition results, and controls mobile robots moving on the motion platform via wireless RF interface. In the experimental results, mobile robots can receive the pattern formation command from the supervised computer, and change the original pattern formation to the assigned pattern formation on the motion platform, and avoid other mobile robots on real-time.

It is challenging to avoid obstacles safely and efficiently for multiple robots of different shapes in distributed and communication-free scenarios, where robots do not communicate with each other and only sense other robots’ positions and obstacles around them. Most existing multi-robot collision avoidance systems either require communication between robots or require expensive movement data of other robots, like velocities, accelerations and paths. In this paper, we propose a map-based deep reinforcement learning approach for multi-robot collision avoidance in a distributed and communication-free environment. We use the egocentric local grid map of a robot to represent the environmental information around it including its shape and observable appearances of other robots and obstacles, which can be easily generated by using multiple sensors or sensor fusion. Then we apply the distributed proximal policy optimization (DPPO) algorithm to train a convolutional neural network that directly maps three frames of egocentric local grid maps and the robot’s relative local goal positions into low-level robot control commands. Compared to other methods, the map-based approach is more robust to noisy sensor data, does not require robots’ movement data and considers sizes and shapes of related robots, which make it to be more efficient and easier to be deployed to real robots. We first train the neural network in a specified simulator of multiple mobile robots using DPPO, where a multi-stage curriculum learning strategy for multiple scenarios is used to improve the performance. Then we deploy the trained model to real robots to perform collision avoidance in their navigation without tedious parameter tuning. We evaluate the approach with multiple scenarios both in the simulator and on four differential-drive mobile robots in the real world. Both qualitative and quantitative experiments show that our approach is efficient and outperforms existing DRL-based approaches in many indicators. We also conduct ablation studies showing the positive effects of using egocentric grid maps and multi-stage curriculum learning.

SUMMARYResearchers dream of developing autonomous humanoid robots which behave/walk like a human being. Biped robots, although complex, have the greatest potential for use in human-centred environments such as the home or office. Studying biped robots is also important for understanding human locomotion and improving control strategies for prosthetic and orthotic limbs. Control systems of humans walking in cluttered environments are complex, however, and may involve multiple local controllers and commands from the cerebellum. Although biped robots have been of interest over the last four decades, no unified stability/balance criterion adopted for stabilization of miscellaneous walking/running modes of biped robots has so far been available. The literature is scattered and it is difficult to construct a unified background for the balance strategies of biped motion. The zero-moment point (ZMP) criterion, however, is a conservative indicator of stabilized motion for a class of biped robots. Therefore, we offer a systematic presentation of multi-level balance controllers for stabilization and balance recovery of ZMP-based humanoid robots.

The article designs the multiple pattern formation controls of the multi-robot system according to two arms’ gesture of the player, and uses flood fill searching algorithm and A* searching algorithm to program the motion paths. The inertia module detects two arms’ gesture of the player. We use the inertia module to be embedded in the two arms, and use mobile robots to present the movement scenario of pattern formation exchange on the grid based motion platform. We have been developed some pattern formations applying in the war game, such as rectangle pattern formation, long snake pattern formation, L pattern formation, sword pattern formation, cone pattern formation and so on. We develop the user interface for variety pattern formation exchange according to the minimum displacement on the supervised computer. The mobile robot receives the command from the supervised compute, and transmits the status of environment to the supervised computer via wireless RF interface. Players can use variety arms’ gesture to control the multiple mobile robots to executed pattern formation exchange. In the experimental results, the supervised computer can decides the arm gesture using fusion algorithms. Mobile robots can receive the pattern formation command from the supervised computer, and change the original pattern formation to the assigned pattern formation on the motion platform, and avoid other mobile robots.

Developing a safe and efficient collision-avoidance policy for multiple robots is challenging in the decentralized scenarios where each robot generates its paths with limited observation of other robots’ states and intentions. Prior distributed multi-robot collision-avoidance systems often require frequent inter-robot communication or agent-level features to plan a local collision-free action, which is not robust and computationally prohibitive. In addition, the performance of these methods is not comparable with their centralized counterparts in practice. In this article, we present a decentralized sensor-level collision-avoidance policy for multi-robot systems, which shows promising results in practical applications. In particular, our policy directly maps raw sensor measurements to an agent’s steering commands in terms of the movement velocity. As a first step toward reducing the performance gap between decentralized and centralized methods, we present a multi-scenario multi-stage training framework to learn an optimal policy. The policy is trained over a large number of robots in rich, complex environments simultaneously using a policy-gradient-based reinforcement-learning algorithm. The learning algorithm is also integrated into a hybrid control framework to further improve the policy’s robustness and effectiveness. We validate the learned sensor-level collision-3avoidance policy in a variety of simulated and real-world scenarios with thorough performance evaluations for large-scale multi-robot systems. The generalization of the learned policy is verified in a set of unseen scenarios including the navigation of a group of heterogeneous robots and a large-scale scenario with 100 robots. Although the policy is trained using simulation data only, we have successfully deployed it on physical robots with shapes and dynamics characteristics that are different from the simulated agents, in order to demonstrate the controller’s robustness against the simulation-to-real modeling error. Finally, we show that the collision-avoidance policy learned from multi-robot navigation tasks provides an excellent solution for safe and effective autonomous navigation for a single robot working in a dense real human crowd. Our learned policy enables a robot to make effective progress in a crowd without getting stuck. More importantly, the policy has been successfully deployed on different types of physical robot platforms without tedious parameter tuning. Videos are available at https://sites.google.com/view/hybridmrca .

In this research, multi-robot formation can be established according to the environment or workspace. Group of robots will move sequently if there is no space for robots to stand side by side. Leader robot will be on the front of all robots and follow the right wall. On the other hand, robots will move side by side if there is a large space between them. Leader robot will be tracked the wall on its right side and follow on it while every follower moves side by side. The leader robot have to broadcast the information to all robots in the group in radius 9 meters. Nevertheless, every robot should be received information from leader robot to define their movements in the area. The error provided by fuzzy output process which is caused by read data from ultrasound sensor will drive to more time process. More sampling can reduce the error but it will drive more execution time. Furthermore, coordination time will need longer time and delay. Formation will not be establisehed if packet error happened in the communication process because robot will execute wrong command.

It is very intricate to determine the parameters for a correct kinematic model to compensate robot inaccuracies by calibration. Whereas non model-based approaches to compensate multi-directional robot pose inaccuracies with the help of a correction matrix have the disadvantage of being time consuming due to the large number of measurements. This paper describes a more efficient non model-based method to compensate tool deviations by defining a minimized subspace for the robot, taking advantage of a rotary table. Necessary measuring poses are identified depending on the commanded paths and the inverse kinematics. The authors present the validation and verification of the method. They quantify and evaluate particularly the multi-directional positioning path accuracy.

AbstractMulti-robot systems offer many advantages over a single-robot system, including redundancy, coverage and flexibility. One of the key technical considerations in fielding multi-robot systems for real-world applications is the coordination of the individual units. The cluster space control technique promotes simplified specification and monitoring of the motion of mobile multi-robot systems. Previous work has established this approach and has experimentally verified its use for land-based systems consisting of 2-4 robots and with varying implementations ranging from automated trajectory control to human-in-the-loop piloting. In this paper, we describe the design and fabrication of a new low-cost autonomous surface vessel (ASV). The technical system includes a multi-boat system capable of autonomous navigation using the cluster space control technique. It also includes a centralized controller, currently implemented via a shore-based computer that wirelessly receives ASV data and relays drive commands. Using the cluster space control approach, these drive commands allow a pilot to remotely drive a two-ASV cluster or to specify that the two ASVs maintain formation with a third boat. The resulting multi-ASV clusters can be arbitrarily translated, rotated, and resized depending on the needs of a specific application. Experimental results demonstrating these capabilities are provided, and plans for future work are discussed.

Robot applications are mostly first developed on a computer and thereafter loaded onto the robot. However, in many situations, developing applications directly on the robot may be more effective. For instance, children who have not learned using a computer yet and who develop their robot applications while playing. Or for instance in the robots' operating environment, where there is no computer available. In this contribution we present the properties of the software tool becerik, for developing applications on-board a robot and for running them in multi-tasking mode concurrently. Furthermore, we introduce the programming language of the applications that has the same name becerik, which consists of only 6 commands.

The 169 MHz band was assigned for unmanned vehicles such as robots and drones by the Ministry of Internal Affairs and Communications (MIC) in 2016 in Japan, according to the reallocation of the TV band from VHF (analog) to UHF (digital). This band is expected to have a long range and good diffraction characteristics during drone operation over a long range with obstacles such as buildings, trees, or terrains. In this paper, we present the prototype system and its propagation experiments of command and telemetry communications at 169 MHz, which is added to a multi-hop communication unit in the 920 MHz band developed previously to enhance the beyond line-of-sight (BLOS) operation performance for drones.

An hierarchical motion-control design strategy is presented to integrate various intelligent machining modules to CNC systems. There are two independent buses in the CNC system. Modular and independent processor boards reside in the primary bus which is global for manufacturing process monitoring, control and machine tool position commands. A digital signal processing board provides a secondary CNC bus, which has one imbedded microprocessor for the position control of each axis. The system is open to integration of new hardware and software modules. Any process control and monitoring task in the system can manipulate the feed, acceleration, control law parameters and position commands in real time. New process control, monitoring and position control algorithms can be integrated to the system by using globally available CNC parameters. The process control and monitoring functions are executed in the real-time multi-tasking environment within 1 ms time intervals without disturbing the position control system. The proposed design provides an open development platform for parallel testing of intelligent manufacturing algorithms on machine tools and robots.

This paper designs a new ZigBee intelligent robot communication control system, which realizes one to many data transmission. Upper computer can send commands to control multiple mobile intelligent robots to do the action response through wireless module. Slave computer can also send data to host computer to achieve remote monitoring, and has high relay ability. In order to verify the effectiveness and reliability of the system, this paper tests the system and obtains 3D signal and robot node control distribution. Through the analysis of the system time delay and control signal features, we found that the system has good stability, which can satisfy the design need of multi-intelligent robot control. It provides the theoretical reference for the study of ZigBee automation control.

In this paper, we present a novel deep reinforcement learning (DRL) based method that is used to perform multi-robot task allocation (MRTA) and navigation in an end-to-end fashion. The policy operates in a decentralized manner mapping raw sensor measurements to the robot’s steering commands without the need to construct a map of the environment. We also present a new metric called the Task Allocation Index (TAI), which measures the performance of a method that performs MRTA and navigation from end-to-end in performing MRTA. The policy was trained on a simulated gazebo environment. The centralized learning and decentralized execution paradigm was used for training the policy. The policy was evaluated quantitatively and visually. The simulation results showed the effectiveness of the proposed method deployed on multiple Turtlebot3 robots.

Rubber track of Rescue Robot was dispersed into limited number of track blocks by the method of finite segment method used in flexible multibody dynamics. The two neighbor track blocks were connected by springs and dampers, then the moldel was become a multi-rigid-body system with flexible joint. Rubber track was modeled with the help of macro command used in the secondary development of virtual prototype technique software named ADAMS. Flexible connection was realized by the method of adding Bushing, and then a new method was proposed to build rubber track model. The obstacle-surmounting simulation of climbing the barrier of single step was carried out. It intuitively reflected the stress and deformation under the condition of climbing barrier. The method mentioned above laid good foundation for studying obstacle-surmounting abilities of the rubber-tracked robots and dynamic characteristic of the tracks.

This paper proposes a nonlinear intelligent control of a two link robot arm by considering human voluntary components. In general, human arm viscoelastic properties are regulated in different manners according to various task requirements. The viscoelasticity consists of joint stiffness and viscosity. The research of the viscoelasticity can improve the development of industrial robots, rehabilitation and sports etc. So far, some results have been shown using filtered human arm viscoelasticity measurements. That is, human motor command is removed. As a result, the dynamics of human voluntary component during movements is omitted. In this paper, based on the feedforward characteristics of human multi joint arm, a model is obtained by considering human voluntary components using a support vector regression technique. By employing the learned model, a nonlinear intelligent control of two link robot arm is proposed. Experimental results confirm the effectiveness of this proposal.

Abstract There are the results of pipelines rolled joints welding machine modernization. The machine is designed using a welding rotator, linear electric drives, stepper motors, CNC system. The machine is controlled by a CNC system according to ISO 6983-1: 2009. The machine consists of: stepping rotary device, welding torch stepping device, controlled TIG welding power source, controlled welding wire feeder, welding current control system, workpiece rotation control system and welding torch. The welding torch movement trajectory controlling software has been created. It allows to weld by any type of welding torch recommended movements. The modernizing machine allows welding the pipelines rolled joints in automatic mode both in one pass and in multi-pass. The machine can be used for industrial pipeline elements welding, for welding modes testing, for studying the effect of welding modes on the quality of pipeline welds. The results can be adapted for sheet structures welding using the standard commands of the ISO 6983-1: 2009 standard. The results can be adapted to industrial welding robots control. The welding machine can be used for MIG / MAG welding and surfacing.

The goal of the research reported here was to investigate whether the design methodology utilising embodied agents can be applied to produce a multi-modal human–computer interface for cyberspace events visualisation control. This methodology requires that the designed system structure be defined in terms of cooperating agents having well-defined internal components exhibiting specified behaviours. System activities are defined in terms of finite state machines and behaviours parameterised by transition functions. In the investigated case the multi-modal interface is a component of the Operational Centre which is a part of the National Cybersecurity Platform. Embodied agents have been successfully used in the design of robotic systems. However robots operate in physical environments, while cyberspace events visualisation involves cyberspace, thus the applied design methodology required a different definition of the environment. It had to encompass the physical environment in which the operator acts and the computer screen where the results of those actions are presented. Smart human–computer interaction (HCI) is a time-aware, dynamic process in which two parties communicate via different modalities, e.g., voice, gesture, eye movement. The use of computer vision and machine intelligence techniques are essential when the human is carrying an exhausting and concentration demanding activity. The main role of this interface is to support security analysts and operators controlling visualisation of cyberspace events like incidents or cyber attacks especially when manipulating graphical information. Visualisation control modalities include visual gesture- and voice-based commands.

The existing ultrasonic obstacle avoidance robot only uses an ultrasonic sensor in the process of obstacle avoidance, which can only be avoided according to the fixed obstacle avoidance route. Obstacle avoidance cannot follow additional information. At the same time, existing robots rarely involve the obstacle avoidance strategy of avoiding pits. In this study, on the basis of ultrasonic sensor obstacle avoidance, visual information is added so the robot in the process of obstacle avoidance can refer to the direction indicated by road signs to avoid obstacles, at the same time, the study added an infrared ranging sensor, so the robot can avoid potholes. Aiming at this situation, this paper proposes an intelligent obstacle avoidance design of an autonomous mobile robot based on a multi-sensor in a multi-obstruction environment. A CascadeClassifier is used to train positive and negative samples for road signs with similar color and shape. A multi-sensor information fusion is used for path planning and the obstacle avoidance logic of the intelligent robot is designed to realize autonomous obstacle avoidance. The infrared sensor is used to obtain the environmental information of the ground depression on the wheel path, the ultrasonic sensor is used to obtain the distance information of the surrounding obstacles and road signs, and the information of the road signs obtained by the camera is processed by the computer and transmitted to the main controller. The environment information obtained is processed by the microprocessor and the control command is output to the execution unit. The feasibility of the design is verified by analyzing the distance acquired by the ultrasonic sensor, infrared distance measuring sensors, and the model obtained by training the sample of the road sign, as well as by experiments in the complex environment constructed manually.

There is currently a division between real-world human performance and the decision making of socially interactive robots. This circumstance is partially due to the difficulty in estimating human cues, such as pose and gesture, from robot sensing. Towards bridging this division, we present a method for kinematic pose estimation and action recognition from monocular robot vision through the use of dynamical human motion vocabularies. Our notion of a motion vocabulary is comprised of movement primitives that structure a human's action space for decision making and predict human movement dynamics. Through prediction, such primitives can be used to both generate motor commands for specific actions and perceive humans performing those actions. In this paper, we focus specifically on the perception of human pose and performed actions using a known vocabulary of primitives. Given image observations over time, each primitive infers pose independently using its expected dynamics in the context of a particle filter. Pose estimates from a set of primitives inferencing in parallel are arbitrated to estimate the action being performed. The efficacy of our approach is demonstrated through interactive-time pose and action recognition over extended motion trials. Results evidence our approach requires small numbers of particles for tracking, is robust to unsegmented multi-action movement, movement speed, camera viewpoint and is able to recover from occlusions.

The task of controlling multi-link robots with manipulators for implementation of high-tech processes in industry has been considered in the paper. The paper presents sequential steps of using computer technology in construction of robotic-manipulators, including mathematical, algorithmic, and hardware and software tools for creating a multi-drive mechatronic system controlled by OMRON industrial microcontroller. A kinematic scheme of a robot manipulator has been described in the paper and it performs the following two types of movements – rotation around the z axis and rectilinear movement of a working element along a turning radius with precise positioning at a given point in the working space. Electromechanical design of the manipulator allows to ensure transportation of production objects in accordance with a given technological process. For designing the technological process of transporting production objects, a software module has been developed that makes it possible to automate description of basic operations for movement of the robot manipulator working body with subsequent automatic generation of a command sequence for a control program ensuring operation of electric drives in manipulator links in real time. To speed up the process of designing trajectory of the working body, a spatial simulation model of a robot-manipulator in the MatLab-Simulink environment has been developed. The paper considers a generalized diagram of a mechatronic control system for a robot-manipulator based on the OMRON programmable logic controller operating under control of a program developed in the programming environment Sysmac Studio Automation. A program for a programmable terminal with interface elements and animation elements has been developed for industrial use of the mechatronic system during adjustment and operation period. The paper provides an appearance of a robot-manipulator prototype. The developed mechatronic system of the robot-manipulator can be technologically oriented towards solving other problems of industrial production.

Abstract Objective. Brain-controlled robotic arms have shown broad application prospects with the development of robotics, science and information decoding. However, disadvantages, such as poor flexibility restrict its wide application. Approach. In order to alleviate these drawbacks, this study proposed a robotic arm asynchronous control system based on steady-state visual evoked potential (SSVEP) in an augmented reality (AR) environment. In the AR environment, the participants were able to concurrently see the robot arm and visual stimulation interface through the AR device. Therefore, there was no need to switch attention frequently between the visual stimulation interface and the robotic arm. This study proposed a multi-template algorithm based on canonical correlation analysis and task-related component analysis to identify 12 targets. An optimization strategy based on dynamic window was adopted to adjust the duration of visual stimulation adaptively. Main results. Experimental results of this study found that the high-frequency SSVEP-based brain–computer interface (BCI) realized the switch of the system state, which controlled the robotic arm asynchronously. The average accuracy of the offline experiment was 94.97 % , whereas the average information translate rate was 67.37 ± 14.27 bits·min−1. The online results from ten healthy subjects showed that the average selection time of a single online command was 2.04 s, which effectively reduced the visual fatigue of the subjects. Each subject could quickly complete the puzzle task. Significance. The experimental results demonstrated the feasibility and potential of this human-computer interaction strategy and provided new ideas for BCI-controlled robots.

Reinforcement learning (RL) can provide a basic framework for autonomous robots to learn to control and maximize future cumulative rewards in complex environments. To achieve high performance, RL controllers must consider the complex external dynamics for movements and task (reward function) and optimize control commands. For example, a robot playing tennis and squash needs to cope with the different dynamics of a tennis or squash racket and such dynamic environmental factors as the wind. In addition, this robot has to tailor its tactics simultaneously under the rules of either game. This double complexity of the external dynamics and reward function sometimes becomes more complex when both the multiple dynamics and multiple reward functions switch implicitly, as in the situation of a real (multi-agent) game of tennis where one player cannot observe the intention of her opponents or her partner. The robot must consider its opponent's and its partner's unobservable behavioral goals (reward function). In this article, we address how an RL agent should be designed to handle such double complexity of dynamics and reward. We have previously proposed modular selection and identification for control (MOSAIC) to cope with nonstationary dynamics where appropriate controllers are selected and learned among many candidates based on the error of its paired dynamics predictor: the forward model. Here we extend this framework for RL and propose MOSAIC-MR architecture. It resembles MOSAIC in spirit and selects and learns an appropriate RL controller based on the RL controller's TD error using the errors of the dynamics (the forward model) and the reward predictors. Furthermore, unlike other MOSAIC variants for RL, RL controllers are not a priori paired with the fixed predictors of dynamics and rewards. The simulation results demonstrate that MOSAIC-MR outperforms other counterparts because of this flexible association ability among RL controllers, forward models, and reward predictors.

Different control strategies are available for human machine interfaces based on electromyography (EMG) to map voluntary muscle signals to control signals of a remote controlled device. Complex systems such as robots or multi-fingered hands require a natural commanding, which can be realized with proportional and simultaneous control schemes. Machine learning approaches and methods based on regression are often used to realize the desired functionality. Training procedures often include the tracking of visual stimuli on a screen or additional sensors, such as cameras or force sensors, to create labels for decoder calibration. In certain scenarios, where ground truth, such as additional sensor data, can not be measured, e.g., with people suffering from physical disabilities, these methods come with the challenge of generating appropriate labels. We introduce a new approach that uses the EMG-feature stream recorded during a simple training procedure to generate continuous labels. The method avoids synchronization mismatches in the labels and has no need for additional sensor data. Furthermore, we investigated the influence of the transient phase of the muscle contraction when using the new labeling approach. For this purpose, we performed a user study involving 10 subjects performing online 2D goal-reaching and tracking tasks on a screen. In total, five different labeling methods were tested, including three variations of the new approach as well as methods based on binary labels, which served as a baseline. Results of the evaluation showed that the introduced labeling approach in combination with the transient phase leads to a proportional command that is more accurate than using only binary labels. In summary, this work presents a new labeling approach for proportional EMG control without the need of a complex training procedure or additional sensors.

Purpose This 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 and innovator regarding his personal journey and the commercialization and challenges of bringing a technological invention to market. This paper aims to discuss these issues. Design/methodology/approach The interviewee is Dr Hod Lipson, James and Sally Scapa Professor of Innovation of Mechanical Engineering and Data Science at Columbia University. Lipson’s bio-inspired research led him to co-found four companies. In this interview, Dr Lipson shares some of his personal and business experiences of working in academia and industry. Findings Dr Lipson received his BSc in Mechanical Engineering from the Technion Israel Institute of Technology in 1989. He worked as a software developer and also served for the next five years as a Lieutenant Commander for the Israeli Navy. He then co-founded his first company, Tri-logical Technologies (an Israeli company) in 1994 before pursuing a PhD, which was awarded to him from the Technion Israel Institute of Technology in Mechanical Engineering in the fall of 1998. From 1998 to 2001, he did his postdoc research at Brandeis University, Computer Science Department, while also lecturing at MIT. Dr Lipson served as Professor of Mechanical & Aerospace Engineering and Computing & Information Science at Cornell University for 14 years and joined Columbia University as a Professor in Mechanical Engineering in 2015. From 2013 to 2015, he also served as Editor-in-Chief for the journal 3D Printing and Additive Manufacturing (3DP), published by Mary Ann Liebert Inc. Originality/value Dr Lipson’s broad spectrum and multi-decades of research has focused on self-aware and self-replicating robots. Dr Lipson directs the Creative Machines Lab which pioneers new ways for novel autonomous systems to design and make other machines, based on biological concepts. In total, his lab has graduated over 50 graduate students and over 20 PhD and Postdocs. Some of these students joined Lipson, in cofounding startups, while others went on to found their own companies. Lipson has coauthored over 300 publications that received over 20,000 citations. He has also coauthored the award-winning book Fabricated: The New World of 3D Printing and the book Driverless: Intelligent Cars and the Road Ahead. Forbes magazine named him one of the “World's Most Powerful Data Scientists”. His TED Talk on self-aware machines is one of the most viewed presentations on AI and robotics.

In any type of communication in robots one too many communication is only possible. I.e. One master node can communicate with one slave node only. But here we are going to build up to two slave robots that communicate with the master node. This is possible only by using signee as it is alone having a separate unique id for it. Here we have used only two slave robots for one master node but, we can add a number of robots for the master node having of different id’s using of ZigBee transfer protocol.

Multi–agent system is one the most popular research interests in robotics nowadays. Imagine for a swarm of robots, what kind of intelligence can we build now? This question arises from emulating biological systems. How is it that colonies of small ants can work together to perform a difficult task that single ant cannot do it alone? How might collections of simple robots aid us in human endeavours? By examining these questions, one of the common characteristics shared by each agent is in agent simplicity. Simplicity in control means that the robots are provided with direct commands in order to execute the action. It doesn’t need to gather all information from various sensors to plan its action like deliberative control which is also known as sensors fusion that clearly required a lot of computational time and also the mapping that its produces might not valid at the time when changes occurs between the time it gathers the information and the time it plans its actions. Instead, intelligence will arise when these simple agents work together to perform some complex task cooperatively. By examining the major control architectures available in robotics area, subsumption–based reactive control architecture gives the tools as required. Priority–based scheme is used in arbitration level to select which behaviour to run. In this paper decentralised reactive control architecture was used to justify the communication based simple control architecture can perform complex task like carrying load and navigate. Key words: Multi-agent system; reactive control architecture; control algorithm

AbstractThis paper introduces a passivity-based control framework for multi-task time-delayed bilateral teleoperation and shared control of kinematically-redundant robots. The proposed method can be seen as extension of state-of-the art hierarchical whole-body control as it allows for some of the tasks to be commanded by a remotely-located human operator through a haptic device while the others are autonomously performed. The operator is able to switch among tasks at any time without compromising the stability of the system. To enforce the passivity of the communication channel as well as to dissipate the energy generated by the null-space projectors used to enforce the hierarchy among the tasks, the Time-Domain Passivity Approach (TDPA) is applied. The efficacy of the approach is demonstrated through its application to the DLR Suspended Aerial Manipulator (SAM) in a real telemanipulation scenario with variable time delay, jitter, and package loss.

Perfume is a Japanese “techno-pop” idol trio formed in 2000 consisting of three women–Ayano Omoto, Yuka Kashino, and Ayaka Nishiwaki. Since 2007, when one of their songs was selected for a recycling awareness campaign by Japan's national public broadcaster, Perfume has been a consistent fixture in the Japanese pop music charts. They have been involved in the full gamut of typical idol activities, from television and radio shows to commercials for clothing brands, candy, and drinks. Their success reflects Japanese pop culture's long-standing obsession with pop idols, who once breaking into the mainstream, become ubiquitous cross-media presences. Perfume’s fame in Japan is due in large part to their masterful performance of traditional female idol roles, through which they assume the kaleidoscopic positions of daughter, sister, platonic friend, and heterosexual romantic partner depending on the standpoint of the beholder. In the lyrical content of their songs, they play the various parts of the cute but shy girl who loves from a distance, the strong compatriot that pushes the listener to keep striving for their dreams, and the kindred spirit with whom the listener can face life's ordinary challenges. Like other successful idols, their extensive lines of Perfume-branded merchandise and product endorsements make the exercise of consumer spending power by their fans a vehicle for them to approach the ideals and experiences that Perfume embodies. Yet, Perfume's videos, music, and stage performances are also replete with subversive images of machines, virtual cities and landscapes, and computer generated apparitions. In their works, the traditional idol as an object of consumer desire co-exists with images of the fragmentation of identity, distrust in the world and the senses, and the desire to escape from illusion, all presented in terms of encounters with technology. In what their fans call the "Near Future Trilogy", a set of three singles released soon after their major label debut (2005-06), lyrics refer to the artificiality and transience of virtual worlds ("Nothing I see or touch has any reality" from "Electro-World," or "I want to escape. I want to destroy this city created by immaculate computation" from "Computer City"). In their later work, explicit lyrical references to virtual worlds and machines largely disappear, but they are replaced with images and bodily performances of Perfume with robotic machinery and electronic information. Perfume is an idol group augmented by technology. In this paper, I explore the significance of these images of technological augmentation of the human body in the work of Perfume. I suggest that the ways these bodily encounters of the human body and technology are articulated in their work reflect broader social and economic anxieties and hopes in Japan. I focus in the first section of this paper on describing some of the recurring technological motifs in their works. Next, I show how their recent work is an experiment with the emergent possibilities of human-technology relationships for imagining Japan's future development. Not only in their visual and performance style, but in their modes of engagement with their fans through new media, I suggest that Perfume itself is attempting to seek out new forms of value creation, which hold the promise of pushing Japan out of the extended economic and social stagnation of its 1990s post-bubble "Lost Decade,” particularly by articulating how they connect with the world. The idol's technologically augmented body becomes both icon and experiment for rethinking Japan and staking out a new global position for it. Though I have referred above to Perfume as its three members, I also use the term to signify the broader group of managers and collaborating artists that surrounds them. Perfume is a creation of corporate media companies and the output of development institutions designed to train multi-talented entertainers from a young age. In addition to the three women who form the public face of Perfume, main figures include music producer Yasutaka Nakata, producer and choreographer MIKIKO, and more recently, the new media artist Daito Manabe and his company, Rhizomatiks. Though Perfume very rarely appear on stage or in their videos with any other identifiable human performers, every production is an effort involving dozens of professional staff. In this respect, Perfume is a very conventional pop idol unit. The attraction of these idols for their fans is not primarily their originality, creativity, or musicality, but their professionalism and image as striving servants (Yano 336). Idols are beloved because they "are well-polished, are trained to sing and act, maintain the mask of stardom, and are extremely skillful at entertaining the audience" (Iwabuchi 561). Moreover, their charisma is based on a relationship of omoiyari or mutual empathy and service. As Christine Yano has argued for Japanese Enka music, the singer must maintain the image of service to his or her fans and reach out to them as if engaged in a personal relationship with each (337). Fans reciprocate by caring for the singer, and making his or her needs their own, not the least of which are financial. The omoiyari relationship of mutual empathy and care is essential to the singer’s charismatic appeal (Yano 347). Thus it does not matter to their fans that Perfume do not play their own instruments or write their own songs. These are jobs for other professionals. However, mirroring the role of the employee in the Japanese company-as-family (see Kondo), their devotion to their jobs as entertainers, and their care and respect for their fans must be evident at all times. The tarnishing of this image, for instance through revelations of underage smoking or drinking, can be fatal, and has resulted in banishment from the media spotlight for some former stars. A large part of Japanese stars' conventional appeal is based on their appearance as devoted workers, consummate professionals, and partners in mutual empathy. As charismatic figures that exchange cultural ideals for fans’ disposable income, it is not surprising that many authors have tied the emergence of the pop idol to the height of Japan's economic prosperity in the 1970s and 1980s, when the social contract between labor and corporations that provided both lifelong employment and social identity had yet to be seriously threatened. Aoyagi suggests (82) that the idol system is tied to post-war consumerism and the increased importance of young adults, particularly women, as consumers. As this correlation between the health of idols and the economy might imply, there is a strong popular connection between concerns of social fission and discontent and economic stagnation. Koichi Iwabuchi writes that Japanese media accounts in the 1990s connected the health of the idol system to the "vigor of society" (555). As Iwabuchi describes, some Japanese fans have looked for their idols abroad in places such as Hong Kong, with a sense of nostalgia for a kind of stardom that has waned in Japan and because of "a deep sense of disillusionment and discontent with Japanese society" (Iwabuchi 561) following the collapse of Japan's bubble economy in the early 1990s. In reaction to the same conditions, some Japanese idols have attempted to exploit this nostalgia. During a brief period of fin-de-siècle optimism that coincided with neoliberal structural reforms under the government of Junichiro Koizumi, Morning Musume, the most popular female idol group at the time, had a hit single entitled "Love Machine" that ended the 1990s in Japan. The song's lyrics tie together dreams of life-long employment, romantic love, stable traditional families, and national resurgence, linking Japan's prosperity in the world at large to its internal social, emotional, and economic health. The song’s chorus declares, "The world will be envious of Japan's future!", although that future still has yet to materialize. In its place has appeared the "near-future" imaginary of Perfume. As mentioned above, the lyrics of some of their early songs referenced illusory virtual worlds that need to be destroyed or transcended. In their later works, these themes are continued in images of the bodies of the three performers augmented by technology in various ways, depicting the performers themselves as robots. Images of the three performers as robots are first introduced in the music video for their single "Secret Secret" (2007). At the outset of the video, three mannequins resembling Perfume are frozen on a futuristic TV soundstage being dressed by masked attendants who march off screen in lock step. The camera fades in and out, and the mannequins are replaced with the human members frozen in the same poses. Other attendants raise pieces of chocolate-covered ice cream (the music video also served as an advertisement for the ice cream) to the performers' mouths, which when consumed, activate them, launching them into a dance consisting of stilted, mechanical steps, and orthogonal arm positions. Later, one of the performers falls on stairs and appears to malfunction, becoming frozen in place until she receives another piece of ice cream. They are later more explicitly made into robots in the video for "Spring of Life" (2012), in which each of the three members are shown with sections of skin lifted back to reveal shiny, metallic parts inside. Throughout this video, their backs are connected to coiled cables hanging from the ceiling, which serve as a further visual sign of their robotic characters. In the same video, they are also shown in states of distress, each sitting on the floor with parts exposed, limbs rigid and performing repetitive motions, as though their control systems have failed. In their live shows, themes of augmentation are much more apparent. At a 2010 performance at the Tokyo Dome, which was awarded the jury selection prize in the 15th Japan Media Arts Festival by the Japanese Agency for Cultural Affairs, the centerpiece was a special performance entitled "Perfume no Okite" or "The Laws of Perfume." Like "Secret Secret," the performance begins with the emergence of three mannequins posed at the center of the stadium. During the introductory sequence, the members rise out of a different stage to the side. They begin to dance, synchronized to massively magnified, computer generated projections of themselves. The projections fluctuate between photorealistic representations of each member and ghostly CG figures consisting of oscillating lines and shimmering particles that perform the same movements. At the midpoint, the members each face their own images, and state their names and dates of birth before uttering a series of commands: "The right hand and right leg are together. The height of the hands must be precise. Check the motion of the fingers. The movement of the legs must be smooth. The palms of the hands must be here." With each command, the members move their own bodies mechanically, mirrored by the CG figures. After more dancing with their avatars, the performance ends with Perfume slowly lowered down on the platform at the center of the stage, frozen in the same poses and positions as the mannequins, which have now disappeared. These performances cleverly use images of robotic machinery in order to subvert Perfume's idol personas. The robotic augmentations are portrayed as vectors for control by some unseen external party, and each of the members must have their life injected into them through cables, ice cream, or external command, before they can begin to dance and sing as pop idols. Pop idols have always been manufactured products, but through such technological imagery Perfume make their own artificiality explicit, revealing to the audience that it is not the performers they love, but the emergent and contingently human forms of a social, technological, and commercial system that they desire. In this way, these images subvert the performers' charisma and idol fans' own feelings of adoration, revealing the premise of the idol system to have been manufactured to manipulate consumer affect and desire. If, as Iwabuchi suggests, some fans of idols are attracted to their stars by a sense of nostalgia for an age of economic prosperity, then Perfume's robotic augmentations offer a reflexive critique of this industrial form. In "The Laws of Perfume", the commands that comport their bodies may be stated in their own voices, yet they issue not from the members themselves, but their magnified and processed avatars. It is Perfume the commercial entity speaking. The malfunctioning bodies of Perfume depicted in "Secret Secret" and "Spring of Life" do not detract from their charisma as idols as an incident of public drunkenness might, because the represented breakdowns in their performances are linked not to the moral purity or professionalism of the humans, but to failures of the technological and economic systems that have supported them. If idols of a past age were defined by their seamless and idealized personas as entertainers and employees, then it is fitting that in an age of much greater economic and social uncertainty that they should acknowledge the cracks in the social and commercial mechanisms from which their carefully designed personas emerge. In these videos and performances, the visual trope of technological body augmentation serves as a means for representing both the dependence of the idol persona on consumer capitalism, and the fracturing of that system. However, they do not provide an answer to the question of what might lie beyond the fracturing. The only suggestions provided are the disappearance of that world, as in the end of "Computer City," or in the reproduction of the same structure, as when the members of Perfume become mannequins in "The Laws of Perfume" and "Secret Secret." Interestingly, it was with Perfume's management's decision to switch record labels and market Perfume to an international audience that Perfume became newly augmented, and a suggestion of an answer became visible. Perfume began their international push in 2012 with the release of a compilation album, "Love the World," and live shows and new media works in Asia and Europe. The album made their music available for purchase outside of Japan for the first time. Its cover depicts three posed figures computer rendered as clouds of colored dots produced from 3D scans of the members. The same scans were used to create 3D-printed plastic figures, whose fabrication process is shown in the Japanese television ad for the album. The robotic images of bodily augmentation have been replaced by a more powerful form of augmentation–digital information. The website which accompanied their international debut received the Grand Prix of the 17th Japan Media Arts Prize. Developed by Daito Manabe and Rhizomatiks, visitors to the Perfume Global website were greeted by a video of three figures composed of pulsating clouds of triangles, dancing to a heavy, glitch-laden electronic track produced by Nakata. Behind them, dozens of tweets about Perfume collected in real-time scroll across the background. Controls to the side let visitors change not only the volume of the music, but also the angle of their perspective, and the number and responsiveness of the pulsating polygons. The citation for the site's prize refers to the innovative participatory features of the website. Motion capture data from Perfume, music, and programming examples used to render the digital performance were made available for free to visitors, who were encouraged to create their own versions. This resulted in hundreds of fan-produced videos showing various figures, from animals and cartoon characters to swooshing multi-colored lines, dancing the same routine. Several of these were selected to be featured on the website, and were later integrated into the stage performance of the piece during Perfume's Asia tour. A later project extended this idea in a different direction, letting website visitors paint animations on computer representations of the members, and use a simple programming language to control the images. Many of these user creations were integrated into Perfume's 2013 performance at the Cannes Lions International Festival as advertising. Their Cannes performance begins with rapidly shifting computer graphics projected onto their costumes as they speak in unison, as though they are visitors from another realm: "We are Perfume. We have come. Japan is far to the east. To encounter the world, the three of us and everyone stand before you: to connect you with Japan, and to communicate with you, the world." The user-contributed designs were projected on to the members' costumes as they danced. This new mode of augmentation–through information rather than machinery–shows Perfume to be more than a representation of Japan's socio-economic transitions, but a live experiment in effecting these transitions. In their international performances, their bodies are synthesized in real-time from the performers' motions and the informatic layer generated from tweets and user-generated creations. This creates the conditions for fans to inscribe their own marks on to Perfume, transforming the emotional engagement between fan and idol into a technological linkage through which the idols’ bodies can be modified. Perfume’s augmented bodies are not just seen and desired, but made by their fans. The value added by this new mode of connection is imagined as the critical difference needed to transform Perfume from a local Japanese idol group into an entity capable of moving around the world, embodying the promise of a new global position for Japan enabled through information. In Perfume, augmentation suggests a possible answer to Japan’s economic stagnation and social fragmentation. It points past a longing for the past towards new values produced in encounters with the world beyond Japan. Augmentations newly connect Perfume and Japan with the world economically and culturally. At the same time, a vision of Japan emerges, more mobile, flexible, and connected perhaps, yet one that attempts to keep Japan a distinct entity in the world. Bodily augmentations, in media representations and as technological practices, do more than figuratively and materially link silicon and metal with flesh. They mark the interface of the body and technology as a site of transnational connection, where borders between the nation and what lies outside are made References Aoyagi, Hiroshi. Islands of Eight Million Smiles: Idol Performance and Symbolic Production in Contemporary Japan. Cambridge, Mass.: Harvard University Press, 2005. Iwabuchi, Koichi. "Nostalgia for a (Different) Asian Modernity: Media Consumption of "Asia" in Japan." positions: east asia cultures critique 10.3 (2002): 547-573. Kondo, Dorinne K. Crafting Selves: Power, Gender and Discourses of Identity in a Japanese Workplace. Chicago and London: University of Chicago Press, 1990. Morning Musume. “Morning Musume ‘Love Machine’ (MV).” 15 Oct. 2010. 4 Dec. 2013 ‹http://www.youtube.com/watch?v=6A7j6eryPV4›. Perfume. “[HD] Perfume Performance Cannes Lions International Festival of Creativity.” 20 June 2013. 11 Nov. 2013 ‹http://www.youtube.com/watch?v=gI0x5vA7fLo›. ———. “[SPOT] Perfume Global Compilation “LOVE THE WORLD.”” 11 Sep. 2012. 11 Nov. 2013 ‹http://www.youtube.com/watch?v=28SUmWDztxI›. ———. “Computer City.” 18 June 2013. 10 Oct. 2013 ‹http://www.youtube.com/watch?v=jOXGKTrsRNg›. ———. “Electro World.” 18 June 2013. 10 Oct. 2013 ‹http://www.youtube.com/watch?v=8zh0ouiYIZc›. ———. “Perfume no Okite.” 8 May 2011. 10 Oct. 2013 ‹http://www.youtube.com/watch?v=2EjOistJABM›. ———. “Perfume Official Global Website.” 2012. 11 Nov. 2013 ‹http://perfume-global.com/project.html›. ———. “Secret Secret.” 18 Jan. 2012. 10 Oct. 2013 ‹http://www.youtube.com/watch?v=birLzegOHyU›. ———. “Spring of Life.” 18 June 2013. 10 Oct. 2013 ‹http://www.youtube.com/watch?v=7PtvnaEo9-0›. Yano, Christine. "Charisma's Realm: Fandom in Japan." Ethnology 36.4 (1997): 335-49.