ROBOT

Over the last two decades, several deployments of robots for in-house assistance of older adults have been trialled. However, these solutions are mostly prototypes and remain unused in real-life scenarios. In this work, we review the historical and current landscape of the field, to try and understand why robots have yet to succeed as personal assistants in daily life. Our analysis focuses on two complementary aspects: the capabilities of the physical platform and the logic of the deployment. The former analysis shows regularities in hardware configurations and functionalities, leading to the definition of a set of six application-level capabilities (exploration, identification, remote control, communication, manipulation, and digital situatedness). The latter focuses on the impact of robots on the daily life of users and categorises the deployment of robots for healthcare interventions using three types of services: support, mitigation, and response. Our investigation reveals that ...

In the last chapter, we went through detailed procedures to install Ubuntu on VirtualBox and on a real PC. We also practiced important shell commands that we are going to use while building a robot. The next important requirement for working with a robot is to learn a few programming languages. By using these languages, we can program the robot for different application. Some of the popular programming languages used for creating robotic applications are C++ and Python. This doesn't mean that we won't use other languages. Programming languages like Java and C# are also used in robotics, but the most common languages are C++ and Python. This chapter discusses some fundamental concepts of C++ and its compilation process. These concepts will definitely help you when you start working with ROS. The fundamentals include mainly objectoriented programming (OOP) concepts and compiling code using Make and CMake tools. This chapter assumes that you have some fundamental understanding of C programming languages. So let's get started with C++ fundamental.

This paper focuses on studies on reconfigurable multi acquire findings on how multi-legs robot can walk, climb vertical pipe and walk along the horizontal pipe after climbing. Three degrees of freedom (3DOF) multi pipeline or to check on vertical and horizontal pipes. The robot system is tested to climb the vertical pipe and then move along horizontal pipe for inspection or other purposes. This can reduce the cost and percentage of human risk exposure during inspection on outer pipe. This multi speed, wheeled robot possesses greater advantages. Therefore, this system design has combination of both wheel and multiple legs ensure that the to system has higher stability, more gait movement, and higher speed manoeuvrability. The gaits analysis for the system movement includes a operation, either walking, climbing or hanging. The target result is the system able to climb 500 mm height with 85 mm radius pipe. The potential applications for the system are: Be equipped with ultrasonic senso...

Title of dissertation: CONCURRENT LOCALIZATION AND MAPPING WITH SONAR SENSORS AND CONSIDERATION OF VEHICLE MOTIONS Hesham Ismail, 2016 Dissertation directed by: Professor Balakumar Balachandran Department of Mechanical Engineering Simultaneous Localization and Mapping (SLAM) is a procedure used to determine the location of a mobile vehicle in an unknown environment, while constructing a map of the unknown environment at the same time. Mobile platforms, which make use of SLAM algorithms, have industrial applications in autonomous maintenance, such as the inspection of flaws and defects in oil pipelines and storage tanks. A typical SLAM consists of four main components, namely, experimental setup (data gathering), vehicle pose estimation, feature extraction, and filtering. Feature extraction is the process of realizing significant features from the unknown environment such as corners, edges, walls, and interior features. In this work, an original feature extraction algorithm specific ...

Using games to teach introductory computing courses provides another context with which to exploring the possible attraction, retention, and education of a new generation of computer science (CS) students. At Bryn Mawr College, we have been actively exploring these contexts and have identified four that have great promise for use in teaching introductory computing courses: visualization, multimedia, robotics, and, most recently, games. We are currently using and analysing robots and have some preliminary results. ...

This article describes an unprecedented alternative to manual procedures for the application of advanced composite materials, such as Fiber Reinforced Polymer (FRP) and epoxy resins. A complete mobile integrated system is presented for the inspection and maintenance of concrete surfaces in tunnels. It allows performance of operations with minimum interference on passing traffic. The core of this system resides in a specially designed lightweight robotic tool, which is sensed and automated for processes. Sensing includes vision and a laser telemeter to assure precise inspection, superficial preparation, and composite application. The designed interconnection flange allows simple and robust attachment of the tool to a robotic arm's tip. The robot-tool set is to be mounted on a standard articulated lift platform. Therefore, an operator can direct the platform and the robot-tool set's operations from a control station placed at ground-level, in a wheeled vehicle on which the articulated lift platform is mounted. A graphical Human-Machine Interface (HMI) has been developed for the system. It allows the operator to identify fissures for the injection of epoxy resin, and weakened surfaces for FRP adhesion. Actual procedures are planned and performed by the system's automatic components.

This paper describes the development of a fetch-and-carry robot to assist physically impaired people in an office environment. Different methods involving users are employed in the project, including the task analysis, Hi-Fi simulation trials and focus group sessions. Through an iterative design process, a prototype robot system has been developed, with an enhanced robot platform including a graphical user interface and natural language interface. The users' need for continuous feedback from the robot has led to the development of an animated character (CERO), which relates the two interface components and indicates the robot's current state by using simple gestures

Developing easy to use, intuitive interfaces is crucial to introduce robotic automation to many small medium sized enterprises (SMEs). Due to their continuously changing product lines, reprogramming costs exceed installation costs by a large margin. In addition, traditional programming methods for industrial robots is too complex for an inexperienced robot programmer, thus external assistance is often needed. In this paper a new incremental multimodal language, which uses augmented reality (AR) environment, is presented. The proposed language architecture makes it possible to manipulate, pick or place the objects in the scene. This approach shifts the focus of industrial robot programming from coordinate based programming paradigm, to object based programming scheme. This makes it possible for non-experts to program the robot in an intuitive way, without going through rigorous training in robot programming.

Recent research argues that robots could replace workers in dangerous work environments to reduce occupational injuries. However, robot development and usage in most developing countries remain at an infant stage, robots may increase the likelihood of occupational injuries due to conditions such as limited human capital and defects. By using a city-level dataset based on the Guangdong Province in China, we find that robot application is associated with an increase in the rate of occupational injuries in the first two years, and then exhibits nonsignificant and even negative effects afterwards. We also find that local governments can reduce or even eliminate the effect of robot application on occupational injuries by strengthening safety regulations. In addition, although local governments are keen on pushing robot application and industrial intelligence, the wide application of robots may impose a burden on the public health expenditure of local governments due to occupational injuries. This study extends our knowledge by challenging the traditional view that robot application can reduce the rate of occupational injuries, and also provides suggestions on the safety regulations of developing countries at the early stage of industrial intelligence.

Service applications of robotic technologies begin to appear in several aspects of daily life, motivated by a number of different reasons. One of the most significant is the over -aging and decreasing of the population in Europe that will cause dramatic social changes in all European Countries. The poor state of most of Health Care Systems in Europe is not

We would like to invite you to join this exciting new project as a chapter contributor. Since this is a textbook, a great deal of this chapter entails a survey on the topic under the paradigm of cyber-physical systems, what can be done onboard and remotely, the distributed nature of the system and some exercises on futurology (anticipating trends can shed some light on upcoming designs). IET will bring great visibility to your work. You are welcome to suggest another topic/chapter title if you feel it would be more suitable. Each chapter should be around 20-25 pages each and can be submitted as a Word or Latex File. The IET will send you additional information (formatting, permission form, etc.) with the contributor's agreement once you have agreed to contribute to the book. Visit http:// www.theiet.org/resources/author-hub/books/index.cfm to get all information you need as a contributor to an IET research-level book. Each book is expected to have a total number of 500 printed pages (based on approximately 550 words per page with a 20% allowance for figures and tables). We have included a tentative schedule and list of topics below. If this is something you would consider, please send me the title of your chapter, a short description/abstract of the chapter content, and your full contact details. We will expect original content and new results for this book. You can, of course, reuse published material but the percentage of material reuse for the chapter should be less than 40%. The IET will run a piracy software on the full manuscript to control that you are including original material and will reject chapters who contain a large amount of already-published material so please do take this into consideration.

In this study, the method of direct-motion parallel parking is introduced both in theory and in simulations for the vehicle with and without a trailer. The results show that not only a vehicle with a trailer park in parallel using direct motion, but also a vehicle with a trailer park in parallel in direct motion after the final value of the orientation angle is satisfied. Simulation results are given to verify the effectiveness of the proposed method.

Paper videos can be reached from this URL: http://www.youtube.com/playlist?list=PLENSkat0854vszuVfu9mnrEvHsVQGBBgB

Similar to how the smartphone and Internet have significantly changed our daily lives, artificial intelligence (AI) applications have started to profoundly affect our everyday lives as well. Two major products of this relatively recent trend are virtual assistants and home robots. They have similar functional characteristics: both interact with users through conversational agents and attempt to imitate human behavior. Home robots host a virtual assistant and have mechanical capabilities as well. There are many discussions about risks, challenges and the future vision associated with the proliferation of AI at the industrial level. These discussions, however, have not yet widely extended to the user level within the context of daily lives. In this article, we provide a review to discuss the benefits, risks, challenges, open questions and the future vision of using virtual assistants and social robots in daily lives.

In this paper, the derivation of dynamic model of a robot arm on a two wheeled moving platform, and design of controllers to stabilize the robot arm are presented. The modeling of two wheeled moving platform is conducted through Simmechanics® toolbox of Matlab® software. Considered control approaches are PID control and linear quadratic gaussian (LGQ) for the dynamic system. The controllers are designed by using linearized model devised from Simmechanics®. Simulation studies are discussed. Control approaches are compared in detail in terms of tracking precision, quality of control signal. The aims of this study are derivation of linearized model for designing controllers, and determining the most appropriate controller for the real time system.

The development of robot art ment. This is probably because robotics incorporates within itself a few charming, practical, and intellectual issues that are able to elicit the interest and curiosity of many philosophers, artists, scientists, technologists, and, overall, ordinary people.

This study paper includes design of arduino based Automatic Wall painting robot achieve low cost painting. Now days for painting purpose we required more labours m so those painting work get costly. This automatic painting system will reduce human exposure to difficult and hazardous environment which will solve most of problems connected with safety.

Abstract—Research on multi fingered robot hand (MFRH) is being carried out to accommodate a variety of tasks such as grasping and manipulation of objects in the field of industrial applications, service robots, and rehabilitation robots. The first step in realising a fully ...

There has been an increase in the use of a robotic arm in various commercial and non-commercial sectors such as production, electronics, healthcare and assembly lines. Majorly robotic arm is used in assembly lines due to human restriction in that area. The aim of this project is the design of stationary 6-axis robotic arm for pick and place operation. For reducing the cost of stepper motors, we have achieved the speed reduction. The main context of this paper is the design of 6-axis robotic arm resembling a human arm consisting of manipulators performing various motions including pitching, rolling and yawing. The robotic arm is developed using software V-Rep for its efficient usage in Torque calculations and simulation

Introduzione alla nuova traduzione italiana di R.U.R. che ripercorre la genesi del testo, studia le radici culturali dell'opera e ne analizza il significato, ricostruendo la diffusione del testo all'estero e la sua influenza sulla cultura successiva.

The involvement of children and adolescents in robotics is on demand by the many events and competitions of robotics all over the world. This non-deterministic world is more attractive, fun, hands-on and with real results than computer virtual simulations and 3D worlds. It is important, by different reasons, to involve people of all ages in an area that some consider the future of mankind and an opportunity to increase the low rate of engineers globally. Robotics competitions at this level are essentially based on teaching motion and programming skills by using Lego™ based robots and a set of challenges to overcome. This paper presents a different approach that is being used by Minho University in order to attract STEM candidates into these fields, with visible success and excellent results. The event is called RoboParty® and teaches children, adolescents and adults, from any area, how to build a robot from scratch, using electronics, mechanics and programming during three non-stop days.

Humans and robots will need to collaborate in order to create a sustainable human lunar presence by the end of the 2020s. This includes cases in which a human will be required to teleoperate an autonomous rover that has encountered an instrument assembly failure. To aid teleoperators in the troubleshooting process, we propose a virtual reality digital twin placed in a simulated environment. Here, the operator can virtually interact with a digital version of the rover and mechanical arm that uses the same controls and kinematic model. The user can also adopt the egocentric (a first person view through using stereoscopic passthrough) and exocentric (a third person view where the operator can virtually walk around the environment and rover as if they were on site) view. We also discuss our metrics for evaluating the differences between our digital and physical robot, as well as the experimental concept based on real and applicable missions, and future work that would compare our platform to traditional troubleshooting methods.

In this paper a system, which is driven through natural language, that allows operators to select and manipulate objects in the environment using an industrial robot is proposed. In order to hide the complexities of robot programming we propose a natural language where the user can control and jog the robot based on reference objects in the scene. We used semantic networks to relate different types of objects in the scene.

In this study, a Best First Search (BFS) Based Intelligent PID Tuning Method is proposed for a mobile robot path tracking problem. BFS is an informed search strategy in Artificial Intelligence (AI). It has been used in many areas of intelligent systems. Here, it is used to search values of both ultimate period and ultimate gain of Ziegler-Nichols (ZN) PID Tuning Method. So, using these ultimate period and gain, PID parameters can be c from tables of ZN method. The performance measure in this problem is described as minimizing total error during any specified trajectory tracking. Thus the proposed method does not depend on the system model. It only needs error information during the tracking control. So, this method can be used to tune PID parameters of any tracking controller for a system with unknown system dynamics. The proposed method is tested with simulations in MATLAB during trajectory tracking of a mobile robot. In addition, it is compared with classical PID and conventional PID tuning methods including Ziegler-Nichols method, Tyreus-Luyben method, and Shinskey method.

Keywords: Intelligent PID tuning, best first search, autonomous mobile robot, mobile robot path tracking problem, computed torque PID control, dynamic model, Ziegler-Nichols, Tyreus-Luyben, Shinskey.

Abstract: - The paper presents achievements made in original works performed by authors in the field of virtual prototyping atmospherical wafer manipulating robots and specific application for atmospherical wafer manipulation tasks. There are succesively presented virtual ...

The arrival of a commercial surgical robotic platform at our institution has raised the question of its application and usefulness within the department of otolaryngology head and neck surgery. In order to answer this question, we sought to perform a qualitative review to examine the evolution of commercial surgical robotics and examine present and future applications of this emerging technology within our specialty. The main objective of this study is to examine the development and application of robotic surgery in otolaryngology, head and neck surgery. The study includes a qualitative systematic review. We have reviewed research papers and studies that speciWcally relate to the use of robots in otorhinolaryngology. More speciWcally, we have attempted to review those studies that have signiWcantly added to the development of this Weld. In summary, we have examined eight animal studies, six cadaveric studies, nine human trials. Robotic surgery in ENT is a safe and feasible option. In certain procedures, it oVers signiWcant beneWts over conventional surgery. Instrument and robotic arm size, and costs are limiting factors that prevent the use of robots being applied to many additional ENT procedures. We feel the development of new speciality-speciWc robots will yield a new era in the common use of robotics in ENT.

This research was conducted to gather information about the impact of usingLEGO MINDSTORMS NXT ROBOT in science on sixth grade students in primary schools, the need ofit in education, its advantages, disadvantages, hardware and software used to develop it and whether it fits with the physiological and cognitive developments characteristics of the students. The participants attended a LEGO robotic training programin three science experiments to study the motion, distance and speed principles. The researchers applied a science test, a student's questionnaire, a teacher's interview and a teacher's interview scale to gather the needed information. The results show that the LEGO robot is an efficient technology in teaching science, increases the students' academic achievement as the science test results show and the findings emphasize that this robot is a valuable technology in education and in primary schools as it develops the 21st century skills of the students.

el modelo CAD, los modelos cinemáticos directo e inverso y el modelo dinámico, en el modelo cinemático directo se utilizan matrices homogéneas; para su obtención, en el modelo cinemático inverso se utiliza el método de la ecuación cuadrática, en el modelo dinámico se usan las ecuaciones de Euler; Lagrange, empleando matrices homogéneas y teniendo en cuenta los efectos inerciales por medio del tensor de inercias, el cual se determinó con la ayuda de herramientas CAD, también se presenta el jacobiano del manipulador, necesario para el control cinemático. El trabajo se plantea como la primera etapa, para el control del robot KUKA KR 6, y propone la implementación del modelo cimemático inverso en un DSP de la familia Texas Instruments, analizando su desempeño.

Library management system aims to automate the library processes throughout a collection of actions as book loan, catalogue, indexing, and recording. This paper goes one-step further in the automation of library systems by using the IoT and robot for more precise and reliable automation. In this proposed work, Pick and place robot has been integrated with GSM technology, Radio Frequency Identification (RFID) equipment, and sensory technology to enhance the robot functionality. The augmented robot, in this work, is used to automate the process of picking the library books and sending them to the borrower table. The user can control the robot movement inside library remotely using SMS commands. In this paper, redesigning the library ground was implemented to let the robot moves freely between the shelves. The experimental results showed the ability of robot to collect books with different thickness and weights from different shelf levels at different distances with accuracy up to 97.33%.

Robotic technology has become more interested field to safely interact with the human. Therefore, there is a need to continuously improve the mathematical models and flexibility of robot arm when subjected to a collision force in order to reduce environmental impact, but maintain very high stiffness otherwise. To implement these requirements, adjustable compliant mechanism (ACM), which consists of flat plate spring (FPS), two thin disks, ball bearing and stepper motor, is proposed in this research. The ACM has advantages of variable stiffness which can be achieved only by passive mechanical elements. The theoretical relation between spring stiffness and rotational angle was derived for rectangular cross section. Comparison was made between three types of materials used for FPS which were AISI Steel 4340, Brass and Aluminum 6061 T6. The steel spring exhibited the best flexibility and good rigidity as well. Several of impact forces showed the variable stiffness of the FPS, but an abrupt drops in the stiffness when rotational angle was 90° under various impact forces. Furthermore, the stiffness and impact force can be set to any value depending on the application.

This study clarifies the events that led to the appearance of the word `robot' in world culture and shows the international reception of the work of Karel Čapek R.U.R. (Rossum's Universal Robots), which caused a deep transformation of the robot into a mechanical anthropomorphic creature. All the author's texts dedicated to the topic are translated into Italian for the first time, and primary sources which testify the resonance that R.U.R. received in Italy have been republished.

Earlier were the days, where a maid would be appointed for cleaning the house and also people felt that there wasn’t much need for them to worry about the household cleanliness. Later people decided to move on to the technology where, newly arrived manual vacuum cleaners played a major role in the part of their lives. Though it was easier to remove dirt from the house, it was also an energy draining action done by humans and they were noisy. Later, automation slowly started increasing and humans wanted to take rest all the way while everything is being automated in their lives such as machines playing major roles. One such of the greatest inventions was the automatic robotic vacuum cleaner. The work de-scribes the thoughts, ideas and the designs that came up with the result in a more convenient vacuum cleaner that is automated and most helpful to the current situa-tion in today’s lives and also describes the development of a disc-shaped robot using Arduino micro- controller and a vacuum system using axial fan. The micro controller is programmed to move along a user-defined path. The robot is embed-ded with motor shield as well as a voltage regulator. The power supply to the ro-bot is via a 12V rechargeable Li- polymer battery which is recharged using AC-DC adapter. When fully charged, the robot can run for 20-30 minutes. A single switch can be used to turned on or off the robot. The simulation for the robot is done using Coppelia Robotics software and vacuum analysis using ANSYS flu-ent v16.0. For vacuum, based on the standard specifications, the axial fan is mod-elled and a computational analysis is carried out to observe the physics of fluid flow. Finally, the results were obtained for turbulent flow conditions. The main aim of the work is to suggest a best and optimal design for a robotic vacuum cleaner. Further, the developed robot is affordable and suitable for Indian markets which cut down the labor work for cleaning the floor. The developed system can be used for household purposes and also plays a vital role in various industries.

We kindly ask you to participate in this research devoted to the adoption of service robots by travel, tourism and hospitality companies. By completing the questionnaire, you will be eligible to participate in an opportunity for one of five electronic 100-dollar gift cards, redeemable as Amazon gift vouchers, among other options. Once you have completed the survey, a separate link will be sent to you allowing you to register for the opportunity. The researchers will not be able to identify your responses to the survey questions and the identifying information you will leave for the purposes of the opportunity for the gift vouchers.

For questions about your rights as a research subject, please contact the Director, Office of Research Integrity, Ball State University, Muncie, IN 47306, (765) 285-5070 or at irb@bsu.edu. IRB Protocol Number: 1194315-1

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Prof. Stanislav Ivanov, Varna University Management, Bulgaria, email: stanislav.ivanov@vumk.eu