Search results for: robot operating system

Authors: Ali Emre Öztürk, Ergun Ercelebi

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Autonomous robotic systems needs an equipment like a human eye for their movement. Robotic camera systems, distance sensors and 3D laser scanners have been used in the literature. In this study a 3D laser scanner has been produced for those autonomous robotic systems. In general 3D laser scanners are using 2 dimension laser range finders that are moving on one-axis (1D) to generate the model. In this study, the model has been obtained by a one-dimensional laser range finder that is moving in two –axis (2D) and because of this the laser scanner has been produced cheaper. Furthermore for the laser scanner a motor driver, an embedded system control board has been used and at the same time a user interface card has been used to make the communication between those cards and computer. Due to this laser scanner, the density of the objects, the distance between the objects and the necessary path ways for the robot can be calculated. The data collected by the laser scanner system is converted in to cartesian coordinates to be modeled in AutoCAD program. This study shows also the synchronization between the computer user interface, AutoCAD and the embedded systems. As a result it makes the solution cheaper for such systems. The scanning results are enough for an autonomous robot but the scan cycle time should be developed. This study makes also contribution for further studies between the hardware and software needs since it has a powerful performance and a low cost.

Keywords: 3D laser scanner, embedded system, 1D laser range finder, 3D model

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Authors: V. V. Singh

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In this paper we have focused on the study of a Linux operating system connected in a LAN (local area network). We have considered two different topologies STAR topology (subsystem-1) and BUS topology (subsystem-2) which are placed at two different places and connected to a server through a hub. In both topologies BUS topology and STAR topology, we have assumed 'n' clients. The system has two types of failure partial failure and complete failure. Further the partial failure has been categorized as minor partial failure and major partial failure. It is assumed that minor partial failure degrades the subsystem and the major partial failure brings the subsystem to break down mode. The system can completely failed due to failure of server hacking and blocking etc. The system is studied by supplementary variable technique and Laplace transform by taking different types of failure and two types of repairs. The various measures of reliability like availability of system, MTTF, profit function for different parametric values has been discussed.

Keywords: star topology, bus topology, hacking, blocking, linux operating system, Gumbel-Hougaard family copula, supplementary variable

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Authors: Norbert Szulc, Jakub Wilk, Franciszek Górski

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This paper presents an approach for simulating and testing robotic systems based on PX4, using a local Kubernetes cluster. The approach leverages modern cloud-native tools and runs on single-board computers. Additionally, this solution enables the creation of datasets for computer vision and the evaluation of control system algorithms in an end-to-end manner. This paper compares this approach to method commonly used Docker based approach. This approach was used to develop simulation environment for an unmanned surface vehicle (USV) for RoboBoat 2023 by running a containerized configuration of the PX4 Open-source Autopilot connected to ROS and the Gazebo simulation environment.

Keywords: cloud computing, Kubernetes, single board computers, simulation, ROS

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Authors: C. U. Om Kumar, S. Kishore, A. Geetha

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An Operating system (OS) is software that manages computer hardware and software resources by providing services to computer programs. One of the important user expectations of the operating system is to provide the practice of defending information from unauthorized access, disclosure, modification, inspection, recording or destruction. Operating system is always vulnerable to the attacks of malwares such as computer virus, worm, Trojan horse, backdoors, ransomware, spyware, adware, scareware and more. And so the anti-virus software were created for ensuring security against the prominent computer viruses by applying a dictionary based approach. The anti-virus programs are not always guaranteed to provide security against the new viruses proliferating every day. To clarify this issue and to secure the computer system, our proposed expert system concentrates on authorizing the processes as wanted and unwanted by the administrator for execution. The Expert system maintains a database which consists of hash code of the processes which are to be allowed. These hash codes are generated using MD5 message-digest algorithm which is a widely used cryptographic hash function. The administrator approves the wanted processes that are to be executed in the client in a Local Area Network by implementing Client-Server architecture and only the processes that match with the processes in the database table will be executed by which many malicious processes are restricted from infecting the operating system. The add-on advantage of this proposed Expert system is that it limits CPU usage and minimizes resource utilization. Thus data and information security is ensured by our system along with increased performance of the operating system.

Keywords: virus, worm, Trojan horse, back doors, Ransomware, Spyware, Adware, Scareware, sticky software, process table, MD5, CPU usage and resource utilization

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Authors: Maryam Alimardani, Kazuo Hiraki

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This study presents a framework for development of a new generation of therapy robots that can interact with users by monitoring their physiological and mental states. Here, we focused on one of the controversial methods of therapy, hypnotherapy. Hypnosis has shown to be useful in treatment of many clinical conditions. But, even for healthy people, it can be used as an effective technique for relaxation or enhancement of memory and concentration. Our aim is to develop a robot that collects information about user’s mental and physical states using electroencephalogram (EEG) and electromyography (EMG) signals and performs costeffective hypnosis at the comfort of user’s house. The presented framework consists of three main steps: (1) Find the EEG-correlates of mind state before, during, and after hypnosis and establish a cognitive model for state changes, (2) Develop a system that can track the changes in EEG and EMG activities in real time and determines if the user is ready for suggestion, and (3) Implement our system in a humanoid robot that will talk and conduct hypnosis on users based on their mental states. This paper presents a pilot study in regard to the first stage, detection of EEG and EMG features during hypnosis.

Keywords: hypnosis, EEG, robotherapy, brain-computer interface (BCI)

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Authors: Shu-Yu Hsu, Chen-Chien Hsu, Wei-Yen Wang

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Color segmentation is a basic and simple way for recognizing the visual markers in a robotic tracking system. In this paper, we propose a new method for color segmentation by incorporating differential evolution algorithm and connected component labeling to autonomously preset the HSV threshold of visual markers. To evaluate the effectiveness of the proposed algorithm, a ROBOTIS OP2 humanoid robot is used to conduct the experiment, where five most commonly used color including red, purple, blue, yellow, and green in visual markers are given for comparisons.

Keywords: color segmentation, differential evolution, connected component labeling, humanoid robot

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Authors: Huang Dennis, Aurelio Aziel, Burra Venkata Durga Kumar

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Nowadays, smartphones and mobile operating systems have been popularly widespread in our daily lives. As people use smartphones, they tend to store more private and essential data on their devices, because of this it is very important to develop more secure mobile operating systems and cloud storage to secure the data. However, several factors can cause security risks in mobile operating systems such as malware, malicious app, phishing attacks, ransomware, and more, all of which can cause a big problem for users as they can access the user's private data. Those problems can cause data loss, financial loss, identity theft, and other serious consequences. Other than that, during the pandemic, people will use their mobile devices more and do all sorts of transactions online, which may lead to more victims of online scams and inexperienced users being the target. With the increase in attacks, researchers have been actively working to develop several countermeasures to enhance the security of operating systems. This study aims to provide an overview of the security and privacy issues in mobile operating systems, identifying the potential risk of operating systems, and the possible solutions. By examining these issues, we want to provide an easy understanding to users and researchers to improve knowledge and develop more secure mobile operating systems.

Keywords: mobile operating system, security, privacy, Malware

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Authors: Victor Bloch, Eerikki Kaila, Reetta Palva

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Field robots are an important tool for enhancing efficiency and decreasing the climatic impact of food production. There exists a number of commercial field robots; however, since this technology is still new, the robot advantages and limitations, as well as methods for optimal using of robots, are still unclear. In this study, the performance of a commercial field robot for seeding and weeding was assessed. A research 2-ha sugar beet field with 0.5m row width was used for testing, which included robotic sowing of sugar beet and weeding five times during the first two months of the growing. About three and five percent of the field were used as untreated and chemically weeded control areas, respectively. The plant detection was based on the exact plant location without image processing. The robot was equipped with six seeding and weeding tools, including passive between-rows harrow hoes and active hoes cutting inside rows between the plants, and it moved with a maximal speed of 0.9 km/h. The robot's performance was assessed by image processing. The field images were collected by an action camera with a height of 2 m and a resolution 27M pixels installed on the robot and by a drone with a 16M pixel camera flying at 4 m height. To detect plants and weeds, the YOLO model was trained with transfer learning from two available datasets. A preliminary analysis of the entire field showed that in the areas treated by the robot, the weed average density varied across the field from 6.8 to 9.1 weeds/m² (compared with 0.8 in the chemically treated area and 24.3 in the untreated area), the weed average density inside rows was 2.0-2.9 weeds / m (compared with 0 on the chemically treated area), and the emergence rate was 90-95%. The information about the robot's performance has high importance for the application of robotics for field tasks. With the help of the developed method, the performance can be assessed several times during the growth according to the robotic weeding frequency. When it’s used by farmers, they can know the field condition and efficiency of the robotic treatment all over the field. Farmers and researchers could develop optimal strategies for using the robot, such as seeding and weeding timing, robot settings, and plant and field parameters and geometry. The robot producers can have quantitative information from an actual working environment and improve the robots accordingly.

Keywords: agricultural robot, field robot, plant detection, robot performance

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Authors: Pimploi Tirastittam, Sawanath Treesathon, Amornrath Ongkawat

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Learning Management System (LMS) is the system which uses to manage the learning in order to grouping the content and learning activity between the lecturer and learner including online examination and evaluation. Nowadays, it is the borderless learning era so the learning activities can be accessed from everywhere in the world and also anytime via the information technology and media. The learner can easily access to the knowledge so the different in time and distance is not a constraint for learning anymore. The learning pattern which was used in this research is the integration of the in-class learning and online learning via internet and will be able to monitor the progress by the Learning management system which will create the fast response and accessible learning process via the social media. In order to increase the capability and freedom of the learner, the system can show the current and history of the learning document, video conference and also has the chat room for the learner and lecturer to interact to each other. So the objectives of the “The Design and Applied of Learning Management System via Social Media on Internet: Case Study of Operating System for Business Subject” are to expand the opportunity of learning and to increase the efficiency of learning as well as increase the communication channel between lecturer and student. The data of this research was collect from 30 users of the system which are students who enroll in the subject. And the result of the research is in the “Very Good” which is conformed to the hypothesis.

Keywords: Learning Management System, social media, Operating System, information technology

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Authors: Misbah Javaid, Vladimir Estivill-Castro, Rene Hexel

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The field of robotics is advancing rapidly to the point where robots have become an integral part of the modern society. These robots collaborate and contribute productively with humans and compensate some shortcomings from human abilities and complement them with their skills. Effective teamwork of humans and robots demands to investigate the critical issue of trust. The field of human-computer interaction (HCI) has already examined trust humans place in technical systems mostly on issues like reliability and accuracy of performance. Early work in the area of expert systems suggested that automatic generation of explanations improved trust and acceptability of these systems. In this work, we augmented a robot with the user-invoked explanation generation proficiency. To measure explanations effect on human’s level of trust, we collected subjective survey measures and behavioral data in a human-robot team task into an interactive, adversarial and partial information environment. The results showed that with the explanation capability humans not only understand and recognize robot as an expert team partner. But, it was also observed that human's learning and human-robot team performance also significantly improved because of the meaningful interaction with the robot in the human-robot team. Moreover, by observing distinctive outcomes, we expect our research outcomes will also provide insights into further improvement of human-robot trustworthy relationships.

Keywords: explanation interface, adversaries, partial observability, trust building

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Authors: Hamidreza Heidari, Abdollah Malmir Nasab

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In this paper, the energy equations of a two-link flexible manipulator were extracted using the Euler-Bernoulli beam hypotheses. Applying Assumed mode and considering some finite degrees of freedom, we could obtain dynamic motions of each manipulator using Euler-Lagrange equations. Using its claws, the robots can carry a certain load with the ached control of vibrations for robot flexible links during the travelling path using the piezoceramics transducer; dynamic load carrying capacity increase. The traveling path of flexible robot claw has been taken from that of equivalent rigid manipulator and coupled; therefore to avoid the role of Euler-Bernoulli beam assumptions and linear strains, material and physical characteristics selection of robot cause deflection of link ends not exceed 5% of link length. To do so, the maximum load carrying capacity of robot is calculated at the horizontal plan. The increasing of robot load carrying capacity with vibration control is 53%.

Keywords: flexible link, DLCC, active control vibration, assumed mode method

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Authors: Wildan Maulana Wildan, Siti Annisa Rahmayani Icha

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Nowadays advances in information technology are needed by all the inhabitants of the earth for the sake of ease all their work, but it is worth to introduced the technological advances in the world of children. Before the technology is growing rapidly, children busy with various of traditional games and have high socialization. Moreover, after it presence, almost all of children spend more their time for playing gadget, It can affect the education of children and will change the character and personality children. However, children also can not be separated with the technology. Because the technology insight knowledge of children will be more extensive. Because the world can not be separated with advances in technology as well as with children, there should be developed a smartphone operating system that is child-friendly. The operating system is able to filter contents that do not deserve children, even in this system there is a reminder of a time study, prayer time and play time for children and there are interactive contents that will help the development of education and children's character. Children need technology, and there are some ways to introduce it to children. We must look at the characteristics of children in different environments. Thus advances in technology can be beneficial to the world children and their parents, and educators do not have to worry about advances in technology. We should be able to take advantage of advances in technology best possible.

Keywords: information technology, smartphone operating system, education, character

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Authors: Jingwen Shan

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In order to explore the key factors affecting the robot program learning intention of school students, this study takes the technology acceptance model as the theoretical basis and invites 167 students from Jiading District of Shanghai as the research subjects. In the robot course, the model of school students on their learning behavior is constructed. By verifying the causal path relationship between variables, it is concluded that teachers can enhance students’ perceptual usefulness to robotics courses by enhancing subjective norms, entertainment perception, and reducing technical anxiety, such as focusing on the gradual progress of programming and analyzing learner characteristics. Students can improve perceived ease of use by enhancing self-efficacy. At the same time, robot hardware designers can optimize in terms of entertainment and interactivity, which will directly or indirectly increase the learning intention of the robot course. By changing these factors, the learning behavior of primary and secondary school students can be more sustainable.

Keywords: TAM, learning behavior intentions, robot courses, primary and secondary school students

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Authors: Y. S. Oh, P. Abhishesh, B. S. Ryuh

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This paper presents the method of trajectory planning by the robot end-effector which accounts for more accurate and smooth differential geometry of the ruled surface generated by tool line fixed with end-effector based on the methods of curvature theory of ruled surface and the dual curvature theory, and focuses on the underlying relation to unite them for enhancing the efficiency for trajectory planning. Robot motion can be represented as motion properties of the ruled surface generated by trajectory of the Tool Center Point (TCP). The linear and angular properties of the six degree-of-freedom motion of end-effector are computed using the explicit formulas and functions from curvature theory and dual curvature theory. This paper explains the complete dualization of ruled surface and shows that the linear and angular motion applied using the method of dual curvature theory is more accurate and less complex.

Keywords: dual curvature theory, robot end effector, ruled surface, TCP (Tool Center Point)

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Authors: Lungile Maliba, O. I. Nkwonta, E Onyari

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Water resources development and management are regarded as crucial for poverty reduction in many developing countries and sustainable economic growth such as South Africa. The contribution of large hydraulic infrastructure and management of it, particularly reservoirs, to development remains controversial. This controversy stems from the fact that from a historical point of view construction of reservoirs has brought fewer benefits than envisaged and has resulted in significant environmental and social costs. A further complexity in reservoir management is the variety of stakeholders involved, all with different objectives, including domestic and industrial water use, flood control, irrigation and hydropower generation. The objective was to evaluate technical adaptation options for kleinfontein Dam’s current operating rule curves. To achieve this objective, the current operating rules curves being used in the sub-basin were analysed. An objective methodology was implemented in other to get the operating rules with regards to the target storage curves. These were derived using the Water Resources Yield/Planning Model (WRY/PM), with the aim of maximising of releases to demand zones. The result showed that the system is over allocated and in addition the demands exceed the long-term yield that is available for the system. It was concluded that the current operating rules in the system do not produce the optimum operation such as target storage curves to avoid supply failures in the system.

Keywords: infrastructure, Kleinfontein dam, operating rule curve, water resources yield and planning model

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Authors: Soofiyan Atar, Adil Shaikh, Sahil Rajpurkar, Pragnesh Bhalala, Aniket Desai, Irfan Siddavatam

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Deep reinforcement learning (deep RL) algorithms leverage the symbolic power of complex controllers by automating it by mapping sensory inputs to low-level actions. Deep RL eliminates the complex robot dynamics with minimal engineering. Deep RL provides high-risk involvement by directly implementing it in real-world scenarios and also high sensitivity towards hyperparameters. Tuning of hyperparameters on a pneumatic quadruped robot becomes very expensive through trial-and-error learning. This paper presents an automated learning control for a pneumatic quadruped robot using sample efficient deep Q learning, enabling minimal tuning and very few trials to learn the neural network. Long training hours may degrade the pneumatic cylinder due to jerk actions originated through stochastic weights. We applied this method to the pneumatic quadruped robot, which resulted in a hopping gait. In our process, we eliminated the use of a simulator and acquired a stable gait. This approach evolves so that the resultant gait matures more sturdy towards any stochastic changes in the environment. We further show that our algorithm performed very well as compared to programmed gait using robot dynamics.

Keywords: model-based reinforcement learning, gait stability, supervised learning, pneumatic quadruped

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Authors: Efrain Rodriguez, Cristhian Riano, Alberto Alvares

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In recent years, robots manipulators with parallel architectures are used in additive manufacturing processes – 3D printing. These robots have advantages such as speed and lightness that make them suitable to help with the efficiency and productivity of these processes. Consequently, the interest for the development of parallel robots for additive manufacturing applications has increased. This article deals with the conceptual design and dimensional synthesis of the linear delta robot for additive manufacturing. Firstly, a methodology based on structured processes for the development of products through the phases of informational design, conceptual design and detailed design is adopted: a) In the informational design phase the Mudge diagram and the QFD matrix are used to aid a set of technical requirements, to define the form, functions and features of the robot. b) In the conceptual design phase, the functional modeling of the system through of an IDEF0 diagram is performed, and the solution principles for the requirements are formulated using a morphological matrix. This phase includes the description of the mechanical, electro-electronic and computational subsystems that constitute the general architecture of the robot. c) In the detailed design phase, a digital model of the robot is drawn on CAD software. A list of commercial and manufactured parts is detailed. Tolerances and adjustments are defined for some parts of the robot structure. The necessary manufacturing processes and tools are also listed, including: milling, turning and 3D printing. Secondly, a dimensional synthesis method applied on design of the linear delta robot is presented. One of the most important key factors in the design of a parallel robot is the useful workspace, which strongly depends on the joint space, the dimensions of the mechanism bodies and the possible interferences between these bodies. The objective function is based on the verification of the kinematic model for a prescribed cylindrical workspace, considering geometric constraints that possibly lead to singularities of the mechanism. The aim is to determine the minimum dimensional parameters of the mechanism bodies for the proposed workspace. A method based on genetic algorithms was used to solve this problem. The method uses a cloud of points with the cylindrical shape of the workspace and checks the kinematic model for each of the points within the cloud. The evolution of the population (point cloud) provides the optimal parameters for the design of the delta robot. The development process of the linear delta robot with optimal dimensions for additive manufacture is presented. The dimensional synthesis enabled to design the mechanism of the delta robot in function of the prescribed workspace. Finally, the implementation of the robotic platform developed based on a linear delta robot in an additive manufacturing application using the Fused Deposition Modeling (FDM) technique is presented.

Keywords: additive manufacturing, delta parallel robot, dimensional synthesis, genetic algorithms

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Authors: Abhishek Jha, Manoj Kumar

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This paper proposes a new type of two wheels differential type odometry to estimate the next position and orientation of mobile robots. The proposed odometry is composed for two independent wheels with respective encoders. The two wheels rotate independently, and the change is determined by the difference in the velocity of the two wheels. Angular velocities of the two wheels are measured by rotary encoders. A mathematical model is proposed for the mobile robots to precisely move towards the goal. Using measured values of the two encoders, the current displacement vector of a mobile robot is calculated by kinematics of the mathematical model. Using the displacement vector, the next position and orientation of the mobile robot are estimated by proposed odometry. Result of simulator experiment by the developed odometry is shown.

Keywords: mobile robot, odometry, unicycle, differential type, encoders, infrared range sensors, kinematic model

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Authors: Jekaterina Novikova, Leon Watts

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In the emerging world of human-robot interaction, people and robots will interact socially in real-world situations. This paper presents the results of an experimental study probing the interaction between situational context and emotional body language in robots. 34 people rated video clips of robots performing expressive behaviours in different situational contexts both for emotional expressivity on Valence-Arousal-Dominance dimensions and by selecting a specific emotional term from a list of suggestions. Results showed that a contextual information enhanced a recognition of emotional body language of a robot, although it did not override emotional signals provided by robot expressions. Results are discussed in terms of design guidelines on how an emotional body language of a robot can be used by roboticists developing social robots.

Keywords: social robotics, non-verbal communication, situational context, artificial emotions, body language

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Authors: Da Tao, Tieyan Wang, Mingfu Qin

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While social robots have been increasingly developed and rapidly applied in our daily life, how robots should interact with humans is still an urgent problem to be explored. Appropriate use of interactive behavior is likely to create a good user experience in human-robot interaction situations, which in turn can improve people’s acceptance of robots. This paper aimed to systematically and quantitatively examine the effects of several important situational factors (i.e., interaction distance, interaction posture, and feedback style) on user experience during human-robot interaction. A three-factor mixed designed experiment was adopted in this study, where subjects were asked to interact with a social robot in different interaction situations by combinations of varied interaction distance, interaction posture, and feedback style. A set of data on users’ behavioral performance, subjective perceptions, and eye movement measures were tracked and collected, and analyzed by repeated measures analysis of variance. The results showed that the three situational factors showed no effects on behavioral performance in tasks during human-robot interaction. Interaction distance and feedback style yielded significant main effects and interaction effects on the proportion of fixation times. The proportion of fixation times on the robot is higher for negative feedback compared with positive feedback style. While the proportion of fixation times on the robot generally decreased with the increase of the interaction distance, it decreased more under the positive feedback style than under the negative feedback style. In addition, there were significant interaction effects on pupil diameter between interaction distance and posture. As interaction distance increased, mean pupil diameter became smaller in side interaction, while it became larger in frontal interaction. Moreover, the three situation factors had significant interaction effects on user acceptance of the interaction mode. The findings are helpful in the underlying mechanism of user experience in human-robot interaction situations and provide important implications for the design of robot behavioral expression and for optimal strategies to improve user experience during human-robot interaction.

Keywords: social robots, human-robot interaction, interaction posture, interaction distance, feedback style, user experience

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Authors: Vinicius Binotte, Guilherme Baldo, Christiane Goulart, Carlos Valadão, Eliete Caldeira, Teodiano Bastos

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Socially assistive robotic has become increasingly active and it is present in therapies of people affected for several neurobehavioral conditions, such as Autism Spectrum Disorder (ASD). In fact, robots have played a significant role for positive interaction with children with ASD, by stimulating their social and cognitive skills. This work introduces a mobile socially-assistive robot, which was built for interaction with children with ASD, using non-linear control techniques for this interaction.

Keywords: socially assistive robotics, mobile robot, autonomous control, autism

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Authors: Yi Ming Zhang, Zhan Xi Wang, Hang Chen, Gang Wang

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Manual polishing has problems such as high labor intensity, low production efficiency and difficulty in guaranteeing the consistency of polishing quality. It is more and more necessary to replace manual polishing with robot polishing. Polishing force directly affects the quality of polishing, so accurate tracking and control of polishing force is one of the most important conditions for improving the accuracy of robot polishing. The traditional force control strategy is difficult to adapt to the strong coupling of force control and position control during the robot polishing process. Therefore, based on the analysis of force-based impedance control and position-based impedance control, this paper proposed a new type of adaptive controller. Based on force feedback control of active compliance control, the controller can adaptively estimate the stiffness and position of the external environment and eliminate the steady-state force error produced by traditional impedance control. The simulation results of the model shows that the adaptive controller has good adaptability to changing environmental positions and environmental stiffness, and can accurately track and control polishing force.

Keywords: robot polishing, force feedback, impedance control, adaptive control

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Authors: Haozheng Luo, Ruiyang Qin

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People with visual impairments urgently need assistance, not only on the fundamental tasks such as guiding and retrieving objects but on the advanced like picturing the new environments. More than a guiding dog, they might want such devices that can provide linguistic interaction. Building on this idea, we aim to study the interaction between the robot agent and visually impaired people. In our research, we are going to develop a robot agent that will be able to analyze the test environment and answer the participants’ questions. We also will study the relevant issues regarding the interaction between human beings and the robot agents to figure out which and how the factors will affect the interaction.

Keywords: HRI, video question answering, visual question answering, natural language processing

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Authors: Noriyoshi Yamauchi, Etsuo Horikawa, Takunori Tsuji

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Training by exoskeleton robot is drawing attention as a rehabilitation method for body paralysis seen in many cases, and there are many forms that assist with the myoelectric signal generated by exercise commands from the brain. Rehabilitation requires more frequent training, but it is one of the reasons that the technology is required for the identification of the myoelectric potential derivation site and attachment of the device is preventing the spread of paralysis. In this research, we focus on improving the efficiency of gait training by exoskeleton type robots, improvement of myoelectric acquisition and analysis method using active matrix sensing method, and improvement of walking rehabilitation and walking by optimization of robot control.

Keywords: active matrix sensing, brain machine interface (BMI), the central pattern generator (CPG), myoelectric signal processing, robot rehabilitation

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Authors: A. D. Parekh

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The present work describes relative contributions of operating parameters on required heat transfer area of three heat exchangers viz. evaporator, condenser and cascade condenser of two stage R404A-R508B cascade refrigeration system using Taguchi method. The operating parameters considered in present study includes (1) condensing temperature of high temperature cycle and low temperature cycle (2) evaporating temperature of low temperature cycle (3) degree of superheating in low temperature cycle (4) refrigerating effect. Heat transfer areas of three heat exchangers are studied with variation of above operating parameters and also optimum working levels of each operating parameter has been obtained for minimum heat transfer area of each heat exchanger using Taguchi method. The analysis using Taguchi method reveals that evaporating temperature of low temperature cycle and refrigerating effect contribute relatively largely on the area of evaporator. Condenser area is mainly influenced by both condensing temperature of high temperature cycle and refrigerating effect. Area of cascade condenser is mainly affected by refrigerating effect and the effects of other operating parameters are minimal.

Keywords: cascade refrigeration system, Taguchi method, heat transfer area, ANOVA, optimal solution

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Authors: Robson C. Santos, Julio C. P. Ribeiro, Iorran M. de Castro, Luan C. F. Rodrigues, Sandro R. L. Silva, Diego M. Quesada

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The work aims to develop a robot in the form of autonomous vehicle to detect, inspection and mapping of underground pipelines through the ATmega328 Arduino platform. Hardware prototyping very similar to C / C ++ language that facilitates its use in robotics open source, resembles PLC used in large industrial processes. The robot will traverse the surface independently of direct human action, in order to automate the process of detecting buried pipes, guided by electromagnetic induction. The induction comes from coils that sends the signal to the Arduino microcontroller contained in that will make the difference in intensity and the treatment of the information, then this determines actions to electrical components such as relays and motors, allowing the prototype to move on the surface and getting the necessary information. The robot was developed by electrical and electronic assemblies that allowed test your application. The assembly is made up of metal detector coils, circuit boards and microprocessor, which interconnected circuits previously developed can determine, process control and mechanical actions for a robot (autonomous car) that will make the detection and mapping of buried pipelines plates.

Keywords: robotic, metal detector, embedded system, pipeline inspection

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Authors: A. D. Parekh

Abstract:

The present work describes relative contributions of operating parameters on required heat transfer area of three heat exchangers viz. evaporator, condenser and cascade condenser of two stage R404A-R508B cascade refrigeration system using Taguchi method. The operating parameters considered in present study includes (1) condensing temperature of high temperature cycle and low temperature cycle (2) evaporating temperature of low temperature cycle (3) degree of superheating in low temperature cycle (4) refrigerating effect. Heat transfer areas of three heat exchangers are studied with variation of above operating parameters and also optimum working levels of each operating parameter has been obtained for minimum heat transfer area of each heat exchanger using Taguchi method. The analysis using Taguchi method reveals that evaporating temperature of low temperature cycle and refrigerating effect contribute relatively largely on the area of evaporator. Condenser area is mainly influenced by both condensing temperature of high temperature cycle and refrigerating effect. Area of cascade condenser is mainly affected by refrigerating effect and the effects of other operating parameters are minimal.

Keywords: cascade refrigeration system, Taguchi method, heat transfer area, ANOVA, optimal solution

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Authors: Brian Romansky

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There are many practical, commercially available robots and semi-autonomous systems that are currently available for use in a wide variety of construction tasks. Adoption of these technologies has the potential to reduce the time and cost to deliver a project, reduce variability and risk in delivery time, increase quality, and improve safety on the job site. These benefits come with a cost for equipment rental or contract fees, access to specialists to configure the system, and time needed for set-up and support of the machines while in use. Calculation of the net ROI (Return on Investment) requires detailed information about the geometry of the site, the volume of work to be done, the overall project schedule, as well as data on the capabilities and past performance of available robotic systems. Assembling the required data and comparing the ROI for several options is complex and tedious. Many project managers will only consider the use of a robot in targeted applications where the benefits are obvious, resulting in low levels of adoption of automation in the construction industry. This work demonstrates how data already resident in many BIM (Building Information Model) projects can be used to automate ROI estimation for a sample set of commercially available construction robots. Calculations account for set-up and operating time along with scheduling support tasks required while the automated technology is in use. Configuration parameters allow for prioritization of time, cost, or safety as the primary benefit of the technology. A path toward integration and use of automatic ROI calculation with a database of available robots in a BIM platform is described.

Keywords: automation, BIM, robot, ROI.

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Authors: Daniel Pastor, Hyo-Sang Shin

Abstract:

This paper presents a novel method to use optical flow navigation for long-term navigation. Unlike standard SLAM approaches for augmented reality, OFLAAM is designed for Micro Air Vehicles (MAV). It uses an optical flow camera pointing downwards, an IMU and a monocular camera pointing frontwards. That configuration avoids the expensive mapping and tracking of the 3D features. It only maps these features in a vocabulary list by a localization module to tackle the loss of the navigation estimation. That module, based on the well-established algorithm DBoW2, will be also used to close the loop and allow long-term navigation in confined areas. That combination of high-speed optical flow navigation with a low rate localization algorithm allows fully autonomous navigation for MAV, at the same time it reduces the overall computational load. This framework is implemented in ROS (Robot Operating System) and tested attached to a laptop. A representative scenarios is used to analyse the performance of the system.

Keywords: vision, UAV, navigation, SLAM

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Authors: Hassan Mohammad Alkomy, Hesham Elkaranshawy, Ahmed Ibrahim Ashour, Khaled Tawfik Mohamed

Abstract:

For a rigid body sliding on a rough surface, a range of uncertainty or non-uniqueness of solution could be found, which is termed: Painlevé paradox. Painlevé paradox is the reason of a wide range of bouncing motion, observed during sliding of robotic manipulators on rough surfaces. In this research work, the existence of the paradox zone during the sliding motion of a two-link (P-R) robotic manipulator with a unilateral constraint is investigated. Parametric study is performed to investigate the effect of friction, link-length ratio, total height and link-mass ratio on the paradox zone.

Keywords: dynamical system, friction, multibody system, painlevé paradox, robotic systems, sliding robots, unilateral constraint

Procedia PDF Downloads 432