Computation Sharing in Distributed Robotic Systems: A Case Study on SLAM

2015 ◽  
Vol 12 (2) ◽  
pp. 410-422 ◽  
Author(s):  
Bruno Duarte Gouveia ◽  
David Portugal ◽  
Daniel C. Silva ◽  
Lino Marques
Keyword(s):  
Robotic Systems ◽  
Computation Sharing

Complete Accessibility of Oscillations in Robotic Systems by Orthogonal Projections

1990 ◽  
Vol 112 (2) ◽  
pp. 194-202 ◽  
Author(s):  
Sabri Tosunoglu ◽  
Shyng-Her Lin ◽  
Delbert Tesar
Keyword(s):  
Current Practice ◽  
Industrial Robot ◽  
Robotic Systems ◽  
Orthogonal Projections ◽  
Small Oscillations ◽  
Robotic Arms ◽  
Driven System ◽  
System Equations ◽  
Six Degree Of Freedom

The current practice of controller development for flexible robotic systems generally focuses on one-link robotic arms and is valid for small oscillations. This work addresses the control of n-link, serial, spatial robotic systems modeled with m1 joint and m2 link flexibilities such that n≥m1+m2. System compliance is modeled by local springs and nonactuated prismatic and revolute type pseudo joints. The coupled, nonlinear, error-driven system equations are derived for the complete model without linearization or neglecting certain terms. For this system, the complete accessibility of vibrations is studied by orthogonal projections. It is shown that under some configurations of a robotic system, the induced oscillations may not be accessible to the controller. Given accessibility, the controller developed in this work assures the global asymptotic stability of the system. Example numerical simulations are presented based on the model of a six-degree-of-freedom Cincinnati Milacron T3-776 industrial robot. One example models the system compliance in four joints, while another case study simulates four lateral link oscillations. These examples show that this controller, even under inaccurate payload description, eliminates the oscillations while tracking desired trajectories.

scholarly journals Human Safety in Autonomous Transport Systems – Review and Case Study

2021 ◽  
Vol 51 (1) ◽  
pp. 57-71
Author(s):  
Alicja Dąbrowska ◽  
Robert Giel ◽  
Sylwia Werbińska-Wojciechowska
Keyword(s):  
Human Detection ◽  
Robotic Systems ◽  
Transport Systems ◽  
Future Research ◽  
Research Gaps ◽  
Research Directions ◽  
Human Safety ◽  
Storage Area ◽  
Future Research Directions

Abstract During the robot's operational tasks, a key issue is its reliability in the aspect of human safety providing. Currently, there are a number of methods used to detect people, and their selection most often depends on the type of process carried out by robots. Therefore, the article is focused on the development of a comparative analysis of selected methods of human detection in the storage area. The main aspect in the context of which these systems were compared concerned the safety of robotic systems in the space of human occurrence. Main advantages and drawbacks of the methods in various applications were presented. The detailed analysis of the achievements in this area gives the possibility to identify research gaps and possible future research directions when using these tools in autonomous warehouses designing processes.

Information-efficient robotic control

Robotica ◽  
1994 ◽  
Vol 12 (2) ◽  
pp. 157-164 ◽  
Author(s):  
Oded Maimon ◽  
Mark Last
Keyword(s):  
Stochastic Systems ◽  
Autonomous Robots ◽  
Discrete Event ◽  
Information Economics ◽  
Robotic Systems ◽  
Robotic Control ◽  
New Approach ◽  
Discrete Event Control ◽  
Available Information

SUMMARYThe work demonstrates a new approach to design of a level of intelligent control of robotic systems. The analytical model results in operational decisions. The structure of these decisions make them readily available to be implemented as an expert system. The approach is applied to a case study of mobile supervisory robots. The model presented here was motivated by manufacturing robotic systems and a type of autonomous robots that collect information at different sites for safety and other control purposes. The robot actions are directly affected by the obta~ned data. At each site the amount of available information (and thus the correctness of the robot decision) can be increased if the robot keeps collecting data at that site for a longer period of t~me. This means a delay in reacting and in reaching next site and accordingly, a decrease in the general amount of robot's information on the whole system.The method of finding an economic amount of information collected by a robot at each site is based on the theory of controlled discrete event stochastic systems developed in our earlier works. This theory combines he basic concepts of discrete event control extended to stochastic systems with some aspects of information economics.

The evitability of autonomous robot warfare

2012 ◽  
Vol 94 (886) ◽  
pp. 787-799 ◽  
Author(s):  
Noel E. Sharkey
Keyword(s):  
Science Fiction ◽  
Ethical Issues ◽  
Autonomous Robots ◽  
Robotic Systems ◽  
International Humanitarian Law ◽  
Humanitarian Law ◽  
The Media ◽  
The Military ◽  
Free Ranging

AbstractThis is a call for the prohibition of autonomous lethal targeting by free-ranging robots. This article will first point out the three main international humanitarian law (IHL)/ethical issues with armed autonomous robots and then move on to discuss a major stumbling block to their evitability: misunderstandings about the limitations of robotic systems and artificial intelligence. This is partly due to a mythical narrative from science fiction and the media, but the real danger is in the language being used by military researchers and others to describe robots and what they can do. The article will look at some anthropomorphic ways that robots have been discussed by the military and then go on to provide a robotics case study in which the language used obfuscates the IHL issues. Finally, the article will look at problems with some of the current legal instruments and suggest a way forward to prohibition.

Module Design and Functionally Non-Isomorphic Configurations of the Hex-DMR II System

2016 ◽  
Vol 8 (5) ◽  
Author(s):  
Joshua D. Davis ◽  
Yunuscan Sevimli ◽  
Baxter R. Eldridge ◽  
Gregory S. Chirikjian
Keyword(s):  
Low Cost ◽  
Robotic Systems ◽  
Modular Robots ◽  
Design Constraints ◽  
Module Design ◽  
The Past ◽  
New Novel ◽  
Operational Capabilities ◽  
Mapping Task

Modular robots have captured the interest of the robotics community over the past several years. In particular, many modular robotic systems are reconfigurable, robust against faults, and low-cost due to mass production of a small number of different homogeneous modules. Faults in these systems are normally tolerated through redundancy or corrected by discarding damaged modules, which reduces the operational capabilities of the robot. To overcome these difficulties, we previously developed and discussed the general design constraints of a heterogeneous modular robotic system (Hex-DMR II) capable of autonomous team repair and diagnosis. In this paper, we discuss the design of each module, in detail, and present a new, novel elevator module. Then, we introduce a forestlike structure that enumerates every non-isomorphic, functional agent configuration of our system. Finally, we present a case study contrasting the kinematics and power consumption of two particular configurations during a mapping task.

A Simulation Framework for Robotic System Design

2007 ◽  
Author(s):  
David Wilkie ◽  
Richard Primerano ◽  
William Regli
Keyword(s):  
Robotic System ◽  
Robotic Systems ◽  
Assembly Model ◽  
Simulation Framework ◽  
Biologically Inspired ◽  
Software Packages ◽  
Physically Based ◽  
System Designs ◽  
Biologically Inspired Robot

This paper proposes a framework for the physically based modeling of robotic systems. The framework focuses on integrating a mechanical engineering assembly model with an electrical engineering controller model in a co-simulation. The simulated results can be used for the evaluation of robotic system designs. This paper surveys existing algorithms and software packages that could be used to implement the framework. The framework is illustrated using a biologically inspired robot as a case-study.

scholarly journals Modeling a Sensor to Improve Its Efficacy

2013 ◽  
Vol 2013 ◽  
pp. 1-11 ◽  
Author(s):  
Nabin K. Malakar ◽  
Daniil Gladkov ◽  
Kevin H. Knuth
Keyword(s):  
Likelihood Function ◽  
Field Of View ◽  
Robotic Systems ◽  
Test Bed ◽  
Spatial Sensitivity ◽  
White Circle ◽  
Light Sensor ◽  
Spatially Distributed ◽  
Black Field

Robots rely on sensors to provide them with information about their surroundings. However, high-quality sensors can be extremely expensive and cost-prohibitive. Thus many robotic systems must make due with lower-quality sensors. Here we demonstrate via a case study how modeling a sensor can improve its efficacy when employed within a Bayesian inferential framework. As a test bed we employ a robotic arm that is designed to autonomously take its own measurements using an inexpensive LEGO light sensor to estimate the position and radius of a white circle on a black field. The light sensor integrates the light arriving from a spatially distributed region within its field of view weighted by its spatial sensitivity function (SSF). We demonstrate that by incorporating an accurate model of the light sensor SSF into the likelihood function of a Bayesian inference engine, an autonomous system can make improved inferences about its surroundings. The method presented here is data based, fairly general, and made with plug-and-play in mind so that it could be implemented in similar problems.

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