scholarly journals Robotic Feedback Loops: Implementing two-way communication in architecturally focused robotic pick and place operations

2021 ◽  
Author(s):  
◽  
Harrison Le Fevre
Keyword(s):  
Error Detection ◽  
Feedback Loop ◽  
Ground Plane ◽  
Working Environment ◽  
Robotic Systems ◽  
Robotic Fabrication ◽  
Object Rotation ◽  
Critical Issues ◽  
Architectural Structures ◽  
Improved Accuracy

<p>The use of robots in the fabrication of complex architectural structures is increasing in popularity. However, architectural robotic workflows still require convoluted and time-consuming programming in order to execute complex fabrication tasks. Additionally, an inability for robots to adapt to different environments further highlights concerns around the robotic manipulator as a primary construction tool. There are four key issues currently present in robotic fabrication for architectural applications. Firstly, an inability to adapt to unknown environments; Secondly, a lack of autonomous decision making; Thirdly, an inability to locate, recognise, and then manipulate objects in the operating environment; Fourthly a lack of error detection if a motion instruction conflicts with environmental constraints.  This research begins to resolve these critical issues by seeking to integrate a feedback loop in a robotic system to improve perception, interaction and manipulation of objects in a robotic working environment. Attempts to achieve intelligence and autonomy in static robotic systems have seen limited success. Primarily, research into these issues has originated from the need to adapt existing robotic processes to architectural applications. The work of Gramazio and Kohler Research, specifically ‘on-site mobile fabrication’ and ‘autonomous robotic stone stacking’, present the current state of the art in intelligent architectural robotic systems and begin to develop solutions to the issues previously outlined. However, the limitations of Gramazio and Kohler’s research, specifically around a lack of perception-controlled grasping, offers an opportunity for this research to begin developing relevant solutions to the outlined issues. This research proposes a system where blocks, of consistent dimensions, are randomly distributed within the robotic working environment. The robot establishes the location and pose (position and orientation) of the blocks through an adaptive inclusion test. The test involves subsampling a point-cloud into a consistent grid; filtering points based on their height above the ground plane in order to establish block surfaces, and matching these surfaces to a CAD model for improved accuracy. The resulting matched surfaces are used to determine four points which define the object rotation plane and centre point. The robot uses the centre point, and the quaternion rotation angle to execute motion and grasping instructions. The robot is instructed to repeat the perception process until the collection of all the blocks within the camera frame is complete, and a preprogrammed wall is built. The implementation of a robotic feedback loop in this way demonstrates both the future potential and success of this research. The research begins to develop pathways through which to integrate new types of technologies such as machine learning and deep learning in order to improve the accuracy, speed and reliability of perception-controlled robotic systems through learned behaviours.</p>

scholarly journals Robotic Feedback Loops: Implementing two-way communication in architecturally focused robotic pick and place operations

2021 ◽  
Author(s):  
◽  
Harrison Le Fevre
Keyword(s):  
Error Detection ◽  
Feedback Loop ◽  
Ground Plane ◽  
Working Environment ◽  
Robotic Systems ◽  
Robotic Fabrication ◽  
Object Rotation ◽  
Critical Issues ◽  
Architectural Structures ◽  
Improved Accuracy

<p>The use of robots in the fabrication of complex architectural structures is increasing in popularity. However, architectural robotic workflows still require convoluted and time-consuming programming in order to execute complex fabrication tasks. Additionally, an inability for robots to adapt to different environments further highlights concerns around the robotic manipulator as a primary construction tool. There are four key issues currently present in robotic fabrication for architectural applications. Firstly, an inability to adapt to unknown environments; Secondly, a lack of autonomous decision making; Thirdly, an inability to locate, recognise, and then manipulate objects in the operating environment; Fourthly a lack of error detection if a motion instruction conflicts with environmental constraints.  This research begins to resolve these critical issues by seeking to integrate a feedback loop in a robotic system to improve perception, interaction and manipulation of objects in a robotic working environment. Attempts to achieve intelligence and autonomy in static robotic systems have seen limited success. Primarily, research into these issues has originated from the need to adapt existing robotic processes to architectural applications. The work of Gramazio and Kohler Research, specifically ‘on-site mobile fabrication’ and ‘autonomous robotic stone stacking’, present the current state of the art in intelligent architectural robotic systems and begin to develop solutions to the issues previously outlined. However, the limitations of Gramazio and Kohler’s research, specifically around a lack of perception-controlled grasping, offers an opportunity for this research to begin developing relevant solutions to the outlined issues. This research proposes a system where blocks, of consistent dimensions, are randomly distributed within the robotic working environment. The robot establishes the location and pose (position and orientation) of the blocks through an adaptive inclusion test. The test involves subsampling a point-cloud into a consistent grid; filtering points based on their height above the ground plane in order to establish block surfaces, and matching these surfaces to a CAD model for improved accuracy. The resulting matched surfaces are used to determine four points which define the object rotation plane and centre point. The robot uses the centre point, and the quaternion rotation angle to execute motion and grasping instructions. The robot is instructed to repeat the perception process until the collection of all the blocks within the camera frame is complete, and a preprogrammed wall is built. The implementation of a robotic feedback loop in this way demonstrates both the future potential and success of this research. The research begins to develop pathways through which to integrate new types of technologies such as machine learning and deep learning in order to improve the accuracy, speed and reliability of perception-controlled robotic systems through learned behaviours.</p>

Retaining Human-Robots Conversation: Comparing Single Robot to Multiple Robots in a Real Event

2017 ◽  
Vol 21 (4) ◽  
pp. 675-685 ◽  
Author(s):  
Takamasa Iio ◽  
◽  
Yuichiro Yoshikawa ◽  
Hiroshi Ishiguro
Keyword(s):  
Speech Recognition ◽  
Field Trial ◽  
Robotic System ◽  
Robotic Systems ◽  
Multiple Robots ◽  
User Input ◽  
Real Environment ◽  
Critical Issues

In human-robot conversation in a real environment, low speech recognition and unnatural response generation are critical issues. Most autonomous conversational robotic systems avoid these issues by restricting user input and robot responses. However, such restrictions often render the interaction boring because the conversation becomes predictable. In this study, we propose the use of multiple robots as a solution for this problem. To explore the effect of multiple robots on a conversation, we developed an autonomous conversational robotic system and conducted a field trial in a real event. Our system adopted a button interface, which restricted user input within positive or negative intention, and maintained a conversation by choosing the most suitable of the prepared static scenarios. Through the field trial, we found that visitors who conversed with multiple robots continued their conversation for a more prolonged period, and their experience improved their impression on the conversation, in contrast to the visitors who conversed with a single robot.

scholarly journals Round Robin Based Efficient Resource Allocation and Utilization in an Organization

2020 ◽  
Vol 2 (2) ◽  
pp. 16-22
Author(s):  
Sumathi M ◽  
Niranjana B ◽  
Akshaya C ◽  
Ajitha M ◽  
Bhavadharanee M
Keyword(s):  
Resource Allocation ◽  
Round Robin ◽  
Experimental Results ◽  
High Time ◽  
Complex Task ◽  
Working Process ◽  
Time Consumption ◽  
Critical Issues ◽  
Efficient Resource ◽  
Improved Accuracy

In an organization, resource allocation to a request is a complex task. Traditionally, resource allocation is done through manually with high time consumption. Similarly, collision is occurring for allocating a single resource to multiple requests. Thus, leads to complex problems and slow-down the working process. The existing resource allocation technique, allocate resources continuously to a specific request and omit another request. This kind of allocation technique also leads to lots of critical issues. That is the non-allocated process never gets a resource. To overcome these issues, the Round Robin based Resource allocation and Utilization technique is proposed in this work. The Round Robin technique allocates resources to the request in an efficient with equal priority. Similarly, the proposed technique reduces collision and takes less time for mapping a resource with a request. The experimental results shows improved accuracy than the traditional resource allocation technique.

Optimal control of a planar robot manipulator based on the Linear Quadratic Inverse-Dynamics design

2019 ◽  
Vol 2 (2) ◽  
pp. 2
Author(s):  
Denis Mosconi ◽  
Adriano Almeida Gonçalves Siqueira ◽  
Everthon Silva Fonseca
Keyword(s):  
Feedback Loop ◽  
Inverse Dynamics ◽  
Robot Manipulator ◽  
Linear Quadratic Regulator ◽  
Robotic Systems ◽  
Reference Trajectory ◽  
Linear Quadratic ◽  
End Effector ◽  
The Right

To ensure the correct positioning of the end-effector of robot manipulators is one of the most important objectives of the robotic systems control. Lack of reliability in tracking the reference trajectory, as well as in the desired final positioning compromises the quality of the task to be performed, even causing accidents. The purpose of this work was to propose an optimal controller with an inner loop based on the dynamic model of the manipulator and a feedback loop based on the Linear Quadratic Regulator, in order to ensure that the end effector is in the right place, at the right time. The controller was compared to the conventional PID, presenting better performance, both in the transient response, eliminating overshoot, and steady-state, eliminating the stationary error.

Gender Differences in Information System Usage: A Case Study

2011 ◽  
Vol 255-260 ◽  
pp. 2882-2885
Author(s):  
Su Sui Lin ◽  
Kwo Ting Fang
Keyword(s):  
Gender Differences ◽  
Information System ◽  
System Design ◽  
Feedback Loop ◽  
Information System Design ◽  
System Usage ◽  
Management Function ◽  
Critical Issues ◽  
The Difference

To understand information system (IS) or information technology (IT), gender differences are the potentially critical issues. Getting more insights into the differences of gender, case study was applied to explore them in information system usage and then compare the difference between man and woman’s System Influence Diagram (SID). Some findings were explored in this study. First, woman put more emphasis on function of information system, yet man focus on management function in organizations. Second, man thought that user habit and perception interacted with information system design. But user habit was just influenced by system design directly in woman’s SID. Third, there was a feedback loop in woman’s SID associated with management function but no feedback loop in man’s SID.

scholarly journals A Scene Recognition and Semantic Analysis Approach to Unhealthy Sitting Posture Detection during Screen-Reading

Sensors ◽  
2018 ◽  
Vol 18 (9) ◽  
pp. 3119 ◽  
Author(s):  
Weidong Min ◽  
Hao Cui ◽  
Qing Han ◽  
Fangyuan Zou
Keyword(s):  
Error Detection ◽  
Semantic Analysis ◽  
Gaussian Mixture ◽  
Scene Recognition ◽  
Microsoft Kinect ◽  
Robotic Systems ◽  
Analysis Approach ◽  
Semantic Features ◽  
Sitting Posture ◽  
Screen Reading

Behavior analysis through posture recognition is an essential research in robotic systems. Sitting with unhealthy sitting posture for a long time seriously harms human health and may even lead to lumbar disease, cervical disease and myopia. Automatic vision-based detection of unhealthy sitting posture, as an example of posture detection in robotic systems, has become a hot research topic. However, the existing methods only focus on extracting features of human themselves and lack understanding relevancies among objects in the scene, and henceforth fail to recognize some types of unhealthy sitting postures in complicated environments. To alleviate these problems, a scene recognition and semantic analysis approach to unhealthy sitting posture detection in screen-reading is proposed in this paper. The key skeletal points of human body are detected and tracked with a Microsoft Kinect sensor. Meanwhile, a deep learning method, Faster R-CNN, is used in the scene recognition of our method to accurately detect objects and extract relevant features. Then our method performs semantic analysis through Gaussian-Mixture behavioral clustering for scene understanding. The relevant features in the scene and the skeletal features extracted from human are fused into the semantic features to discriminate various types of sitting postures. Experimental results demonstrated that our method accurately and effectively detected various types of unhealthy sitting postures in screen-reading and avoided error detection in complicated environments. Compared with the existing methods, our proposed method detected more types of unhealthy sitting postures including those that the existing methods could not detect. Our method can be potentially applied and integrated as a medical assistance in robotic systems of health care and treatment.

scholarly journals Handling Illusive Text In Document To Improve Accuracy Of Plagiarism Detection Algorithm

2020 ◽  
Author(s):  
Zahid Iqbal ◽  
Shakeeb Murtaza
Keyword(s):  
Academic Research ◽  
Detection Algorithm ◽  
Processing Technique ◽  
Plagiarism Detection ◽  
Detection Algorithms ◽  
Percentile Score ◽  
Challenging Tasks ◽  
Critical Issues ◽  
Critical Problems ◽  
Improved Accuracy

Plagiarism Detection is being one of the challenging tasks in academic research world to ensure integrity/authenticity of a document. Currently, many efficient algorithms are available to sufficiently detect the plagiarism in a document. Pre-processing of a document typically remain a master key to achieve maximum stable goal. Although all algorithms, before checking plagiarism, initially perform some sort of pre-processing on documents and convert the document into a particular format like by removing whitespaces and all special characters, etc. In this paper, we focus on two possible techniques, which can be used for plagiarism, which existing plagiarism detection algorithms are omitting. First is replacing the white spaces with a hidden character with white colour (background colour) between consecutive words so apparently, they seem to be distinct words, but algorithm/computer will incorrectly consider them as a single word. So even a 100% copied statement would not be identified as plagiarised content. Second is hiding spam text behind images to falsely report maximum number of words count in a document but as they are hidden so human eye can’t discover them and algorithm will consider them as some words resulting in less percentile score of the plagiarised document. Our proposed (pre-processing) technique can efficiently handle these two critical problems which results in improved accuracy and authenticity of plagiarism checking algorithms. We have compared performance of our algorithm considering these critical issues with other state-of-art algorithm (particularly with Turnitin) and our algorithm handles these issues efficiently.

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