Ontology-Based Interaction of Mobile Robots for Coalition Creation

2018 ◽  
Vol 9 (2) ◽  
pp. 63-78 ◽  
Author(s):  
Alexey Kashevnik ◽  
Alexander Smirnov ◽  
Nikolay Teslya
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Physical Space ◽  
Ontology Matching ◽  
Smart Space ◽  
Robot Interaction ◽  
Intelligent Behavior ◽  
Ontological Model ◽  
Mindstorms Ev3

Popularity of research in the area of robotics over the last years opens new tasks to develop in the area of intelligent behavior of robots for coalition creation and joint tasks solving by them. The article presents an approach to ontology-based mobile robots interaction for coalition creation. The approach is based on cyber-physical-social system concept where the physical devices interact in smart space with each other and with humans for implementing joint actions in physical space. In scope of the approach the context-based model for mobile robot interaction, the ontological model of a mobile robot, and the method for robot ontology matching have been developed. The ontology formally represents knowledge as a set of concepts within a domain, using a shared vocabulary to denote the types, properties, and interrelationships of those concepts. The presented approach has been approved by the point exploring and obstacles overcoming case study. Mobile robots have been constructed based on the Lego Mindstorms EV3 educational kit.

Ontology-Based Interaction of Mobile Robots for Coalition Creation

2020 ◽  
pp. 1030-1047
Author(s):  
Alexey Kashevnik ◽  
Alexander Smirnov ◽  
Nikolay Teslya
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Social System ◽  
Physical Space ◽  
Ontology Matching ◽  
Robot Interaction ◽  
Joint Actions ◽  
Intelligent Behavior ◽  
Mindstorms Ev3

Popularity of research in the area of robotics over the last years opens new tasks to develop in the area of intelligent behavior of robots for coalition creation and joint tasks solving by them. The article presents an approach to ontology-based mobile robots interaction for coalition creation. The approach is based on cyber-physical-social system concept where the physical devices interact in smart space with each other and with humans for implementing joint actions in physical space. In scope of the approach the context-based model for mobile robot interaction, the ontological model of a mobile robot, and the method for robot ontology matching have been developed. The ontology formally represents knowledge as a set of concepts within a domain, using a shared vocabulary to denote the types, properties, and interrelationships of those concepts. The presented approach has been approved by the point exploring and obstacles overcoming case study. Mobile robots have been constructed based on the Lego Mindstorms EV3 educational kit.

Ontology-Based Coalition Creation by Autonomous Agents in Smart Space

2020 ◽  
pp. 28-50
Author(s):  
Alexey Kashevnik ◽  
Nikolay Teslya
Keyword(s):  
Mobile Robot ◽  
Knowledge Base ◽  
Autonomous Agents ◽  
Semantic Interoperability ◽  
Ontology Matching ◽  
Indirect Interaction ◽  
Smart Space ◽  
Robot Interaction

The chapter presents an approach to agent indirect interaction in smart space based on the publication/subscription mechanism. It is proposed to describe every agent with an ontology and support the ontology matching between ontologies of different agents in smart space to enrich the semantic interoperability between them. When the agents reach the semantic interoperability, they are aimed to create a coalition to perform a task. The task is described by ontology and the agents determine what they can propose to implement it. Group of agents that can perform the task together is called coalition. The considered case study describes the mobile robot interaction for the case of joint obstacle overcoming by the 6WD robot with lifting chassis, quadrocopter that scans an obstacle, and knowledge base service that contains algorithms for obstacle overcoming.

scholarly journals Autonomic architecture for fault handling in mobile robots

2020 ◽  
Vol 16 (3-4) ◽  
pp. 263-288
Author(s):  
Martin Doran ◽  
Roy Sterritt ◽  
George Wilkie
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Case Studies ◽  
Robot Design ◽  
Human Intervention ◽  
Fault Handling ◽  
Generic Architecture ◽  
Fault Compensation ◽  
Hardware Faults

Abstract This paper describes a generic autonomic architecture for use in developing systems for managing hardware faults in mobile robots. The method by which the generic architecture was developed is also described. Using autonomic principles, we focused on how to detect faults within a mobile robot and how specialized algorithms can be deployed to compensate for the faults discovered. We design the foundation of a generic architecture using the elements found in the MAPE-K and IMD architectures. We present case studies that show three different fault scenarios that can occur within the effectors, sensors and power units of a mobile robot. For each case study, we have developed algorithms for monitoring and analyzing data stored from previous tasks completed by the robot. We use the results from the case studies to create and refine a generic autonomic architecture that can be utilized for any general mobile robot setup for fault detection and fault compensation. We then describe a further case study which exercises the generic autonomic architecture in order to demonstrate its utility. Our proposal addresses fundamental challenges in operating remote mobile robots with little or no human intervention. If a fault does occur within the mobile robot during field operations, then having a self-automated strategy as part of its processes may result in the mobile robot continuing to function at a productive level. Our research has provided insights into the shortcomings of existing robot design which is also discussed.

scholarly journals Genetic Algorithm-Based Trajectory Optimization for Digital Twin Robots

2022 ◽  
Vol 9 ◽  
Author(s):  
Xin Liu ◽  
Du Jiang ◽  
Bo Tao ◽  
Guozhang Jiang ◽  
Ying Sun ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Virtual Environment ◽  
Trajectory Optimization ◽  
Material Handling ◽  
Physical Space ◽  
Real Data ◽  
Movement Trajectory ◽  
Digital Twin ◽  
Actual Movement

Mobile robots have an important role in material handling in manufacturing and can be used for a variety of automated tasks. The accuracy of the robot’s moving trajectory has become a key issue affecting its work efficiency. This paper presents a method for optimizing the trajectory of the mobile robot based on the digital twin of the robot. The digital twin of the mobile robot is created by Unity, and the trajectory of the mobile robot is trained in the virtual environment and applied to the physical space. The simulation training in the virtual environment provides schemes for the actual movement of the robot. Based on the actual movement data returned by the physical robot, the preset trajectory of the virtual robot is dynamically adjusted, which in turn enables the correction of the movement trajectory of the physical robot. The contribution of this work is the use of genetic algorithms for path planning of robots, which enables trajectory optimization of mobile robots by reducing the error in the movement trajectory of physical robots through the interaction of virtual and real data. It provides a method to map learning in the virtual domain to the physical robot.

The Case Study of Technology Leakage in Cyber-Physical Space

2020 ◽  
Vol 10 (2) ◽  
pp. 151-173
Author(s):  
Min-Su Jung ◽  
◽  
Hang-Bae Chang
Keyword(s):  
Physical Space

Emplacing Berlin: Digital Itineraries and Short-term Study Abroad in the City

2018 ◽  
Vol 12 (1) ◽  
pp. 26-36 ◽  
Author(s):  
Richard B. Apgar
Keyword(s):  
Study Abroad ◽  
Urban Landscape ◽  
Physical Space ◽  
Short Term ◽  
Study Abroad Programs ◽  
Term Study ◽  
Digital Maps ◽  
Short Term Study ◽  
The City

As destination of choice for many short-term study abroad programs, Berlin offers students of German language, culture and history a number of sites richly layered with significance. The complexities of these sites and the competing narratives that surround them are difficult for students to grasp in a condensed period of time. Using approaches from the spatial humanities, this article offers a case study for enhancing student learning through the creation of digital maps and itineraries in a campus-based course for subsequent use during a three-week program in Berlin. In particular, the concept of deep mapping is discussed as a means of augmenting understanding of the city and its history from a narrative across time to a narrative across the physical space of the city. As itineraries, these course-based projects were replicated on site. In moving from the digital environment to the urban landscape, this article concludes by noting meanings uncovered and narratives formed as we moved through the physical space of the city.

Ultrasonic sensor system for the uses in intelligent motion control system of a mobile robots group

2010 ◽  
Vol 7 ◽  
pp. 109-117
Author(s):  
O.V. Darintsev ◽  
A.B. Migranov ◽  
B.S. Yudintsev
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Motion Control ◽  
High Speed ◽  
Ultrasonic Sensor ◽  
Sensor System ◽  
Motion Control System ◽  
Speed Sensor ◽  
Working Space

The article deals with the development of a high-speed sensor system for a mobile robot, used in conjunction with an intelligent method of planning trajectories in conditions of high dynamism of the working space.

Humans and humanoids

2018 ◽  
Author(s):  
Giorgio Metta
Keyword(s):  
Humanoid Robot ◽  
Robot Vision ◽  
Physical Space ◽  
Humanoid Robots ◽  
Human Robot Interaction ◽  
Biologically Inspired ◽  
Robot Interaction ◽  
Humanoid Robotics ◽  
Biomimetic Robot ◽  
Compliant Actuation

This chapter outlines a number of research lines that, starting from the observation of nature, attempt to mimic human behavior in humanoid robots. Humanoid robotics is one of the most exciting proving grounds for the development of biologically inspired hardware and software—machines that try to recreate billions of years of evolution with some of the abilities and characteristics of living beings. Humanoids could be especially useful for their ability to “live” in human-populated environments, occupying the same physical space as people and using tools that have been designed for people. Natural human–robot interaction is also an important facet of humanoid research. Finally, learning and adapting from experience, the hallmark of human intelligence, may require some approximation to the human body in order to attain similar capacities to humans. This chapter focuses particularly on compliant actuation, soft robotics, biomimetic robot vision, robot touch, and brain-inspired motor control in the context of the iCub humanoid robot.

scholarly journals Ontology-Based Context Event Representation, Reasoning, and Enhancing in Academic Environments

2021 ◽  
Vol 13 (6) ◽  
pp. 151
Author(s):  
Josué Padilla-Cuevas ◽  
José A. Reyes-Ortiz ◽  
Maricela Bravo
Keyword(s):  
Physical Space ◽  
Evaluation Process ◽  
Event Representation ◽  
Network Resources ◽  
Academic Environments ◽  
Time Space ◽  
Event Information ◽  
Event Driven ◽  
Ontological Model ◽  
Academic Events

An Ambient Intelligence responds to user requests based on several contexts. A relevant context is related to what has happened in the ambient; therefore, it focuses a primordial interest on events. These involve information about time, space, or people, which is significant for modeling the context. In this paper, we propose an event-driven approach for context representation based on an ontological model. This approach is extendable and adaptable for academic domains. Moreover, the ontological model to be proposed is used in reasoning and enrichment processes with the context event information. Our event-driven approach considers five contexts as a modular perspective in the model: Person, temporal (time), physical space (location), network (resources to acquire data from the ambient), and academic events. We carried out an evaluation process for the approach based on an ontological model focused on (a) the extensibility and adaptability of use case scenarios for events in an academic environment, (b) the level of reasoning by using competence questions related to events, (c) and the consistency and coherence in the proposed model. The evaluation process shows promising results for our event-driven approach for context representation based on the ontological model.

scholarly journals Determining Shape and Size of Personal Space of a Human when Passed by a Robot

2021 ◽  
Author(s):  
Margot M. E. Neggers ◽  
Raymond H. Cuijpers ◽  
Peter A. M. Ruijten ◽  
Wijnand A. IJsselsteijn
Keyword(s):  
Mobile Robots ◽  
Humanoid Robot ◽  
Personal Space ◽  
Human Robot Interaction ◽  
Autonomous Mobile Robots ◽  
Robot Interaction ◽  
Human Comfort ◽  
Navigation Algorithms ◽  
Insight Into ◽  
Shape And Size

AbstractAutonomous mobile robots that operate in environments with people are expected to be able to deal with human proxemics and social distances. Previous research investigated how robots can approach persons or how to implement human-aware navigation algorithms. However, experimental research on how robots can avoid a person in a comfortable way is largely missing. The aim of the current work is to experimentally determine the shape and size of personal space of a human passed by a robot. In two studies, both a humanoid as well as a non-humanoid robot were used to pass a person at different sides and distances, after which they were asked to rate their perceived comfort. As expected, perceived comfort increases with distance. However, the shape was not circular: passing at the back of a person is more uncomfortable compared to passing at the front, especially in the case of the humanoid robot. These results give us more insight into the shape and size of personal space in human–robot interaction. Furthermore, they can serve as necessary input to human-aware navigation algorithms for autonomous mobile robots in which human comfort is traded off with efficiency goals.

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