Globally Optimal Redundancy Resolution with Dynamic Programming for Robot Planning: A ROS Implementation

Dynamic programming techniques have proven much more flexible than calculus of variations and other techniques in performing redundancy resolution through global optimization of performance indices. When the state and input spaces are discrete, and the time horizon is finite, they can easily accommodate generic constraints and objective functions and find Pareto-optimal sets. Several implementations have been proposed in previous works, but either they do not ensure the achievement of the globally optimal solution, or they have not been demonstrated on robots of practical relevance. In this communication, recent advances in dynamic programming redundancy resolution, so far only demonstrated on simple planar robots, are extended to be used with generic kinematic structures. This is done by expanding the Robot Operating System (ROS) and proposing a novel architecture meeting the requirements of maintainability, re-usability, modularity and flexibility that are usually required to robotic software libraries. The proposed ROS extension integrates seamlessly with the other software components of the ROS ecosystem, so as to encourage the reuse of the available visualization and analysis tools. The new architecture is demonstrated on a 7-DOF robot with a six-dimensional task, and topological analyses are carried out on both its state space and resulting joint-space solution.

Application of Robotic Software on Effective Diabetes Control (GH-Method: Math-Physical Medicine)

This paper focuses on the author’s invented robotic software technology, the artificial intelligence glucometer (AIG) product, to provide a diagnosis for diabetes disease and glucose control. From 2010–2013, he self-studied internal medicine and food nutrition. In 2014, he further utilized topology concept, partial differential equation, non-linear algebra, and finite element engineering concept to develop a human metabolism’s mathematical model. It consists of 10 categories and ~500 elements with ~1.5 million collected data of his own body health, disease conditions, and lifestyle details. Starting from 2015, he focused on the root cause of diabetes, which is “glucose”. By applying wave theory, signal processing, energy theory, optical physics, structural & fluid dynamics from physics and engineering modeling; pattern and segmentation analysis, time/space/frequency domain analyses, big data analytics, machine learning and self-correction, prediction equations from mathematics and computer science, he decided to utilize his robotic software as the foundation to further build up his needed medical research and clinical tools. By using the artificial intelligence (AI) robotic software, the author’s average glucose decreased from 280 mg/dL to 118 mg/dL and his hemoglobin A1C (HbA1C or A1C) reduced from 10%+ to below 6.5%, without diabetes medications. All his diabetes complications are either under control or have subsided. This innovative technology of his robotic software for glucose prediction and diabetes control has also been proven by many other patients, who have achieved equally remarkable medical results.

Robotization of Mobile Communication

The aim of this chapter is to systematize the discussion regarding robotization of mobile communication. The chapter begins by clarifying the fundamental role of both robot hardware and robot software in this process. This is followed by a critical overview of existing research, which is classified into three categories. First, robotization is understood as the hybridization of the human body with existing ordinary mobile devices. Second, the incorporation of new robotic software, such as algorithms, artificial intelligence, and virtual assistants, into mobile devices is seen to robotize them from inside. Third, the convergence of smart communication devices, typically as user interfaces with robot hardware, is seen to contribute to the robotization of mobile communication. The chapter is concluded by clarification of the boundary between quasi-robot and robot and outlining the ways in which the robotization of smart mobile communication will proceed in the future.

Establishing A-Priori Performance Guarantees for Robot Missions that Include Localization Software

One approach to determining whether an automated system is performing correctly is to monitor its performance, signaling when the performance is not acceptable; another approach is to automatically analyze the possible behaviors of the system a-priori and determine performance guarantees. Thea authors have applied this second approach to automatically derive performance guarantees for behavior-based, multi-robot critical mission software using an innovative approach to formal verification for robotic software. Localization and mapping algorithms can allow a robot to navigate well in an unknown environment. However, whether such algorithms enhance any specific robot mission is currently a matter for empirical validation. Several approaches to incorporating pre-existing software into the authors' probabilistic verification framework are presented, and one used to include Monte-Carlo based localization software. Verification and experimental validation results are discussed for real localization missions with this software, showing that the proposed approach accurately predicts performance.

PERANCANGAN PERGERAKAN KAKI ROBOT HUMANOID MENGGUNAKAN SERVO DYNAMIXEL BERBASIS OPENCM 9.04

The development of robotics technology in Indonesia has advanced very rapidly. It can be seen from the number of participants who took part in the Indonesian Robot Contest (KRI) that always increases every year. Organized by the Ministry of Research, Technology and Higher Education, this contest aims to accommodate students in the field of robotics so they can develop it and gain its benefits. One of the competitions at the Indonesian Robot Contest is KRSTI. Because of the writer’s interest in KRSTI, this research aims to make KRSTI robots that will dance with orders from music and robots that can perform foot movements while dancing Jaipong in which it is the theme of the KRI 2019 in division of KRSTI. On the foot movement, this humanoid robot has used the kinematic inverse calculation method with 3 DOF (Degrees of Freedom) which the movements are: the walkready, walk, right aslant walk, and left aslant walk. There are two software used in this humanoid robot namely OpenCM 9.04 robotic software, which is used to program humanoid foot robot programming, and Arduino nano software, which is used to program sound sensors that are input from the humanoid robots. When music is on, the sound sensor will receive serial data and sent it to Arduino nano, then Arduino nano will communicate the serial to the OpenCM 9.04 microcontroller and the robot will do movements according to the database or program that has been entered into OpenCM 9.04.Keywords: Humanoid Robot, KRSTI, OpenCM 9.04