In this paper, we compare the performance of physical and non-physical interfaces for the behavior of a personal robot. The PR2 robot was programmed as a waiter with co-manipulation capabilities and ...experimentally tested with respect to a trajectory following task. For physical interaction (pushing/pulling), we implemented a compliance controller for compliant, stable arm positioning and a velocity based position controller for moving the robot base. Experiments were conducted to assess the effectiveness and accuracy of single and dual arm control compared to joystick teleoperation. Results indicate that the PR2 in physical collaboration with a human performs better than in teleoperation mode, as measured by task completion time while maintaining a comparable task accuracy. A result of our work is the open source, robot operating system (ROS) package pr2 cartPull, which will be shared with the robotics community.
Currently, the automated assembly depends on advance programming, which is suitable to large-batch products assembly; however, it does not fit in the assembly of small-batch products due to the large ...amount of preparatory work including assembly planning and robot programming. Therefore, those assemblies in small batch largely rely on human interventions, which is a system-level problem. Targeting the problem, this paper presents a novel programming-free automated assembly planning and control approach based on virtual training. Within the context, the 3-D models of products are used, including general assembly features of each component. The features are used in a search-based planner to generate assembly sequence, and to plan assembly path. Then the virtual assembly simulation is carried out based on the generated assembly plan, where the collisions and contacts are captured and passed to the planner to regenerate a new path. The new path is simulated in the virtual world. The simulation process is repeated until an executable strategy is obtained. In the real world, the physical robots perform the actual assembly by following the trained sequences and paths that are calibrated according to the real positions and orientations of the components. A proof-of-concept case study is carried out in robot operating system environment to validate this approach.
The advent of robotics itself a revolutionary process or change. It affect in factory automation in such a way that the process to the product path in manufacturing is totally changed. This operation ...performed by the robots and intelligent systems change the perspective of the industry by the end of 20 th century. The field of robotics challenges among researchers, academicians and in the industry since last two decades. This is due to its vast application in every field includes medical, manufacturing, engineering, goods and transportation, defence, smart cities, etc. Today, robotics/robots are not only bounded by the process automation, but they are integrated part of Internet of Things (IoT) to provide some unsolved solutions. A robot as a service having all key features of IoT like autonomous, mobile, sensing and action taking. The infrastructure facility provided by the IoT facilitate to provider to use as a connected things and establish connections with other things using Internet, either as a end user and/or source of so called information. This paper clearly describes how robotics and IoT work together at different platforms.
Collaborative autonomous systems operating at edges, e.g., TurtleBots, need adaptive security mechanisms (i.e., Confidentiality, Integrity, Availability) that meet the changing mission requirements ...and the available processing capacities. We have designed and implemented a security platform that supports secure communication among autonomous systems of robots (e.g., TurtleBots), security of Robot Operating System (ROS) communication network, the integrity of the information exchanged among the robots and secured availability of the data and access to services. For designing the security platform, we have used architecture and design patterns along with the respective security protocols. Our solution provides seamless security incorporation in heterogeneous collaborative autonomous entities. We have leveraged architectural strategies to incorporate publickey encryption, maintain global order of events and incorporate fault tolerance. We assert that the presented security platform can facilitate easy adoption of secure control, communication and information gathering in collaborative autonomous systems with resource constraint edge nodes.
In this paper, we present an intelligent system where agents can co-ordinate creative tasks through machine learning and cooperation. For machine learning, we used commonly used pattern recognition ...algorithm - Principal Component Analysis (PCA). Based on recognition, we plan a task that is performed by multiple intelligent agents. In our case, task is to draw a pattern or perform a creative art by agents. The task action is divided into three phases: obtaining a design, composing a mathematical model and and performing the task by agents. In case of agents co-ordination, various feedback techniques using wireless sensors and on-board sensors are used. As for proof of concept (POC), a flower pattern is detected, which is painted on a canvas by using mobile robots. Also, person's identity and mood is detected and then a creative art is performed by mobile robots to improve the mood.
This paper proposes a novel solution to control multi-robot systems that is based on controllers designed as numerical P systems (a membrane computing paradigm). These controllers can be easily ...integrated within ROS (Robot Operating System) and benefit from this powerful ecosystem of applications. A series of four case studies on real e-puck robots validate this approach.
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