Implementation Of Robot Research Articles

유압시스템을 사용한 고 하중 양팔 로봇의 모션 추종 성능 향상을 위한 슬라이딩 모드 제어

This paper presents the control implementation of a heavy-duty dual-arm robot, Accident Response Manipulator (ARMstrong), configured as teleoperated control by a master robot. The mater-slave configuration for remote operation in dangerous areas has been implemented. The master robot is an exoskeleton type such that an operator can wear it to control the slave. The slave robot is actuated by the hydraulic system, which generates high power but produces larger motion-tracking errors that suffer from nonlinearity. The dead zone of each joint is identified and compensated to improve motion-following performance after the master. Sliding mode control further improves the positional accuracy under unknown payloads. Experimental studies are conducted to demonstrate the position control performance of the ARMstrong slave robot.

A SafeML extension for a unified risk assessment to diverse service robots

Risk assessment is one of the important processes in the social implementation of robots. In risk assessment and safety design of systems with various stakeholders, modeling and visualization of related elements are important not only for designers but also for users. We examined the use of SafeML in the process and proposed its extension for the purpose for missing elements.

A Social Robot to Assist in Addressing Disruptive Eating Behaviors by People with Dementia

Socially assistive robots have been proposed to help people with dementia to conduct activities of daily living, facilitate therapeutic interventions or address problematic symptoms associated with the disease. Psychological symptoms of dementia, such as anxiety, apathy or aggression, are the main cause of distress to both people with dementia and caregivers. Caregivers frequently report disruptive eating behaviors as a major cause of concern. These include being distracted while eating, throwing food or refusing to eat. This paper reports the design and evaluation of a social robot aimed at assisting people with dementia with disruptive eating behaviors. We describe the user-centered design process that was followed and the implementation and evaluation of the assistive robot. The assistive robot identifies common challenging behaviors, using mostly computer vision, and incorporates strategies recommended by caregivers to help address them.

Barriers and facilitators in the implementation of mobilization robots in hospitals from the perspective of clinical experts and developers

BackgroundEarly mobilization can help reduce severe side effects such as muscle atrophy that occur during hospitalization. However, due to time and staff shortages in intensive and critical care as well as safety risks for patients, it is often difficult to adhere to the recommended therapy time of twenty minutes twice a day. New robotic technologies might be one approach to achieve early mobilization effectively for patients and also relieve users from physical effort. Nevertheless, currently there is a lack of knowledge regarding the factors that are important for integrating of these technologies into complex treatment settings like intensive care units or rehabilitation units.MethodsEuropean experts from science, technical development and end-users of robotic systems (n = 13) were interviewed using a semi-structured interview guideline to identify barriers and facilitating factors for the integration of robotic systems into daily clinical practice. They were asked about structural, personnel and environmental factors that had an impact on integration and how they had solved challenges. A latent content analysis was performed regarding the COREQ criteria.ResultsWe found relevant factors regarding the development, introduction, and routine of the robotic system. In this context, costs, process adjustments, a lack of exemptions, and a lack of support from the manufacturers/developers were identified as challenges. Easy handling, joint decision making between the end-users and the decision makers in the hospital, an accurate process design and the joint development of the robotic system of end-users and technical experts were found to be facilitating factors.ConclusionThe integration and preparation for the integration of robotic assistance systems into the inpatient setting is a complex intervention that involves many parties. This study provides evidence for hospitals or manufacturers to simplify the planning of integrations for permanent use.Trial registrationDRKS-ID: DRKS00023848; registered 10/12/2020.

A general cost model to assess the implementation of collaborative robots in assembly processes

In assembly processes, collaborative robots (cobots) can provide valuable support to improve production performance (assembly time, product quality, worker wellbeing). However, there is a lack of models capable of evaluating cobot deployment and driving decision-makers to choose the most cost-effective assembly configuration. This paper tries to address this gap by proposing a novel cost model to evaluate and predict assembly costs. The model allows a practical and straightforward comparison of different potential assembly configurations in order to guide the selection towards the most effective one. The proposed cost model considers several cost dimensions, including manufacturing, setup, prospective, retrospective, product quality and wellbeing costs. The cost estimation also considers learning effects on assembly time and quality, particularly relevant in low-volume and mass customised productions. Three real manufacturing case studies accompany the description of the model.

Level 1 Evidence for Robotic Surgery for Urological and Gynecological Pelvic Cancers: Where do We Currently Stand?

Robotic surgery is used for the surgical removal of female pelvic malignancies and encompasses procedures as radical cystectomy and radical hysterectomy. The aim of this paper is to provide an update of level 1 literature evidence about the outcomes of robotic surgery compared to other surgical approaches for the treatment of bladder, endometrial and cervical cancer. A non- systematic search of the PubMed and Scopus databases was conducted to identify peer-reviewed randomized controlled trials (RCTs) comparing surgical approaches for radical cystectomy and hysterectomy. To the purpose of capturing the lastest updates, 2020–2022 literature was reviewed. In the field of radical cystectomy, two RCTs supported the implementation of robotics as a more beneficial approach than open surgery - in terms of faster recovery, less thromboembolic events, less infectious events. In gynecology, despite robotics is accepted for the treatment of early endometrial tumors, the role of minimally invasive surgery (MIS) for the treatment of cervical cancer is still debated, with two recent systematic reviews and meta-analyses reporting conflicting results. Two- decades after the introduction of robotic surgery, there is still a number of current studies evaluating its role for the treatment of urological pelvic malignancies, especially for bladder cancer. The role of robotic surgery alone for the treatment of gynecological malignancies has been scarcely addressed with robotics being mostly evaluated as a part of MIS; updates about MIS for the treatment of cervical cancer continue to be ongoing.

Assessment of readiness of a traffic environment for autonomous delivery robots

Introduction: Autonomous delivery robots are a promising alternative for last-mile delivery. To realise successful implementation of delivery robots in public spaces, it is important to study the interaction between robots and the traffic environment. The traffic environment includes the physical infrastructure and the objects using it like cars and people.Methods: This research proposes an assessment method to determine the readiness of a traffic environment for autonomous delivery robots. A conceptual model is proposed that includes the factors that determine this so-called “roboreadiness”. The two key components of the model are the performance of the robot in the traffic environment and its social acceptance. A real-life experimental test case, expert interviews, and a survey are used to refine and validate the framework.Results: The real-life test case showed for the basic variant a sufficient level both on performance and social acceptance. All other variants such as pillars, road narrowing, and bends did not lead to sufficient performance or social acceptance levels.Discussion: The main outcome of this research is an assessment framework which allows to quantitatively assess traffic performance and social acceptance of sidewalk automated delivery robots. Suggestions for future work include further detailing and elaboration of the approach, scaling up experiments, and researching the possible influence of social acceptance on traffic performance.

Shape classification technology of pollinated tomato flowers for robotic implementation

Three pollination methods are commonly used in the greenhouse cultivation of tomato. These are pollination using insects, artificial pollination (by manually vibrating flowers), and plant growth regulators. Insect pollination is the preferred natural technique. We propose a new pollination method, using flower classification technology with Artificial Intelligence (AI) administered by drones or robots. To pollinate tomato flowers, drones or robots must recognize and classify flowers that are ready to be pollinated. Therefore, we created an AI image classification system using a machine learning convolutional neural network (CNN). A challenge is to successfully classify flowers while the drone or robot is constantly moving. For example, when the plant is shaking due to wind or vibration caused by the drones or robots. The AI classifier was based on an image analysis algorithm for pollination flower shape. The experiment was performed in a tomato greenhouse and aimed for an accuracy rate of at least 70% for sufficient pollination. The most suitable flower shape was confirmed by the fruiting rate. Tomato fruit with the best shape were formed by this method. Although we targeted tomatoes, the AI image classification technology is adaptable for cultivating other species for a smart agricultural future.

Optimal design and implementation of an amphibious bionic legged robot

Amphibious bionic robots are a valuable tool in the field of marine engineering. In this paper, a novel multi-mode amphibious bionic legged robot is proposed. The unique mechanism design ensures that all joints of the robot will not rotate continuously but will reciprocating rotate under all working modes, which greatly reduces the probability of the robot losing motion ability due to the entanglement of aquatic plants and other organisms, making the robot more suitable for the amphibious environment comparing to traditional propulsion methods such as propellers and wheels. For an efficient walking leg mechanism design, a calculation approach for the kinematics of the leg was developed and integrated into an optimization algorithm with defined boundary conditions. 29.23% increase in stride length of walking leg after optimization. By the hydrodynamic simulation and the open water test in the circulating water channel, we tested and analyzed the influence of the geometric parameters of the swimming leg on the swimming performance, providing a reference for the development of this kind of robot. This paper provides sufficient technical details and completeness, and a series of performance evaluation experiments validated that this robot has excellent movement ability in the amphibious environment.

Use of Finite Elements in the Training of a Neural Network for the Modeling of a Soft Robot.

Soft bioinspired manipulators have a theoretically infinite number of degrees of freedom, providing considerable advantages. However, their control is very complex, making it challenging to model the elastic elements that define their structure. Finite elements (FEA) can provide a model with sufficient accuracy but are inadequate for real-time use. In this context, Machine Learning (ML) is postulated as an option, both for robot modeling and for its control, but it requires a very high number of experiments to train the model. A linked combination of both options (FEA and ML) can be an approach to the solution. This work presents the implementation of a real robot made up of three flexible modules and actuated with SMA (shape memory alloy) springs, the development of its model through finite elements, its use to adjust a neural network, and the results obtained.

Pediatric robotic surgery: An overview

Pediatric robotic surgery offers children a minimally invasive approach with numerous advantages over open or thoracoscopic and laparoscopic surgery. However, despite its widespread adoption for adult patients, the utilization of robotic surgery within pediatrics has been relatively slower to progress. This paper provides an overview of pediatric robotic surgery and discusses benefits, limitations, and strategies for successful implementation of robotics within pediatric surgical practice.

The ethics of pet robots in dementia care settings: Care professionals' and organisational leaders' ethical intuitions.

Pet robots are gaining momentum as a technology-based intervention to support the psychosocial wellbeing of people with dementia. Current research suggests that they can reduce agitation, improve mood and social engagement. The implementation of pet robots in care for persons with dementia raises several ethical debates. However, there is a paucity of empirical evidence to uncover care providers' ethical intuitions, defined as individuals' fundamental moral knowledge that are not underpinned by any specific propositions. Explore care professionals' and organisational leaders' ethical intuitions before and when implementing pet robots in nursing homes for routine dementia care. We undertook a secondary qualitative analysis of data generated from in-depth, semi-structured interviews with 22 care professionals and organisational leaders from eight nursing homes in Ireland. Data were analysed using reflexive thematic analysis. Ethical constructs derived from a comprehensive review of argument-based ethics literature were used to guide the deductive coding of concepts. An inductive approach was used to generate open codes not falling within the pre-existing concepts. Ethical intuitions for implementing pet robots manifested at three levels: an (1) individual-relational, (2) organisational and (3) societal level. At the individual-relational level, ethical intuitions involved supporting the autonomy of residents and care providers, using the robots to alleviate residents' social isolation, and the physical and psychosocial impacts associated with their use. Some care providers had differing sentiments about anthropomorphizing pet robots. At the organisational level, intuitions related to the use of pet robots to relieve care provision, changes to the organisational workflow, and varying extents of openness amongst care providers to use technological innovations. At the societal level, intuitions pertained conceptions of dementia care in nursing homes, and social justice relating to the affordability and availability of pet robots. Discrepancies between participants' ethical intuitions and existing philosophical arguments were uncovered. Care professionals and organisational leaders had different opinions on how pet robots are or should be implemented for residents with dementia. Future research should consider involving care practitioners, people with dementia, and their family members in the ethics dialogue to support the sustainable, ethical use of pet robots in practice.

Experimental study of terrain coverage of an autonomous chaotic mobile robot

In this work, the design and implementation of an autonomous mobile robot that can cover given workspaces, is presented. The motion commands are produced by a bit sequence, which is created from the combination, through an XOR function, of two separate chaotic random bitstreams. The implementation of the proposed method is performed by a robotic platform which is controlled through a microcontroller (Arduino Uno). Also, an ultrasonic sensor is inserted into the robotic platform with basic aim to locate and avoid the boundaries of the workspace. The robot’s behavior is studied experimentally in different scenarios with various starting positions. The experimental results confirm that this approach, with an appropriate sensor for avoiding collision with the boundaries, can obtain very satisfactory results in regard to the fast scanning of the robot’s workspace with unpredictable way.

Older adult perspectives on emotion and stigma in social robots.

Social robot adoption by older adults and people living with dementia is limited by several barriers, including a lack of emotional alignment with social robots and perceptions of stigma around social robot use. The goal of this work was to address these barriers by engaging end-users in discussions on factors that could affect emotional connection to a social robot and considerations around using a social robot in public. We conducted seven 90-min online workshops with older adults with (n = 2) and without dementia (n = 25) and care partners (n = 17). Older adults with and without dementia were in their 50s - 80s, and care partners were in their 30s - 70s. Seven older adults, seven care partners, and one older adult with dementia indicated that they had used a robot before. Online workshops had 4-8 participants each, and began with video demonstrations of pet-like robot MiRo and tabletop robot T-Top, as well as a live demonstration of MiRo. Participants completed the Multi-Dimensional Robot Attitude Scale before the workshops and the Psychosocial Impact of Assistive Devices Scale and two Zoom polls during the workshops. The audio and chat responses from the workshops were transcribed verbatim and content analysis was performed on the transcripts. Our analysis revealed three broad themes and 10 subthemes. In their discussions on features and applications, participants highlighted preferred forms of communication with a robot and ways in which a robot could support connection between people. For example, robots could improve the quality of communication between care partners and the person for whom they care. While many agreed that a social robot should match their level of emotion and interactivity, participants had different preferences for social robot emotional range and display features. Finally, participants discussed considerations around showing a robot to other people; several participants suggested that a robot could help raise awareness of ageing and dementia while others shared concerns about stigma and attracting negative attention from an audience. Incorporating these findings into the design and implementation of social robots will result in devices that are better-suited to the needs of older adults, people living with dementia, and care partners.

How does smart technology, artificial intelligence, automation, robotics, and algorithms (STAARA) awareness affect hotel employees’ career perceptions? A disruptive innovation theory perspective

ABSTRACT The extensive implementation of smart technology, artificial intelligence, automation, robotics, and algorithms (STAARA) in hospitality services has accelerated the need to understand their potential influence on hotel employees’ career perceptions. This study conducted two scenario-based experiments based on disruptive innovation theory and the Stimulus-Organism-Response (SOR) model to examine how STAARA awareness shapes hotel employees’ job insecurity and mobility. In addition, this study investigated career progression as a counterstrategy to attenuate the substitution effect of STAARA. Study 1 demonstrated that hotel employees’ negative (vs. positive) awareness of STAARA leads to higher job insecurity and mobility. Furthermore, according to Study 2, for hotel employees with low-level career progression, negative (vs. positive) awareness of STAARA induces higher job insecurity and mobility. However, among employees with high-level career progression, there were no significant differences, which means that high-level career progression attenuates the impact of STAARA. This study also considers theoretical and practical influences.

Design a Semi-Autonomous Fumigation Robot Using Line Tracking for COVID-19

The implementation of robotics has provided various solutions to the problematic caused by Covid-19 to reduce the exposure of people when alternating work, therefore the present project was designed and manufactured a semi-autonomous fumigation robot which is made using a sprinkler and a pump, to give it autonomy was incorporated line tracking that works utilizing infrared and ultrasonic sensors. For the development of the project, the V-based methodology was used, in which the 3 branches of mechatronics are integrated. As a result, the robot can be applied in commercial and industrial areas for disinfection of floors and surfaces to reduce exposure to the virus. A nozzle with an angle of 60° was used having a range of 3.2 m wide and reaches a height of 1.6 m. as a final result, it was obtained that the robot is capable of disinfecting 3.2 m2/s.

TRAPROB: An Innovative Traffic Police Robot with Arduino Intelligence

In an era of ever-increasing urbanization and traffic congestion, the development of innovative solutions for traffic management is imperative. This research paper presents the design, fabrication, and implementation of a humanoid traffic police robot, lovingly named “TRAPROB”, which is equipped with a variety of functionalities to enhance traffic control and safety. TRAPROB's hardware foundation includes an Arduino Mega microcontroller, multiple servo motors for live gestures, and an ESP32 cam for real-time monitoring. This research involves both the physical construction of the robot's iron sheet body and the complex programming required to organize its movements and traffic management functions. Robot activities range from cordial interactions like waving and shaking hands to critical traffic management tasks. TRAPROB specializes in directing the flow of vehicles, acknowledging right of way, signaling, and accurately enforcing traffic rules. It can manage intersections efficiently, ensuring a smooth and safe traffic environment. Its unique ability to seamlessly communicate with oncoming vehicles, stop traffic from different directions and give synchronized commands promotes a holistic approach to traffic control. This research paper emphasizes the practicality and simplicity of building a humanoid traffic police robot from scratch. TRAPROB represents an innovative step forward in the field of autonomous traffic management, offering a customizable, cost-effective, and adaptable solution to the challenges posed by modern urban traffic. As traffic congestion continues to increase, TRAPROB's ability to reduce congestion and increase road safety is becoming increasingly important. This paper explores the design, construction, and functionality of TRAPROB, providing information about its real-world applicability and the prospects of this DIY traffic management solution.

Transformation of the Physician-patient Relationship: From Bioethics to Roboethics

In the context of the active development and implementation of artificial intelligence systems and robotics in healthcare, the physician-patient relationship is undergoing changes. The transformation of these relations caused by the problems of interrelation of the basic bioethical principles and new approaches to the diagnosis and treatment of diseases is considered. Using concrete examples, new opportunities and risks caused by the widespread use of automation in medicine are revealed. Conflict situations between human norms and algorithms are analyzed. The issues of responsibility for robot errors, as well as privacy and cybersecurity issues are considered. It is noted that by the beginning of the 21st century, there was a need for an ethical assessment of robotics, since technical decisions taken in the design of robots have the potential to directly and significantly affect people's lives. In this regard, roboethics arose, the concept of which is analyzed in the article. The laws of robotics were formulated by I. Asimov and F. Pasquale. At the same time, attention is drawn to the fact that in the field of healthcare, programs should be developed that rely on human strength. The necessity of finding a balance between the automation of medical practice and the maintenance of the humanistic essence of the physician-patient relationship is emphasized. A comparative analysis of the fundamental principles of bioethics and roboethics is carried out. Despite the fact that they have the same goals and values, in roboetics these principles are characterized by a number of features. The principle related only to roboethics — explainability — requires algorithm developers to explain the general rationale and methodology for solving artificial intelligence. In conclusion, it is concluded that medical robotics and artificial intelligence systems provide great prospects for improving diagnosis, treatment and the general level of medical care, but their use raises important ethical issues that need to be addressed. The basic principles of bioethics should be preserved, and roboethics can help to define the framework and standards for the use of robots in medical practice.

Retracted: Design and Implementation of Multimedia Network Intelligent Control Robot Based on Software Definition

Retracted: Design and Implementation of Multimedia Network Intelligent Control Robot Based on Software Definition

Robotic Technologies in Horticulture: Analysis and Implementation Prospects

Abstract The article contains an analytical review and perspectives of robotic technologies in horticulture. Trends in the growth of production, implementation, and sales of robots in various regions of the world are revealed. The analysis showed a lag in the introduction of agricultural robots compared to other sectors of the economy, as well as a significant gap between the countries of the Asian region and other continents. A review of technical means of three main components of ground agricultural robots is considered: navigation systems, sensors, and platform design. Examples of constructing a tree trajectory using the A* algorithm and using the Rviz visualization tools and the Github PathFindings graphical web service are given. As a result of the conducted research, the use of Lidar sensors is recommended, which will make it possible to design the route of robotic platforms, build maps by scanning a previously unknown surrounding space and updating the resulting map at each step of the algorithm in real time. The use of existing modern sensors with an optical rangefinder with a resolution of 4.5 million pixels, a frame rate of 25 frames per second and the ability to automatically adapt to the light level in combination with stereo cameras and GPS/GLONASS navigation will improve the positioning accuracy of robotic platforms and ensure autonomous operation. To perform basic technological operations for the care of plantings with row spacing of 2.5-4 m, a tree crown height up to 3-3.5 m with intensive technologies, the following design parameters of a robotic platform are required: agro-treatment of at least 1200 mm, adjustable track width of 1840-2080 mm, weight not more than 400 kg, load capacity not less than 1000 kg, the power of the power plant is not less than 5 kW.