Remote Mobile Robot Research Articles

Medicinal Time Reminder and Touchless Dispenser Robot in Hospitals for Elderly Patients and Patients Having Contagious Disease

This paper presents a remote controlled mobile robot with a camera and alarm system for patients having contagious disease and elderly patients. A mobile robot can serve patients having contagious disease in hospitals by dispensing the medications at prescribed time. Today's hospitals and nursing homes must provide care for a large number of patients with a little staffthat finds it challenging to dispense correct dose of medicines at prescribed time without touching the patients having contagious diseases&also for the elderlypatients who forget to take medicines at prescribed time. If the nurse dispenses medicines to the patients with contagious diseases have chance for spreading of viruses, and also if the elderly patientswho are not taking medicines at prescribed time may lead to severe health issues. In order to avoid these issues, nurses use a remote controlled mobile robot with a camera and alarm system which can dispense the medicines at prescribed time. In this proposed work, two systems are developed: one as time reminder to the nurse and another is a dispenser robot with camera. In the reminder system,duty nurse will set the time prescribed by the doctor on daily basis. When the alarm goes ON at a prescribed time, the staff nurse will send the medication to the patient's room through a mobile robot with camera. Once the nurse switched ON the robot, it starts capturing and sending the video on its path to the mobile phone of nurse through Wi-Fi continuously. Thus the nurse can observe and monitor the patient taking the medicine while sitting in his or her office using a mobile phone. The suggested two systems can dispense medicines to the patients having contagious diseases without spreading virus to the nurse and it also avoids any health issues to the elderly patientsby dispensing the correct dosage of medications at the prescribed time.

Use of augmented reality for remote control of mobile robots in the presence of time delays in data transmission channels

The paper is devoted to the teleoperation of ground mobile robots in extreme conditions. The presence of time delays in information transmission channels has a significant impact on the efficiency of control. The total delay values can range from hundreds of milliseconds to units of seconds. Sufficiently large values are the reasons for the loss of stability of control systems. To reduce the negative impact of delays, it is proposed to use a method of supporting the operator, which consists in superimposing information about the robot's position on the image received from the video camera and displayed on the control panel at the moment when it receives the generated commands. The position calculation uses the fact that telemetry and command transmission delays are generally much less than video transmission delays. The proposed method is simple, requires a minimum amount of computing resources and can be implemented as a part of low-cost robotic systems. The presented simulation results demonstrate the effectiveness of the method.

Robot Vitals and Robot Health: Towards Systematically Quantifying Runtime Performance Degradation in Robots Under Adverse Conditions

This letter addresses the problem of automatically detecting and quantifying performance degradation in remote mobile robots, in real-time, during task execution. A robot may encounter a variety of uncertainties and adversities during task execution, which can impair its ability to carry out tasks effectively and cause its performance to degrade. Such situations can be mitigated or averted by timely detection and intervention, e.g., by a remote human supervisor taking over control in teleoperation mode. Inspired by patient triaging systems in hospitals, we introduce the framework of “robot vitals” for estimating overall “robot health”. A robot's vitals are a set of lower-level metrics that estimate a variety of indicators of performance degradation faced by a robot at any given point in time. Robot health is a higher-level metric that combines robot vitals into a single scalar value estimate of performance degradation. Experiments, both in simulation and on a real mobile robot, demonstrate that the proposed robot vitals and robot health can be used effectively for online estimation of robot performance degradation during run-time.

End-to-end security in embedded system for modern mobile communication technologies

Modern mobile electronic devices such as smartphones or cell phones can now be used for distant devices such as technical systems to monitor and control. While surveillance systems do not require high standards navigating about the time of transfer of the displayed data. More real-time data are needed for a remote mobile robot transfer. Therefore, it has investigated and measured not only the possibilities of employing mobile devices. But also, the supported data transmission channels, such as UMTS, GSM, Wireless LAN, and Bluetooth. The remote-control system is used in many applications such as smart homes, cities, smart hospitals, etc., but it must be today updated to ensure fast-changing technology. Extensive coverage, remote control, and reliable operation in real-time in the deployment of wireless security knowledge. The home automation control system delivers significant features together with a user-friendly interface. A secure remote-based end-to-end security system NTMobile, a technique that enables NAT to provide transverse and encrypted communication from end to end. This confirmed that evaluating the performance of the system in the ECHONET lite compatible smartphone ecosystem. This gives flexibility in configuring time-sensitive industrial networks and enables them to be secured. A safe and reliable remote-control system is also conceivable under the privacy of the user.

Computer Interface for Remote Teleoperated Mobile Robot Based on LabVIEW and Open Source Hardware

A remote controlled mobile robot utilizing National Instruments LabVIEW software, communicating over a low-rate serial ISM radio link. The robot is modular in design with system modules connected via serial interfaces to a system controller. A custom power supply and distribution circuit board provides power to the robot using sealed lead acid batteries as the source. The mobile robot streams system voltage and current status, JPEG images, ambient temperature and humidity readings, and GPS location. The project demonstrates the successful use of LabVIEW to develop a system using communication over lowrate serial radio links.

OBSTACLE DETECTINGSPY ROBOT

In present time almost everything used basically is operated by remotes. The biggest limitation of remote controlling is its limited frequency level. This paper suggests a method for robotic control using the DTMF tone generated when the user gives commands using mobile phone keypad buttons connected with a remote mobile robot. This spy robot holds three technologies together, they are- Obstacle Sensing & Detection, DayNight Vision and DTMF. Robot motion is done by DTMF Technology. The system uses two mobile phones, one to control the robot that sends DTMF commands via call to another mobile phone mounted on the robot vehicle.

근전도 기반 손동작 인식을 이용한 모바일 로봇의 원격 제어

근전도 기반 손동작 인식을 이용한 모바일 로봇의 원격 제어

Autonomic architecture for fault handling in mobile robots

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.

Force and Position–Velocity Coordination for Delayed Bilateral Teleoperation of a Mobile Robot

SummaryThis document proposes a control scheme for delayed bilateral teleoperation of a mobile robot, which it is sought to achieve a coordination of the master device position with the slave mobile robot velocity, and at the same time synchronize the force exerted by the operator with force applied by the environment over the mobile robot. This approach allows the operator to improve the sensitive perception of the remote environment in which the robot navigates while he generates commands to control the mobile robot motion. In this paper, variable and asymmetrical communication time delays are taken into account, as well as a non-passive model of the human operator, for which a novel model is proposed that has a more general structure than the typical ones used to date in the teleoperation field. Furthermore, based on the theoretical analysis presented, the state of convergence in the stationary response is obtained. In addition, an experimental performance evaluation is carried out, where the position–velocity error, force error and the time to complete the task are evaluated. In the tests, a human operator commands a remote mobile robot to push objects of different weight while he perceives the weight of each object through the force feedback system. As an outcome, the theoretical and practical results obtained allow concluding that a satisfactory trade-off between stability and transparency is reached.

Message from editor

Dear Readers,
 
 It is a great honor for us to publish Volume 7, Issue 3 of Global Journal of Computer Sciences: Theory and Research. 
 
 Global Journal of Computer Sciences: Theory and Research (GJCS) is an international online journal for scientists and professionals involved in all aspects of computer sciences. This journal serves as an international platform that fosters theoretical and practical issues and new applications for all scientists and professionals from the field of computer sciences including original research and innovative applications from all parts of the world.
 
 Aim of this issue is to give the researchers an opportunity to share the results of their academic studies. There are different research topics discussed in the articles. For example, Farag Homed Ali Kuwil examined the effectiveness measurement of spectral clustering algorithm. Suat Karakaya, Gurkan Kucukyildiz and Hasan Ocak presented a dynamic path planning method for wheeled mobile robots (Dyna-bug). In addition, Gurkan Kucukyildiz, Suat Karakaya and Hasan Ocak proposed a model for the classification of multi-class motor imaginary in EEG using random forest (RF) classifier. Suat Karakaya, Ufuk Akkaya, Nurullah Sekerci, Adem Karagoz, Ali Ugur Ozay, Gurkan Kucukyildiz and Hasan Ocak discussed virtual-reality-based remote-controlled mobile robot platform. Finally, Papa Djassi examined the effects of fixed and roaming CN on MIPv6 networks.
 
 A total number of twelve (12) manuscripts were submitted for this issue and each paper has been subjected to double-blind peer review process by the reviewers specialized in the related field. At the end of the review process, a total number of five (5) high quality research papers were selected and accepted for publication.
 
 We present many thanks to all the contributors who helped us to publish this issue.
 
 Best regards,
 
 Prof. Dr. Dogan Ibrahim
 
 Editor – in Chief
 
 
 

Virtual-reality-based remote-controlled mobile robot platform

In this paper, a mobile robot system, which consists of a moving base and a built-in weapon platform, was developed. The base is controlled manually using a wireless joystick in which the remote hand weapon manipulates the built-in weapon platform. A stereo vision camera is mounted on the front plane of the built-in weapon platform. Real-time video of the battle zone is recorded by the stereo camera module and is simultaneously monitored on virtual reality glasses. The glasses are worn by the person who will control the built-in weapon. The remote hand weapon is also held by the same person, and the real-time motion directories of the hand weapon are transmitted to the main platform via user datagram protocol. The built-in weapon is fired when the remote user triggers the hand weapon. The weapon platform is locked to the target, regardless of the moving base of the mobile robot.
 Keywords: Virtual reality, control theory, mobile robot, defense systems.

원격조종 이동로봇 시스템을 이용한 방사능 진단

본 논문에서는 어떤 방사능 지역의 방사능 수준을 원격지에서 진단하기 위하여 설계된 원격조정 이동형로봇 시스템을 제시한다. 제시된 이동 로봇은 기본적으로 무선통신이 가능한 리모콘을 사용하여 원격지에서 조종이 가능하다. 이 로봇은 장착된 방사능 센서를 이용하여 어떤 방사능 지역에서 방사능 수준을 측정할 수 있고, 측정된 데이터를 안전한 원격지에 있는 모니터링 컴퓨터로 보낼 수 있다. 또한 충돌감지 신호를 기반으로 로봇과 어떤 장애물과의 충돌을 회피하는 것이 가능하다. 결과적으로, 일반적인 자연 방사능 실험과 시험용 방사성 물질을 이용한 실험 및 방사능 지역에서의 현장 실험을 통하여, 제안된 로봇 시스템의 유용성을 보인다.

Applying virtual reality to remote control of mobile robot

The purpose of this research is based on virtual reality to assisted pick and place tasks. Virtual reality can be utilized to control remote robot for pick and place element. The operator monitored and controlled the situation information of working site by Human Machine Interface. Therefore, we worked in harsh or dangerous environments that thing can be avoided. The procedure to operate mobile robot in virtual reality describes as follow: An experiment site with really experimental equipment is first established. Then, the experimental equipment and scene modeling are input to virtual reality for establishing a environment similar to the reality. Finally, the remote mobile robot is controlled to operate pick and place tasks through wireless communication by the object operation in virtual reality. The robot consists of a movable robot platform and robotic arm. The virtual reality is constructed by EON software; the Human Machine Interface is established by Visual Basic. The wireless connection is equipped the wireless Bluetooth, which is set the PC and PLC controller. With experimental tests to verify the robot in virtual reality and the wireless remote control, the robot could be operated and controlled to successfully complete pick and place tasks in reality by Human Machine Interface.

遠隔操縦ロボットのカメラ画像に対する道幅情報の重畳

遠隔操縦ロボットのカメラ画像に対する道幅情報の重畳

Usability Evaluation of a Control and Programming Environment for Programming Education

This paper presents an assessment of usability of Control and Programming Environment (CPE) of a remote mobile robot. The CPE is an educational environment focused on computer programming education that integrates a program development online tool with a remote lab. To evaluate system usability, empirical test was conducted with computer science students in order to identify the views of users on the system and get directions on how to improve the quality of interface use. The study used questionnaire and observation of the evaluator. The degree of users’ satisfaction was measured by using a quantitative approach that establishes the average ranking for each question of the questionnaire. The results indicate that the system is simple, easy to use and suited to programming practices, however needed changes to make it more intuitive and efficient. The realization test of usability, even with a small sample user, is important to provide feedback on the system's user experience and help identify problems.

An Object Template Approach to Manipulation for Humanoid Avatar Robots for Rescue Tasks

Nowadays, the first steps towards the use of remote mobile robots to perform rescue tasks in disaster environments have been made possible. However, these environments still present several challenges for robots, which open new possibilities for research and development. For example, fully autonomous robots are not yet suitable for such tasks with high degree of uncertainty, and pure teloperated robots require high expertise and high mental workload, as well as fast communication to be reliable. In this paper, we discuss a middle ground approach to manipulation, that leverages the strengths and abilities of a human supervisor and a semi-autonomous robot while at the same tackling their weaknesses. This approach is based on the object template concept, which provides an interaction method to rapidly communicate to a remote robot the physical and abstract information for manipulation of the objects of interest. This approach goes beyond current grasp-centered approaches by focusing on the affordance information of the objects and providing flexibility to solve manipulation tasks in versatile ways. Experimental evaluation of the approach is performed using two highly advanced humanoid robots.

Delayed Bilateral Teleoperation of Wheeled Robots including a Command Metric

This paper proposes a control scheme applied to the delayed bilateral teleoperation of wheeled robots with force feedback, considering the performance of the operator’s command execution. In addition, the stability of the system is analyzed taking into account the dynamic model of the master as well as the remote mobile robot under asymmetric and time-varying delays of the communication channel. Besides, the performance of the teleoperation system, where a human operator drives a 3D simulator of a wheeled dynamic robot, is evaluated. In addition, we present an experiment where a robot Pioneer is teleoperated, based on the system architecture proposed.

Utilization of the Oculus Rift HMD in Mobile Robot Teleoperation

This paper mentions some problems related to utilization of a head-mounted display (HMD) for remote control of mobile robots by a human operator and also presents a possible solution. Considered is specifically the new HMD device called Oculus Rift, which is a very interesting device because of its great parameters and low price. The device is described in the beginning, together with some of the specific principles of the Oculus 3D display. Then follows the design of a new graphical user interface for teleoperation, with main focus on visualization of stereoscopic images from robot cameras. Demonstrated is also a way how to display additional data and information to the operator. The overall aim is to create a comfortable and highly effective interface suitable both for exploration and manipulation tasks in mobile robotics.

2A2-B07 ワイヤを用いて駆動力を伝達する操縦型移動ロボットの開発(車輪型/クローラ型移動ロボット(2))

In this research, a small mobile robot driven by the reciprocal motion of three wires is proposed. It is capable of being effectively utilized for a search inside of rubble to quickly search for victims when a disaster such as an earthquake occurs. Since the mobile robot does not have to mount any power unit on the body, it is possible to construct the body of relatively light weight. Furthermore, since any electrical power source is not mounted on the body, the crawler robot can perform a searching operation under a sodden environment without additional waterproofing. It aims to develop remote control mobile robot for transmitting the driving force by wires in this research. In this paper, we consider the feasibility of the mobile robot driving by the power transmission with the reciprocation of wires.

Mobile robot navigation with a self-paced brain–computer interface based on high-frequency SSVEP

SUMMARYA brain–computer interface (BCI) is a system for commanding a device by means of brain signals without having to move any muscle. One kind of BCI is based on Steady-State Visual Evoked Potentials (SSVEP), which are evoked visual cortex responses elicited by a twinkling light source. Stimuli can produce visual fatigue; however, it has been well established that high-frequency SSVEP (>30 Hz) does not. In this paper, a mobile robot is remotely navigated into an office environment by means of an asynchronous high-frequency SSVEP-based BCI along with the image of a video camera. This BCI uses only three electroencephalographic channels and a simple processing signal method. The robot velocity control and the avoidance obstacle algorithms are also herein described. Seven volunteers were able to drive the mobile robot towards two different places. They had to evade desks and shelves, pass through a doorway and navigate in a corridor. The system was designed so as to allow the subject to move about without restrictions, since he/she had full robot movement's control. It was concluded that the developed system allows for remote mobile robot navigation in real indoor environments using brain signals. The proposed system is easy to use and does not require any special training. The user's visual fatigue is reduced because high-frequency stimulation is employed and, furthermore, the user gazes at the stimulus only when a command must be sent to the robot.