Robot Software Research Articles

ROBOT OPERATING SYSTEM (ROS) DAN GAZEBO SEBAGAI MEDIA PEMBELAJARAN ROBOT INTERAKTIF

A robot is a prototype that is able to control by automatically to help the human work. Some of the parts to build a robot system are making the mechanical system, hardware, and software. The limitation of cost to make the robot hardware and programming skills are an obstacle to learn and develop the robot system. The development of the robot community nowadays makes the Robot Operating System (ROS) and Gazebo as an interactive media to learn and make the robot simulation. ROS is a middleware that equipped with tools and libraries to create a robot software, while Gazebo is a 3D simulation application to build a robot hardware design. On this paper, the researcher makes a robot simulation to avoid the object using Lidar sensor and camera, the simulation has developed using ROS and Gazebo that be able to use as a media for robot learning interactive.

Fuzzy Evaluation of Pharmacokinetic Models.

Population pharmacokinetic (PopPK) models allow researchers to predict and analyze drug behavior in a population of individuals and to quantify the different sources of variability among these individuals. In the development of PopPK models, the most frequently used method is the nonlinear mixed effect model (NLME). However, once the PopPK model has been developed, it is necessary to determine if the selected model is the best one of the developed models during the population pharmacokinetic study, and this sometimes becomes a multiple criteria decision making (MCDM) problem, and frequently, researchers use statistical evaluation criteria to choose the final PopPK model. The used evaluation criteria mentioned above entail big problems since the selection of the best model becomes susceptible to the human error mainly by misinterpretation of the results. To solve the previous problems, we introduce the development of a software robot that can automate the task of selecting the best PopPK model considering the knowledge of human expertise. The software robot is a fuzzy expert system that provides a method to systematically perform evaluations on a set of candidate PopPK models of commonly used statistical criteria. The presented results strengthen our hypothesis that the software robot can be successfully used to evaluate PopPK models ensuring the selection of the best PopPK model.

Integrating Different Levels of Automation: Lessons From Winning the Amazon Robotics Challenge 2016

This paper describes Team Delft's robot winning the Amazon Robotics Challenge 2016. The competition involves automating pick and place operations in semistructured environments, specifically the shelves in an Amazon warehouse. Team Delft's entry demonstrated that the current robot technology can already address most of the challenges in product handling: object recognition, grasping, motion, or task planning; under broad yet bounded conditions. The system combines an industrial robot arm, 3-D cameras and a custom gripper. The robot's software is based on the robot operating system to implement solutions based on deep learning and other state-of-the-art artificial intelligence techniques, and to integrate them with off-the-shelf components. From the experience developing the robotic system, it was concluded that: 1) the specific task conditions should guide the selection of the solution for each capability required; 2) understanding the characteristics of the individual solutions and the assumptions they embed is critical to integrate a performing system from them; and 3) this characterization can be based on “levels of robot automation.” This paper proposes automation levels based on the usage of information at design or runtime to drive the robot's behavior, and uses them to discuss Team Delft's design solution and the lessons learned from this robot development experience.

SeMo: Service-Oriented and Model-Based Software Framework for Cooperating Robots

In the near future, it will be common that a variety of robots are cooperating to perform a mission in various fields. A key technical challenge to realize this vision is software challenge on how to specify the mission at the user level and how to program each robot separately. In this paper, we propose a novel software development framework that separates mission specification and robot behavior programming. For mission specification, a novel scripting language is proposed with the expression capability of dynamic mode change and multitasking. For robot behavior programming, an extended dataflow model is used for task-level behavior specification that does not depend on the robot hardware platform. In the proposed framework, the actual robot software is automatically generated from the model. The viability of the proposed framework is demonstrated with two real-life experiments.

Dating a Synthetic Character is Like Dating a Man

To evaluate our emotionally intelligent software, we put a virtual human capable of speech and facial expressions to an updated and enriched version of the traditional Turing test. In a speed-date with 54 young females, either our software or human confederates controlled the simulation of the virtual human’s affective performance. Results were obtained with frequentist analysis and Bayesian structural equation modeling. Indeed, participants did not detect differences and observed similarity in the emotional behavior of the virtual human and in the way it assumingly perceived them. Additionally, participants did not recognize different but similar cognitive-affective structures between humans and our system. As is, designers may use our software for believable affective virtual humans or robots. Moreover, as far as the richness of interaction possibilities in the speed-dating session allowed, our software seems to reproduce human cognitive-affective structures.

Robotics and kinetic design for underrepresented minority (URM) students in building education: Challenges and opportunities

AbstractOwing to the widespread distribution of open‐source robotic software and cheaper hardware, design education in architecture and engineering is evolving to emphasize interactive and dynamic geometries, using new digital media and technologies. However, ethnic minority groups are still underrepresented in technology‐driven changes in architecture, and their career is at risk in the growing tech‐related job markets of the architecture, construction, and engineering (ACE) industry. In this context, the paper addresses college‐level pedagogical issues and learning performance related to introductory robotics education in architectural design studios for the underrepresented minority (URM) students. This article presents the organization of curriculum activities, technical experiments in learning, and teaching experiences in the largest Hispanic‐serving institution (HSI) in the U.S. The academic projects presented exhibit both technical challenges and achievements for URM students to build design competency and tool fluency in a streamlined prototyping of responsive kinetic building fabrication. The effectiveness of computer‐aided design (CAD) technologies (3D printing, sensing, microcontrollers, etc.) for the advancement of minority‐serving design education is discussed to promote design‐learning possibilities and interdisciplinary collaborations associated with science and engineering. Expectations from course objectives are compared with final outcomes to suggest efficient learning strategies and teaching solutions of kinetic architecture.

A Method to Maintain Binary Compatibility of C++ Objects for Reusability of Robot Software Components

A Method to Maintain Binary Compatibility of C++ Objects for Reusability of Robot Software Components

로봇 소프트웨어 컴포넌트의 재사용성을 위한 C++ 객체의 바이너리 호환성 유지 방법

This paper proposes the C++-based binary compatibility object model(CBCOM) to maintain the binary compatibility of software components that share objects among C++-based executable codes, such as .exe and .dll, for reusability of robot-software components. In addition, the proposed model provides methods such as overriding and overloading, multiple inheritances of interfaces, and exception handling. This paper illustrates how to use the proposed model via a simple example in the Windows environment. The proposed method is validated by application examples and comparisons with known object models, such as C++, COM, and CCC, in terms of the call time of a method during execution and binary compatibility for reusability of robot software components independent of the interface version or the types of compilers. Additionally, this paper shows that CBCOM-based components that are compiled with Microsoft Visual C++ and GCC can call each other and that any interface version problems are resolved.

Does the Robotic Arm and Preoperative CT Planning Help with 3D Intraoperative Total Knee Arthroplasty Planning?

Although several studies highlight the advantages of robotic arm-assisted total knee arthroplasty (RA-TKA), few investigate its intraoperative outcome. Therefore, the purpose of this study was to analyze the RA-TKA's ability to assist with intraoperative correction of: (1) flexion and (2) extension gaps, as well as its ability to (3) accurately predict implant sizes. Additionally, in this RA-TKA cohort, length of stay, complications, and readmissions were assessed. A total of 335 patients who underwent RA-TKA were included. The robotic software virtually measured the intraoperative prebone cut extension and flexion gaps. Differences in medial versus lateral prebone cut extension and flexion gaps were calculated. A total of 155 patients (46%) had an extension gap difference of between -2 and 2 mm (mean, -0.3 mm), while 119 patients (36%) had a flexion gap difference of between -2 and 2 mm (mean, -0.6 mm). Postbone cut differences in medial versus lateral flexion and extension gaps were measured. Balanced knees were considered to have a medial and lateral flexion gap difference within 2 mm. The robot-predicted implant size was also compared with the final implant size. Additionally, lengths of stay, complications, and readmissions were assessed. All patients achieved a postbone cut extension gap difference between -1 and 1 mm (mean, -0.1 mm). A total of 332 patients (99%) achieved a postbone cut flexion gap difference of between -2 and 2 mm (mean, 0 mm). For 98% of prostheses, the robotic software predicted within 1 implant size the actual tibial or femoral implant size used.The mean length of stay was found to be 2 days. No patients suffered from superficial skin infection, pin site infections or fractures, soft tissue damage, and no robotic cases were converted to manual TKA due to intraoperative complications. A total of 8 patients (2.2%) were readmitted; however, none were directly related to robotic use. The robotic software and use of a preoperative computed tomography (CT) substantially helped with intraoperative planning and accurate prediction of implant sizes. Therefore, based on the results of this study, the RA-TKA device does, in fact, provide considerable intraoperative assistance.

Application of the Rigid Finite Element Method to Static Analysis of Lattice-Boom Cranes

In the paper a nonlinear model of a lattice-boom crane with lifting capacity up to 700mT for static analysis is presented. The rigid finite element method is used for discretisation of the lattice-boom and the mast. Flexibility of rope systems for vertical movement and for lifting a load is also taken into account. The computer programme developed enables forces and stress as well as displacements of the boom to be calculated. The model is validated by comparison of the authors’ own results with those obtained using professional ROBOT software. Good compatibility of results has been obtained.

Multi-functional stretchable and flexible sensor array to determine the location, shape, and pressure: Application in a smart robot

The rapid increase in the aging population prompts the development of wearable devices and sophisticated robots. With their ability to collect complex information about their surroundings via e-skins, robots could perform more dynamic and variable tasks such as rescue missions or caring for the elderly. In this paper, we present a new concept of utilizing a very simple, highly flexible and stretchable capacitor sensor array, that can be attached on the surface of a retractable robot hand to realize three functions: determining the location, shape, and pressure of an object. This adaptive sensing system is accomplished using capacitors connected by aligned carbon nanotube (CNT) films constructed on an elastomer dielectric material, which can reduce the requirement on the accuracy of the machine vision system. This study has a very broad application in the manufacture of intelligent software robots.

Software for Small-scale Robotics: A Review

In recent years, a large number of relatively advanced and often ready-to-use robotic hardware components and systems have been developed for small-scale use. As these tools are mature, there is now a shift towards advanced applications. These often require automation and demand reliability, efficiency and decisional autonomy. New software tools and algorithms for artificial intelligence (AI) and machine learning (ML) can help here. However, since there are many software-based control approaches for small-scale robotics, it is rather unclear how these can be integrated and which approach may be used as a starting point. Therefore, this paper attempts to shed light on existing approaches with their advantages and disadvantages compared to established requirements. For this purpose, a survey was conducted in the target group. The software categories presented include vendor-provided software, robotic software frameworks (RSF), scientific software and in-house developed software (IHDS). Typical representatives for each category are described in detail, including SmarAct precision tool commander, MathWorks Matlab and national instruments LabVIEW, as well as the robot operating system (ROS). The identified software categories and their representatives are rated for end user satisfaction based on functional and non-functional requirements, recommendations and learning curves. The paper concludes with a recommendation of ROS as a basis for future work.

<i>AutoRobot</i>: A Multi-Agent Software Framework for Autonomous Robots

Certain open issues challenge the software engineering of autonomous robot software (ARS). One issue is to provide enabling software technologies to support autonomous and rational behaviours of robots operating in an open environment, and another issue is the development of an effective engineering approach to manage the complexity of ARS to simplify the development, deployment and evolution of ARS. We introduce the software framework AutoRobot to address these issues. This software provides abstraction and a model of accompanying behaviours to formulate the behaviour patterns of autonomous robots and enrich the coherence between task behaviours and observation behaviours, thereby improving the capabilities of obtaining and using the feedback regarding the changes. A dual-loop control model is presented to support flexible interactions among the control activities to support continuous adjustments of the robot's behaviours. A multi-agent software architecture is proposed to encapsulate the fundamental software components. Unlike most existing research, in AutoRobot, the ARS is designed as a multi-agent system in which the software agents interact and cooperate with each other to accomplish the robot's task. AutoRobot provides reusable software packages to support the development of ARS and infrastructure integrated with ROS to support the decentralized deployment and running of ARS. We develop an ARS sample to illustrate how to use the framework and validate its effectiveness.

Robot Operating System (ROS) Compatible Low Cost Rotating Light Detection and Ranging (Lidar) Design

Robot Operating system (ROS) is collection of software frameworks for robot software development. Researchers that work with ROS will have an opportunity to use or to be exact to reuse any software framework from another researcher as long as they use a similar robot platform, or similar device that has been include in the ROS. This paper present a design for a low cost rotating Lidar that compatible with ROS. As all we know distance measurement is the basic for building an autonomous capability for robots. Rotating lidar is among one the most popular device used to acquire this kind of information. However most of them are not suitable for low budget project because of their high cost. The design presented here tries to build a low cost rotating lidar based on Lidar Lite device with the compatibility with the ROS. The design incorporate a control board based on a microcontroller.

Modelling and simulation of a non-holonomic omnidirectional mobile robot for offline programming and system performance analysis

This paper presents 3D modelling and simulation of a non-holonomic omnidirectional mobile robot, MARIO – Mobile Autonomous Rover for Intelligent Operations, using the Gazebo simulator and Robot Operating System (ROS), aiming for offline programming and system performance analysis. For this purpose, MARIO as a four wheel active driving/steering (4WD4S) platform has been modelled and simulated based on the physical developed model. Gazebo enables simulation of the world environment, physical model, sensors and control system through the Unified Robot Description Format (URDF) file. ROS is interfaced with Gazebo which allows utilization and implementation of different robotic software and tools on the simulated robot. This presented approach allows development, testing and validation of MARIO and required software before implementation on the real system. The presented approach also provides the essential theory and practice for robotic system specialists in modelling and simulation of ground mobile robotic systems using Gazebo simulator and ROS.

A Hardware and Software Modular Robot for the Agricultural Domain

In order to take full potential of robots in the agriculture, there is a need for robots that can operate across different domains and infrastructure. Agriculture is extremely diverse and no two farms are the same, so robots need to be able to adapt to a wide variety of farm layouts. There are several reasons for this. Firstly, there is great variation in the way the robot needs to loco mote, for example in muddy fields, concrete floors, grassland, or rails, just to mention a few. Secondly, spacing between the plants vary, so the size of the robots also needs to be adjustable depending on the farm layout as some farms can only fit smaller robots while other farms need larger robots for more efficient operation. In this paper, we therefore present a completely modular robot that can be configured to operate in all these environments. The robot can be assembled to different modes of locomotion and the size can be changed depending on the farm specifications. In addition, the robot software is developed so that it automatically takes the shape and the size of the robot into account in the kinematics and control.

A mixed real-time robot hardware abstraction layer (R-HAL)

The rapid advances in robotics have recently led to the developments of a wide range of robotic platforms that exhibit significant differences at the hardware components level. Consequently, this poses a significant challenge to robot software developers since they have to know how every hardware device in the robot works to ensure their software’s compatibility when transferring/reusing their code on different robots. In this paper we present a new Robot Hardware Abstraction Layer (R-HAL) that permits to seamlessly program and control any robotic platform powered by the XBot control software framework. The implementation details of the R-HAL are introduced. The R-HAL is extensively validated through simulation trials and experiments with a wide range of dissimilar robotic platforms, among them the COMAN and WALK-MAN humanoids, the KUKA LWR and the CENTAURO upper body. The results attained demonstrate in practice the gained benefits in terms of code compatibility, reuse and portability, and finally unified application programming even for robots with significantly diverse hardware.

ALLIANCE‐ROS: A Software Framework on ROS for Fault‐Tolerant and Cooperative Mobile Robots

Programming control systems for mobile robots is complicated and time-consuming, due to three aspects, i.e., the robot behavior coordination, the distributed multi-robot cooperation and the robot software reusability. Subsumption model is a robust control architecture for mobile robots. ALLIANCE model extends it to multirobot systems, which is a fully distributed, fault-tolerant model. Robot operating system (ROS) provides a lot of reusable robot modules. By combining the above three, we propose a software framework named ALLIANCE-ROS for developing fault-tolerant cooperative multi-robot systems with abundant software resources available. We encapsulate the ROS facilities to build the framework prototype. We also use some high-performance plugin-based mechanism to optimize the bottom of the framework. One may use the framework-provided API conveniently to construct single-robot and multi-robot applications with all ROS resources available. This work is demonstrated by three application cases including an autonomous roving robot, a security patrol robot and multiple patrol robots. They are constructed and tested in both the simulated and the real environment. The experimental results validate the usability and availability of ALLIANCE-ROS.

Current Researches and Future Development Trend of Intelligent Robot: A Review

With the advancing of industrialization and the advent of the information age, intelligent robots play an increasingly important role in intelligent manufacturing, intelligent transportation system, the Internet of things, medical health and intelligent services. Based on working experiences in and reviews on intelligent robot studies both in China and abroad, the authors summarized researches on key and leading technologies related to human-robot collaboration, driverless technology, emotion recognition, brain-computer interface, bionic software robot and cloud platform, big data network, etc. The development trend of intelligent robot was discussed, and reflections on and suggestions to intelligent robot development in China were proposed. The review is not only meant to overview leading technologies of intelligent robot all over the world, but also provide related theories, methods and technical guidance to the technological and industrial development of intelligent robot in China.

PD40-02 UNDERSTANDING LITIGATION TRENDS FOR ROBOTIC UROLOGIC SURGERIES

You have accessJournal of UrologySurgical Technology & Simulation: Instrumentation & Technology III1 Apr 2018PD40-02 UNDERSTANDING LITIGATION TRENDS FOR ROBOTIC UROLOGIC SURGERIES Colby P. Souders MD, Hanson H. Zhao MD, Justin Houman MD, Farnoosh Nik-Ahd BA, Bilal Chughtai MD, Lynn McClelland JD MPH, and Jennifer T. Anger MD MPH Colby P. Souders MDColby P. Souders MD More articles by this author , Hanson H. Zhao MDHanson H. Zhao MD More articles by this author , Justin Houman MDJustin Houman MD More articles by this author , Farnoosh Nik-Ahd BAFarnoosh Nik-Ahd BA More articles by this author , Bilal Chughtai MDBilal Chughtai MD More articles by this author , Lynn McClelland JD MPHLynn McClelland JD MPH More articles by this author , and Jennifer T. Anger MD MPHJennifer T. Anger MD MPH More articles by this author View All Author Informationhttps://doi.org/10.1016/j.juro.2018.02.1927AboutPDF ToolsAdd to favoritesDownload CitationsTrack CitationsPermissionsReprints ShareFacebookTwitterLinked InEmail INTRODUCTION AND OBJECTIVES The number of robotic procedures performed in 2015 (140,000) was more than triple compared to 2012. In a study by Cooper et al., complications associated with the surgical robot were underreported to the Food and Drug Administration (FDA). We sought to characterize complications associated with robotic surgery by evaluating the legal cases involving robotic procedures. METHODS A law librarian performed a search of the Bloomberg Law database for product liability claims with the defendant ″Intuitive Surgical.″ The results were then hand-culled by the librarian to ensure they were patient claims against the company for issues with the surgical robot. All of the available legal documents related to 123 cases identified were downloaded and reviewed by the research team. The following data points were abstracted from the legal documents: date filed, surgery date, surgery type, robot type, instrument type, complications, and case outcomes. Class action claims were not evaluated, as the above data points could not be abstracted from the available data. RESULTS 123 relevant claims were identified, 35% of which were ultimately dismissed. The peak filing year was 2013 at 32 claims followed by 2014 (22) and 2015 (23), followed by a decline in 2016 (7). 18% of the cases were related to urologic surgeries, 86% of which were prostatectomies. 10/22 urologic claims were dismissed. The most commonly cited injury within the urologic cases was bowel injury (8), erectile dysfunction (5), fistula (5), and incontinence (4). 55% of the cases filed were related to OB/GYN surgeries, 87% of those cases were hysterectomies. See Table 1. CONCLUSIONS It is reassuring that the rate of lawsuits filed is not increasing at a dramatic rate as the volume of robotic surgeries performed annually continues to increase. This may be due the improving quality of surgical skills with the robot, as well as improvements in robot software and instruments. Although clinical information is limited, it appears that device-specific complications were rare. The majority of claims appear to be surgical error and not device specific. © 2018FiguresReferencesRelatedDetails Volume 199Issue 4SApril 2018Page: e803 Advertisement Copyright & Permissions© 2018MetricsAuthor Information Colby P. Souders MD More articles by this author Hanson H. Zhao MD More articles by this author Justin Houman MD More articles by this author Farnoosh Nik-Ahd BA More articles by this author Bilal Chughtai MD More articles by this author Lynn McClelland JD MPH More articles by this author Jennifer T. Anger MD MPH More articles by this author Expand All Advertisement Advertisement PDF downloadLoading ...