Capabilities Of Robots Research Articles

Development of the control system for LEGO Mindstorms EV3 mobile robot based on MATLAB/Simulink elements

The Mindstorms EV3 robot, developed by LEGO, is one of the popular robots that has been widely used in various fields. Unlike previous versions of mobile LEGO robots, EV3 allows the development of real-time applications for teaching a variety of subjects, as well as for conducting research experiments. The object of research in this case is the Mindstorms EV3 robot connected to MATLAB/Simulink. The design consists of a controller, one color sensor, two servo motors and one support wheel. Each servo motor is built on a DC collector motor with a matching gearbox and has the ability to measure the number of revolutions corresponding. A digital sensor with a sampling frequency of 1 kHz is used as a color sensor, which can determine the color or brightness of light. Despite its popularity, the EV3 robot control system in interaction with the MATLAB/Simulink programming environment is a rather complex solution and therefore requires further research. The scientific part of the research focuses on discovering the regularities of the Mindstorms EV3 control system, developing a control system model, and exploring the potential of MATLAB/Simulink to expand the robot's capabilities. An analysis of the main elements of the control system, such as sensors and servos, was carried out. The graphs of the dependences of the characteristics of the servo drives were built and the efficiency of the robot movement was checked depending on the parameters set in the program. The result of the development of the mobile robot control system was the adjustment of the mobile robot movement regulators along a given trajectory in the form of a drawn line, which allowed estimating the maximum permissible speed of the robot movement. The presented research and development of a control system based on MATLAB/Simulink elements allows using the proposed method to control a mobile robot with high precision, analyze and verify the robot's electromechanical parameters in real time. This control system has a high potential and can practically be integrated into industrial objects of mobile robotics, provided types the sensors and executive mechanisms of the mobile robot match.

Feedforward Control System Development and Implementation for Longitudinal and Lateral Motion of a Four-Wheeled Robot

The work presented in this paper advances through a series of physics-based increasing fidelity models that are used to design robot controllers that respect the robot's capabilities. It also develops a reference simple controller that is applicable to a large subset of tracking conditions, most of which involve non-invasive or highly dynamic movements, defines path geometry in response to the control problem, and develops both a simple geometric control and a dynamic model predictive control approach. In this research, we propose the mathematical modeling of the longitudinal and lateral movements utilizing PID with a feed-forward controller for a nonlinear model with disturbance impact. A feed-forward controller is suggested in this work to get rid of the disturbance effect.

Two is better than one: Apologies from two robots are preferred.

Although the capabilities of service robots are increasing, avoiding any mistakes is difficult. Therefore, strategies for mitigating mistakes, such as apology behavior designs, are essential for service robots. Past studies reported that costly apology is perceived as more sincere than non-costly ones and more acceptable. To increase the apology cost in robot service situations, we thought that using multiple robots would increase the perceived costs in the of financial, physical, and time costs. Therefore, we focused on the number of robots who apologize for their mistakes as well as their individual, specific roles and behaviors during such apologies. We investigated the differences in perceived impressions toward apologies from two robots (the main robot that makes a mistake and apologizes and a sub-robot that also apologizes) and an apology from just one robot (only the main robot) through a web survey with 168 valid participants. The experiment results showed that the participants significantly preferred and positively evaluated apologies from two robots more than one robot in the context of forgiveness, negative word-of-mouth, trust, and intention to use. We also conducted another web survey with 430 valid participants to investigate the effects of different roles for the sub-robot: apologize-only, cleaning-up-only, and both actions. The experimental results showed that the participants significantly preferred and positively evaluated both actions in the context of forgiveness and reliable/competent perspectives.

Robotyka: techniki, funkcje, rola społeczna Cz. 2. Aktualne możliwości robotów

In order to assess the impact of robots on society, it is necessary to carefully analyze the state-of-the-art, and in particular the fundamental issues that have yet to be resolved, however having significant impact on the potential societal changes resulting from the development of robotics. The aforementioned impact depends on the level of intelligence of robots, so this aspect dominates in the presented analysis. The presentation has been divided into three parts: 1) analysis of technical factors affecting the intelligence and security of robots, 2) analysis of current capabilities of robots, 3) analysis of diverse predictions of how robotics will evolve, and thus the attitudes towards the influence of the result of this development on society. This part of the paper is devoted to the second of the above mentioned three issues.

Best of Both Worlds? Combining Different Forms of Mixed Reality Deictic Gestures

Mixed Reality provides a powerful medium for transparent and effective human-robot communication, especially for robots with significant physical limitations (e.g., those without arms). To enhance nonverbal capabilities for armless robots, this article presents two studies that explore two different categories of mixed reality deictic gestures for armless robots: a virtual arrow positioned over a target referent (a non-ego-sensitive allocentric gesture) and a virtual arm positioned over the gesturing robot (an ego-sensitive allocentric gesture). In Study 1, we explore the tradeoffs between these two types of gestures with respect to both objective performance and subjective social perceptions. Our results show fundamentally different task-oriented versus social benefits, with non-ego-sensitive allocentric gestures enabling faster reaction time and higher accuracy, but ego-sensitive gestures enabling higher perceived social presence, anthropomorphism, and likability. In Study 2, we refine our design recommendations by showing that in fact these different gestures should not be viewed as mutually exclusive alternatives, and that by using them together, robots can achieve both task-oriented and social benefits.

A Highly Sensitive Multimodal Tactile Sensing Module with Planar Structure for Dexterous Manipulation of Robots

Herein, a multimodal tactile sensing module that can improve the dexterous manipulation capabilities of robots with parallel grippers is reported. The tactile sensor consists of a 4 × 4 matrix 3‐axis force sensor array (with spacings of 2 mm) and a single‐temperature sensor. The tactile sensor uses inorganic silicon and gold as materials for the detection of strain and temperature and a polymer‐based elastomer to encapsulate the sensing layer. The sensing module is equipped with a readout circuitry for signal processing. Within the measurable force range (≈1.5 N) of the sensor cell, a prototype module exhibits a repeatability error within 2%, a hysteresis error within 3%, and a resolution as small as 10 mN. Furthermore, each sensor cell independently measures 3‐axis forces with a cross‐talk error of approximately 3%. The temperature sensor exhibits linear output properties in the approximate range of 5–75 °C. Experiments are performed by mounting the module on a parallel gripper to grasp a paper cup and a reflex hammer toy. According to the experimental results, the sensor can accurately detect the state of contact with an object by analyzing three tactile modalities (i.e., 3‐axis force distribution, vibration, and temperature).

A capability and skill model for heterogeneous autonomous robots

Abstract Teams of heterogeneous autonomous robots become increasingly important due to their facilitation of various complex tasks. For such heterogeneous robots, there is currently no consistent way of describing the functions that each robot provides. In the field of manufacturing, capability and skill modeling is considered a promising approach to semantically model functions provided by different machines. This contribution investigates how to apply and extend capability models from manufacturing to the field of autonomous robots and presents an approach for such a capability model.

Learning from humans to build social cognition among robots.

Self-organized groups of robots have generally coordinated their behaviors using quite simple social interactions. Although simple interactions are sufficient for some group behaviors, future research needs to investigate more elaborate forms of coordination, such as social cognition, to progress towards real deployments. In this perspective, we define social cognition among robots as the combination of social inference, social learning, social influence, and knowledge transfer, and propose that these abilities can be established in robots by building underlying mechanisms based on behaviors observed in humans. We review key social processes observed in humans that could inspire valuable capabilities in robots and propose that relevant insights from human social cognition can be obtained by studying human-controlled avatars in virtual environments that have the correct balance of embodiment and constraints. Such environments need to allow participants to engage in embodied social behaviors, for instance through situatedness and bodily involvement, but, at the same time, need to artificially constrain humans to the operational conditions of robots, for instance in terms of perception and communication. We illustrate our proposed experimental method with example setups in a multi-user virtual environment.

Water-Immiscible Coacervate as a Liquid Magnetic Robot for Intravascular Navigation.

Developing magnetic ultrasoft robots to navigate through extraordinarily narrow and confined spaces like capillaries in vivo requires synthesizing materials with excessive deformability, responsive actuation, and rapid adaptability, which are difficult to achieve with the current soft polymeric materials, such as elastomers and hydrogels. We report a magnetically actuatable and water-immiscible (MAWI) coacervate based on the assembled magnetic core-shell nanoparticles to function as a liquid robot. The degradable and biocompatible millimeter-sized MAWI coacervate liquid robot can remain stable under changing pH and salt concentrations, release loaded cargoes on demand, squeeze through an artificial capillary network within seconds, and realize intravascular targeting in vivo guided by an external magnetic field. We believe the proposed "coacervate-based liquid robot" can implement demanding tasks beyond the capability of conventional elastomer or hydrogel-based soft robots in the field of biomedicine and represents a distinct design strategy for high-performance ultrasoft robots.

Mitigating Catastrophic Forgetting with Complementary Layered Learning

Catastrophic forgetting is a stability–plasticity imbalance that causes a machine learner to lose previously gained knowledge that is critical for performing a task. The imbalance occurs in transfer learning, negatively affecting the learner’s performance, particularly in neural networks and layered learning. This work proposes a complementary learning technique that introduces long- and short-term memory to layered learning to reduce the negative effects of catastrophic forgetting. In particular, this work proposes the dual memory system in the non-neural network approaches of evolutionary computation and Q-learning instances of layered learning because these techniques are used to develop decision-making capabilities for physical robots. Experiments evaluate the new learning augmentation in a multi-agent system simulation, where autonomous unmanned aerial vehicles learn to collaborate and maneuver to survey an area effectively. Through these direct-policy and value-based learning experiments, the proposed complementary layered learning is demonstrated to significantly improve task performance over standard layered learning, successfully balancing stability and plasticity.

Modeling and Design of Longitudinal and Lateral Control System with a Feedforward Controller for A 4 Wheeled Robot

The work show in this paper progresses through a sequence of physics-based increasing fidelity models that are used to design the robot controllers that respect the limits of the robot capabilities, develop a reference simple controller applicable to a large subset of tracking conditions, which include mostly non-invasive or highly dynamic movements and define path geometry following the control problem and develop both a simple geometric control and a dynamic model predictive control approach. In this paper, we propose for a nonlinear model with disturbance effect, the mathematical modeling of the longitudinal and lateral movements using PID with a feed-forward controller. This study proposes a feedforward controller to eliminate the disturbance effect.

Design and Dynamic Analysis of the Wire-Line Coring Robot for Deep Lunar Rocks

Deep lunar rocks carry geological information about the primitive Moon and are of great scientific value. In this paper, a coring robot for deep lunar rocks was proposed for the lunar environment based on the wire-line sampling device. This robot consists of the coring executor on the ground to assist in coring tube replacement and sample storage and the wireline self-excavating coring (WSC) robot for active drilling underground, which can provide autonomous deep coring on the moon. Subsequently, based on Prandtl’s failure mechanism and the prediction equations of the mechanical properties of the lunar soil, the mathematical relationship between the ultimate support force and the depth of the support point of the WSC robot was constructed. Additionally, the drilling scheme of the WSC robot at different depths was also determined. The constraint model of the impact module was established, and the structural parameters were optimized through non-linear programming to achieve the maximum impact energy. Simulations of the impact process were then carried out in explicit dynamics. The simulation results show that the optimized impact module can effectively drill through the lunar rocks. This result validates, to some extent, the drilling capability of the WSC robot in lunar rocks. The research work can provide technical reference and theoretical support for deep coring lunar rocks.

Laser nasal surgery (Review).

Laser nasal surgery has been an elusive subject in the last 10 to 15 years It was considered as a potential surgical staple for nasal surgery in the 1980s; however, it did not become one due to technical difficulties. Laser therapy has reemerged as an alternative to classical endoscopic surgery, and otorhinolaryngology surgeons are considering the benefits that it can offer. The advantages of this procedure are shorter hospitalization time, lack of nasal packing, high procedural precision with tissue sparing, and the unique capability of reducing both bacterial and fungal colonization at the level of the paranasal sinus. Therefore, laser therapy appears to be an invaluable tool for clinical practice. Due to the absence of a guaranteed cure for reoccurring nasal polyposis, laser therapy is worth investigating. For this therapy to evolve, an improved understanding of laser types and the effects that they produce is required. By investing in further developments of the equipment, the technique may become more widely used. With the current accelerated rate of technological evolution and robotic capabilities, laser nasal surgery may become a gold standard in future years. The aim of the present review is to evaluate whether it is worth investing in nasal laser surgery as a future alternative to current treatment standards.

A bio-inspired foldable-wing wave energy converter for ocean robots

In remote and harsh sea areas, ocean robots are practical tools to replace humans to execute ocean operations. However, limited power supply constrains the performance of ocean robots, especially in terms of duration time and operation range. Inspired by flying fish, a foldable-wing wave energy converter (FW-WEC) is proposed for ocean robots to extract energy from wave. Equipped with the wave-energy wing, the FW-WEC is capable of switching from the WEC mode that possesses large energy capturing surface to the robot mode with the characteristic of compact structure, which allows for the installation on robots. To satisfy the requirements of the wave-energy wing, several foldable structures are considered and evaluated based on the defined performance index. With the serial four-bar linkage selected and adopted, a prototype of FW-WEC is designed, constructed and tested. The hydrodynamic model is established to analysis the motion response of the prototype under regular wave, of which the accuracy is verified compared with experimental results. According to the wave tank experiment carried out under different wave conditions, the maximum power output of FW-WEC reaches up to 2.6 W and the corresponding capture width ratio is calculated to be 8.0 %. The proposed FW-WEC offers a promising solution for the enhancement of endurance capability of ocean robots.

Mechanical System with Soft Modules and Rigid Frames Realizing Logic Gates and Computation

Mechanical computation outperforms electrical computation in applications under extreme conditions. Currently, logic gates can be constructed with mechanical metamaterials, but this may require complex architectures and computing rules, and more complex computations based on these gates are considerably more challenging. Mechanical computing systems with multistability cannot return to their initial stable states, which are hardly reused. Moreover, providing digital electrical outputs is useful to communicate with electrical systems. To address these issues, mechanical metamaterials can be integrated in a manner that is similar to a circuit network with a powerful computing capability. Herein, a general method that combines soft convex and concave modules, rigid frames, and conductive materials in one system to realize logic gates, addition, and multiplication is proposed. The soft modules make or break electrical connections with adjacent frames due to the presence or absence of compressive forces, operating as open and closed switches. Connections and disconnections between modules and frames can be demonstrated with conductive materials and LEDs. The proposed mechanism is simple, versatile, and reusable, allowing soft mechanical metamaterial units to carry out complex computations. The approach may improve the capabilities of soft robots, robotic materials, and microelectromechanical systems.

Automatic intraluminal scanning with a steerable endoscopic optical coherence tomography catheter for gastroenterology applications

SignificanceEndoscopic optical coherence tomography (OCT) enables real-time optical biopsy of human organs. Endoscopic probes require miniaturization of optics, which in turn limits field of view. When larger imaging areas are needed such as in the gastrointestinal tract, the operator must manually scan the probe over the tissue to extend the field of view, often resulting in an imperfect scanning pattern and increased risk of missing lesions. Automatic scanning has the potential to extend the field of view of OCT, allowing the user to focus on image interpretation during real-time observations.AimThis work proposes an automatic scanning using a steerable OCT catheter integrated with a robotized interventional flexible endoscope. The aim is to extend the field of view of a low-profile OCT probe while improving scanning accuracy and maintaining a stable endoscope’s position during minimally invasive treatment of colorectal lesions.ApproachA geometrical model of the steerable OCT catheter was developed for estimating the volume of the accessible workspace. Experimental validation was done using electromagnetic tracking of the catheter’s positions. An exemplary scanning path was then selected within the available workspace to evaluate motion performance with the robotized steerable OCT catheter. Automatic scanning is compared to a teleoperated one and a manual scanning with a nonrobotized flexible endoscope. Spectral arc length, scanning area, spacing between scan trajectories, and time are metrics used to quantify performance.ResultsThe available scanning workspace was experimentally estimated to be 255 cm3. The automatic scanning mode provided the highest accuracy and smoothness of motion with spectral arc length of −3.18, covered area of 10.11 cm2, 1.54 mm spacing between 15 sweep trajectories, maximum translation of 27.99 mm, and time to finish of 3.11s.ConclusionsAutomatic modality improved the accuracy of scanning within a large workspace. The robotic capability provided better control to the user to define spacing resolution of scanning patterns.

The science of soft robot design: A review of motivations, methods and enabling technologies.

Novel technologies, fabrication methods, controllers and computational methods are rapidly advancing the capabilities of soft robotics. This is creating the need for design techniques and methodologies that are suited for the multi-disciplinary nature of soft robotics. These are needed to provide a formalized and scientific approach to design. In this paper, we formalize the scientific questions driving soft robotic design; what motivates the design of soft robots, and what are the fundamental challenges when designing soft robots? We review current methods and approaches to soft robot design including bio-inspired design, computational design and human-driven design, and highlight the implications that each design methods has on the resulting soft robotic systems. To conclude, we provide an analysis of emerging methods which could assist robot design, and we present a review some of the necessary technologies that may enable these approaches.

Developing a Robotic and Autonomic Medical Evacuation (RAS MEDEVAC) capability for remote and rural populations.

The inherent clinical risks associated with remote and rural environments are potentially mitigated by timely air ambulance transfer, yet this involves other costs, operational constraints and limitations. The development of a RAS MEDEVAC capability may present the opportunity to enhance clinical transfers and outcomes across remote and rural areas as well as more conventional civilian and military environments.Methods The authors propose a multi-phase approach to assist RAS MEDEVAC capability development.Results RAS MEDEVAC capability development could be enhanced by a step-wise approach that: (a) incorporates a clear understanding of related clinical (including aviation medicine), vehicle and interface principles; (b) understands opportunities and limitations of related technology advancements; and (c) develops a new glossary and taxonomy to describe echelons of care and phases of medical transfer.Discussion RAS MEDEVAC presents the opportunity to exploit a number of potential capability characteristics - speed, flexibility, safety (including sparing/avoidance of human escorts), persistence, availability, reliability, expendability and acceptability. The application of a staged, multi-phase approach could allow for a structured review of relevant clinical, technical, interface and human factors that would be matched to product availability to inform future capability development. Particular consideration will need to be played to balancing new concepts of risk as well as considering ethical and legal factors.

Detecting and Controlling Slip through Estimation and Control of the Sliding Velocity

Slipping detection and avoidance are key issues in dexterous robotic manipulation. The capability of robots to grasp and manipulate objects of common use can be greatly enhanced by endowing these robots with force/tactile sensors on their fingertips. Object slipping can be caused by both tangential and torsional loads when the grip force is too low. Contact force and moment measurements are required to counteract such loads and avoid slippage by controlling the grip force. In this paper, we use the SUNTouch force/tactile sensor, which provides the robotic control system with reliable measurements of both normal and tangential contact force components together with the torsional moment. By exploiting the limit surface concept and the LuGre friction model, we build a model of the object/fingertip planar sliding. This model is the basis of a nonlinear observer that estimates the sliding velocity and the friction state variable from the measured contact force and torsional moment. The slipping control system uses the estimated friction state to detect the slipping event and the estimated sliding velocity to control the grasp force. The control modality is twofold: the first one is aimed at avoiding object slip, while the second one allows the object to perform a controlled pivoting about the grasping axis. Experiments show that the robot is able to safely manipulate objects that require grasping forces in a large range, from 0.2 N to 10 N. This level of manipulation autonomy is attained by a suitably identified dynamic model that overcomes the limited generalization capability of existing learning-based approaches in the general roto-translational slip control.

Design of a Magnetic Soft Inchworm Millirobot Based on Pre-Strained Elastomer with Micropillars.

Rather than using longitudinal "muscle" as in biological inchworm, the existing magnetic active elastomer (MAE)-based inchworm robots utilize magnetic torque to pull and push the soft body, which hinders its locomotion mobility. In this paper, a new pre-strained MAE inchworm millirobot with micropillars is proposed. The pre-strained elastomer serves as a pre-load muscle to contract the soft body, and the micropillars act as tiny feet to anchor the body during the locomotion. The proposed magnetic inchworm robot features a simple fabrication process that does not require special magnetization equipment. For the first time, the pre-load muscle is introduced in the design of magnetic inchworm robots, making it more like a real inchworm in terms of locomotion mechanism. The locomotion principle and parametric design for the desired locomotion performance have been investigated. Experimental results show that the fabricated magnetic inchworm robot (size: 10 mm × 5 mm, micropillars length: 200 µm, and mass: 262 g) can locomote on a smooth acrylic surface (roughness of 0.3 µm) at the speed of 0.125 body lengths per second, which is comparable with the existing magnetic inchworm robots. Moreover, the locomotion capabilities of the inchworm robot on wet surfaces and inclined planes have been verified via experimental studies.