Robot Software Research Articles

Ros2_tracing: Multipurpose Low-Overhead Framework for Real-Time Tracing of ROS 2

Testing and debugging have become major obstacles for robot software development, because of high system complexity and dynamic environments. Standard, middleware-based data recording does not provide sufficient information on internal computation and performance bottlenecks. Other existing methods also target very specific problems and thus cannot be used for multipurpose analysis. Moreover, they are not suitable for real-time applications. In this letter, we present <monospace xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">ros2_tracing</monospace> , a collection of flexible tracing tools and multipurpose instrumentation for ROS 2. It allows collecting runtime execution information on real-time distributed systems, using the low-overhead LTTng tracer. Tools also integrate tracing into the invaluable ROS 2 orchestration system and other usability tools. A message latency experiment shows that the end-to-end message latency overhead, when enabling all ROS 2 instrumentation, is on average 0.0033 ms, which we believe is suitable for production real-time systems. ROS 2 execution information obtained using <monospace xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">ros2_tracing</monospace> can be combined with trace data from the operating system, enabling a wider range of precise analyses, that help understand an application execution, to find the cause of performance bottlenecks and other issues.

Robotization and automation of warehouse and transport logistics

Changes in the intensity of turnover and IT solutions aimed at prompt response in logistics are considered. Taking into account the studied force majeure circumstances that arose in the world economy in 2020, the patterns of functioning of warehouse and transport logistics and their prospects for the near future are determined. It has been established that the introduction of robotics and automation is a key tool in the struggle in a complex competitive environment. Based on the studied main advantages and disadvantages of some automated warehouse systems, the advantages of implementing robotization and automation tools in the work of a railway station dispatcher and in other areas of transport logistics are revealed. The stages of digitalization at Russian Railways and plans for the use of digital platforms both within the structure and in the external environment in the interests of other participants in the transport and logistics services market are analyzed. The results of the study carried out during the implementation of the Intertran pilot project on the use of software robots at Russian Railways, as well as the main areas in which they work are presented. The infl uence of digitalization processes on the formation of tariff policy in warehouse and transport logistics is shown.

MUHASEBE BİLGİ SİSTEMİNDE ROBOTİK SÜREÇ OTOMASYONU

Günümüzde robot teknolojisinin kullanımı, endüstri ve iş ortamında değişimlere neden olmuştur. Kurumsal Kaynak Planlamasının (ERP), ortaya çıkardığı Robot Süreç Otomasyonu (RPA), bilgisayarların yardımıyla insan faaliyetlerini taklit edebilen bir yazılımdır. Çalışmanın amacı muhasebe bilgi sistemi (MBS) açısından RPA’nın mevcut durumunu inceleyerek Muhasebe bilgi sistemlerindeki teknolojik gelişmelerle ilgili literatürdeki mevcut boşluklara katkıda bulunmaktır. RPA teknolojisindeki robotlar üç ana kategoriye ayrılır. Probotlar, basit ve yinelemeli kuralları izleyerek veri işlemedir. Knowbot'lar, kullanıcıya özel bilgilerin toplanması ve depolanması için internet erişimini sağlamaktadır. Chatbotlar ihtiyaçlara eş zamanlı olarak yanıt verebilen sanal aracılardır. RPA bir robot yazılımı olup robotlar veya botlar aracılığıyla MBS’de yer alan işgücünü sanallaştırarak otomatikleştirmeyi organize eden, oluşturduğu işgücüyle hataların ortadan kaldırılmasını sağlayan bir otomasyon teknolojisidir. Bu teknoloji işletmedeki tüm süreçlerin ayrıntılı bir biçimde ele aldığı için denetim işlevine katlıda bulunabilmekte ve MBS’nin şeffaf ve denetlenebilir olmasına yardımcı olmaktadır. RPA bu yönüyle finansal işlemlerin sağlıklı bir biçimde raporlayarak kurumsal sürdürülebilirliğin sağlanmasına katkıda bulunmaktadır.

Automated Testing of RPA Implementations

Robotic Process Automation (RPA) is a technology that has grown tremendously in the last years, due to its usability in the area of process automation. An essential part of any software development process is quality assurance, so testing will be very important for RPA processes. However, the classical software techniques are not always suitable for the RPA software robots due to the mix of the graphical description of the robots and their implementations. In this short paper, we describe the state of the practice for testing of software robots and propose some ideas of test automation using model-based testing.

Integrating Trajectory Planning with Kinematic Analysis and Joint Torques Estimation for an Industrial Robot Used in Incremental Forming Operations

Robot manufacturing involves continuous path control, which is now available for both robotic controllers and CAM software packages. However, CAM solutions are focused on generating the code for the robotic structure to follow the toolpath, without taking into consideration the dynamics and energy consumption. In this study, robot incremental forming was considered as the manufacturing process, and a simulation model, based upon Matlab-Simulink Simscape Multibody technology, was developed. The proposed model was fed with the trajectory information generated by the CAM program, and using an inverse kinematics function, it was able to generate the commands to drive the robotic structure on the technological toolpaths. The model was also used to study the dynamic behavior of the robot; external experimental data from a 3D force sensor were fed to the model to include the influence of the technological forces which appeared during the incremental forming process. Thus, using the proposed model in conjunction with the external CAM software, the influence of the workpiece position upon the joint torques could be estimated, opening the way for future optimization. The shortcomings of the model, mainly involving inaccurate information with regard to the physical properties of the robotic structure, were addressed by subtracting the dry-run joint torques from those obtained from the technological process.

Robust Iterative Learning Control Algorithm for Lower Limb Rehabilitation Proactive Human-robot Collaboration

At present, the motion control algorithms of lower limb exoskeleton robots have errors in tracking the desired trajectory of human hip and knee joints, which leads to poor follow-up performance of the human-machine system. Therefore, an iterative learning control algorithm is proposed to track the desired trajectory of human hip and knee joints. In this paper, the experimental platform of lower limb exoskeleton rehabilitation robot is built, and the control system software and hardware design and robot prototype function test are carried out. On this basis, a series of experiments are carried out to verify the rationality of the robot structure and the feasibility of the control method. Firstly, the dynamic model of the lower limb exoskeleton robot is established based on the structure analysis of the human lower limb; secondly, the servo control model of the lower limb exoskeleton robot is established based on the iterative learning control algorithm; finally, the exponential gain closed-loop system is designed by using MATLAB software. The relationship between convergence speed and spectral radius is analyzed, and the expected trajectory of hip joint and knee joint is obtained. The simulation results show that the algorithm can effectively improve the gait tracking accuracy of the lower limb exoskeleton robot and improve the follow-up performance of the human-machine system.

Robotic Process Automation (RPA) Adoption: A Systematic Literature Review

Abstract Robotic process automation (RPA) is a recent technology that has recently become increasingly adopted by companies as a solution for employees to focus on higher complexity and more valuable tasks while delegating routine, monotonous and rule-based tasks to their digital colleagues. The increased interest, reflected in the increasing number of articles regarding approaches and test cases, has triggered the necessity for a summary that could extract the more generalisable ideas and concepts about these software robots. This paper used a Systematic Literature Review (SLR) approach to find and synthesise information from articles obtained on this subject. This research identified the most general implementation approaches of successful RPA adoption cases, observed benefits, challenges commonly faced by organisations, characteristics that make processes more suitable for RPA, and research gaps in the current literature. The findings presented in this paper have two purposes. The first is to provide a way for companies and organisations to become more familiar with good practices regarding the adoption of robotic process automation. The second is to foster further research on the subject by complementing the current knowledge and proposing new paths for research.

An open-source software framework for reinforcement learning-based control of tracked robots in simulated indoor environments

A simulation framework based on the open-source robotic software Gazebo and the Robot Operating System is presented for articulated tracked robots, designed for reinforcement-learning-based (RL) control skill acquisition. In particular, it is destined to serve as a research tool in the development and evaluation of methods in the domain of mobility learning for articulated tracked robots, in 3D indoor environments. Its architecture allows to interchange between different RL libraries and algorithm implementations, while learning can be customized to endow specific properties within a control skill. To demonstrate its utility, we focus on the most demanding case of staircase ascent and descent using depth image data, while respecting safety via reward function shaping and incremental, domain randomization-based, end-to-end learning.

Robotic Process Automation (RPA) in Education Industry

Robotic Process Automation (RPA) is a software technology that makes it easy to pick, feed, and manage software robots that mimic human movements while interacting with digital systems as well as software. RPA in education can help teachers and administrators perform tasks and procedures automatically which may be difficult for them. Whether it be administrative, academic duties, or fund hr services, anyone can easily change it with the changing robot system. It helps educational institutions easily manage and handle high-volume activities. This paper shows the implementation of RPA in automating the entire process required in online meeting from scheduling online google meeting to sharing the meeting link in WhatsApp group and tracking the attendance of students in meeting.

Deformation Modeling and Simulation of a Novel Bionic Software Robotics Gripping Terminal Driven by Negative Pressure Based on Classical Differential Algorithm.

A general pneumatic soft gripper is proposed in this paper. Combined with the torque balance theory, the mathematical theoretical model of bending deformation of soft gripper is established based on Yeoh constitutive model and classical differential geometry. Assuming that the pressure in each inner cavity is evenly distributed, the input gas is in an ideal state, which is approximately treated as an isothermal condition, and all orifices experience blocked flow. In addition, compared with the mechanical work of gas, the energy related to gas flow and heat transfer is negligible. The nonlinear mechanical properties of silicone rubber are studied. It is regarded as isotropic and incompressible material, which is characterized by strain energy per unit volume. The material constant coefficients C10 and C20 are determined through the uniaxial tensile test, and the software gripper is simulated on the ABAQUS platform. The bending deformation models of grippers with three different force-bearing cavity structures are analyzed and compared, and the software clamping structure with the bending deformation most in line with the application conditions is selected. The limit input air pressure of the gripper and the situation of enveloping the clamping target object are analyzed. Through the bending deformation experiment, the maximum deformation angle is 72.4°. The relative error between the simulation analysis data and the prediction results of the mathematical model is no more than 3.5%, which verifies the effectiveness of the simulation and the correctness of the mathematical theoretical model of bending deformation. The soft manipulator proposed in this paper has good adaptability to grasping objects of different shapes and sizes. The minimum diameter of the target object that can be clamped is 0.1 mm. It can clamp the object weighing up to 1 kg. It has compact size, light weight, high ductility, and flexibility.

Design Optimization of IoT-Assisted Intelligent Education Soft Robot Based upon Improved GA

A soft robot is a kind of robot designed to simulate mollusks. It has the characteristics of degrees of freedom, strong adaptability, and high flexibility and safety. The main purpose of this paper is to study the intelligent education assistance of soft robots and then combine the application of improved genetic algorithm and the Internet of Things technology in soft robots to improve its performance and effect. Therefore, this paper designs the optimal guidance strategy through the NSGA genetic algorithm and then combines the improved genetic algorithm and the application of the Internet of Things technology in the flexible actuator and FEA actuator of the soft robot. In order to optimize the performance of the IoT-assisted intelligent education software robot based on the improved genetic algorithm, the genetic algorithm simulation test experiment, the rolling motion simulation experiment of the bionic software robot, and the inflating and exhausting experiment of the base section of the software robot are designed and analyzed. Through the analysis of the data obtained from the experiment, this paper finally designs a set of controlled experiments to verify its teaching ability. The experimental results show that the students’ evaluation of the IoT intelligent education software robot education method based on the improved genetic algorithm designed in this paper is 16.31 points higher than that of the traditional education method. Compared with the traditional teaching, the scores of the students after the IOT intelligent education software robot teaching based on the improved genetic algorithm is 11.16 points higher.

Formal Verification of Real-Time Autonomous Robots: An Interdisciplinary Approach.

Due to the severe consequences of their possible failure, robotic systems must be rigorously verified as to guarantee that their behavior is correct and safe. Such verification, carried out on a model, needs to cover various behavioral properties (e.g., safety and liveness), but also, given the timing constraints of robotic missions, real-time properties (e.g., schedulability and bounded response). In addition, in order to obtain valid and useful verification results, the model must faithfully represent the underlying robotic system and should therefore take into account all possible behaviors of the robotic software under the actual hardware and OS constraints (e.g., the scheduling policy and the number of cores). These requirements put the rigorous verification of robotic systems at the intersection of at least three communities: the robotic community, the formal methods community, and the real-time systems community. Verifying robotic systems is thus a complex, interdisciplinary task that involves a number of disciplines/techniques (e.g., model checking, schedulability analysis, component-based design) and faces a number of challenges (e.g., formalization, automation, scalability). For instance, the use of formal verification (formal methods community) is hindered by the state-space explosion problem, whereas schedulability analysis (real-time systems) is not suitable for behavioral properties. Moreover, current real-time implementations of robotic software are limited in terms of predictability and efficiency, leading to, e.g., unnecessary latencies. This is flagrant, in particular, at the level of locking protocols in robotic software. Such situation may benefit from major theoretical and practical findings of the real-time systems community. In this paper, we propose an interdisciplinary approach that, by joining forces of the different communities, provides a scalable and unified means to efficiently implement and rigorously verify real-time robots. First, we propose a scalable two-step verification solution that combines formal methods and schedulability analysis to verify both behavioral and real-time properties. Second, we devise a new multi-resource locking mechanism that is efficient, predictable, and suitable for real-time robots and show how it improves the latter’s real-time behavior. In both cases, we show, using a real drone example, how our approach compares favorably to that in the literature. This paper is a major extension of the RTCSA 2020 publication “A Two-Step Hybrid Approach for Verifying Real-Time Robotic Systems.”

Research on risk prediction method of software robot based on artificial intelligence

Aiming at the problem of software robot’s recognition of life scenes, this paper studies the recognition and judgment method based on AI edge computing. Based on artificial intelligence methods and the theory of edge computing, through the analysis of the overall architecture of edge computing, the scene judgment rules and recognition algorithms are clarified. Mainly, the feature extraction and recognition part of the software robot image recognition function is arranged in the edge server, so that the judgment and recognition can be quickly realized and the system operation efficiency can be improved. The experimental verification shows that: under the same conditions, the software robot identification error of the method in this paper is lower, and the calculation time is shorter than that of other software robots, which is far superior to the traditional identification method. At the same time, by changing the comparison of data receiving methods, it can also be proved that the use of edge computing is more efficient, and the recognition problems in the work of software robots can be realized.

Improving Efficiency and Effectiveness of Robotic Process Automation in Human Resource Management

Automation technology is changing and transforming innovation into the industrial landscape and Human Resources (HR) should ensure to adapt and practice its deployment to realise its benefits in time and for cost savings. The implementation of Robotic Process Automation (RPA) in HR can help to offer better service to ensure compliance of the processes with standards and regulations. RPA is a software technology that manages software robots to emulate human actions when interacting with digital platforms. RPA is a solution that could perform repetitions to take over activities carried out by humans. However, a robot is not thought to be able to replace the HR but is, instead, useful to support driven processes. The purpose of the study is to prove the efficiency and effectiveness of RPA in the Human Resource Management System (HRMS) compared to the manual process performed by a human. Different types of components and characteristics were identified to adopt RPA in HRMS based on the data measurement in the implementation process. This study designs and develops an HRMS model using RPA tools to achieve the target process. The model was developed based on a case study of an existing model of RPA in HRMS from an IT consultancy industry. In the HR process, the project uses an application focusing on the parameters of gathering, storing and accessing employees’ information from other modules. Lastly, the gaps in the HRMS to improve productivity are evaluated and explained.

Accuracy of Robotic and Frame-Based Stereotactic Neurosurgery in a Phantom Model

BackgroundThe development of robotic systems has provided an alternative to frame-based stereotactic procedures. The aim of this experimental phantom study was to compare the mechanical accuracy of the Robotic Surgery Assistant (ROSA) and the Leksell stereotactic frame by reducing clinical and procedural factors to a minimum.MethodsTo precisely compare mechanical accuracy, a stereotactic system was chosen as reference for both methods. A thin layer CT scan with an acrylic phantom fixed to the frame and a localizer enabling the software to recognize the coordinate system was performed. For each of the five phantom targets, two different trajectories were planned, resulting in 10 trajectories. A series of five repetitions was performed, each time based on a new CT scan. Hence, 50 trajectories were analyzed for each method. X-rays of the final cannula position were fused with the planning data. The coordinates of the target point and the endpoint of the robot- or frame-guided probe were visually determined using the robotic software. The target point error (TPE) was calculated applying the Euclidian distance. The depth deviation along the trajectory and the lateral deviation were separately calculated.ResultsRobotics was significantly more accurate, with an arithmetic TPE mean of 0.53 mm (95% CI 0.41–0.55 mm) compared to 0.72 mm (95% CI 0.63–0.8 mm) in stereotaxy (p < 0.05). In robotics, the mean depth deviation along the trajectory was −0.22 mm (95% CI −0.25 to −0.14 mm). The mean lateral deviation was 0.43 mm (95% CI 0.32–0.49 mm). In frame-based stereotaxy, the mean depth deviation amounted to −0.20 mm (95% CI −0.26 to −0.14 mm), the mean lateral deviation to 0.65 mm (95% CI 0.55–0.74 mm).ConclusionBoth the robotic and frame-based approach proved accurate. The robotic procedure showed significantly higher accuracy. For both methods, procedural factors occurring during surgery might have a more relevant impact on overall accuracy.

Digitization of Accounting: The Premise of the Paradigm Shift of Role of the Professional Accountant

The current pandemic crisis has led to a paradigm shift in the economy. Expressions such as digital transformation and digitalization of business are common in the communication channels of economic entities, which want to benefit from the advantages of information technology (artificial intelligence, software robots, and blockchain) to streamline their business. The aim of this research is to highlight the impact of the digitalization of accounting on the business environment, the work style, and the role of professional accountants: the paradigm shift. The study is based on theoretical research as well as empirical research based on a questionnaire applied in economic entities, and respondents are both decision makers and professional accountants. The results obtained by the statistical analysis of the questionnaire (Chi-square, Crosstabulation, Friedman test) suggest that digitization is more than a conventional change, being equally about technology and people. The orientation towards digitalization implies, in addition to a well-organized implementation plan, a change in the mentalities of the human factor corroborated with the evolution of the organizational culture of economic entities. At the same time, we are witnessing a change in the accounting paradigm, and the role of professional accountants is evolving from “transaction logger” to analyst and consultant for entrepreneurs. Research confirms that the digitalization of accounting is proving to be not only a modern solution, imposed by technological progress, but also timely, necessary, and even mandatory given the difficulty of anticipating the economic and social context due to the pandemic crisis. This study stands out both because of the innovative character of the approached subject, the digitalization of accounting, which represents a concept in full expansion, and because of its practical utility. This is proven by the analyses performed and the conclusions drawn in the context of an economic environment that is constantly looking for solutions. All operations can be moved to a controlled and accessible digital environment that can be accessed from any location.

A Model-Based Approach for Common Representation and Description of Robotics Software Architectures

Unlike conventional software, robotic software suffers from a lack of methods and processes that could systematize and facilitate development. Thus, the application of software engineering techniques is at the heart of current issues in robotics. The work presented in this paper aims to facilitate the development of robotic software and to facilitate communication between experts in the field through the use of software engineering techniques and methods. It proposes RsaML (Robotic Software Architecture Modeling Language), a Domain Specific Modeling Language (DSML) dedicated to robotics, which takes into account the different categories of robotic software architectures and makes it possible to describe the latter independently from the implementation platform. The conceptual model defining the terminology and the hierarchy of concepts used for the description and representation of robotic software architectures in RsaML are presented in this article. RsaML is defined through a meta-model which represents the abstract syntax of the language. The real-time properties of robotic software architectures are identified and included in the meta-model. The use of RsaML is illustrated through several experimental scenarios of the language: the definition of a robotic system and the description of its software architecture, the verification of the semantics of a robotic software architecture, and the modeling of a robotic system whose software architecture does not belong to the usual categories. The support tool used for implementations and experimentation is Eclipse Modeling Framework (EMF). The results of experimentation showed good working of the proposed solution and made it possible to validate the main concepts of the RsaML language.

Towards a behavior tree-based robotic software architecture with adjoint observation schemes for robotic software development

Towards a behavior tree-based robotic software architecture with adjoint observation schemes for robotic software development

A Framework for Rapid Robotic Application Development for Citizen Developers

It is common knowledge among computer scientists and software engineers that ”building robotics systems is hard”: it includes applied and specialized knowledge from various scientific fields, such as mechanical, electrical and computer engineering, computer science and physics, among others. To expedite the development of robots, a significant number of robotics-oriented middleware solutions and frameworks exist that provide high-level functionality for the implementation of the in-robot software stack, such as ready-to-use algorithms and sensor/actuator drivers. While the aforementioned focus is on the implementation of the core functionalities and control layer of robots, these specialized tools still require extensive training, while not providing the envisaged freedom in design choices. In this paper, we discuss most of the robotics software development methodologies and frameworks, analyze the way robotics applications are built and propose a new resource-oriented architecture towards the rapid development of robot-agnostic applications. The contribution of our work is a methodology and a model-based middleware that can be used to provide remote robot-agnostic interfaces. Such interfaces may support robotics application development from citizen developers by reducing hand-coding and technical knowledge requirements. This way, non-robotics experts will be able to integrate and use robotics in a wide range of application domains, such as healthcare, home assistance, home automation and cyber–physical systems in general.

Application of a robotics path planning algorithm to assess the risk of mobile bearing dislocation in lateral unicompartmental knee replacement

Due to ligament laxity, bearing dislocation occurs in 1–6% of Oxford Domed Lateral (ODL) replacements with most dislocations occurring medially. Dislocations were studied using a previously built mechanical rig, however testing using the rig was inefficient. The aim of this study was to develop a better tool that was more reliable and efficient. An established robotics software package, the Open Motion Planning Library, was modified to accept the ODL components. Using a robotics path planning algorithm, the mobile bearing was allowed to find a way out from between the femoral and tibial components i.e. to dislocate. Testing assessed a range of clinically relevant positions of the femoral component relative to the tibial component. Dislocations were labelled as medial, lateral, anterior or posterior depending on the dislocation direction. The Distraction to Dislocation (DD) measured the minimum vertical distraction of the femoral component from the tibial component for a dislocation to occur. Results were validated against the mechanical rig. Statistical analysis of medial dislocation showed excellent agreement with an intraclass correlation value of 0.993 (95% CI 0.982–0.998). All DDs from the dislocation analysis tool were within 1 mm of the mechanical rig DDs with results sharing a remarkably similar trend. The robotics dislocation analysis tool output DDs which were marginally higher than the manual mechanical rig: 0.50 mm anteriorly, 0.25 mm posteriorly and 0.50 mm laterally. Medially, the computational DD differed on average by 0.09 mm (stand deviation: 0.2026 mm). Our study describes the development and validation of a novel robotics dislocation analysis tool, which allows mobile bearing dislocation risk quantification. The tool may also be used to improve surgical implantation parameters and to assess new implant designs that aim to reduce the medial dislocation risk to an acceptable level.