Wireless Robot Research Articles

A Study of Routing Path Decision Method Using Mobile Robot Based on Distance Between Sensor Nodes

We propose Robot Wireless Sensor Networks (RWSNs) management method for maintaining wireless communication connectivity for a mobile robot teleoperation with considering a distance between sensor nodes. Recent studies for reducing disaster damage focus on a disaster area information gathering in underground spaces. Since information gathering activities in such post disaster underground spaces present a high risk of personal injury by secondary disasters, a lot of rescue workers were injured or killed in the past. On basis of this background, gathering information by utilizing the mobile robot is discussed in wide area. However, maintaining wireless communication infrastructures for teleoperation of a mobile rescue robot in the post-disaster underground space by various reasons. Therefore we have been discussing the wireless communication infrastructures construction method for teleoperation of the rescue robot by utilizing the RWSN. In this paper, we evaluated the proposed method for changing routing path by utilizing the RWSN in field operation test in order to confirm the availability of performance of communication connectivity and the throughputs between End-to-End communications via constructed network.

Research on Key Technologies in Multi-Robotic Spread Spectrum Communication System

It has become a hot research topic that to improve the coordination performance of multi-robotic system by communication. With rapid development of wireless communication and robot technologies, multi-robotic system based on spread-spectrum technology has become product of combining two technologies. Code Division Multiple Access (CDMA) technology is applied in multi-robotic communication system here. According to the modified m-Walsh sequence got by the way of analyzing the relation characteristic of Walsh-code and m-sequence, the best direct sequence spread spectrum (DSSS) PN code and the improved RAKE receiver scheme are proposed, which satisfied the requirements of real-time performance, reliability and confidentiality in multi-robotic communication system, and have great significance for the research of multi-robotic communication system.

Special Issue on “Wireless Robotics: Research and Standardisation”

Special Issue on “Wireless Robotics: Research and Standardisation”

Advanced Mobile Surveillance System for Multiple People Tracking

The paper develops an efficient people surveillance system capable of tracking multiple people on different terrains. Recorded video on rough terrains is affected by jitters resulting into significant error between the desired and captured video flow. Video stabilization is achieved by calculating the motion and compensational parameters using the LSE analytical solution to minimize the error between present and desired output video captured from an autonomous robot's camera moving on a rough terrain used for surveillance of unidentified people. This is the first paper to the best of our knowledge which makes use of this method to design mobile wireless robot for human surveillance applications. As the method used is fast then conventional methods, making the proposed system a highly efficient surveillance system as compared to previous systems. The superiority of the method used is demonstrated using different evaluation parameters like RMCD, variability and reliability. The system can be used for surveillance of people under different environmental conditions.

An Exposition of Performance-Security Trade-offs in RANETs Based on Quantitative Network Models

Security mechanisms, such as encryption and authentication protocols, require extra computing resources and therefore, have an adverse effect upon the performance of robotic mobile wireless ad hoc networks (RANETs). Thus, an optimal performance and security trade-off should be one of the main aspects that should be taken into consideration during the design, development, tuning and upgrading of such networks. In this context, an exposition is initially undertaken on the applicability of Petri nets (PNs) and queueing networks (QNs) in conjunction with their generalisations and hybrid integrations as robust quantitative modelling tools for the performance analysis of discrete flow systems, such as computer systems, communication networks and manufacturing systems. To overcome some of the inherent limitations of these models, a novel hybrid modelling framework is explored for the quantitative evaluation of RANETs, where each robotic node is represented by an abstract open hybrid G-GSPN_QN model with head-of-line priorities, subject to combined performance and security metrics (CPSMs). The proposed model focuses on security processing and state-based control and it is based on an open generalised stochastic PN (GSPN) with a gated multi-class `On---Off' traffic and mobility model. Moreover, it employs a power consumption model and is linked in tandem with an arbitrary QN consisting of finite capacity channel queues with blocking for `intra' robot component-to-component communication and `inter' robot-to-robot transmission. Conclusions and future research directions are included.

Underwater Localization and Environment Mapping Using Wireless Robots

Localization and mapping are the fundamental ability for underwater robots to carry out exploration and searching tasks autonomously. This paper presents a novel approach to localization and mapping of a school of wirelessly connected underwater robotic fish (URF). It is based on both Cooperative Localization Particle Filter (CLPF) scheme and Occupancy Grid Mapping Algorithm (OGMA). Using the probabilistic framework, the proposed CLPF has the major advantage that no prior knowledge about the kinematic model of URF is required to achieve accurate 3D localization. It works well when the number of mobile beacons is less than four, which is the minimum number for some traditional localization algorithms. The localization result of CLPF is fed into OGMA to build the environment map. The performance of the proposed algorithms is evaluated through extensive simulation experiments, and results verify the feasibility and effectiveness of the proposed strategy.

In-Network Computations of Machine-to-Machine Communications for Wireless Robotics

Wireless robotics enables wide applications of service robots to benefit human life. However, effective machine-to-machine communications would be the foundation of operation. With cloud-based architecture, we innovatively demonstrate in-network computation to significantly alleviate the requirement of communication bandwidth for multi-hop networking, to achieve spectrum-efficient M2M communications. We further characterize the coverage geographical of machines to impact effective operation of wireless robotics.

A Framework for Testing of Wireless Underwater Robots

Underwater applications of wireless robots are foreseen to hold a market potential. The standardization process will drive the development of the necessary technology so that devices can work cooperatively. Specific testing procedures have to be developed in order to verify that a device meets requirements. In this paper, a general framework for testing of underwater wireless robot communications is described. The methodology for conformance and interoperability tests is addressed by considering wireless robots as terminals in an underwater acoustic network.

Wireless Robotics: Opportunities and Challenges

Wireless robotics is one of the emerging fields in the world of automation. In-spite of research and standardization efforts around the world, the definition of the term "Robot" is still evolving. Robots have found application in many domains including home automation, industrial automation, health-care, surveillance, reconnaissance, planetary exploration or rescue missions. This paper addresses some of the opportunities, research challenges and standardization issues in wireless robotics with the focus on wireless and networking aspects.

Wireless Robotics: Generalization of an Efficient Approach with Multi-h CPM Signaling and L2-Orthogonal Space-Time Coding

Wireless Robotics has become an important research topic in the last two decades. The need of controlling a robot to perform tasks remotely has significantly increased with the number of applications in fields like medicine and military, among many others. Taking advantage of current standards like Bluetooth and Wifi, Wireless Robotics calls for low power consumption components, robustness and high data rate through the wireless channel. This call can be fulfilled with a reliable signaling format, satisfying the needs of low power consumption and high spectral efficiency. Besides, continuous phase modulation (CPM) has gained increasing attention due to its favorable trade-off between power and bandwidth efficiency. Multi-h CPM recently appeared as a generalization of single-h schemes so as to further decrease the need for bandwidth expansion over the wireless channel. Despite the interesting characteristics of CPM, the decoding of the received signal is particularly difficult in a multi-path wireless environment with no diversity. To provide some level of diversity, several authors have proposed to combine CPM with space-time block coding. A new family of codes for CPM, based on $$L^2$$ -orthogonality was recently introduced in Hesse et al. (IEEE Trans Commun 59(11): 3158---3166, 2011). These full rate codes achieve full diversity and a low decoding complexity. In this paper, we detail a non trivial extension of these $$L^2$$ -orthogonal space-time codes using multi-h signaling schemes. These new codes still achieve full diversity but a better spectral compactness by utilizing the available communication bandwidth more efficiently. Also, the decoding complexity is greatly decreased by using only one correlation filter bank for the detection of all transmitted signals.

Out of the Shadow: Long Term Cost Development of Intelligent Sensor Networks

The paper addresses intelligent sensor networks (ISNs) as a special version of networked wireless robotics. The success of these networks is partly explained by the technical advances, but as well by cutting down costs of these networks. Using a functional breakdown of intelligent ISNs, the trends of the various functions are discussed. The analysis shows how individual sensor network component prices decline at an almost predictable speed. This is mainly a result of generic developments in technology. These developments sustain because an economy of scale is reached at the level of individual components. This makes the integration of these components the most important barrier to acquire large scale implementation of intelligent ISNs, both with respect to cost and needed R&D breakthroughs. Integration includes the need for standardization and interoperability between different standards. The paper illustrates its generic analysis in two use cases: cooperative driving and smart living.

EEG Based BCI Using Visual Imagery Task for Robot Control

The aim of this study is to detect the brain activation on scalp by Electroencephalogram (EEG) task–based for brain computer interface (BCI) using wirelessly control robot. EEG was measured in 8 normal subjects for control and task conditions. The objective is to determine one scalp location which will give signals that can be used to control the wireless robot using BCI and EEG, using non invasive and without subject training. In control condition subjects were ask to relax but in task condition, subjects were asked to imagine a star rotating clockwise at position 45 degrees direction pointed by the wireless robot where at this angle the target is located. At position 0 and 90 degree angle subjects were asked to relax since there is no target on that direction. Using EEG spectral power analysis and normalization, the optimum location for this task has been detected at position F8 which is in frontal cortex area and the rhythm happened at alpha frequency band. At this position, the signals from the brain should be able to drive the robot to the required direction by giving correct and accurate signals to robot moving towards target.

Analysis of the Degradation Tendency of NPP Cables Using a Wireless Cable Indenting Robot

In nuclear power plants, there are many cables that perform safety-related functions. These cables should implement condition monitoring during the operation period in the nuclear power plant, in order to assess the remaining qualified life and extend the qualified life. In this study we focused on the indenting method which can measure the hardness of the cable jacket. This method is selected because it is non-destructive and requires short testing time and small sized equipment. In order to address the problems with the existing indenting test equipment, we developed new indenting test equipment, which could automatically move on the surface of the object cable. The newly developed equipment is designed for a small-sized and light-weight robot using wireless communication in order to implement condition monitoring in a harsh environment or locations that are inaccessible to the tester. The developed wireless cable indenting robot is composed of three parts, which are mechanical and electrical hardware parts and remote-control part. In order to analyze the degradation tendency of the cable, we prepared four thermally aged specimens and one un-aged specimen. Using the developed robot, we measured the modulus of the cable jacket of each specimen. The test data showed that the modulus of the cable jacket increased linearly as the accelerated aging time increased. From these results, we can analyze the degradation trends pertaining to cables installed in nuclear power plant according to the operation period.

Suitability of ad hoc routing in WNR: Performance evaluation and case studies

A major issue in the application of ad hoc networking to Wireless Networked Robotics is the choice of the routing protocol that performs better in a given scenario. However, far too little attention has been paid to routing issues involving enhanced robotic nodes. In view of the lack of a significant and comprehensive analysis, this research work completes an in-depth performance comparison of mostly well-known ad hoc routing protocols under a wide variety of conditions and applies the obtained results to a case study with three examples of real-world Wireless Networked Robotics scenarios.

2509 簡易的脳波計による無線ロボット操作時における方向入力手法の提案

2509 簡易的脳波計による無線ロボット操作時における方向入力手法の提案

Gesture Controlled Robot using Image Processing

Service robots directly interact with people, so finding a more natural and easy user interface is of fundamental importance. While earlier works have focused primarily on issues such as manipulation and navigation in the environment, few robotic systems are used with user friendly interfaces that possess the ability to control the robot by natural means. To facilitate a feasible solution to this requirement, we have implemented a system through which the user can give commands to a wireless robot using gestures. Through this method, the user can control or navigate the robot by using gestures of his/her palm, thereby interacting with the robotic system. The command signals are generated from these gestures using image processing. These signals are then passed to the robot to navigate it in the specified directions.

A Wireless Robot for Networked Laparoscopy

State-of-the-art laparoscopes for minimally invasive abdominal surgery are encumbered by cabling for power, video, and light sources. Although these laparoscopes provide good image quality, they interfere with surgical instruments, occupy a trocar port, require an assistant in the operating room to control the scope, have a very limited field of view, and are expensive. MARVEL is a wireless Miniature Anchored Robotic Videoscope for Expedited Laparoscopy that addresses these limitations by providing an inexpensive in vivo wireless camera module (CM) that eliminates the surgical-tool bottleneck experienced by surgeons in current laparoscopic endoscopic single-site (LESS) procedures. The MARVEL system includes 1) multiple CMs that feature a wirelessly controlled pan/tilt camera platform, which enable a full hemisphere field of view inside the abdominal cavity, wirelessly adjustable focus, and a multiwavelength illumination control system; 2) a master control module that provides a near-zero latency video wireless communications link, independent wireless control for multiple MARVEL CMs, digital zoom; and 3) a wireless human-machine interface that gives the surgeon full control over CM functionality. The research reported in this paper is the first step in developing a suite of semiautonomous wirelessly controlled and networked robotic cyber-physical devices to enable a paradigm shift in minimally invasive surgery and other domains such as wireless body area networks.

Study on Navigation of Wireless Sensor Network Mobile Robot

For optimal design of mobile robot path planning problem, an improved artificial potential field control method is designed. Using infrared sensors and ultrasonic sensors to detect the surrounding environment will get the information of obstacles and goals. Proposed an adaptive real-time localization algorithm based on improved DV-Hop algorithm to realize real-time localization for wireless sensor network mobile robot. The improved artificial potential field adopted the improved potential function that ensured the goal is the global minimum so the mobile robot can reach the goal freely. The effectiveness and feasibility of the improved algorithm verified by simulation.

Wireless Remote Control Design of the De-Icing Robot

In this paper, we studied de-icing robot wireless remote control system. According to the actual operating environment of the de-icing robot, we analyzed the operational requirements of the robot and the control requirements of remote control system. A new wireless remote control circuit has designed based on APC220-43 module implemented in design hardware and software. Experiments and the actual operation had shown that the reliability of the wireless remote control system.

In Vivo Demonstration of Surgical Task Assistance Using Miniature Robots

Laparoscopy is beneficial to patients as measured by less painful recovery and an earlier return to functional health compared to conventional open surgery. However, laparoscopy requires the manipulation of long, slender tools from outside the patient's body. As a result, laparoscopy generally benefits only patients undergoing relatively simple procedures. An innovative approach to laparoscopy uses miniature in vivo robots that fit entirely inside the abdominal cavity. Our previous work demonstrated that a mobile, wireless robot platform can be successfully operated inside the abdominal cavity with different payloads (biopsy, camera, and physiological sensors). We hope that these robots are a step toward reducing the invasiveness of laparoscopy. The current study presents design details and results of laboratory and in vivo demonstrations of several new payload designs (clamping, cautery, and liquid delivery). Laboratory and in vivo cooperation demonstrations between multiple robots are also presented.