Workspace For Tasks Research Articles

Motion priority optimization framework towards automated and teleoperated robot cooperation in industrial recovery scenarios

In this study, we introduce an optimization framework to enhance the efficiency of motion priority design in scenarios involving automated and teleoperated robots within an industrial recovery context. The increasing utilization of industrial robots at manufacturing sites has been instrumental in reducing human workload. Nevertheless, achieving effective human–robot collaboration/cooperation (HRC) remains a challenge, especially when human workers and robots share a workspace for collaborative tasks. For instance, when an industrial robot encounters a failure, such as dropping an assembling part, it triggers the suspension of the corresponding factory cell for safe recovery. Given the limited capacity of pre-programmed robots to rectify such failures, human intervention becomes imperative, requiring entry into the robot workspace to address the dropped object while the robot system is halted. This discontinuous manufacturing process results in productivity loss. Robotic teleoperation has emerged as a promising technology enabling human workers to undertake high-risk tasks remotely and safely. Our study advocates for the incorporation of robotic teleoperation in the recovery process during manufacturing failure scenarios, which is referred to as “Cooperative Tele-Recovery”. Our proposed approach involves formulating priority rules designed to facilitate collision avoidance between manufacturing and recovery robots. This, in turn, ensures a continuous manufacturing process with minimal production loss within a configurable risk limitation. We present a comprehensive motion priority optimization framework composed of an HRC simulator and a cooperative multi-robot controller to identify optimal parameters for the priority function. The framework dynamically adjusts the allocation of motion priorities for manufacturing and recovery robots while adhering to predefined risk limitations. Through quantitative and qualitative assessments, we validate the novelty of our concept and demonstrate its feasibility.

Noncomputerised Circadian Interventions for Improving Working Memory Performance among Children

Working Memory provides a mental workspace for tasks requiring both processing and storage. Working memory is a cognitive system whose essential function is to facilitate and beautify the potential of encoding, storage, and retrieval functions that are imperative for gaining knowledge and processing of facts. It has been prompted that various mediations applied within day-to-day contexts of children have the potential to improve working memory and generate transfer to real-world skills, anyway little is known about the effectiveness of these interventions among children. This review focuses to detect deliberately the adequacy of intervention or interventional package on working memory performance of children to identify their effects on Working Memory, advantages extended to near-and far-transfer capability of interventions, and gains sustained overtime and dosage of it. Literature searches were conducted across 10 electronic data bases using consistent keywords. Papers were screened by title and abstract (n=964) and judged against predefined eligibility criteria (n=63). Eighteen papers were included in the appraisal. Different working memory interventional approaches were included such as adapting the surroundings to decrease working memory loads; direct working memory training with and without tactics mandate and coaching competencies which circuitously effect on working memory (athletics, lexical apprehension, astonishing man-made play, and self-possession). Both direct training on working memory undertakings and rehearsing certain abilities that may likewise affect randomly on working memory which delivered refinement on working memory errands. Hardly, any research articulated dosage impact, estimated outlying shift of outcomes (n=4), or tried the solidness of valid statements after added time (n=4). The absence of an unmistakable hypothetical structure brought about uncertain forecasts about instructing and switch impacts. Methodological difficulties likewise compel the intensity of the proof, including: small-scale sample sizes; oversight of blinding of members and result assessors; and shortfall of active control group

Towards Functional Mobile Microrobotic Systems

This paper presents our work over the last decade in developing functional microrobotic systems, which include wireless actuation of microrobots to traverse complex surfaces, addition of sensing capabilities, and independent actuation of swarms of microrobots. We will discuss our work on the design, fabrication, and testing of a number of different mobile microrobots that are able to achieve these goals. These microrobots include the microscale magnetorestrictive asymmetric bimorph microrobot ( μ MAB), our first attempt at magnetic actuation in the microscale; the microscale tumbling microrobot ( μ TUM), our microrobot capable of traversing complex surfaces in both wet and dry conditions; and the micro-force sensing magnetic microrobot ( μ FSMM), which is capable of real-time micro-force sensing feedback to the user as well as intuitive wireless actuation. Additionally, we will present our latest results on using local magnetic field actuation for independent control of multiple microrobots in the same workspace for microassembly tasks.

On the Optimal Design of Cable Driven Parallel Robot with a Prescribed Workspace for Upper Limb Rehabilitation Tasks

This paper deals with an optimization approach to design a cable driven parallel robot intended for upper limb rehabilitation tasks. The cable driven parallel robots have characteristics that make them best candidate for rehabilitation exercise purposes such as large workspace, re-configurable architecture, portability and cost effectiveness. Here, both the cable tensions that are needed to move a wristband as well as the workspace need to be carefully optimized for fulfilling the prescribed operation tasks. A specific case of study is addressed in this work by referring to LARM wire driven exercising device (LAWEX), which is applied to upper limbs exercises. To that end, a motion capture system is used to collect quantitative data on the prescribed workspace of a human upper limb. A specific optimization problem is settled up for considering combining two optimization goals, namely, the smallest robot size reaching a prescribed workspace and the minimum cable tension distributions. A sequence of optimization steps is defined using Genetic Algorithms (GAs) applied to LAWEX robot. The proposed objective function is based on a mathematical formulation of the power of a point with respect to bounding surfaces in combination with a performance index to show the distributions of the minimum cable tensions.

A modular cable robot for inspection and light manipulation on celestial bodies

Planetary exploration has been carried out with solitary probes since the nineteen-sixties; on the other hand, the newly emerging paradigm for robotic exploration shows multi-expertize, complex modular systems as necessary for efficient and thorough activities. In this paper we propose a modular Cable Driven Parallel Robot (CDPR) that is deployed by a rover, which can take advantage of its large workspace for tasks as inspection or light manipulation. While the general deployment procedure is described, focus is given on the CDPR; a model for the pseudostatics of the robot is formulated, as well as an analysis on its modules stability. The workspace is then characterized using appropriate metrics. Results show that a 1Kg payload for the end-effector is effectively feasible with substantial margin for an equilateral triangular workspace of 10m side. Finally, several possible practical applications are illustrated.

Rule-Selection and Action-Selection have a Shared Neuroanatomical Basis in the Human Prefrontal and Parietal Cortex

The human capacity for voluntary action is one of the major contributors to our success as a species. In addition to choosing actions themselves, we can also voluntarily choose behavioral codes or sets of rules that can guide future responses to events. Such rules have been proposed to be superordinate to actions in a cognitive hierarchy and mediated by distinct brain regions. We used event-related functional magnetic resonance imaging to study novel tasks of rule-based and voluntary action. We show that the voluntary selection of rules to govern future responses to events is associated with activation of similar regions of prefrontal and parietal cortex as the voluntary selection of an action itself. The results are discussed in terms of hierarchical models and the adaptive coding potential of prefrontal neurons and their contribution to a global workspace for nonautomatic tasks. These tasks include the choices we make about our behavior.

Spatial input/display correspondence in a stereoscopic computer graphic work station

An interactive stereoscopic computer graphic workspace is described. A conventional frame store is used for three-dimensional display, with left/right eye views interlaced in video and viewed through PLZT shutter glasses. The video monitor is seen reflected from a half silvered mirror which projects the graphics into a workspace, into which one can reach and manipulate the image directly with a “magic wand”. The wand uses a magnetic six degree-of-freedom digitizer. In an alternative configuration, a graphics tablet was placed within the workspace for input intensive tasks.