scholarly journals Modular Self-Reconfigurable Robotic Systems: A Survey on Hardware Architectures

2017 ◽  
Vol 2017 ◽  
pp. 1-19 ◽  
Author(s):  
S. Sankhar Reddy Chennareddy ◽  
Anita Agrawal ◽  
Anupama Karuppiah
Keyword(s):  
Real World ◽  
Consumer Products ◽  
Robotic Systems ◽  
Modular Robots ◽  
Self Healing ◽  
Utilization Factor ◽  
The Past ◽  
Reconfigurable Robots ◽  
Real World Applications ◽  
Hardware Architectures

Modular self-reconfigurable robots present wide and unique solutions for growing demands in the domains of space exploration, automation, consumer products, and so forth. The higher utilization factor and self-healing capabilities are most demanded traits in robotics for real world applications and modular robotics offer better solutions in these perspectives in relation to traditional robotics. The researchers in robotics domain identified various applications and prototyped numerous robotic models while addressing constraints such as homogeneity, reconfigurability, form factor, and power consumption. The diversified nature of various modular robotic solutions proposed for real world applications and utilization of different sensor and actuator interfacing techniques along with physical model optimizations presents implicit challenges to researchers while identifying and visualizing the merits/demerits of various approaches to a solution. This paper attempts to simplify the comparison of various hardware prototypes by providing a brief study on hardware architectures of modular robots capable of self-healing and reconfiguration along with design techniques adopted in modeling robots, interfacing technologies, and so forth over the past 25 years.

Against generalisation: Data-driven decisions need context to be human-compatible

2021 ◽  
pp. 026638212110619
Author(s):  
Sharon Richardson
Keyword(s):  
Artificial Intelligence ◽  
Real World ◽  
Data Science ◽  
Machine Learning Algorithms ◽  
Data Driven ◽  
Theoretical Frameworks ◽  
The Past ◽  
Real World Applications ◽  
Contextual Framework ◽  
Data Driven Decisions

During the past two decades, there have been a number of breakthroughs in the fields of data science and artificial intelligence, made possible by advanced machine learning algorithms trained through access to massive volumes of data. However, their adoption and use in real-world applications remains a challenge. This paper posits that a key limitation in making AI applicable has been a failure to modernise the theoretical frameworks needed to evaluate and adopt outcomes. Such a need was anticipated with the arrival of the digital computer in the 1950s but has remained unrealised. This paper reviews how the field of data science emerged and led to rapid breakthroughs in algorithms underpinning research into artificial intelligence. It then discusses the contextual framework now needed to advance the use of AI in real-world decisions that impact human lives and livelihoods.

Controlling Modular Reconfigurable Robots With Handheld Smart Devices

2011 ◽  
Author(s):  
David Ko ◽  
Nalaka Kahawatte ◽  
Harry H. Cheng
Keyword(s):  
Graphical User Interface ◽  
Degrees Of Freedom ◽  
Robotic Systems ◽  
Effective Control ◽  
Smart Devices ◽  
Modular Robots ◽  
Reconfigurable Robots ◽  
Processing Power ◽  
Static Data ◽  
Remote Controller

Highly reconfigurable modular robots face unique teleoperation challenges due to their geometry, configurability, high number of degrees of freedom and complexity. Current methodology for controlling reconfigurable modular robots typically use gait tables to control the modules. Gait tables are static data structures and do not readily support realtime teleoperation. Teleoperation techniques for traditional wheeled, flying, or submerged robots typically use a set of joysticks to control the robots. However, these traditional methods of robot teleoperation are not suitable for reconfigurable modular robotic systems which may have dozens of controllable degrees of freedom. This research shows that modern cell phones serve as highly effective control platforms for modular robots because of their programmability, flexibility, wireless communication capabilities, and increased processing power. As a result of this research, a versatile Graphical User Interface, a set of libraries and tools have been developed which even a novice robotics enthusiast can use to easily program their mobile phones to control their hobby project. These libraries will be beneficial in any situation where it is effective for the operator to use an off-the-shelf, relatively inexpensive, hand-held mobile phone as a remote controller rather than a considerably heavy and bulky remote controllers which are popular today. Several usage examples and experiments are presented which demonstrate the controller’s ability to effectively control a modular robot to perform a series of complex gaits and poses, as well as navigating a module through an obstacle course.

scholarly journals INDUSTRIAL APPLICATIONS OF ARTIFICIAL NEURAL NETWORKS

2014 ◽  
pp. 8-20
Author(s):  
Kurosh Madani
Keyword(s):  
Neural Networks ◽  
Artificial Neural Networks ◽  
Real World ◽  
Industrial Applications ◽  
Large Field ◽  
Nonlinear Functions ◽  
The Past ◽  
Real World Applications ◽  
Ann Models ◽  
Artificial Neural

In a large number of real world dilemmas and related applications the modeling of complex behavior is the central point. Over the past decades, new approaches based on Artificial Neural Networks (ANN) have been proposed to solve problems related to optimization, modeling, decision making, classification, data mining or nonlinear functions (behavior) approximation. Inspired from biological nervous systems and brain structure, Artificial Neural Networks could be seen as information processing systems, which allow elaboration of many original techniques covering a large field of applications. Among their most appealing properties, one can quote their learning and generalization capabilities. The main goal of this paper is to present, through some of main ANN models and based techniques, their real application capability in real world industrial dilemmas. Several examples through industrial and real world applications have been presented and discussed.

scholarly journals Sliding-Window Thompson Sampling for Non-Stationary Settings

2020 ◽  
Vol 68 ◽  
pp. 311-364
Author(s):  
Francesco Trovo ◽  
Stefano Paladino ◽  
Marcello Restelli ◽  
Nicola Gatti
Keyword(s):  
Real World ◽  
State Of The Art ◽  
Sliding Window ◽  
Upper Bounds ◽  
Decision Problems ◽  
Sequential Decision ◽  
Thompson Sampling ◽  
The Past ◽  
Real World Applications ◽  
Window Approach

Multi-Armed Bandit (MAB) techniques have been successfully applied to many classes of sequential decision problems in the past decades. However, non-stationary settings -- very common in real-world applications -- received little attention so far, and theoretical guarantees on the regret are known only for some frequentist algorithms. In this paper, we propose an algorithm, namely Sliding-Window Thompson Sampling (SW-TS), for nonstationary stochastic MAB settings. Our algorithm is based on Thompson Sampling and exploits a sliding-window approach to tackle, in a unified fashion, two different forms of non-stationarity studied separately so far: abruptly changing and smoothly changing. In the former, the reward distributions are constant during sequences of rounds, and their change may be arbitrary and happen at unknown rounds, while, in the latter, the reward distributions smoothly evolve over rounds according to unknown dynamics. Under mild assumptions, we provide regret upper bounds on the dynamic pseudo-regret of SW-TS for the abruptly changing environment, for the smoothly changing one, and for the setting in which both the non-stationarity forms are present. Furthermore, we empirically show that SW-TS dramatically outperforms state-of-the-art algorithms even when the forms of non-stationarity are taken separately, as previously studied in the literature.

An Efficient Pruning and Filtering Strategy to Mine Partial Periodic Patterns from a Sequence of Event Sets

2014 ◽  
Vol 10 (2) ◽  
pp. 18-38 ◽  
Author(s):  
Kung-Jiuan Yang ◽  
Tzung-Pei Hong ◽  
Yuh-Min Chen ◽  
Guo-Cheng Lan
Keyword(s):  
Time Series ◽  
Real World ◽  
Oil Price ◽  
Time Stamp ◽  
Single Event ◽  
Periodic Patterns ◽  
Event Time ◽  
The Past ◽  
Real World Applications ◽  
Speed Up

Partial periodic patterns are commonly seen in real-world applications. The major problem of mining partial periodic patterns is the efficiency problem due to a huge set of partial periodic candidates. Although some efficient algorithms have been developed to tackle the problem, the performance of the algorithms significantly drops when the mining parameters are set low. In the past, the authors have adopted the projection-based approach to discover the partial periodic patterns from single-event time series. In this paper, the authors extend it to mine partial periodic patterns from a sequence of event sets which multiple events concurrently occur at the same time stamp. Besides, an efficient pruning and filtering strategy is also proposed to speed up the mining process. Finally, the experimental results on a synthetic dataset and real oil price dataset show the good performance of the proposed approach.

scholarly journals Smart and Modular

2011 ◽  
Vol 133 (09) ◽  
pp. 48-51
Author(s):  
Harry H. Cheng ◽  
Graham Ryland ◽  
David Ko ◽  
Kevin Gucwa ◽  
Stephen Nestinger
Keyword(s):  
Degrees Of Freedom ◽  
Robotic System ◽  
Search And Rescue ◽  
Degree Of Freedom ◽  
Robotic Systems ◽  
Modular Robots ◽  
Modular Robot ◽  
Modular Systems ◽  
The Past ◽  
Three Degrees Of Freedom

This article discusses the advantages of a modular robot that can reassemble itself for different tasks. Modular robots are composed of multiple, linked modules. Although individual modules can move on their own, the greatest advantage of modular systems is their structural reconfigurability. Modules can be combined and assembled to form configurations for specific tasks and then reassembled to suit other tasks. Modular robotic systems are also very well suited for dynamic and unpredictable application areas such as search and rescue operations. Modular robots can be reconfigured to suit various situations. Quite a number of modular robotic system prototypes have been developed and studied in the past, each containing unique geometries and capabilities. In some systems, a module only has one degree of freedom. In order to exhibit practical functionality, multiple interconnected modules are required. Other modular robotic systems use more complicated modules with two or three degrees of freedom. However, in most of these systems, a single module is incapable of certain fundamental locomotive behaviors, such as turning.

PROVIDING TIMELY UPDATED SEQUENTIAL PATTERNS IN DECISION MAKING

2010 ◽  
Vol 09 (06) ◽  
pp. 873-888 ◽  
Author(s):  
TZUNG-PEI HONG ◽  
CHING-YAO WANG ◽  
CHUN-WEI LIN
Keyword(s):  
Decision Making ◽  
Real Time ◽  
Real World ◽  
Experimental Results ◽  
Sequential Patterns ◽  
The Past ◽  
Large Databases ◽  
Real World Applications ◽  
Critical Task ◽  
Maintenance Process

Mining knowledge from large databases has become a critical task for organizations. Managers commonly use the obtained sequential patterns to make decisions. In the past, databases were usually assumed to be static. In real-world applications, however, transactions may be updated. In this paper, a maintenance algorithm for rapidly updating sequential patterns for real-time decision making is proposed. The proposed algorithm utilizes previously discovered large sequences in the maintenance process, thus greatly reducing the number of database rescans and improving performance. Experimental results verify the performance of the proposed approach. The proposed algorithm provides real-time knowledge that can be used for decision making.

scholarly journals Special Issue on Wearable Robotics: Dynamics, Control and Applications

Robotica ◽  
2019 ◽  
Vol 37 (12) ◽  
pp. 2011-2013
Author(s):  
Qining Wang ◽  
Nicola Vitiello ◽  
Samer Mohammed ◽  
Sunil Agrawal
Keyword(s):  
Real World ◽  
Human Motion ◽  
Robotic Systems ◽  
Loop Optimization ◽  
Human In The Loop ◽  
Wearable Robots ◽  
Real World Applications ◽  
Robot Systems ◽  
And Control ◽  
Human Robot Interfaces

While initially conceived for human motion augmentation, wearable robots have gradually evolved as technological aids in motion assistance and rehabilitation. There are increasing real-world applications in industrial and medical scenarios. Though efforts have been made on wearable robotic systems, e.g. robotic prostheses and exoskeletons, there are still several challenges in kinematics and actuation solutions, dynamic analysis and control of human-robot systems, neuro-control and human-robot interfaces; ergonomics and human-in-the-loop optimization. Meanwhile, real-world applications in industrial or medical scenarios are facing difficulties considering effectiveness.

From Single Biometrics to Multi-Biometrics

2011 ◽  
pp. 254-272
Author(s):  
David Zhang ◽  
Fengxi Song ◽  
Yong Xu ◽  
Zhizhen Liang
Keyword(s):  
Performance Evaluation ◽  
Research And Development ◽  
Real World ◽  
System Performance ◽  
Biometric System ◽  
The Past ◽  
Biometric Systems ◽  
Real World Applications ◽  
Biometric Trait

In the past decades while biometrics attracts increasing attention of researchers, people also have found that the biometric system using a single biometric trait may not satisfy the demand of some real-world applications. Diversity of biometric traits also means that they may have different performance such as accuracy and reliability. Multi-biometric applications emerging in recent years are a big progress of biometrics. They can overcome some shortcomings of the single biometric system and can perform well in improving the system performance. In this chapter we describe a number of definitions on biometrics, categories and fusion strategies of multi-biometrics as well as the performance evaluation on the biometric system. The first section of this chapter describes some concepts, motivation and justification of multi-biometrics. Section 12.2 provides some definitions and notations of biometric and multi-biometric technologies. Section 12.3 is mainly related to performance evaluation of various types of biometric systems. Section 12.4 briefly presents research and development of multi-biometrics.

Module Design and Functionally Non-Isomorphic Configurations of the Hex-DMR II System

2016 ◽  
Vol 8 (5) ◽  
Author(s):  
Joshua D. Davis ◽  
Yunuscan Sevimli ◽  
Baxter R. Eldridge ◽  
Gregory S. Chirikjian
Keyword(s):  
Low Cost ◽  
Robotic Systems ◽  
Modular Robots ◽  
Design Constraints ◽  
Module Design ◽  
The Past ◽  
New Novel ◽  
Operational Capabilities ◽  
Mapping Task

Modular robots have captured the interest of the robotics community over the past several years. In particular, many modular robotic systems are reconfigurable, robust against faults, and low-cost due to mass production of a small number of different homogeneous modules. Faults in these systems are normally tolerated through redundancy or corrected by discarding damaged modules, which reduces the operational capabilities of the robot. To overcome these difficulties, we previously developed and discussed the general design constraints of a heterogeneous modular robotic system (Hex-DMR II) capable of autonomous team repair and diagnosis. In this paper, we discuss the design of each module, in detail, and present a new, novel elevator module. Then, we introduce a forestlike structure that enumerates every non-isomorphic, functional agent configuration of our system. Finally, we present a case study contrasting the kinematics and power consumption of two particular configurations during a mapping task.

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