Generation of Observation Arrangement in Distributed Autonomous Robotic Systems

2003 ◽  
Vol 15 (1) ◽  
pp. 96-104
Author(s):  
Tomoyuki Kaga ◽  
◽  
Toshio Fukuda
Keyword(s):  
Spatial Distribution ◽  
Computational Simulation ◽  
Dynamic Environments ◽  
Robotic System ◽  
Distributed Sensing ◽  
Robotic Systems ◽  
Dynamical Generation ◽  
Autonomous Robotic Systems

Distributed Autonomous Robotic System (DARS) copes with dynamic environments with generation of metalevel functions. This paper addresses such functional generation in distributed sensing. In distributed sensing, dynamically adaptable spatial distribution for observation is one of the most important capabilities of DARS. To realize this, we propose a method for dynamical generation of observation arrangement in a distributed manner. The proposed method is verified with computational simulation.

Cooperative Behavior of a Schedule-Based Distributed Autonomous Robotic System

1994 ◽  
Vol 6 (2) ◽  
pp. 162-168
Author(s):  
Jifeng Sun ◽  
◽  
Tadashi Nagata ◽  
Kenji Kurosu ◽  
Keyword(s):  
Cooperative Behavior ◽  
Robotic System ◽  
Robotic Systems ◽  
Robot System ◽  
Scheduling Method ◽  
Robot Communication ◽  
Autonomous Robotic Systems

A scheduling method for distributed autonomous robotic systems (DRS) is proposed. Given the global task for a DRS, each robot generates a subtask according to the global load of the whole system and the partial capacity of individual robots. The determined schedule is then executed by a sign-board inter-robot communication. Some experiments of a three-robot system are performed using the proposed method.

scholarly journals The Ethical Assessment of Autonomous Systems in Practice

J ◽  
2021 ◽  
Vol 4 (4) ◽  
pp. 749-763
Author(s):  
Daniel Trusilo ◽  
Thomas Burri
Keyword(s):  
Autonomous Systems ◽  
Applied Ethics ◽  
Robotic System ◽  
Robotic Systems ◽  
Ethical Assessment ◽  
Theoretical Tool ◽  
Autonomous Robotic Systems

This paper presents the findings of a study that used applied ethics to evaluate autonomous robotic systems practically. Using a theoretical tool developed by a team of researchers in 2017, which one of the authors contributed to, we conducted a study of four existing autonomous robotic systems in July 2020. The methods used to carry out the study and the results are highlighted by examining the specific example of ANYmal, an autonomous robotic system that is one component of the CERBERUS team that won first place in DARPA’s Subterranean Challenge Systems Competition in September 2021.

Robotic System Design and Development for Medical Treatment, Surgery, and Automated Production Applications

2015 ◽  
pp. 851-894
Author(s):  
Zheng (Jeremy) Li
Keyword(s):  
Medical Treatment ◽  
System Design ◽  
3D Modeling ◽  
High Speed ◽  
Computational Simulation ◽  
Robotic System ◽  
Robotic Systems ◽  
Engineering Analysis ◽  
Design And Development ◽  
Automated Production

The development and improvement of robotic system integrate the science and technology of robotic system design, engineering analysis, prototyping, and experiment. This chapter introduces the current research and development of robotic systems applied in medical treatment, surgical operation, automated manufacturing, and high-speed production. Two recent robotic researches are included in this chapter to show the technical methodologies of computer-aided 3D modeling, computational simulation, engineering analysis, prototyping, and experiment in design and development of robotic systems.

Development of an autonomous robotic system for beard shaving assistance of disabled people based on an adaptive force tracking impedance control

2021 ◽  
pp. 095440622098482
Author(s):  
Oladayo S Ajani ◽  
Samy FM Assal
Keyword(s):  
Impedance Control ◽  
Environmental Parameters ◽  
Robotic System ◽  
Robotic Systems ◽  
Full Potential ◽  
Robotic Assistance ◽  
Head Pose ◽  
Detection And Tracking ◽  
Control Scheme ◽  
Force Tracking

Recently, people with upper arm disabilities due to neurological disorders, stroke or old age are receiving robotic assistance to perform several activities such as shaving, eating, brushing and drinking. Although the full potential of robotic assistance lies in the use of fully autonomous robotic systems, these systems are limited in design due to the complexities and the associated risks. Hence, rather than the shared controlled or active robotic systems used for such tasks around the head, an adaptive compliance control scheme-based autonomous robotic system for beard shaving assistance is proposed. The system includes an autonomous online face detection and tracking as well as selected geometrical features-based beard region estimation using the Kinect RGB-D camera. Online trajectory planning for achieving the shaving task is enabled; with the capability of online re-planning trajectories in case of unintended head pose movement and occlusion. Based on the dynamics of the UR-10 6-DOF manipulator using ADAMS and MATLAB, an adaptive force tracking impedance controller whose parameters are tuned using Genetic Algorithm (GA) with force/torque constraints is developed. This controller can regulate the contact force under head pose changing and varying shaving region stiffness by adjusting the target stiffness of the controller. Simulation results demonstrate the system capability to achieve beard shaving autonomously with varying environmental parameters that can be extended for achieving other tasks around the head such as feeding, drinking and brushing.

Prototyping of Robotic Systems in Surgical Procedures and Automated Manufacturing Processes

2012 ◽  
pp. 356-378
Author(s):  
Zheng (Jeremy) Li
Keyword(s):  
Modeling And Simulation ◽  
System Design ◽  
Surgical Procedures ◽  
Biomedical Engineering ◽  
Robotic System ◽  
Robotic Systems ◽  
Manufacturing Processes ◽  
Automated Manufacturing ◽  
Design Development ◽  
Computer Aided

The prototyping and implementation of robotic system is a scientific and technological integrating of robotic system design, development, testing, and application. This chapter describes the recent development and applications of robotic systems to surgery procedures in biomedical engineering and automated manufacturing processes in industry. It includes the design and development, computer-aided modeling and simulation, prototype analysis, and testing of robotic systems in these two different applications.

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