scholarly journals Blockchain Design for an Embedded System

Ledger ◽  
2019 ◽  
Author(s):  
Sara Falcone ◽  
John Zhang ◽  
Agnes Cameron ◽  
Amira Abdel-Rahman
Keyword(s):  
Embedded System ◽  
Peer To Peer ◽  
Robotic System ◽  
Robotic Systems ◽  
Lattice Structures ◽  
Radio Communication ◽  
Space Applications ◽  
Blockchain Technology ◽  
Trade Offs

This paper proposes a blockchain-based mapping protocol for distributed robotic systems running on embedded hardware. This protocol was developed for a robotic system designed to locomote on lattice structures for space applications. A consensus mechanism, Proof of Validity, is introduced to allow the effort of mining blocks to correlate with the desired tasks the robotic system was designed for. These robots communicate using peer-to-peer LoRa radio. Options, trade-offs and considerations for implementing blockchain technology on an embedded system with wireless radio communication are explored and discussed.

Modeling of the Control Algorithms in Case of a Self Reconfiguring Mobile Robotic System

2010 ◽  
Vol 166-167 ◽  
pp. 339-344
Author(s):  
Mihai George Raducu ◽  
Mircea Nitulescu
Keyword(s):  
Embedded System ◽  
Finite Number ◽  
Robotic System ◽  
Robotic Systems ◽  
Control Algorithms ◽  
Classical Approach ◽  
Agent Based ◽  
Modeling Methods

Self reconfiguring robots are complex robotic systems composed of a finite number of modules, where each module of the system is considered to be a simple agent. Based on this con¬text, the reconfi¬guration represents the process of re-arranging each agent of the robotic system in order to have a working system. One versatile method to determine the most adequate movement and reconfiguration algorithms can be done us¬ing modeling methods and tools. Using this approach, the control algorithms necessary to drive such a system can be modeled, tested and implemented in an embedded system much easier than in a classical approach. This paper presents the case of a self reconfiguring robot for which, a reconfiguration algorithm and a movement algorithm were determined, analyzed, tested and validated.

scholarly journals Robot Operating System 2

2018 ◽  
Vol 15 (3) ◽  
pp. 172988141877001 ◽  
Author(s):  
Vincenzo DiLuoffo ◽  
William R Michalson ◽  
Berk Sunar
Keyword(s):  
Operating System ◽  
Autonomous Vehicles ◽  
Human Life ◽  
Robotic System ◽  
Robotic Systems ◽  
Robot Operating System ◽  
Distributed Services ◽  
Trade Offs ◽  
System 2 ◽  
Deployed Systems

It is no secret that robotic systems are expanding into many human roles or are augmenting human roles. The Robot Operating System is an open-source standard for the robotic industry that enables locomotion, manipulation, navigation, and recognition tasks by integrating sensors, motors, and controllers into reusable modules over a distributed messaging architecture. As reliance on robotic systems increases, these systems become high value targets, for example, in autonomous vehicles where human life is at risk. As Robot Operating System has become a de facto standard for many robotic systems, the security of Robot Operating System becomes an important consideration for deployed systems. The original Robot Operating System implementations were not designed to mitigate the security risks associated with hostile actors. Robot Operating System 2, the next generation of the Robot Operating System, addresses this shortcoming, leveraging Data Distributed Services for its messaging architecture and Data Distributed Services security extension for its data protection in motion. This article provides a systematic review of Robot Operating System 2 and identifies potential risks for this new robotic system paradigm. A Robot Operating System 2 robotic system is viewed as a series of layers from the hardware that include sensors, motors, and controllers to the software layers, which include the operating system, security services, protocols, messaging, and the cognitive layer for observation, learning, and action. Since Robot Operating System 2 and security are new considerations for robotics systems as they move into mainstream, many questions emerge. For example, can some portions be secure and other portions be non-secure? Does everything need to be secure? What are the trade-offs between, security, performance, latency and throughput? What about real-time robotic systems? This article provides an overview of the Robot Operating System 2 paradigm and represents a first step toward answering these questions.

scholarly journals Preliminary Analysis of a Lightweight and Deployable Soft Robot for Space Applications

2021 ◽  
Vol 11 (6) ◽  
pp. 2558
Author(s):  
Mario Troise ◽  
Matteo Gaidano ◽  
Pierpaolo Palmieri ◽  
Stefano Mauro
Keyword(s):  
Preliminary Analysis ◽  
Inverse Kinematics ◽  
Control Algorithm ◽  
Dynamic Models ◽  
Robotic Systems ◽  
Inflation Pressure ◽  
Space Applications ◽  
Space Industry ◽  
Rigid Body Model ◽  
Soft Manipulator

The rising interest in soft robotics, combined to the increasing applications in the space industry, leads to the development of novel lightweight and deployable robotic systems, that could be easily contained in a relatively small package to be deployed when required. The main challenges for soft robotic systems are the low force exertion and the control complexity. In this manuscript, a soft manipulator concept, having inflatable links, is introduced to face these issues. A prototype of the inflatable link is manufactured and statically characterized using a pseudo-rigid body model on varying inflation pressure. Moreover, the full robot model and algorithms for the load and pose estimation are presented. Finally, a control strategy, using inverse kinematics and an elastostatic approach, is developed. Experimental results provide input data for the control algorithm, and its validity domain is discussed on the basis of a simulation model. This preliminary analysis puts the basis of future advancements in building the robot prototype and developing dynamic models and robust control.

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.

scholarly journals Emergence of blockchain-technology application in peer-to-peer electrical-energy trading: a review

Clean Energy ◽  
2021 ◽  
Vol 5 (1) ◽  
pp. 104-123
Author(s):  
Manish Kumar Thukral
Keyword(s):  
Renewable Energy ◽  
Renewable Energy Sources ◽  
Research Work ◽  
Energy Sector ◽  
Peer To Peer ◽  
Renewable Energy Resources ◽  
Energy Trading ◽  
Technology Application ◽  
Blockchain Technology ◽  
The Common

Abstract Renewable-energy resources require overwhelming adoption by the common masses for safeguarding the environment from pollution. In this context, the prosumer is an important emerging concept. A prosumer in simple terms is the one who consumes as well as produces electricity and sells it either to the grid or to a neighbour. In the present scenario, peer-to-peer (P2P) energy trading is gaining momentum as a new vista of research that is viewed as a possible way for prosumers to sell energy to neighbours. Enabling P2P energy trading is the only method of making renewable-energy sources popular among the common masses. For making P2P energy trading successful, blockchain technology is sparking considerable interest among researchers. Combined with smart contracts, a blockchain provides secure tamper-proof records of transactions that are recorded in distributed ledgers that are immutable. This paper explores, using a thorough review of recently published research work, how the existing power sector is reshaping in the direction of P2P energy trading with the application of blockchain technology. Various challenges that are being faced by researchers in the implementation of blockchain technology in the energy sector are discussed. Further, this paper presents different start-ups that have emerged in the energy-sector domain that are using blockchain technology. To give insight into the application of blockchain technology in the energy sector, a case of the application of blockchain technology in P2P trading in electrical-vehicle charging is discussed. At the end, some possible areas of research in the application of blockchain technology in the energy sector are discussed.

scholarly journals Feasibility Conditions for Demonstrative Peer-to-Peer Energy Market

Energies ◽  
2021 ◽  
Vol 14 (21) ◽  
pp. 7418
Author(s):  
Reo Kontani ◽  
Kenji Tanaka ◽  
Yuji Yamada
Keyword(s):  
Power Grid ◽  
Energy Markets ◽  
Peer To Peer ◽  
Lower State ◽  
Distributed Energy ◽  
Market Mechanisms ◽  
Blockchain Technology ◽  
Advantageous Position ◽  
Data Source ◽  
Photovoltaic Generators

Distributed energy resources (DERs) play an indispensable role in mitigating global warming. The DERs require flexibility owing to the uncertainty of their power output when connected to the power grid. Recently, blockchain technology has actualized peer-to-peer (P2P) energy markets, promoting efficient and resilient flexibility in the power grid. This study aimed to extract insights about the contribution of the P2P energy markets to ensuring flexibility through analyzing transaction data. The data source was a demonstration project regarding the P2P energy markets conducted from 2019 to 2020 in Urawa-Misono District, Japan. The participants in the project were photovoltaic generators (PVGs), convenience stores (CSs), and residences equipped with battery storage as the only flexibility in the market. We quantitatively analyzed the prices and volumes ordered or transacted by each participant. The execution prices purchased by the residences were lower than those purchased by CSs; the differences between execution prices and order prices of the residences were narrower than those of PVGs and CSs; the lower state-of-charge (SoC) in the storage battery induced the higher purchasing prices. Thus, P2P energy markets, where holding flexibility resulted in the advantageous position, can promote installing flexibility through market mechanisms.

scholarly journals Gamification of Decentralized Ledger for Credit Card Application using Blockchain

2021 ◽  
Vol 4 (1) ◽  
Author(s):  
Rohmat Taufiq ◽  
Agung Trisetyarso ◽  
Wayan Suparta ◽  
Bachtiar Saleh Abbas
Keyword(s):  
Credit Card ◽  
Banking Industry ◽  
Credit Cards ◽  
Peer To Peer ◽  
Blockchain Technology

We propose a credit card application using blockchain to improve the approval, transparency and security process. Some studies explain the use of blockchain technology in credit card applications but have not described the concept and architecture. Therefore, this study describes and describes the architecture of using credit cards for credit card applications. The motivation of this research is to explain the implementation of blockchain technology, especially the decentralization process of ledgers in credit card applications. Next, we propose architecture and algorithms for credit card applications using blockchain. The conclusion in this study is a decentralized ledger for credit card applications that allows peer-to-peer transactions, decentralized credit card applications that are not bound by geographical boundaries, have two advantages for debtors and the banking industry. In addition, the architecture is made using a credit card for application credit cards and an explanation of how the architecture works.

scholarly journals Blockchain Beyond Cryptocurrency: Non-Fungible Tokens

2021 ◽  
Author(s):  
Burcu Sakız ◽  
Ayşen Hiç Gencer
Keyword(s):  
Business Models ◽  
Disruptive Innovation ◽  
Peer To Peer ◽  
Smart Contracts ◽  
Blockchain Technology ◽  
Wide Range ◽  
Peer Network ◽  
Work Mechanism ◽  
Distributed Networking ◽  
Peer To Peer Network

Blockchain technology is a disruptive innovation with the potential to replace existing business models that rely on centralized systems and third parties for trust. Even if there are a lot of application areas, blockchain used primarily for cryptocurrencies. Satoshi Nakamoto implemented the first blockchain application and invented the world’s first digital currency which is named as Bitcoin in 2008. Fundementally Bitcoin relies on cryptographic “proof of work” mechanism, digital signatures, and peer to peer distributed networking layer in order to provide a distributed ledger holding transactions. In 2014, a second generation of blockchains allow to program and execute them over distributed networks such as Ethereum project. The code to program any asset stored in blockchain’s peer-to-peer network is called as "smart contract" and smart contracts gives a powerful tool to developers for decentralized applications. There are various types of tokens that anyone can built on top of Ethereum and by combining smart contracts and new tokens, this paved the way of possibility to build a wide range of decentralized projects. One of the disruptive blockchain based innovation impacting intellectual property is called non-fungible-tokens or NFTs firstly introcuced in late 2017 on Ethereum network. This research contends that blockchain and non-fungible tokens (NFTs) which are cryptographically unique, scarce, non-replicable digital assets created through smart contracts and provably digital collectible assets. Our objective is to give NFT taxonomy, review NFT platforms and discuss technical challenges as well as recent advances in tackling the challenges. Moreover, this paper also aims to point out the future directions for NFT technology.

Content Delivery Services in a Grid Environment

2011 ◽  
pp. 278-295
Author(s):  
Irwin Boutboul ◽  
Dikran S. Meliksetian
Keyword(s):  
Grid Computing ◽  
Content Delivery ◽  
Peer To Peer ◽  
Grid Environment ◽  
P2p Computing ◽  
New Approach ◽  
Trade Offs ◽  
Delivery Services ◽  
Scalable System

n this chapter, we propose a new approach for content delivery services by meshing together the best of grid computing and peer-to-peer (P2P) computing. The goal is to design a secure, reliable, and scalable system for efficient and fast delivery of content. The system consists of a combination of nondedicated servers and peers to provide the proposed service. We describe the challenges of designing such a system and discuss possible solutions and trade-offs. We detail the necessary interlacing of grid and P2P feature to achieve the goal. We present a prototype that is built based on the proposed approach.

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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