Human Robot Cooperative Control and Task Planning for a Glass Ceiling Installation Robot

Building materials and components are much larger and heavier than general industrial materials. A glass panel is a type of building material used for interior finishing. The demand for larger glass panels has increased along with the number of high-rise buildings and an increased interest in interior design. The objective of this study is to introduce robotic technology for installing a glass panel on a high ceiling. After job definition, we established a design concept for the proposed robot. Finally, we described the detailed design of the robot in a past symposium. In this paper, the control algorithm relating the human-robot cooperation to which the hardware of the integrated system is to be applied, is presented. Also, the task planning for robotized construction is applied.This research was supported by the SAMSUNG CORPORATION and the Innovation of Construction Technologies Program and funded by the Ministry of Construction & Transportation of the Korean government (06Advanced FusionC01

PERANCANGAN PROTOTYPE ROBOTIK MOBIL PEMILAH SAMPAH OTOMATIS DENGAN PENGGUNAAN BLUETOOTH BERBASIS ARDUINO UNO

 The concept behind this research is the development of an automatic control system, a vehicle that can be operated without a crew and controlled remotely by using Bluetooth as a controller connection. Robotic Prototype Garbage sorting car is a robot construction that has an actuator in the form of wheels to move and move positions from one point to another. Robotic Prototype This garbage sorting car is designed to move using Arduino Uno with a Bluetooth connection controller that has applications that are suitable for robot movement through Android smartphone control. This Robotic prototype uses Arduino Uno as a Bluetooth robot control system, the module for the tool made this time uses a Bluetooth module as a data receiver that is sent via an android smartphone which will then be processed by Arduino and then forwarded to the MG90S motor driver which will provide output to move the DC motor according to commands given wirelessly. The method used is an experimental method, the research carried out will focus on communication between the connecting device and the Arduino Uno via Bluetooth to control the Robotic Prototype device. In its implementation, it can be applied to reach locations that are difficult or dangerous enough for humans to enter, so that with technology like this it will make it easier for humans to reach these areas without having to enter the location but only by controlling the device remotely

Intellectual control system for a group of mobile robots

The object of the study is the intelligent control system of the mobile robot. The problem of intelligent control for a group of mobile robots in an uncertain environment is the difficulty of building an effective control system with a quality system of situation identification and neural networks, which provide sufficiently accurate data for effectively coordinated interaction robots in a group. The article considers the control system of the mobile robot's behavior using the construction of a sensory map of the mobile robot's movement and its functional model. The structure of the robot group coordinator situation identification system is also built, according to which the robot coordinator can process information coming from the environment, build a map of the area, identify obstacles, plan obstacle traversals based on processed information, and has the ability to communicate with coordinators of other groups and data center for the collaborative work of groups of mobile robots to perform the task effectively. In addition, the article presents the concept of a multilevel intelligent control system for mobile robots, which proposes to build an intelligent control module of three levels, based on the model of thinking and classification of tasks by level of information. The intelligent system can be used in conjunction with a situation identification system to improve the accuracy of interaction between both the mobile robot and the group of mobile robots by including intelligence components in the control system of the robot coordinator group or by obtaining processed data from the Monitoring and Control Center through the group coordinator. The main methods of group intelligent control of mobile works are considered

From orbital debris capture systems through internal combustion engines on Mars

The investigation and conceptualization of an orbital debris collector was the primary area of design. In addition, an alternate structural design for Space Station Freedom and systems supporting resource utilization at Mars and the moon were studied. Hardware for production of oxygen from simulate Mars atmosphere was modified to permit more reliable operation at low pressures (down to 10 mb). An internal combustion engine was altered to study how Mars atmosphere could be used as a diluent to control combustion temperatures and avoid excess Mars propellant production requirements that would result from either methane-rich or oxygen-rich, methane-oxygen combustion. An elastic loop traction system that could be used for lunar construction vehicles was refined to permit testing. A parabolic heat rejection radiator system was designed and built to determine whether it was capable of increasing heat rejection rates during lunar daytime operation. In addition, an alternate space station truss design, utilizing a pre-integrated concept, was studied and found to reduce estimate extravehicular activity (EVA) time and increase the structural integrity when compared to the original Warren truss concept. An orbital-debris-capturing spacecraft design which could be mated with the Orbital Maneuvering Vehicle was studied. The design identified Soviet C-1B boosters as the best targets of opportunity in Earth orbits between an altitude of 900 km and 1100 km and at an inclination of 82.9 deg. A dual robot pallet, which could be spun to match the tumbling rate of the C-1B booster, was developed as the conceptual design

Towards a universal end effector : the design and development of production technology's intelligent robot hand : a thesis presented in partial fulfilment of the requirements for the degree of Master of Technology in Engineering and Automation at Massey University

Research into robot hands for industrial use began in the early 1980s and there are now many examples of robot hands in existence. The reason for research into robot hands is that standard robot end effectors have to be designed for each application and are therefore costly. A universal end effector is needed that will be able to perform any parts handling operation or use other tools for other industrial operations. Existing robot hand research would therefore benefit from new concepts, designs and control systems. The Department of Production Technology is developing an intelligent robot hand of a novel configuration, with the ultimate aim of producing a universal end effector. The concept of PTIRH (Production Technology's Intelligent Robot Hand) is that it is a multi-fingered manipulator with a configuration of two thumbs and two fingers. Research by the author for this thesis concentrated on five major areas. First, the background research into the state of the art in robot hand research. Second, the initiation, development and analysis of the novel configuration concept of PTIRH. Third, specification, testing and analysis of air muscle actuation, including design, development and testing of a servo pneumatic control valve for the air muscles. Fourth, choice of sensors for the robot hand, including testing and analysis of two custom made air pressure sensors. Fifth, definition, design, construction, development, testing and analysis of the mechanical structure for an early prototype of PTIRH. Development of an intelligent controller for PTIRH was outside the scope of the author's research. The results of the analysis on the air muscles showed that they could be a suitable direct drive actuator for an intelligent robotic hand. The force, pressure and position sensor results indicate that the sensors could form the basis of the feedback loop for an intelligent controller. The configuration of PTIRH enables it to grasp objects with little reliance on friction. This was demonstrated with an early prototype of the robot hand, which had one finger with actuation and three other static digits, by successfully manually arranging the digits into stable grasps of various objects

Mobile Paving System (MPS): A New Large Scale Freeform Fabrication Method

In the last decade, significant opportunities for automation have been identified in the area of construction. Soaring labor and material costs have driven multiple research efforts in construction automation. In this paper, we present a novel means for construction automation that involves the fusion of the rapid prototyping, controls and mechatronics technologies. The resultant autonomous construction mechanism has been designed for commercial applications. Mobile Paving System (MPS) is a new freeform fabrication process which is capable of rapidly producing variable profiles such as curbs and sidewalks out of materials like cement and asphalt. Path generation and guidance of the construction operation is controlled by a mobile robot. This article presents an overview of research and development efforts that are aimed at establishing the feasibility and the potential of the process.Mechanical Engineerin

Comics, robots, fashion and programming: outlining the concept of actDresses

This paper concerns the design of physical languages for controlling and programming robotic consumer products. For this purpose we explore basic theories of semiotics represented in the two separate fields of comics and fashion, and how these could be used as resources in the development of new physical languages. Based on these theories, the design concept of actDresses is defined, and supplemented by three example scenarios of how the concept can be used for controlling, programming, and predicting the behaviour of robotic systems

Flora robotica -- An Architectural System Combining Living Natural Plants and Distributed Robots

Key to our project flora robotica is the idea of creating a bio-hybrid system of tightly coupled natural plants and distributed robots to grow architectural artifacts and spaces. Our motivation with this ground research project is to lay a principled foundation towards the design and implementation of living architectural systems that provide functionalities beyond those of orthodox building practice, such as self-repair, material accumulation and self-organization. Plants and robots work together to create a living organism that is inhabited by human beings. User-defined design objectives help to steer the directional growth of the plants, but also the system's interactions with its inhabitants determine locations where growth is prohibited or desired (e.g., partitions, windows, occupiable space). We report our plant species selection process and aspects of living architecture. A leitmotif of our project is the rich concept of braiding: braids are produced by robots from continuous material and serve as both scaffolds and initial architectural artifacts before plants take over and grow the desired architecture. We use light and hormones as attraction stimuli and far-red light as repelling stimulus to influence the plants. Applied sensors range from simple proximity sensing to detect the presence of plants to sophisticated sensing technology, such as electrophysiology and measurements of sap flow. We conclude by discussing our anticipated final demonstrator that integrates key features of flora robotica, such as the continuous growth process of architectural artifacts and self-repair of living architecture.Comment: 16 pages, 12 figure

Exploiting Deep Semantics and Compositionality of Natural Language for Human-Robot-Interaction

We develop a natural language interface for human robot interaction that implements reasoning about deep semantics in natural language. To realize the required deep analysis, we employ methods from cognitive linguistics, namely the modular and compositional framework of Embodied Construction Grammar (ECG) [Feldman, 2009]. Using ECG, robots are able to solve fine-grained reference resolution problems and other issues related to deep semantics and compositionality of natural language. This also includes verbal interaction with humans to clarify commands and queries that are too ambiguous to be executed safely. We implement our NLU framework as a ROS package and present proof-of-concept scenarios with different robots, as well as a survey on the state of the art