Developing a socially-aware robot assistant for delivery tasks

This is a post-peer-review, pre-copyedit version of an article published in Applied Technologies. The final authenticated version is available online at: http://dx.doi.org/10.1007/978-3-030-42520-3_42This paper discusses about elements to be considered for developing a Service Robot that performs its task in a social environment. Due to the social focus of the service, not only technical considerations are demanded in order to accomplish with the task, but also the acceptance of use for the people, who interact with all of them. As our particular research topic, we establish a taxonomy to determine the framework for the development of socially-aware robot assistants for serving tasks such as deliveries. This is a general approach to be considered for any service robot being implemented in a social context. This article presents several previous cases of the implementation of service mobile robots, their analysis and the motivation of how to solve their acceptance and use by people. Therefore, under this approach it is very important not to generate false expectations about the capabilities of the robot, because as it is explained in the state of the art analysis that very high unsatisfied expectations lead to leaving the robot unused....Peer ReviewedPostprint (published version

Place Categorization and Semantic Mapping on a Mobile Robot

In this paper we focus on the challenging problem of place categorization and semantic mapping on a robot without environment-specific training. Motivated by their ongoing success in various visual recognition tasks, we build our system upon a state-of-the-art convolutional network. We overcome its closed-set limitations by complementing the network with a series of one-vs-all classifiers that can learn to recognize new semantic classes online. Prior domain knowledge is incorporated by embedding the classification system into a Bayesian filter framework that also ensures temporal coherence. We evaluate the classification accuracy of the system on a robot that maps a variety of places on our campus in real-time. We show how semantic information can boost robotic object detection performance and how the semantic map can be used to modulate the robot's behaviour during navigation tasks. The system is made available to the community as a ROS module

Intelligent Navigation Service Robot Working in a Flexible and Dynamic Environment

Numerous sensor fusion techniques have been reported in the literature for a number of robotics applications. These techniques involved the use of different sensors in different configurations. However, in the case of food driving, the possibility of the implementation has been overlooked. In restaurants and food delivery spots, enhancing the food transfer to the correct table is neatly required, without running into other robots or diners or toppling over. In this project, a particular algorithm module has been proposed and implemented to enhance the robot driving methodology and maximize robot functionality, accuracy, and the food transfer experience. The emphasis has been on enhancing movement accuracy to reach the targeted table from the start to the end. Four major elements have been designed to complete this project, including mechanical, electrical, electronics, and programming. Since the floor condition greatly affecting the wheels and turning angle selection, the movement accuracy was improved during the project. The robot was successfully able to receive the command from the restaurant and go to deliver the food to the customers\u27 tables, considering any obstacles on the way to avoid. The robot has equipped with two trays to mount the food with well-configured voices to welcome and greet the customer. The performance has been evaluated and undertaken using a routine robot movement tests. As part of this study, the designed service wheeled robot required to be with a high-performance real-time processor. As long as the processor was adequate, the experimental results showed a highly effective search robot methodology. Having concluded from the study that a minimum number of sensors are needed if they are placed appropriately and used effectively on a robot\u27s body, as navigation could be performed by using a small set of sensors. The Arduino Due has been used to provide a real-time operating system. It has provided a very successful data processing and transfer throughout any regular operation. Furthermore, an easy-to-use application has been developed to improve the user experience, so that the operator can interact directly with the robot via a special setting screen. It is possible, using this feature, to modify advanced settings such as voice commands or IP address without having to return back to the code

Automated soil hardness testing machine

This paper describes the design and performance of a mechatronic system for controlling a standard drop-hammer mechanism that is commonly used in performing outdoor soil or ground hardness tests. A low-cost microcontroller is used to control a hydraulic actuator to repeatedly lift and drop a standard free-falling weight that strikes a pipe (sampler) which is pushed deeper into the ground with each impact. The depth of the sampler pipe and position of the hydraulic cylinder are constantly monitored and the number of drops, soil penetration data and other variables are recorded in a database for future analysis. This device, known as the “EVH Trip Hammer”, allows the full automation and faster completion of what is typically a very labour-intensive and slow testing process that can involve human error and the risk of human injuries

Vision applications in agriculture

From early beginnings in work on the visual guidance of tractors, the National Centre for Engineering in Agriculture has built up a portfolio of projects in which machine vision plays a prominent part. This presentation traces the history of this research, including some highly unusual topics

The use of machine vision for assessment of fodder quality

At present fodder is assessed subjectively. The evaluation depends greatly on a personal opinion and there can be large variations in assessments. The project has investigated the use of machine vision in several ways, to provide measures of fodder quality that will be ojective and independent of the assessor. Growers will be able to quote a quality measure that buyers can trust. The research includes the possibility of discerning colour differences that are beyond the capability of the human eye, while still using equipment that is of relatively modest cost

Bovine intelligence for training horses

A rail-mounted model of a small cow is to be used in the training of horses for camp-drafting contests. The paper concerns the addition of sensors and a strategy to enable the machine to respond to the proximity of the horse in a manner that will represent the behaviour of a live calf

Software for a Service Robot

Service robots are becoming more commonplace every year due to advances in artificial intelligence, substituting humans in increasingly more complex tasks. By having an autonomous and competent service robot performing routinely tasks instead of its human owners, their productivity increases. The search for better service robots has led to the creation of competitions where such robots are tested and the state of the art technology is pushed further. Socialab acquired a Turtlebot2 robot to serve people around the university campus and one day participate in such competitions. With hopes of achieving these goals, the laboratory has proposed a variety of projects over the years, each adding new layers offunctionality to the robot. With each studentthathas tackled their respective project,thedeveloped softwarehasbeencontinuously stacking. However, each completed project has remained separate from each other andhasn’t been used ever since. Hence,the developed software is being wasted. Therefore, it is imperative to integrate all the available software into the robot. Yet, as new projects are proposed, the problem of scattered software can reoccur after the integration of the currently available ones. Furthermore, with more functionality that is developed, the harder and longer it takes to complete their integration. To preventthis entirely, itis necessary to create structural software that eases the development of new functionality as well as its integration with the current software. To achieve this, a class was developed which is responsible for controlling the execution of all processes running in the robot, of which the different software depends on. Additionally, research was done on multiple competitions to identify the most commonly required functionality traits, which we refer to as modules. Afterwards, an implementation of each of these modules was developed. Because of their universality, their implementation allows future software that requires any of the modules to simply import them, rather than having to re-implement them. In line with good software quality practices, if any of the modules needs an upgrade, this upgrade simply has to be performed on the respective module, instead of upgrading every adjacent software that uses this module. This was the first goal of this thesis. After creating a solid foundation for robot software development, the focus shifted towards the creation of new functionality. The different tasks were obtained from the previous research of various robotic competitions. The idea is that if the robot can perform such tasks then it can participate in the competitions, while the same functionalities can be used around campus. The list aimed to be as long as possible with the goal of leaving the robot with as much functionality as possible while taking into consideration the time restraints of the development of this thesis. Seven tasks were selected. The implementation of each task is explained in detail. As each task was developed, the implemented steps were turned into modules, therefore respecting the initial goal of flexible and reusable software. Because of this, as more tasks were developed the following task’s implementation was increasingly simpler as some of the requirements were already available from the development of their predecessors. The tasks required knowledge from different areas of artificial intelligence. This lead to the broadening of my knowledge rather than specialization in a single area. With this work, we show how distinct robotic tasks were implemented. Due to the varied nature ofthe tasks, we show how to tackle a multitude of different problems that appear in the area of artificial intelligence. Additionally, the work presents an approach to create a solid foundation for the development and integration of increasingly more software. The tasks are benchmarked, meaning future updates ofthe tasks can be performed and proved superior through the comparison of their results.Os robôs de serviço são cada vez mais comuns devido aos avanços constantes na área da inteligência artificial, substituindo os humanos em tarefas cada vez mais complexas. Ao ter um robô autónomo e competente desempenhando tarefas diárias em vez do seu dono humano, a produtividade destes consequentemente aumenta. A pesquisa por melhores robôs de serviço levou à criação de competições robóticas onde tais tipos de robôs são avaliados e o estado da arte é forçado a avançar. Com o objetivo de possuir um robô de serviço que sirva as pessoas na universidade, bem como um dia participar em tais competições, o Socialab adquiriu um robô Turtlebot2. O laboratório tem proposto vários projetos ao longo dos anos, cada um adicionando novos níveis de funcionalidade ao robô. Com cada estudante que tem vindo a realizar o respetivo projeto, o software que foi desenvolvido tem estado continuamente a aumentar. Adicionalmente, cada projeto completado tem permanecido separado dos restantes e não tem sido utilizado desde o momento da sua criação. Por esta razão, o software desenvolvido está a ser desperdiçado. Portanto, é imperativo integrar todo o software disponível no robô. No entanto, como novos projetos serão desenvolvidos, este problema de projetos disjuntos poderá voltar a ocorrer após a integração dos projetos atuais. Ademais, com o aumento da funcionalidade que é desenvolvida, mais dificil e demorado será a sua integração. De forma a evitar este problema na sua totalidade, é necessário criar software estrutural que facilite o desenvolvimento de novas funcionalidades, bem como a sua integração com o software já existente. De forma a atingir este objetivo, foi desenvolvida uma classe cujo propósito é controlar a execução de todos os processos em execução no robô. Adicionalmente, foi efetuada uma pesquisa sobre diversas competições robóticas com o objetivo de identificar os tipos de funcionalidades mais comuns, que referimos como módulos. Depois foi realizada uma implementação de cada um destes módulos. Devido à universalidade destes módulos, a sua implementação permite que software futuro, que provavelmente depende de alguns dos módulos, apenas os tenha que importar, em contraste com ter que os re-implementar. Adicionalmente, emlinha comas práticas dequalidadede software, se cadaumdosmódulos precisa de uma atualização, esta apenas tem de ser realizada nos respetivos módulos, ao invés de ter de atualizar cada software adjacente que teve de o implementar. Este foi o primeiro objetivo da tese. Após a criação de uma fundação sólida para o desenvolvimento de software para robô, o foco transferiu-se para a criação de nova funcionalidade. Uma lista de tarefas robóticas foi obtida da pesquisa anterior sobre várias competições robóticas. A ideia é que se o robô é capaz de realizar tais tarefas então não só pode participar nas competições que as requerem, como também tem utilidade que pode ser utilizada pelas pessoas na universidade. A lista visava ser o mais extensa possível, tendo em conta as restrições temporais de desenvolvimento da tese, de modo a deixar o robô com o máximo de funcionalidades possível. Desta forma, sete tarefas foram escolhidas. A implementação de cada uma das tarefas é explicada em detalhe no seu capítulo respetivo. À medida que cada tarefa foi desenvolvida, os seus componentes individuais foram extraídos para novos módulos, passiveis de serem utilizados por outras funcionalidades, respeitando assim, o objetivo inicial de criar software flexível e reutilizável. Este fator tornou a criação das tarefas seguintes cada vez mais simples devido a estas dependerem de funcionalidades já implementadas nas anteriores. A implementação das tarefas exigiu conhecimento das diferentes áreas da inteligência artificial. Este facto levou à ampliação do meu conhecimento ao invés da especialização numa área, algo que é frequente na realização de teses. A realização deste trabalho demonstra como as distintas tarefas robóticas foram implementadas. Devido à natureza variada das tarefas, é demonstrado como enfrentar um conjunto diverso de problemas que podem aparecer na área da inteligência artificial. Adicionalmente, este trabalho apresenta uma abordagem para a criação de uma fundação sólida para o desenvolvimento e integração de novo software. Por último, as tarefas estão aferidas contra o estado da arte, significando que atualizações futuras às tarefas podem ser realizadas e provadas superiores através da comparação dos seus resultados

A review of sensor technology and sensor fusion methods for map-based localization of service robot

Service robot is currently gaining traction, particularly in hospitality, geriatric care and healthcare industries. The navigation of service robots requires high adaptability, flexibility and reliability. Hence, map-based navigation is suitable for service robot because of the ease in updating changes in environment and the flexibility in determining a new optimal path. For map-based navigation to be robust, an accurate and precise localization method is necessary. Localization problem can be defined as recognizing the robot’s own position in a given environment and is a crucial step in any navigational process. Major difficulties of localization include dynamic changes of the real world, uncertainties and limited sensor information. This paper presents a comparative review of sensor technology and sensor fusion methods suitable for map-based localization, focusing on service robot applications