An Integrated Software-based Solution for Modular and Self-independent Networked Robot

An integrated software-based solution for a modular and self-independent networked robot is introduced. The wirelessly operatable robot has been developed mainly for autonomous monitoring works with full control over web. The integrated software solution covers three components : a) the digital signal processing unit for data retrieval and monitoring system; b) the externally executable codes for control system; and c) the web programming for interfacing the end-users with the robot. It is argued that this integrated software-based approach is crucial to realize a flexible, modular and low development cost mobile monitoring apparatus.Comment: 9 pages, Proceeding of the 10th International Conference on Control, Automation, Robotics and Visio

Control and Coordination in a Networked Robotic Platform

Control and Coordination of the robots has been widely researched area among the swarm robotics. Usually these swarms are involved in accomplishing tasks assigned to them either one after another or concurrently. Most of the times, the tasks assigned may not need the entire population of the swarm but a subset of them. In this project, emphasis has been given to determination of such subsets of robots termed as ”flock” whose size actually depends on the complexity of the task. Once the flock is determined from the swarm, leader and follower robots are determined which accomplish the task in a controlled and cooperative fashion. Although the entire control system,which is determined for collision free and coordinated environment, is stable, the results show that both wireless (bluetooth) and internet (UDP) communication system can introduce some lag which can lead robot trajectories to an unexpected set. The reason for this is each robot and a corresponding computer is considered as a complete robot and communication between the robot and the computer and between the computers was inevitable. These problems could easily be solved by integrating a computer on the robot or just add a wifi transmitter/receiver on the robot. On going down the lane, by introducing smarter robots with different kinds of sensors this project could be extended on a large scale for varied heterogenous and homogenous applications

Limpet II: A Modular, Untethered Soft Robot

The ability to navigate complex unstructured environments and carry out inspection tasks requires robots to be capable of climbing inclined surfaces and to be equipped with a sensor payload. These features are desirable for robots that are used to inspect and monitor offshore energy platforms. Existing climbing robots mostly use rigid actuators, and robots that use soft actuators are not fully untethered yet. Another major problem with current climbing robots is that they are not built in a modular fashion, which makes it harder to adapt the system to new tasks, to repair the system, and to replace and reconfigure modules. This work presents a 450 g and a 250 × 250 × 140 mm modular, untethered hybrid hard/soft robot—Limpet II. The Limpet II uses a hybrid electromagnetic module as its core module to allow adhesion and locomotion capabilities. The adhesion capability is based on negative pressure adhesion utilizing suction cups. The locomotion capability is based on slip-stick locomotion. The Limpet II also has a sensor payload with nine different sensing modalities, which can be used to inspect and monitor offshore structures and the conditions surrounding them. Since the Limpet II is designed as a modular system, the modules can be reconfigured to achieve multiple tasks. To demonstrate its potential for inspection of offshore platforms, we show that the Limpet II is capable of responding to different sensory inputs, repositioning itself within its environment, adhering to structures made of different materials, and climbing inclined surfaces

Modeling and Design Analysis of Facial Expressions of Humanoid Social Robots Using Deep Learning Techniques

abstract: A lot of research can be seen in the field of social robotics that majorly concentrate on various aspects of social robots including design of mechanical parts and their move- ment, cognitive speech and face recognition capabilities. Several robots have been developed with the intention of being social, like humans, without much emphasis on how human-like they actually look, in terms of expressions and behavior. Fur- thermore, a substantial disparity can be seen in the success of results of any research involving ”humanizing” the robots’ behavior, or making it behave more human-like as opposed to research into biped movement, movement of individual body parts like arms, fingers, eyeballs, or human-like appearance itself. The research in this paper in- volves understanding why the research on facial expressions of social humanoid robots fails where it is not accepted completely in the current society owing to the uncanny valley theory. This paper identifies the problem with the current facial expression research as information retrieval problem. This paper identifies the current research method in the design of facial expressions of social robots, followed by using deep learning as similarity evaluation technique to measure the humanness of the facial ex- pressions developed from the current technique and further suggests a novel solution to the facial expression design of humanoids using deep learning.Dissertation/ThesisMasters Thesis Computer Science 201

An automated targeting mechanism with free space optical communication functionality for optomechatronic applications

This thesis outlines the development of an agile, reliable and precise targeting mechanism complete with free space optical communication (FSOC) capabilities for employment in optomechatronic applications. To construct the complex mechanism, insight into existing technologies was required. These are inclusive to actuator design, control methodology, programming architecture, object recognition and localization and optical communication. Focusing on each component individually resulted in a variety of novel systems, commencing with the creation of a fast (1.3 ms⁻¹), accurate (micron range) voice coil actuator (VCA). The design, employing a planar, compact composition, with the inclusion of precision position feedback and smooth guidance fulfills size, weight and power (SWaP) characteristics required by many optomechatronic mechanisms. Arranging the VCAs in a parallel nature promoted the use of a parallel orientation manipulator (POM) as the foundation of the targeting structure. Motion control was achieved by adopting a cascade PID-PID control methodology in hardware, resulting in average settling times of 23 ms. In the pursuit of quick and dependable computation, a custom printed circuit board (PCB) containing a field programmable gate array (FPGA), microcontroller and image sensing technology were developed. Subsequently, hardware-based object isolation and parameter identification algorithms were constructed. Furthermore, by integrating these techniques with the dynamic performance of the POM, mathematical equations were generated to allow the targeting of an object in real-time with update rates of 70 ms. Finally, a FSOC architecture utilizing beam splitter technology was constructed and integrated into the targeting device. Thus, producing a system capable of automatically targeting an infrared (IR) light source while simultaneously receiving wireless optical communication achieving ranges beyond 30 feet, at rates of 1 Mbits per second

50. IWK 2005

Übersicht der Tagungsbeiträg

Towards tactile sensing active capsule endoscopy

Examination of the gastrointestinal(GI) tract has traditionally been performed using tethered endoscopy tools with limited reach and more recently with passive untethered capsule endoscopy with limited capability. Inspection of small intestines is only possible using the latter capsule endoscopy with on board camera system. Limited to visual means it cannot detect features beneath the lumen wall if they have not affected the lumen structure or colour. This work presents an improved capsule endoscopy system with locomotion for active exploration of the small intestines and tactile sensing to detect deformation of the capsule outer surface when it follows the intestinal wall. In laboratory conditions this system is capable of identifying sub-lumen features such as submucosal tumours.Through an extensive literary review the current state of GI tract inspection in particular using remote operated miniature robotics, was investigated, concluding no solution currently exists that utilises tactile sensing with a capsule endoscopy. In order to achieve such a platform, further investigation was made in to tactile sensing technologies, methods of locomotion through the gut, and methods to support an increased power requirement for additional electronics and actuation. A set of detailed criteria were compiled for a soft formed sensor and flexible bodied locomotion system. The sensing system is built on the biomimetic tactile sensing device, Tactip, \cite{Chorley2008, Chorley2010, Winstone2012, Winstone2013} which has been redesigned to fit the form of a capsule endoscopy. These modifications have required a $360^{o}$ cylindrical sensing surface with $360^{o}$ panoramic optical system. Multi-material 3D printing has been used to build an almost complete sensor assembly with a combination of hard and soft materials, presenting a soft compliant tactile sensing system that mimics the tactile sensing methods of the human finger. The cylindrical Tactip has been validated using artificial submucosal tumours in laboratory conditions. The first experiment has explored the new form factor and measured the device's ability to detect surface deformation when travelling through a pipe like structure with varying lump obstructions. Sensor data was analysed and used to reconstruct the test environment as a 3D rendered structure. A second tactile sensing experiment has explored the use of classifier algorithms to successfully discriminate between three tumour characteristics; shape, size and material hardness. Locomotion of the capsule endoscopy has explored further bio-inspiration from earthworm's peristaltic locomotion, which share operating environment similarities. A soft bodied peristaltic worm robot has been developed that uses a tuned planetary gearbox mechanism to displace tendons that contract each worm segment. Methods have been identified to optimise the gearbox parameter to a pipe like structure of a given diameter. The locomotion system has been tested within a laboratory constructed pipe environment, showing that using only one actuator, three independent worm segments can be controlled. This configuration achieves comparable locomotion capabilities to that of an identical robot with an actuator dedicated to each individual worm segment. This system can be miniaturised more easily due to reduced parts and number of actuators, and so is more suitable for capsule endoscopy. Finally, these two developments have been integrated to demonstrate successful simultaneous locomotion and sensing to detect an artificial submucosal tumour embedded within the test environment. The addition of both tactile sensing and locomotion have created a need for additional power beyond what is available from current battery technology. Early stage work has reviewed wireless power transfer (WPT) as a potential solution to this problem. Methods for optimisation and miniaturisation to implement WPT on a capsule endoscopy have been identified with a laboratory built system that validates the methods found. Future work would see this combined with a miniaturised development of the robot presented. This thesis has developed a novel method for sub-lumen examination. With further efforts to miniaturise the robot it could provide a comfortable and non-invasive procedure to GI tract inspection reducing the need for surgical procedures and accessibility for earlier stage of examination. Furthermore, these developments have applicability in other domains such as veterinary medicine, industrial pipe inspection and exploration of hazardous environments