Sensor-based autonomous pipeline monitoring robotic system

The field of robotics applications continues to advance. This dissertation addresses the computational challenges of robotic applications and translations of actions using sensors. One of the most challenging fields for robotics applications is pipeline-based applications which have become an indispensable part of life. Proactive monitoring and frequent inspections are critical in maintaining pipeline health. However, these tasks are highly expensive using traditional maintenance systems, knowing that pipeline systems can be largely deployed in an inaccessible and hazardous environment. Thus, we propose a novel cost effective, scalable, customizable, and autonomous sensor-based robotic system, called SPRAM System (Sensor-based Autonomous Pipeline Monitoring Robotic System). It combines robot agent based technologies with sensing technologies for efficiently locating health related events and allows active and corrective monitoring and maintenance of the pipelines. The SPRAM System integrates RFID systems with mobile sensors and autonomous robots. While the mobile sensor motion is based on the fluid transported by the pipeline, the fixed sensors provide event and mobile sensor location information and contribute efficiently to the study of health history of the pipeline. In addition, it permits a good tracking of the mobile sensors. Using the output of event analysis, a robot agent gets command from the controlling system, travels inside the pipelines for detailed inspection and repairing of the reported incidents (e.g., damage, leakage, or corrosion). The key innovations of the proposed system are 3-fold: (a) the system can apply to a large variety of pipeline systems; (b) the solution provided is cost effective since it uses low cost powerless fixed sensors that can be setup while the pipeline system is operating; (c) the robot is autonomous and the localization technique allows controllable errors. In this dissertation, some simulation experiments described along with prototyping activities demonstrate the feasibility of the proposed system

Evoking agency: Attention model and behavior control in a robotic art installation

Robotic embodiments of artificial agents seem to reinstate a body-mind dualism as consequence of their technical implementation, but could this supposition be a misconception? The authors present their artistic, scientific and engineering work on a robotic installation, the Articulated Head, and its perception-action control system, the Thinking Head Attention Model and Behavioral System (THAMBS). The authors propose that agency emerges from the interplay of the robot’s behavior and the environment and that, in the system’s interaction with humans, it is to the same degree attributed to the robot as it is grounded in the robot’s actions: Agency cannot be instilled; it needs to be evoked

Interactive Task Encoding System for Learning-from-Observation

We introduce a practical pipeline that interactively encodes multimodal human demonstrations for robot teaching. This pipeline is designed as an input system for a framework called Learning-from-Observation (LfO), which aims to program household robots with manipulative tasks through few-shots human demonstration without coding. While most previous LfO systems run with visual demonstration, recent research on robot teaching has shown the effectiveness of verbal instruction in making recognition robust and teaching interactive. To the best of our knowledge, however, no LfO system has yet been proposed that utilizes both verbal instruction and interaction, namely \textit{multimodal LfO}. This paper proposes the interactive task encoding system (ITES) as an input pipeline for multimodal LfO. ITES assumes that the user teaches step-by-step, pausing hand movements in order to match the granularity of human instructions with the granularity of robot execution. ITES recognizes tasks based on step-by-step verbal instructions that accompany the hand movements. Additionally, the recognition is made robust through interactions with the user. We test ITES on a real robot and show that the user can successfully teach multiple operations through multimodal demonstrations. The results suggest the usefulness of ITES for multimodal LfO. The source code is available at https://github.com/microsoft/symbolic-robot-teaching-interface.Comment: 7 pages, 10 figures. Last updated January 24st, 202

Fast Dynamics of a three dimensional eel-like robot: comparisons with Navier-Stokes simulations

International audienceThis article proposes a dynamic model of the swim of elongated ﰣshes suited to the on-line control of bio-mimetic eel-like robots. The approach is analytic and can be considered as an extension of the original reactive "Large-Elongated-Body-Theory" of Lighthill to the three dimensional self propulsion augmented of a resistive empirical model. While all the mathematical fundamentals are detailed in [1], this article essentially focuses on the numerical validation and calibration of the model and the study of swimming gaits. The proposed model is coupled to an algorithm allowing us to compute the motion of the ﰣsh head and the ﰣeld of internal control torque from the knowledge of the imposed internal strain ﰣelds. Based on the Newton-Euler formalism of robots dynamics, this algorithm works faster than real time. As far as precision is concerned, many tests obtained with several planar and three dimensional gaits are reported and compared (in the planar case) with a Navier-Stokes solver, devoted until today to the planar swim. The comparisons obtained are very encouraging since in all the cases we tested, the diﰢerences between our simpliﰣed and reference simulations do not exceed ten per cent

The effect of non-uniform damping on flutter in axial flow and energy harvesting strategies

The problem of energy harvesting from flutter instabilities in flexible slender structures in axial flows is considered. In a recent study, we used a reduced order theoretical model of such a system to demonstrate the feasibility for harvesting energy from these structures. Following this preliminary study, we now consider a continuous fluid-structure system. Energy harvesting is modelled as strain-based damping and the slender structure under investigation lies in a moderate fluid loading range, for which {the flexible structure} may be destabilised by damping. The key goal of this work is to {analyse the effect of damping distribution and intensity on the amount of energy harvested by the system}. The numerical results {indeed} suggest that non-uniform damping distributions may significantly improve the power harvesting capacity of the system. For low damping levels, clustered dampers at the position of peak curvature are shown to be optimal. Conversely for higher damping, harvesters distributed over the whole structure are more effective.Comment: 12 pages, 10 figures, to appear in Proc. R. Soc.

Bending continuous structures with SMAs: a novel robotic fish design

In this paper, we describe our research on bio-inspired locomotion systems using deformable structures and smart materials, concretely shape memory alloys (SMAs). These types of materials allow us to explore the possibility of building motor-less and gear-less robots. A swimming underwater fish-like robot has been developed whose movements are generated using SMAs. These actuators are suitable for bending the continuous backbone of the fish, which in turn causes a change in the curvature of the body. This type of structural arrangement is inspired by fish red muscles, which are mainly recruited during steady swimming for the bending of a flexible but nearly incompressible structure such as the fishbone. This paper reviews the design process of these bio-inspired structures, from the motivations and physiological inspiration to the mechatronics design, control and simulations, leading to actual experimental trials and results. The focus of this work is to present the mechanisms by which standard swimming patterns can be reproduced with the proposed design. Moreover, the performance of the SMA-based actuators’ control in terms of actuation speed and position accuracy is also addressed

PIC CONTROLLED ROBOTIC DEVICE DRIVE SYSTEM

The Final Year Project course is designed for students to perform research; design and development work in each discipline, to produce practical solutions. It provides opportunity for students to use the tools and techniques of problem-solving by engagement of the project. Under proper guidance of supervisor, the students will shape the direction in the field of interest as a preparation for approaching their desired career path in the near future, as well as gain better understanding of the responsibilities they have to shoulder when they undertake future projects. The objective ofthis project is to produce a storage/delivery autonomous robot which will operate ina production plant. The Scope of Study will cover areas of research done to fulfill design requirements ofproject with objective and its functionality. The areas of design requirements will include movement mechanism, electronic circuits, and programming. These subareas are developed and integrated for implementation ofthe workable robot. The project is divided into two phases; 1) intensive design research and 2) implementation and construction. Methodology and Project Work of this project is done by implementing a lot of research not only on the Internet but also literature review on scholars that have completed similar robotic design. The weekly Log Book and Progress Report is also compiled and summarized to present the author's progress so far. Consultation with supervisor and other FYP students had also aid in objective of completing the author's FYP. The author has also included flow chart ofactivities planned throughout the semester to ensure maximum progress ofher FYP. The research taken with the methodology mentioned allows the author to fulfill progress of design requirements planned in completion of the robot with reference to the scope of study for the project. Progress and modification made throughout project are discussed in detail, to reflect objective of project. Future improvisation and recommendations are also suggested atthe end for further research