To mesh or not to mesh: flexible wireless indoor communication among mobile robots in industrial environments

Mobile robots such as automated guided vehicles become increasingly important in industry as they can greatly increase efficiency. For their operation such robots must rely on wireless communication, typically realized by connecting them to an existing enterprise network. In this paper we motivate that such an approach is not always economically viable or might result in performance issues. Therefore we propose a flexible and configurable mixed architecture that leverages on mesh capabilities whenever appropriate. Through experiments on a wireless testbed for a variety of scenarios, we analyse the impact of roaming, mobility and traffic separation and demonstrate the potential of our approach

Adoption of vehicular ad hoc networking protocols by networked robots

This paper focuses on the utilization of wireless networking in the robotics domain. Many researchers have already equipped their robots with wireless communication capabilities, stimulated by the observation that multi-robot systems tend to have several advantages over their single-robot counterparts. Typically, this integration of wireless communication is tackled in a quite pragmatic manner, only a few authors presented novel Robotic Ad Hoc Network (RANET) protocols that were designed specifically with robotic use cases in mind. This is in sharp contrast with the domain of vehicular ad hoc networks (VANET). This observation is the starting point of this paper. If the results of previous efforts focusing on VANET protocols could be reused in the RANET domain, this could lead to rapid progress in the field of networked robots. To investigate this possibility, this paper provides a thorough overview of the related work in the domain of robotic and vehicular ad hoc networks. Based on this information, an exhaustive list of requirements is defined for both types. It is concluded that the most significant difference lies in the fact that VANET protocols are oriented towards low throughput messaging, while RANET protocols have to support high throughput media streaming as well. Although not always with equal importance, all other defined requirements are valid for both protocols. This leads to the conclusion that cross-fertilization between them is an appealing approach for future RANET research. To support such developments, this paper concludes with the definition of an appropriate working plan

The uncertain future of lay counsellors : continuation of HIV services in Lesotho under pressure

Between 2006 and 2011, when antiretroviral therapy (ART) was scaled up in a context of severe human resources shortages, transferring responsibility for elements in human immunodeficiency virus (HIV) care from conventional health workers to lay counsellors (LCs) contributed to increased uptake of HIV services in Lesotho. HIV tests rose from 79 394 in 2006 to 274 240 in 2011 and, in that same period, the number of people on ART increased from 17 352 to 83 624. However, since 2012, the jobs of LCs have been at risk because of financial and organizational challenges. We studied the role of LCs in HIV care in Lesotho between 2006 and 2013, and discuss potential consequences of losing this cadre. Methods included a case study of LCs in Lesotho based on: (1) review of LC-related health policy and planning documents, (2) HIV programme review and (3) workload analysis of LCs. LCs are trained to provide HIV testing and counselling (HTC) and ART adherence support. Funded by international donors, 487 LCs were deployed between 2006 and 2011. However, in 2012, the number of LCs decreased to 165 due to a decreasing donor funds, while administrative and fiscal barriers hampered absorption of LCs into the public health system. That same year, ART coverage decreased from 61% to 51% and facility-based HTC decreased by 15%, from 253 994 in 2011 to 215 042 tests in 2012. The workload analysis indicated that LCs work averagely 77 h per month, bringing considerable relief to the scarce professional health workforce. HIV statistics in Lesotho worsened dramatically in the recent era of reduced support to LCs. This suggests that in order to ensure access to HIV care in an under-resourced setting like Lesotho, a recognized and well-supported counsellor cadre is essential. The continued presence of LCs requires improved prioritization, with national and international support

Small scale implementation of a robotic urban search and rescue network

Thesis (M.S.) University of Alaska Fairbanks, 2012With the advancement of robotics technologies, it is now possible to use robots for high risk jobs that have historically been accomplished by humans. One such example is the use of robots for Urban Search and Rescue (USR): finding chemical spills, fires, or human survivors in disaster areas. With the ability to include inexpensive wireless transceivers, it is possible to network numerous robots as part of a swarm that can explore an area much more expeditiously than a single robot can. With the inclusion of wireless capabilities comes the necessity to create a protocol for the communication between robots. Also necessary is the creation of an exploration protocol that allows the network of robots to explore such a building or search area in as little time as possible yet as accurately as possible. This thesis covers the development of such a network of robots, starting with the hardware/software co-design, the individual robots' control mechanisms, and their mapping and communications protocols

Android controlled mobile robot|

As a part of an early stage project, it has been the goal of this project to serve as a prototype for such venture having set the paths to a wide range of new opportunities in the field of remote controlled robots interaction. The initial and ongoing idea is to build a virtual environment for managing real robots states and field data and on the other side getting users to build their own robots with the capability of teleoperation. This way, robots may interact in the same location as users control them from any place in the world using internet and wireless networks for this purpose. An important side of the project is to build an actual robot that is subject to wireless operation from a PC or a smartphone. In this context, a requirement of simplicity was set in order to focus on operability and functionality, as this project is meant to serve as a starting point for the soon-to-come fully operational robots. Along with simplicity comes the benefit of being able to reduce costs to a minimum, task that has been successfully accomplished. In the end, on one side, an inexpensive and almost fully printable robot has been designed and built, and on the other side both the robot’s software and the smartphone’s software have been developed, resulting in an android controlled robot.Como parte de otro proyecto más grande y ambicioso, este proyecto se ha desarrollado para servir como prototipo tanto en la parte de comunicaciones como en la de aplicación para smartphone, abriendo camino a muchas posibilidades de mejora y ampliación. La idea principal y objetivo a largo plazo es desarrollar una plataforma online mediante la cual se pueda operar remotamente robots que interactúen unos con otros (por medio de internet). Cualquier persona, desde cualquier parte del mundo, sería capaz de controlar su robot, que podría estar a su vez en cualquier otra parte del mundo, todo desde su teléfono móvil. Una parte importante de este proyecto sería comenzar construyendo un robot apto para ser controlado por medio de una red inalámbrica (mediante estándar Wi-Fi por ejemplo) a través de un smartphone o PC. En este contexto, se ha querido primar la funcionalidad y la operatividad antes que desarrollar en exceso cada ámbito relacionado con el robot o su manejo (diseño, estabilidad, potencia, manejo, etc.). Una ventaja de este enfoque es que se consigue mantener el coste del proyecto al mínimo En definitiva, se ha llevado a cabo el diseño y construcción de un robot imprimible casi al 100% (siendo así fácilmente duplicable), y por otro lado se ha desarrollado un software de control del robot tanto para el microcontrolador de éste como para la aplicación de móvil encargada de controlarlo, dando como resultado un robot controlado por Android.Ingeniería Industria

Autonomous Operation of a Reconfigurable Multi-Robot System for Planetary Space Missions

Reconfigurable robots can physically merge and form new types of composite systems. This ability leads to additional degrees of freedom for robot operations especially when dynamically composed robotic systems offer capabilities that none of the individual systems have. Research in the area of reconfigurable multi-robot systems has mainly been focused on swarm-based robots and thereby to systems with a high degree of modularity but a heavily restricted set of capabilities. In contrast, this thesis deals with heterogeneous robot teams comprising individually capable robots which are also modular and reconfigurable. In particular, the autonomous application of such reconfigurable multi-robot systems to enhance robotic space exploration missions is investigated. Exploiting the flexibility of a reconfigurable multi-robot system requires an appropriate system model and reasoner. Hence, this thesis introduces a special organisation model. This model accounts for the key characteristics of reconfigurable robots which are constrained by the availability and compatibility of hardware interfaces. A newly introduced mapping function between resource structures and functional properties permits to characterise dynamically created agent compositions. Since a combinatorial challenge lies in the identification of feasible and functionally suitable agents, this thesis further suggests bounding strategies to reason efficiently with composite robotic systems. This thesis proposes a mission planning algorithm which permits to exploit the flexibility of reconfigurable multi-robot systems. The implemented planner builds upon the developed organisation model so that multi-robot missions can be specified by high-level functionality constraints which are resolved to suitable combinations of robots. Furthermore, the planner synchronises robot activities over time and characterises plans according to three objectives: efficacy, efficiency and safety. The plannera s evaluation demonstrates an optimization of an exemplary space mission. This research is based on the parallel development of theoretical concepts and practical solutions while working with three reconfigurable multi-robot teams. The operation of a reconfigurable robotic team comes with practical constraints. Therefore, this thesis composes and evaluates an operational infrastructure which can serve as reference implementation. The identification and combination of applicable state-of-the-art technologies result in a distributed and dynamically extensible communication infrastructure which can maintain the properties of reconfigurable multi-robot systems. Field tests covering semi-autonomous and autonomous operation have been performed to characterise multi-robot missions and validate the autonomous control approach for reconfigurable multi-robot systems. The practical evaluation identified critical constraints and design elements for a successful application of reconfigurable multi-robot systems. Furthermore, the experiments point to improvements for the organisation model. This thesis is a wholistic approach to automate reconfigurable multi-robot systems. It identifies theoretical as well as practical challenges and it suggests effective solutions which permit an exploitation of an increased level of flexibility in future robotics missions

Recent Advances in Wireless Communications and Networks

This book focuses on the current hottest issues from the lowest layers to the upper layers of wireless communication networks and provides "real-time" research progress on these issues. The authors have made every effort to systematically organize the information on these topics to make it easily accessible to readers of any level. This book also maintains the balance between current research results and their theoretical support. In this book, a variety of novel techniques in wireless communications and networks are investigated. The authors attempt to present these topics in detail. Insightful and reader-friendly descriptions are presented to nourish readers of any level, from practicing and knowledgeable communication engineers to beginning or professional researchers. All interested readers can easily find noteworthy materials in much greater detail than in previous publications and in the references cited in these chapters