Internet of robotic things : converging sensing/actuating, hypoconnectivity, artificial intelligence and IoT Platforms

The Internet of Things (IoT) concept is evolving rapidly and influencing newdevelopments in various application domains, such as the Internet of MobileThings (IoMT), Autonomous Internet of Things (A-IoT), Autonomous Systemof Things (ASoT), Internet of Autonomous Things (IoAT), Internetof Things Clouds (IoT-C) and the Internet of Robotic Things (IoRT) etc.that are progressing/advancing by using IoT technology. The IoT influencerepresents new development and deployment challenges in different areassuch as seamless platform integration, context based cognitive network integration,new mobile sensor/actuator network paradigms, things identification(addressing, naming in IoT) and dynamic things discoverability and manyothers. The IoRT represents new convergence challenges and their need to be addressed, in one side the programmability and the communication ofmultiple heterogeneous mobile/autonomous/robotic things for cooperating,their coordination, configuration, exchange of information, security, safetyand protection. Developments in IoT heterogeneous parallel processing/communication and dynamic systems based on parallelism and concurrencyrequire new ideas for integrating the intelligent “devices”, collaborativerobots (COBOTS), into IoT applications. Dynamic maintainability, selfhealing,self-repair of resources, changing resource state, (re-) configurationand context based IoT systems for service implementation and integrationwith IoT network service composition are of paramount importance whennew “cognitive devices” are becoming active participants in IoT applications.This chapter aims to be an overview of the IoRT concept, technologies,architectures and applications and to provide a comprehensive coverage offuture challenges, developments and applications

A Data Fusion System to Study Synchronization in Social Activities

As the world population gets older, the healthcare system must be adapted, among others by providing continuous health monitoring at home and in the city. The social activities have a significant role in everyone health status. Hence, this paper proposes a system to perform a data fusion of signals sampled on several subjects during social activities. This study implies the time synchronization of data coming from several sensors whether these are embedded on people or integrated in the environment. The data fusion is applied to several experiments including physical, cognitive and rest activities, with social aspects. The simultaneous and continuous analysis of four subjects cardiac activity and GPS coordinates provides a new way to distinguish different collaborative activities comparing the measurements between the subjects and along time.Comment: Healthcom 201

CONFIDENCE-BASED DECISION-MAKING SUPPORT FOR MULTI-SENSOR SYSTEMS

We live in a world where computer systems are omnipresent and are connected to more and more sensors. Ranging from small individual electronic assistants like smartphones to complex autonomous robots, from personal wearable health devices to professional eHealth frameworks, all these systems use the sensors’ data in order to make appropriate decisions according to the context they measure. However, in addition to complete failures leading to the lack of data delivery, these sensors can also send bad data due to influences from the environment which can sometimes be hard to detect by the computer system when checking each sensor individually. The computer system should be able to use its set of sensors as a whole in order to mitigate the influence of malfunctioning sensors, to overcome the absence of data coming from broken sensors, and to handle possible conflicting information coming from several sensors. In this thesis, we propose a computational model based on a two layer software architecture to overcome this challenge. In a first layer, classification algorithms will check for malfunctioning sensors and attribute a confidence value to each sensor. In the second layer, a rule-based proactive engine will then build a representation of the context of the system and use it along some empirical knowledge about the weaknesses of the different sensors to further tweak this confidence value. Furthermore, the system will then check for conflicting data between sensors. This can be done by having several sensors that measure the same parameters or by having multiple sensors that can be used together to calculate an estimation of a parameter given by another sensor. A confidence value will be calculated for this estimation as well, based on the confidence values of the related sensors. The successive design refinement steps of our model are shown over the course of three experiments. The first two experiments, located in the eHealth domain, have been used to better identify the challenges of such multi-sensor systems, while the third experiment, which consists of a virtual robot simulation, acts as a proof of concept for the semi-generic model proposed in this thesis

Improvement of the sensory and autonomous capability of robots through olfaction: the IRO Project

Proyecto de Excelencia Junta de Andalucía TEP2012-530Olfaction is a valuable source of information about the environment that has not been su ciently exploited in mobile robotics yet. Certainly, odor information can contribute to other sensing modalities, e.g. vision, to successfully accomplish high-level robot activities, such as task planning or execution in human environments. This paper describes the developments carried out in the scope of the IRO project, which aims at making progress in this direction by investigating mechanisms that exploit odor information (usually coming in the form of the type of volatile and its concentration) in problems like object recognition and scene-activity understanding. A distinctive aspect of this research is the special attention paid to the role of semantics within the robot perception and decisionmaking processes. The results of the IRO project have improved the robot capabilities in terms of efciency, autonomy and usefulness.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tec

Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age

Simultaneous Localization and Mapping (SLAM)consists in the concurrent construction of a model of the environment (the map), and the estimation of the state of the robot moving within it. The SLAM community has made astonishing progress over the last 30 years, enabling large-scale real-world applications, and witnessing a steady transition of this technology to industry. We survey the current state of SLAM. We start by presenting what is now the de-facto standard formulation for SLAM. We then review related work, covering a broad set of topics including robustness and scalability in long-term mapping, metric and semantic representations for mapping, theoretical performance guarantees, active SLAM and exploration, and other new frontiers. This paper simultaneously serves as a position paper and tutorial to those who are users of SLAM. By looking at the published research with a critical eye, we delineate open challenges and new research issues, that still deserve careful scientific investigation. The paper also contains the authors' take on two questions that often animate discussions during robotics conferences: Do robots need SLAM? and Is SLAM solved

05381 Abstracts Collection -- Form and Content in Sensor Networks

From 18.09.05 to 23.09.05, the Dagstuhl Seminar 05381 ``Form and Content in Sensor Networks\u27\u27 was held in the International Conference and Research Center (IBFI), Schloss Dagstuhl. During the seminar, several participants presented their current research, and ongoing work and open problems were discussed. Abstracts of the presentations given during the seminar as well as abstracts of seminar results and ideas are put together in this paper. The first section describes the seminar topics and goals in general. Links to extended abstracts or full papers are provided, if available

Command and Control Systems for Search and Rescue Robots

The novel application of unmanned systems in the domain of humanitarian Search and Rescue (SAR) operations has created a need to develop specific multi-Robot Command and Control (RC2) systems. This societal application of robotics requires human-robot interfaces for controlling a large fleet of heterogeneous robots deployed in multiple domains of operation (ground, aerial and marine). This chapter provides an overview of the Command, Control and Intelligence (C2I) system developed within the scope of Integrated Components for Assisted Rescue and Unmanned Search operations (ICARUS). The life cycle of the system begins with a description of use cases and the deployment scenarios in collaboration with SAR teams as end-users. This is followed by an illustration of the system design and architecture, core technologies used in implementing the C2I, iterative integration phases with field deployments for evaluating and improving the system. The main subcomponents consist of a central Mission Planning and Coordination System (MPCS), field Robot Command and Control (RC2) subsystems with a portable force-feedback exoskeleton interface for robot arm tele-manipulation and field mobile devices. The distribution of these C2I subsystems with their communication links for unmanned SAR operations is described in detail. Field demonstrations of the C2I system with SAR personnel assisted by unmanned systems provide an outlook for implementing such systems into mainstream SAR operations in the future