UAV/UGV Autonomous Cooperation: UAV Assists UGV to Climb a Cliff by Attaching a Tether

This paper proposes a novel cooperative system for an Unmanned Aerial Vehicle (UAV) and an Unmanned Ground Vehicle (UGV) which utilizes the UAV not only as a flying sensor but also as a tether attachment device. Two robots are connected with a tether, allowing the UAV to anchor the tether to a structure located at the top of a steep terrain, impossible to reach for UGVs. Thus, enhancing the poor traversability of the UGV by not only providing a wider range of scanning and mapping from the air, but also by allowing the UGV to climb steep terrains with the winding of the tether. In addition, we present an autonomous framework for the collaborative navigation and tether attachment in an unknown environment. The UAV employs visual inertial navigation with 3D voxel mapping and obstacle avoidance planning. The UGV makes use of the voxel map and generates an elevation map to execute path planning based on a traversability analysis. Furthermore, we compared the pros and cons of possible methods for the tether anchoring from multiple points of view. To increase the probability of successful anchoring, we evaluated the anchoring strategy with an experiment. Finally, the feasibility and capability of our proposed system were demonstrated by an autonomous mission experiment in the field with an obstacle and a cliff.Comment: 7 pages, 8 figures, accepted to 2019 International Conference on Robotics & Automation. Video: https://youtu.be/UzTT8Ckjz1

Recent advances in industrial wireless sensor networks towards efficient management in IoT

With the accelerated development of Internet-of- Things (IoT), wireless sensor networks (WSN) are gaining importance in the continued advancement of information and communication technologies, and have been connected and integrated with Internet in vast industrial applications. However, given the fact that most wireless sensor devices are resource constrained and operate on batteries, the communication overhead and power consumption are therefore important issues for wireless sensor networks design. In order to efficiently manage these wireless sensor devices in a unified manner, the industrial authorities should be able to provide a network infrastructure supporting various WSN applications and services that facilitate the management of sensor-equipped real-world entities. This paper presents an overview of industrial ecosystem, technical architecture, industrial device management standards and our latest research activity in developing a WSN management system. The key approach to enable efficient and reliable management of WSN within such an infrastructure is a cross layer design of lightweight and cloud-based RESTful web service

Development of a prototype of an ambient-aware two-arm mobile service robot

This paper describes a prototype of an ambient-intelligent advanced service robot of anthropomorphic characteristics that is intended for operation in indoor environment as well as for safe interaction with people. The robot consists of a wheeled mobile platform with a spinal (segmented) torso, bi-manual manipulation system with hands, and a robot head with capabilities to see, hear and speak. It is equipped with a number of advanced sensors, including indoor laser range finder, several ultrasonic probes as distance sensors and obstacle detectors, 3-axis inertial sensors with gyroscope, stereo vision system, 2 wide-range microphones, and 2 speakerphones. Its operation is autonomous but it may be controlled from a host computer through a wireless link. The robot prototype is expected to express advanced cognitive capabilities including spatial understanding, autonomous motion, affective and social behavior. The development of the robot is a joint effort of four Serbian academic institutions and it is expected to have it fully operational in the second half of 2015

Overcoming barriers and increasing independence: service robots for elderly and disabled people

This paper discusses the potential for service robots to overcome barriers and increase independence of elderly and disabled people. It includes a brief overview of the existing uses of service robots by disabled and elderly people and advances in technology which will make new uses possible and provides suggestions for some of these new applications. The paper also considers the design and other conditions to be met for user acceptance. It also discusses the complementarity of assistive service robots and personal assistance and considers the types of applications and users for which service robots are and are not suitable

Marvin: an Innovative Omni-Directional Robotic Assistant for Domestic Environments

Population ageing and pandemics recently demonstrate to cause isolation of elderly people in their houses, generating the need for a reliable assistive figure. Robotic assistants are the new frontier of innovation for domestic welfare, and elderly monitoring is one of the services a robot can handle for collective well-being. Despite these emerging needs, in the actual landscape of robotic assistants there are no platform which successfully combines a reliable mobility in cluttered domestic spaces, with lightweight and offline Artificial Intelligence (AI) solutions for perception and interaction. In this work, we present Marvin, a novel assistive robotic platform we developed with a modular layer-based architecture, merging a flexible mechanical design with cutting-edge AI for perception and vocal control. We focus the design of Marvin on three target service functions: monitoring of elderly and reduced-mobility subjects, remote presence and connectivity, and night assistance. Compared to previous works, we propose a tiny omnidirectional platform, which enables agile mobility and effective obstacle avoidance. Moreover, we design a controllable positioning device, which easily allows the user to access the interface for connectivity and extends the visual range of the camera sensor. Nonetheless, we delicately consider the privacy issues arising from private data collection on cloud services, a critical aspect of commercial AI-based assistants. To this end, we demonstrate how lightweight deep learning solutions for visual perception and vocal command can be adopted, completely running offline on the embedded hardware of the robot.Comment: 20 pages, 9 figures, 3 tabl

Internet of Things Architectures, Technologies, Applications, Challenges, and Future Directions for Enhanced Living Environments and Healthcare Systems: A Review

Internet of Things (IoT) is an evolution of the Internet and has been gaining increased attention from researchers in both academic and industrial environments. Successive technological enhancements make the development of intelligent systems with a high capacity for communication and data collection possible, providing several opportunities for numerous IoT applications, particularly healthcare systems. Despite all the advantages, there are still several open issues that represent the main challenges for IoT, e.g., accessibility, portability, interoperability, information security, and privacy. IoT provides important characteristics to healthcare systems, such as availability, mobility, and scalability, that o er an architectural basis for numerous high technological healthcare applications, such as real-time patient monitoring, environmental and indoor quality monitoring, and ubiquitous and pervasive information access that benefits health professionals and patients. The constant scientific innovations make it possible to develop IoT devices through countless services for sensing, data fusing, and logging capabilities that lead to several advancements for enhanced living environments (ELEs). This paper reviews the current state of the art on IoT architectures for ELEs and healthcare systems, with a focus on the technologies, applications, challenges, opportunities, open-source platforms, and operating systems. Furthermore, this document synthesizes the existing body of knowledge and identifies common threads and gaps that open up new significant and challenging future research directions.info:eu-repo/semantics/publishedVersio

Internet of Things Cloud: Architecture and Implementation

The Internet of Things (IoT), which enables common objects to be intelligent and interactive, is considered the next evolution of the Internet. Its pervasiveness and abilities to collect and analyze data which can be converted into information have motivated a plethora of IoT applications. For the successful deployment and management of these applications, cloud computing techniques are indispensable since they provide high computational capabilities as well as large storage capacity. This paper aims at providing insights about the architecture, implementation and performance of the IoT cloud. Several potential application scenarios of IoT cloud are studied, and an architecture is discussed regarding the functionality of each component. Moreover, the implementation details of the IoT cloud are presented along with the services that it offers. The main contributions of this paper lie in the combination of the Hypertext Transfer Protocol (HTTP) and Message Queuing Telemetry Transport (MQTT) servers to offer IoT services in the architecture of the IoT cloud with various techniques to guarantee high performance. Finally, experimental results are given in order to demonstrate the service capabilities of the IoT cloud under certain conditions.Comment: 19pages, 4figures, IEEE Communications Magazin