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

Flexible Wi-Fi communication among mobile robots in Indoor industrial environments

In order to speed up industrial processes and to improve logistics, mobile robots are getting important in industry. In this paper, we propose a flexible and configurable architecture for the mobile node that is able to operate in different network topology scenarios. The proposed solution is able to operate in presence of network infrastructure, in ad hoc mode only, or to use both possibilities. In case of mixed architecture, mesh capabilities will enable coverage problem detection and overcoming. The solution is based on real requirements from an automated guided vehicle producer. First, we evaluate the overhead introduced by our solution. Since the mobile robot communication relies in broadcast traffic, the broadcast scalability in mesh network is evaluated too. Finally, through experiments on a wireless testbed for a variety of scenarios, we analyze the impact of roaming, mobility and traffic separation, and demonstrate the advantage of our approach in handling coverage problems

Advances in Human Robot Interaction for Cloud Robotics applications

In this thesis are analyzed different and innovative techniques for Human Robot Interaction. The focus of this thesis is on the interaction with flying robots. The first part is a preliminary description of the state of the art interactions techniques. Then the first project is Fly4SmartCity, where it is analyzed the interaction between humans (the citizen and the operator) and drones mediated by a cloud robotics platform. Then there is an application of the sliding autonomy paradigm and the analysis of different degrees of autonomy supported by a cloud robotics platform. The last part is dedicated to the most innovative technique for human-drone interaction in the User’s Flying Organizer project (UFO project). This project wants to develop a flying robot able to project information into the environment exploiting concepts of Spatial Augmented Realit

A Comprehensive Survey of the Tactile Internet: State of the art and Research Directions

The Internet has made several giant leaps over the years, from a fixed to a mobile Internet, then to the Internet of Things, and now to a Tactile Internet. The Tactile Internet goes far beyond data, audio and video delivery over fixed and mobile networks, and even beyond allowing communication and collaboration among things. It is expected to enable haptic communication and allow skill set delivery over networks. Some examples of potential applications are tele-surgery, vehicle fleets, augmented reality and industrial process automation. Several papers already cover many of the Tactile Internet-related concepts and technologies, such as haptic codecs, applications, and supporting technologies. However, none of them offers a comprehensive survey of the Tactile Internet, including its architectures and algorithms. Furthermore, none of them provides a systematic and critical review of the existing solutions. To address these lacunae, we provide a comprehensive survey of the architectures and algorithms proposed to date for the Tactile Internet. In addition, we critically review them using a well-defined set of requirements and discuss some of the lessons learned as well as the most promising research directions

Viewfinder: final activity report

The VIEW-FINDER project (2006-2009) is an 'Advanced Robotics' project that seeks to apply a semi-autonomous robotic system to inspect ground safety in the event of a fire. Its primary aim is to gather data (visual and chemical) in order to assist rescue personnel. A base station combines the gathered information with information retrieved from off-site sources. The project addresses key issues related to map building and reconstruction, interfacing local command information with external sources, human-robot interfaces and semi-autonomous robot navigation. The VIEW-FINDER system is a semi-autonomous; the individual robot-sensors operate autonomously within the limits of the task assigned to them, that is, they will autonomously navigate through and inspect an area. Human operators monitor their operations and send high level task requests as well as low level commands through the interface to any nodes in the entire system. The human interface has to ensure the human supervisor and human interveners are provided a reduced but good and relevant overview of the ground and the robots and human rescue workers therein

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

A Framework for Improving the Speed and Performance of Teleoperated Mobile Manipulators.

Despite recent advances in robot autonomy, teleoperation remains an integral part of many robot tasks. In situations where it is hazardous or difficult for humans to be present, but which require human judgment and decision-making skills, the use of a human operator is the only option. However, there are many issues resulting from limited feedback channels that degrade perception and manipulation abilities in remote environments, causing even basic robot tasks to be difficult and time-consuming. For robots to become more useful tools for humans in remote environments, the speed and ease of teleoperated tasks must be increased. This purpose of this dissertation is to develop a framework for increasing speed and performance of teleoperated mobile robot tasks. First, the key issues affecting teleoperated robot system performance are defined and characterized. These factors are incorporated into an optimization-based approach for evaluating multiple design options for teleoperated systems. This optimization may require models for system components that are not readily available, and must be estimated or measured empirically. Modeling user performance in teleoperation tasks can be particularly difficult. This dissertation focuses on obtaining such models by performing several user studies designed to predict the teleoperator performance in response to multiple manual input devices and visual feedback mechanisms, as well as varying system latencies. The overall framework for improving system performance is based on incorporating the derived, estimated, and measured component models into the implementation of the design optimization over a series of operations in the teleoperation system's required task set. The contributions of this dissertation are as follows: 1) An identification of the factors limiting teleoperation system performance. 2) A framework for performing design optimization of teleoperated mobile robot speed and performance. 3) An evaluation of teleoperator performance with two different manual interfaces and two different visualization interfaces. 4) The development of a performance model for a path-following steering task under different latency conditions that indicates a possible mapping between performance under constant latency and variable latency. 5) The development and validation of a driver model capable of generating human-like steering inputs to a mobile robot.PHDMechanical EngineeringUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttp://deepblue.lib.umich.edu/bitstream/2027.42/102482/1/svozar_1.pd