BRAHMS: Novel middleware for integrated systems computation

Biological computational modellers are becoming increasingly interested in building large, eclectic models, including components on many different computational substrates, both biological and non-biological. At the same time, the rise of the philosophy of embodied modelling is generating a need to deploy biological models as controllers for robots in real-world environments. Finally, robotics engineers are beginning to find value in seconding biomimetic control strategies for use on practical robots. Together with the ubiquitous desire to make good on past software development effort, these trends are throwing up new challenges of intellectual and technological integration (for example across scales, across disciplines, and even across time) - challenges that are unmet by existing software frameworks. Here, we outline these challenges in detail, and go on to describe a newly developed software framework, BRAHMS. that meets them. BRAHMS is a tool for integrating computational process modules into a viable, computable system: its generality and flexibility facilitate integration across barriers, such as those described above, in a coherent and effective way. We go on to describe several cases where BRAHMS has been successfully deployed in practical situations. We also show excellent performance in comparison with a monolithic development approach. Additional benefits of developing in the framework include source code self-documentation, automatic coarse-grained parallelisation, cross-language integration, data logging, performance monitoring, and will include dynamic load-balancing and 'pause and continue' execution. BRAHMS is built on the nascent, and similarly general purpose, model markup language, SystemML. This will, in future, also facilitate repeatability and accountability (same answers ten years from now), transparent automatic software distribution, and interfacing with other SystemML tools. (C) 2009 Elsevier Ltd. All rights reserved

A Lightweight Modular Continuum Manipulator with IMU-based Force Estimation

Most aerial manipulators use serial rigid-link designs, which results in large forces when initiating contacts during manipulation and could cause flight stability difficulty. This limitation could potentially be improved by the compliance of continuum manipulators. To achieve this goal, we present the novel design of a compact, lightweight, and modular cable-driven continuum manipulator for aerial drones. We then derive a complete modeling framework for its kinematics, statics, and stiffness (compliance). The modeling framework can guide the control and design problems to integrate the manipulator to aerial drones. In addition, thanks to the derived stiffness (compliance) matrix, and using a low-cost IMU sensor to capture deformation angles, we present a simple method to estimate manipulation force at the tip of the manipulator. We report preliminary experimental validations of the hardware prototype, providing insights on its manipulation feasibility. We also report preliminary results of the IMU-based force estimation method.Comment: 12 pages, submitted to ASME Journal of Mechanisms and Robotics 2022, under review. arXiv admin note: substantial text overlap with arXiv:2206.0624

The OCarePlatform : a context-aware system to support independent living

Background: Currently, healthcare services, such as institutional care facilities, are burdened with an increasing number of elderly people and individuals with chronic illnesses and a decreasing number of competent caregivers. Objectives: To relieve the burden on healthcare services, independent living at home could be facilitated, by offering individuals and their (in)formal caregivers support in their daily care and needs. With the rise of pervasive healthcare, new information technology solutions can assist elderly people ("residents") and their caregivers to allow residents to live independently for as long as possible. Methods: To this end, the OCarePlatform system was designed. This semantic, data-driven and cloud based back-end system facilitates independent living by offering information and knowledge-based services to the resident and his/her (in)formal caregivers. Data and context information are gathered to realize context-aware and personalized services and to support residents in meeting their daily needs. This body of data, originating from heterogeneous data and information sources, is sent to personalized services, where is fused, thus creating an overview of the resident's current situation. Results: The architecture of the OCarePlatform is proposed, which is based on a service-oriented approach, together with its different components and their interactions. The implementation details are presented, together with a running example. A scalability and performance study of the OCarePlatform was performed. The results indicate that the OCarePlatform is able to support a realistic working environment and respond to a trigger in less than 5 seconds. The system is highly dependent on the allocated memory. Conclusion: The data-driven character of the OCarePlatform facilitates easy plug-in of new functionality, enabling the design of personalized, context-aware services. The OCarePlatform leads to better support for elderly people and individuals with chronic illnesses, who live independently. (C) 2016 Elsevier Ireland Ltd. All rights reserved

Microsystems technology: objectives

This contribution focuses on the objectives of microsystems technology (MST). The reason for this is two fold. First of all, it should explain what MST actually is. This question is often posed and a simple answer is lacking, as a consequence of the diversity of subjects that are perceived as MST. The second reason is that a map of the somewhat chaotic field of MST is needed to identify sub-territories, for which standardization in terms of system modules an interconnections is feasible. To define the objectives a pragmatic approach has been followed. From the literature a selection of topics has been chosen and collected that are perceived as belonging to the field of MST by a large community of workers in the field (more than 250 references). In this way an overview has been created with `applications¿ and `generic issues¿ as the main characteristics

Hardware Architecture Review of Swarm Robotics System: Self-Reconfigurability, Self-Reassembly, and Self-Replication

Swarm robotics is one of the most fascinating and new research areas of recent decades, and one of the grand challenges of robotics is the design of swarm robots that are self-sufficient. This can be crucial for robots exposed to environments that are unstructured or not easily accessible for a human operator, such as the inside of a blood vessel, a collapsed building, the deep sea, or the surface of another planet. In this paper, we present a comprehensive study on hardware architecture and several other important aspects of modular swarm robots, such as self-reconfigurability, self-replication, and self-assembly. The key factors in designing and building a group of swarm robots are cost and miniaturization with robustness, flexibility, and scalability. In robotics intelligence, self-assembly and self-reconfigurability are among the most important characteristics as they can add additional capabilities and functionality to swarm robots. Simulation and model design for swarm robotics is highly complex and expensive, especially when attempting to model the behavior of large swarm robot groups.http://dx.doi.org/10.5402/2013/84960

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