Robot-Enabled Construction Assembly with Automated Sequence Planning based on ChatGPT: RoboGPT

Robot-based assembly in construction has emerged as a promising solution to address numerous challenges such as increasing costs, labor shortages, and the demand for safe and efficient construction processes. One of the main obstacles in realizing the full potential of these robotic systems is the need for effective and efficient sequence planning for construction tasks. Current approaches, including mathematical and heuristic techniques or machine learning methods, face limitations in their adaptability and scalability to dynamic construction environments. To expand the ability of the current robot system in sequential understanding, this paper introduces RoboGPT, a novel system that leverages the advanced reasoning capabilities of ChatGPT, a large language model, for automated sequence planning in robot-based assembly applied to construction tasks. The proposed system adapts ChatGPT for construction sequence planning and demonstrate its feasibility and effectiveness through experimental evaluation including Two case studies and 80 trials about real construction tasks. The results show that RoboGPT-driven robots can handle complex construction operations and adapt to changes on the fly. This paper contributes to the ongoing efforts to enhance the capabilities and performance of robot-based assembly systems in the construction industry, and it paves the way for further integration of large language model technologies in the field of construction robotics.Comment: 14 pages, 20 figures, submitted to IEEE Acces

Underwater Robot Task Planning Using Multi-Objective Meta-Heuristics

Robotics deployed in the underwater medium are subject to stringent operational conditions that impose a high degree of criticality on the allocation of resources and the schedule of operations in mission planning. In this context the so-called cost of a mission must be considered as an additional criterion when designing optimal task schedules within the mission at hand. Such a cost can be conceived as the impact of the mission on the robotic resources themselves, which range from the consumption of battery to other negative effects such as mechanic erosion. This manuscript focuses on this issue by devising three heuristic solvers aimed at efficiently scheduling tasks in robotic swarms, which collaborate together to accomplish a mission, and by presenting experimental results obtained over realistic scenarios in the underwater environment. The heuristic techniques resort to a Random-Keys encoding strategy to represent the allocation of robots to tasks and the relative execution order of such tasks within the schedule of certain robots. The obtained results reveal interesting differences in terms of Pareto optimality and spread between the algorithms considered in the benchmark, which are insightful for the selection of a proper task scheduler in real underwater campaigns

Goal-Directed Reasoning and Cooperation in Robots in Shared Workspaces: an Internal Simulation Based Neural Framework

From social dining in households to product assembly in manufacturing lines, goal-directed reasoning and cooperation with other agents in shared workspaces is a ubiquitous aspect of our day-to-day activities. Critical for such behaviours is the ability to spontaneously anticipate what is doable by oneself as well as the interacting partner based on the evolving environmental context and thereby exploit such information to engage in goal-oriented action sequences. In the setting of an industrial task where two robots are jointly assembling objects in a shared workspace, we describe a bioinspired neural architecture for goal-directed action planning based on coupled interactions between multiple internal models, primarily of the robot’s body and its peripersonal space. The internal models (of each robot’s body and peripersonal space) are learnt jointly through a process of sensorimotor exploration and then employed in a range of anticipations related to the feasibility and consequence of potential actions of two industrial robots in the context of a joint goal. The ensuing behaviours are demonstrated in a real-world industrial scenario where two robots are assembling industrial fuse-boxes from multiple constituent objects (fuses, fuse-stands) scattered randomly in their workspace. In a spatially unstructured and temporally evolving assembly scenario, the robots employ reward-based dynamics to plan and anticipate which objects to act on at what time instances so as to successfully complete as many assemblies as possible. The existing spatial setting fundamentally necessitates planning collision-free trajectories and avoiding potential collisions between the robots. Furthermore, an interesting scenario where the assembly goal is not realizable by either of the robots individually but only realizable if they meaningfully cooperate is used to demonstrate the interplay between perception, simulation of multiple internal models and the resulting complementary goal-directed actions of both robots. Finally, the proposed neural framework is benchmarked against a typically engineered solution to evaluate its performance in the assembly task. The framework provides a computational outlook to the emerging results from neurosciences related to the learning and use of body schema and peripersonal space for embodied simulation of action and prediction. While experiments reported here engage the architecture in a complex planning task specifically, the internal model based framework is domain-agnostic facilitating portability to several other tasks and platforms

Impedance control for legged robots: an insight into the concepts involved

The application of impedance control strategies to modern legged locomotion is analyzed, paying special attention to the concepts behind its implementation which is not straightforward. In order to implement a functional impedance controller for a walking mechanism, the concepts of contact, impact, friction, and impedance have to be merged together. A literature review and a comprehensive analysis are presented compiling all these concepts along with a discussion on position-based versus force-based impedance control approaches, and a theoretical model of a robotic leg in contact with its environment is introduced. A theoretical control scheme for the legs of a general legged robot is also introduced, and some simulations results are presented

Gaining Insight into Determinants of Physical Activity using Bayesian Network Learning

Contains fulltext : 228326pre.pdf (preprint version ) (Open Access) Contains fulltext : 228326pub.pdf (publisher's version ) (Open Access)BNAIC/BeneLearn 202

Semi-Structured Decision Processes: A Conceptual Framework for Understanding Human-Automation Decision Systems

The purpose of this work is to improve understanding of existing and proposed decision systems, ideally to improve the design of future systems. A "decision system" is defined as a collection of information-processing components -- often involving humans and automation (e.g., computers) -- that interact towards a common set of objectives. Since a key issue in the design of decision systems is the division of work between humans and machines (a task known as "function allocation"), this report is primarily intended to help designers incorporate automation more appropriately within these systems. This report does not provide a design methodology, but introduces a way to qualitatively analyze potential designs early in the system design process. A novel analytical framework is presented, based on the concept of "semi-Structured" decision processes. It is believed that many decisions involve both well-defined "Structured" parts (e.g., formal procedures, traditional algorithms) and ill-defined "Unstructured" parts (e.g., intuition, judgement, neural networks) that interact in a known manner. While Structured processes are often desired because they fully prescribe how a future decision (during "operation") will be made, they are limited by what is explicitly understood prior to operation. A system designer who incorporates Unstructured processes into a decision system understands which parts are not understood sufficiently, and relinquishes control by deferring decision-making from design to operation. Among other things, this design choice tends to add flexibility and robustness. The value of the semi-Structured framework is that it forces people to consider system design concepts as operational decision processes in which both well-defined and ill-defined components are made explicit. This may provide more insight into decision systems, and improve understanding of the implications of design choices. The first part of this report defines the semi-Structured process and introduces a diagrammatic notation for decision process models. In the second part, the semi-Structured framework is used to understand and explain highly evolved decision system designs (these are assumed to be representative of "good" designs) whose components include feedback controllers, alerts, decision aids, and displays. Lastly, the semi-Structured framework is applied to a decision system design for a mobile robot.Charles Stark Draper Laboratory, Inc., under IR&D effort 101

Advances in Robotics, Automation and Control

The book presents an excellent overview of the recent developments in the different areas of Robotics, Automation and Control. Through its 24 chapters, this book presents topics related to control and robot design; it also introduces new mathematical tools and techniques devoted to improve the system modeling and control. An important point is the use of rational agents and heuristic techniques to cope with the computational complexity required for controlling complex systems. Through this book, we also find navigation and vision algorithms, automatic handwritten comprehension and speech recognition systems that will be included in the next generation of productive systems developed by man

NFV orchestration in edge and fog scenarios

Mención Internacional en el título de doctorLas infraestructuras de red actuales soportan una variedad diversa de servicios como video bajo demanda, video conferencias, redes sociales, sistemas de educación, o servicios de almacenamiento de fotografías. Gran parte de la población mundial ha comenzado a utilizar estos servicios, y los utilizan diariamente. Proveedores de Cloud y operadores de infraestructuras de red albergan el tráfico de red generado por estos servicios, y sus tareas de gestión no solo implican realizar el enrutamiento del tráfico, sino también el procesado del tráfico de servicios de red. Tradicionalmente, el procesado del tráfico ha sido realizado mediante aplicaciones/ programas desplegados en servidores que estaban dedicados en exclusiva a tareas concretas como la inspección de paquetes. Sin embargo, en los últimos anos los servicios de red se han virtualizado y esto ha dado lugar al paradigma de virtualización de funciones de red (Network Function Virtualization (NFV) siguiendo las siglas en ingles), en el que las funciones de red de un servicio se ejecutan en contenedores o máquinas virtuales desacopladas de la infraestructura hardware. Como resultado, el procesado de tráfico se ha ido haciendo más flexible gracias al laxo acople del software y hardware, y a la posibilidad de compartir funciones de red típicas, como firewalls, entre los distintos servicios de red. NFV facilita la automatización de operaciones de red, ya que tareas como el escalado, o la migración son típicamente llevadas a cabo mediante un conjunto de comandos previamente definidos por la tecnología de virtualización pertinente, bien mediante contenedores o máquinas virtuales. De todos modos, sigue siendo necesario decidir el en rutamiento y procesado del tráfico de cada servicio de red. En otras palabras, que servidores tienen que encargarse del procesado del tráfico, y que enlaces de la red tienen que utilizarse para que las peticiones de los usuarios lleguen a los servidores finales, es decir, el conocido como embedding problem. Bajo el paraguas del paradigma NFV, a este problema se le conoce en inglés como Virtual Network Embedding (VNE), y esta tesis utiliza el termino “NFV orchestration algorithm” para referirse a los algoritmos que resuelven este problema. El problema del VNE es NP-hard, lo cual significa que que es imposible encontrar una solución optima en un tiempo polinómico, independientemente del tamaño de la red. Como consecuencia, la comunidad investigadora y de telecomunicaciones utilizan heurísticos que encuentran soluciones de manera más rápida que productos para la resolución de problemas de optimización. Tradicionalmente, los “NFV orchestration algorithms” han intentado minimizar los costes de despliegue derivados de las soluciones asociadas. Por ejemplo, estos algoritmos intentan no consumir el ancho de banda de la red, y usar rutas cortas para no utilizar tantos recursos. Además, una tendencia reciente ha llevado a la comunidad investigadora a utilizar algoritmos que minimizan el consumo energético de los servicios desplegados, bien mediante la elección de dispositivos con un consumo energético más eficiente, o mediante el apagado de dispositivos de red en desuso. Típicamente, las restricciones de los problemas de VNE se han resumido en un conjunto de restricciones asociadas al uso de recursos y consumo energético, y las soluciones se diferenciaban por la función objetivo utilizada. Pero eso era antes de la 5a generación de redes móviles (5G) se considerase en el problema de VNE. Con la aparición del 5G, nuevos servicios de red y casos de uso entraron en escena. Los estándares hablaban de comunicaciones ultra rápidas y fiables (Ultra-Reliable and Low Latency Communications (URLLC) usando las siglas en inglés) con latencias por debajo de unos pocos milisegundos y fiabilidades del 99.999%, una banda ancha mejorada (enhanced Mobile Broadband (eMBB) usando las siglas en inglés) con notorios incrementos en el flujo de datos, e incluso la consideración de comunicaciones masivas entre maquinas (Massive Machine-Type Communications (mMTC) usando las siglas en inglés) entre dispositivos IoT. Es más, paradigmas como edge y fog computing se incorporaron a la tecnología 5G, e introducían la idea de tener dispositivos de computo más cercanos al usuario final. Como resultado, el problema del VNE tenía que incorporar los nuevos requisitos como restricciones a tener en cuenta, y toda solución debía satisfacer bajas latencias, alta fiabilidad, y mayores tasas de transmisión. Esta tesis estudia el problema des VNE, y propone algunos heurísticos que lidian con las restricciones asociadas a servicios 5G en escenarios edge y fog, es decir, las soluciones propuestas se encargan de asignar funciones virtuales de red a servidores, y deciden el enrutamiento del trafico en las infraestructuras 5G con dispositivos edge y fog. Para evaluar el rendimiento de las soluciones propuestas, esta tesis estudia en primer lugar la generación de grafos que representan redes 5G. Los mecanismos propuestos para la generación de grafos sirven para representar distintos escenarios 5G. En particular, escenarios de federación en los que varios dominios comparten recursos entre ellos. Los grafos generados también representan servidores en el edge, así como dispositivos fog con una batería limitada. Además, estos grafos tienen en cuenta los requisitos de estándares, y la demanda que se espera en las redes 5G. La generación de grafos propuesta sirve para representar escenarios federación en los que varios dominios comparten recursos entre ellos, y redes 5G con servidores edge, así como dispositivos fog estáticos o móviles con una batería limitada. Los grafos generados para infraestructuras 5G tienen en cuenta los requisitos de estándares, y la demanda de red que se espera en las redes 5G. Además, los grafos son diferentes en función de la densidad de población, y el área de estudio, es decir, si es una zona industrial, una autopista, o una zona urbana. Tras detallar la generación de grafos que representan redes 5G, esta tesis propone algoritmos de orquestación NFV para resolver con el problema del VNE. Primero, se centra en escenarios federados en los que los servicios de red se tienen que asignar no solo a la infraestructura de un dominio, sino a los recursos compartidos en la federación de dominios. Dos problemas diferentes han sido estudiados, uno es el problema del VNE propiamente dicho sobre una infraestructura federada, y el otro es la delegación de servicios de red. Es decir, si un servicio de red se debe desplegar localmente en un dominio, o en los recursos compartidos por la federación de dominios; a sabiendas de que el último caso supone el pago de cuotas por parte del dominio local a cambio del despliegue del servicio de red. En segundo lugar, esta tesis propone OKpi, un algoritmo de orquestación NFV para conseguir la calidad de servicio de las distintas slices de las redes 5G. Conceptualmente, el slicing consiste en partir la red de modo que cada servicio de red sea tratado de modo diferente dependiendo del trozo al que pertenezca. Por ejemplo, una slice de eHealth reservara los recursos de red necesarios para conseguir bajas latencias en servicios como operaciones quirúrgicas realizadas de manera remota. Cada trozo (slice) está destinado a unos servicios específicos con unos requisitos muy concretos, como alta fiabilidad, restricciones de localización, o latencias de un milisegundo. OKpi es un algoritmo de orquestación NFV que consigue satisfacer los requisitos de servicios de red en los distintos trozos, o slices de la red. Tras presentar OKpi, la tesis resuelve el problema del VNE en redes 5G con dispositivos fog estáticos y móviles. El algoritmo de orquestación NFV presentado tiene en cuenta las limitaciones de recursos de computo de los dispositivos fog, además de los problemas de falta de cobertura derivados de la movilidad de los dispositivos. Para concluir, esta tesis estudia el escalado de servicios vehiculares Vehicle-to-Network (V2N), que requieren de bajas latencias para servicios como la prevención de choques, avisos de posibles riesgos, y conducción remota. Para estos servicios, los atascos y congestiones en la carretera pueden causar el incumplimiento de los requisitos de latencia. Por tanto, es necesario anticiparse a esas circunstancias usando técnicas de series temporales que permiten saber el tráfico inminente en los siguientes minutos u horas, para así poder escalar el servicio V2N adecuadamente.Current network infrastructures handle a diverse range of network services such as video on demand services, video-conferences, social networks, educational systems, or photo storage services. These services have been embraced by a significant amount of the world population, and are used on a daily basis. Cloud providers and Network operators’ infrastructures accommodate the traffic rates that the aforementioned services generate, and their management tasks do not only involve the traffic steering, but also the processing of the network services’ traffic. Traditionally, the traffic processing has been assessed via applications/programs deployed on servers that were exclusively dedicated to a specific task as packet inspection. However, in recent years network services have stated to be virtualized and this has led to the Network Function Virtualization (Network Function Virtualization (NFV)) paradigm, in which the network functions of a service run on containers or virtual machines that are decoupled from the hardware infrastructure. As a result, the traffic processing has become more flexible because of the loose coupling between software and hardware, and the possibility of sharing common network functions, as firewalls, across multiple network services. NFV eases the automation of network operations, since scaling and migrations tasks are typically performed by a set of commands predefined by the virtualization technology, either containers or virtual machines. However, it is still necessary to decide the traffic steering and processing of every network service. In other words, which servers will hold the traffic processing, and which are the network links to be traversed so the users’ requests reach the final servers, i.e., the network embedding problem. Under the umbrella of NFV, this problem is known as Virtual Network Embedding (VNE), and this thesis refers as “NFV orchestration algorithms” to those algorithms solving such a problem. The VNE problem is a NP-hard, meaning that it is impossible to find optimal solutions in polynomial time, no matter the network size. As a consequence, the research and telecommunications community rely on heuristics that find solutions quicker than a commodity optimization solver. Traditionally, NFV orchestration algorithms have tried to minimize the deployment costs derived from their solutions. For example, they try to not exhaust the network bandwidth, and use short paths to use less network resources. Additionally, a recent tendency led the research community towards algorithms that minimize the energy consumption of the deployed services, either by selecting more energy efficient devices or by turning off those network devices that remained unused. VNE problem constraints were typically summarized in a set of resources/energy constraints, and the solutions differed on which objectives functions were aimed for. But that was before 5th generation of mobile networks (5G) were considered in the VNE problem. With the appearance of 5G, new network services and use cases started to emerge. The standards talked about Ultra Reliable Low Latency Communication (Ultra-Reliable and Low Latency Communications (URLLC)) with latencies below few milliseconds and 99.999% reliability, an enhanced mobile broadband (enhanced Mobile Broadband (eMBB)) with significant data rate increases, and even the consideration of massive machine-type communications (Massive Machine-Type Communications (mMTC)) among Internet of Things (IoT) devices. Moreover, paradigms such as edge and fog computing blended with the 5G technology to introduce the idea of having computing devices closer to the end users. As a result, the VNE problem had to incorporate the new requirements as constraints to be taken into account, and every solution should either satisfy low latencies, high reliability, or larger data rates. This thesis studies the VNE problem, and proposes some heuristics tackling the constraints related to 5G services in Edge and fog scenarios, that is, the proposed solutions assess the assignment of Virtual Network Functions to resources, and the traffic steering across 5G infrastructures that have Edge and Fog devices. To evaluate the performance of the proposed solutions, the thesis studies first the generation of graphs that represent 5G networks. The proposed mechanisms to generate graphs serve to represent diverse 5G scenarios. In particular federation scenarios in which several domains share resources among themselves. The generated graphs also represent edge servers, so as fog devices with limited battery capacity. Additionally, these graphs take into account the standard requirements, and the expected demand for 5G networks. Moreover, the graphs differ depending on the density of population, and the area of study, i.e., whether it is an industrial area, a highway, or an urban area. After detailing the generation of graphs representing the 5G networks, this thesis proposes several NFV orchestration algorithms to tackle the VNE problem. First, it focuses on federation scenarios in which network services should be assigned not only to a single domain infrastructure, but also to the shared resources of the federation of domains. Two different problems are studied, one being the VNE itself over a federated infrastructure, and the other the delegation of network services. That is, whether a network service should be deployed in a local domain, or in the pool of resources of the federation domain; knowing that the latter charges the local domain for hosting the network service. Second, the thesis proposes OKpi, a NFV orchestration algorithm to meet 5G network slices quality of service. Conceptually, network slicing consists in splitting the network so network services are treated differently based on the slice they belong to. For example, an eHealth network slice will allocate the network resources necessary to meet low latencies for network services such as remote surgery. Each network slice is devoted to specific services with very concrete requirements, as high reliability, location constraints, or 1ms latencies. OKpi is a NFV orchestration algorithm that meets the network service requirements among different slices. It is based on a multi-constrained shortest path heuristic, and its solutions satisfy latency, reliability, and location constraints. After presenting OKpi, the thesis tackles the VNE problem in 5G networks with static/moving fog devices. The presented NFV orchestration algorithm takes into account the limited computing resources of fog devices, as well as the out-of-coverage problems derived from the devices’ mobility. To conclude, this thesis studies the scaling of Vehicle-to-Network (V2N) services, which require low latencies for network services as collision avoidance, hazard warning, and remote driving. For these services, the presence of traffic jams, or high vehicular traffic congestion lead to the violation of latency requirements. Hence, it is necessary to anticipate to such circumstances by using time-series techniques that allow to derive the incoming vehicular traffic flow in the next minutes or hours, so as to scale the V2N service accordingly.The 5G Exchange (5GEx) project (2015-2018) was an EU-funded project (H2020-ICT-2014-2 grant agreement 671636). The 5G-TRANSFORMER project (2017-2019) is an EU-funded project (H2020-ICT-2016-2 grant agreement 761536). The 5G-CORAL project (2017-2019) is an EU-Taiwan project (H2020-ICT-2016-2 grant agreement 761586).Programa de Doctorado en Ingeniería Telemática por la Universidad Carlos III de MadridPresidente: Ioannis Stavrakakis.- Secretario: Pablo Serrano Yáñez-Mingot.- Vocal: Paul Horatiu Patra