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

Phlebot: The Robotic Phlebotomist

Phlebotomy is a routine task, performed over a billion times annually in the United States alone, that is essential for proper diagnosis and treatment. We designed and constructed Phlebot, a robotic assistive device that uses near- infrared imaging and force-feedback to guide a needle into a forearm vein for blood sample collection or intravenous catheterization. Through initial validation on phantoms, we show that it is feasible to automate phlebotomy reliably. We envision the device to be a first major step towards more affordable point-of-care testing and diagnostic healthcare systems. In the long term, we expect that Phlebot will expedite healthcare delivery and drastically reduce needle stick injuries, instances of hemolysis, and infections caused by blood-borne pathogens

Challenges in the Locomotion of Self-Reconfigurable Modular Robots

Self-Reconfigurable Modular Robots (SRMRs) are assemblies of autonomous robotic units, referred to as modules, joined together using active connection mechanisms. By changing the connectivity of these modules, SRMRs are able to deliberately change their own shape in order to adapt to new environmental circumstances. One of the main motivations for the development of SRMRs is that conventional robots are limited in their capabilities by their morphology. The promise of the field of self-reconfigurable modular robotics is to design robots that are robust, self-healing, versatile, multi-purpose, and inexpensive. Despite significant efforts by numerous research groups worldwide, the potential advantages of SRMRs have yet to be realized. A high number of degrees of freedom and connectors make SRMRs more versatile, but also more complex both in terms of mechanical design and control algorithms. Scalability issues affect these robots in terms of hardware, low-level control, and high-level planning. In this thesis we identify and target three major challenges: (i) Hardware design; (ii) Planning and control; and, (iii) Application challenges. To tackle the hardware challenges we redesigned and manufactured the Self-Reconfigurable Modular Robot Roombots to meet desired requirements and characteristics. We explored in detail and improved two major mechanical components of an SRMR: the actuation and the connection mechanisms. We also analyzed the use of compliant extensions to increase locomotion performance in terms of locomotion speed and power consumption. We contributed to the control challenge by developing new methods that allow an arbitrary SRMR structure to learn to locomote in an efficient way. We defined a novel bio-inspired locomotion-learning framework that allows the quick and reliable optimization of new gaits after a morphological change due to self-reconfiguration or human construction. In order to find new suitable application scenarios for SRMRs we envision the use of Roombots modules to create Self-Reconfigurable Robotic Furniture. As a first step towards this vision, we explored the use and control of Plug-n-Play Robotic Elements that can augment existing pieces of furniture and create new functionalities in a household to improve quality of life

Distance-based sensor node localization by using ultrasound, RSSI and ultra-wideband - A comparision between the techniques

Wireless sensor networks (WSNs) have become one of the most important topics in wireless communication during the last decade. In a wireless sensor system, sensors are spread over a region to build a sensor network and the sensors in a region co-operate to each other to sense, process, filter and routing. Sensor Positioning is a fundamental and crucial issue for sensor network operation and management. WSNs have so many applications in different areas such as health-care, monitoring and control, rescuing and military; they all depend on nodes being able to accurately determine their locations. This master’s thesis is focused on distance-based sensor node localization techniques; Received signal strength indicator, ultrasound and ultra-wideband. Characteristics and factors which affect these distance estimation techniques are analyzed theoretically and through simulation the quality of these techniques are compared in different scenarios. MDS, a centralized algorithm is used for solving the coordinates. It is a set of data analysis techniques that display the structure of distance-like data as a geometrical picture. Centralized and distributed implementations of MDS are also discussed. All simulations and computations in this thesis are done in Matlab. Virtual WSN is simulated on Sensorviz. Sensorviz is a simulation and visualization tool written by Andreas Savvides.fi=Opinnäytetyö kokotekstinä PDF-muodossa.|en=Thesis fulltext in PDF format.|sv=Lärdomsprov tillgängligt som fulltext i PDF-format

A Hierarchical, Fuzzy Inference Approach to Data Filtration and Feature Prioritization in the Connected Manufacturing Enterprise

The current big data landscape is one such that the technology and capability to capture and storage of data has preceded and outpaced the corresponding capability to analyze and interpret it. This has led naturally to the development of elegant and powerful algorithms for data mining, machine learning, and artificial intelligence to harness the potential of the big data environment. A competing reality, however, is that limitations exist in how and to what extent human beings can process complex information. The convergence of these realities is a tension between the technical sophistication or elegance of a solution and its transparency or interpretability by the human data scientist or decision maker. This dissertation, contextualized in the connected manufacturing enterprise, presents an original Fuzzy Approach to Feature Reduction and Prioritization (FAFRAP) approach that is designed to assist the data scientist in filtering and prioritizing data for inclusion in supervised machine learning models. A set of sequential filters reduces the initial set of independent variables, and a fuzzy inference system outputs a crisp numeric value associated with each feature to rank order and prioritize for inclusion in model training. Additionally, the fuzzy inference system outputs a descriptive label to assist in the interpretation of the feature’s usefulness with respect to the problem of interest. Model testing is performed using three publicly available datasets from an online machine learning data repository and later applied to a case study in electronic assembly manufacture. Consistency of model results is experimentally verified using Fisher’s Exact Test, and results of filtered models are compared to results obtained by the unfiltered sets of features using a proposed novel metric of performance-size ratio (PSR)

Implementation of Digital Twins for electrical energy conversion systems in selected case studies

Reference implementation of Digital Twins for electrical energy conversion systems is an important and open question in the industrial domain. Digital Twins can predict the future performance, behaviour, and maintenance needs of a complex system. Today the concept of Digital Twins is not only an emulation or simulation of the physical object along with its development history but also contains much information from the respective manufacturers and services. This paper presents the current state­of­the­art of Digital Twins in relation to some interesting novel applications from different fields of electrical engineering. The objective of the paper is to give an overview of the successful application of Digital Twins in electrical energy conversion systems, such as industrial robotics and wind turbines; to discuss trends in applications like electric vehicles; and to suggest new applications, such as telescopes. Special attention is paid to the possible application of Digital Twins in faults diagnostics and prognostics of electrical energy conversion systems. Successful implementation of Digital Twins in any electrical energy conversion system diagnostics and prognostics allows for low­cost maintenance, higher utilization of the individual devices and systems, as well as lower usage of material and human resources. A SWOT analysis was performed for Digital Twin applications in electrical energy conversion systems. The latter is a useful analysis technique that explores possibilities for new achievements or solutions to existing problems and makes decisions about the best path