In this paper, hierarchical control architecture for coordinated multi-robot systems (MRS) task decomposition is presented; based on a hybrid decentralized Partially Observable Semi-Markov Decision Processes (HDec-POSMDPs). In this architecture, robots can make their own decisions according to their locally collected data with limited communication between a robot team. In this proposed architecture, the global task is decomposed into multiple local sub-tasks using divide and conquer design, each task is described as a set of regular languages. MRS are modeled as a discrete event system and each robot is represented by a deterministic finite state automaton model. Direct Cross-Entropy (DICE) can be used for searching the space of the best frontier cells to solve the Dec-POSMDP and each sub-task is assigned to one or more robots to be executed. The proposed algorithm is implemented, tested and evaluated in the computer simulator. By using this architecture, the task execution time is minimized, the fire sources cluttered in an environment have been searched in an effective manner and the performance of MRS has been enhanced with respect to energy consumption and communication load; when they are used for exploring different environments as well as when they are used for detecting the sources of the fire and reporting about them.
{"title":"A Task Decomposition Using (HDec-POSMDPs) Approach for Multi-robot Exploration and Fire Searching","authors":"A. Elsefy","doi":"10.21535/IJRM.V7I1.1026","DOIUrl":"https://doi.org/10.21535/IJRM.V7I1.1026","url":null,"abstract":"In this paper, hierarchical control architecture for coordinated multi-robot systems (MRS) task decomposition is presented; based on a hybrid decentralized Partially Observable Semi-Markov Decision Processes (HDec-POSMDPs). In this architecture, robots can make their own decisions according to their locally collected data with limited communication between a robot team. In this proposed architecture, the global task is decomposed into multiple local sub-tasks using divide and conquer design, each task is described as a set of regular languages. MRS are modeled as a discrete event system and each robot is represented by a deterministic finite state automaton model. Direct Cross-Entropy (DICE) can be used for searching the space of the best frontier cells to solve the Dec-POSMDP and each sub-task is assigned to one or more robots to be executed. The proposed algorithm is implemented, tested and evaluated in the computer simulator. By using this architecture, the task execution time is minimized, the fire sources cluttered in an environment have been searched in an effective manner and the performance of MRS has been enhanced with respect to energy consumption and communication load; when they are used for exploring different environments as well as when they are used for detecting the sources of the fire and reporting about them.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":"7 1","pages":"22-30"},"PeriodicalIF":1.1,"publicationDate":"2020-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46354894","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In order to further reduce the incisions of laparoscopic surgery and the possibility of infection, the organic combination of single-incision laparoscopic surgery (SILS) and robotics has made the degree of minimally invasive surgery further improved. A new 5-DOF single-incision laparoscopic surgery robot was designed based on Axiomatic Design Theory, whose structure consisting of the movement mechanism, the endoscope and the position and pose adjustment mechanism. The robot parts are connected in series and parallel, allowing a pivotal motion of the endoscope in the center of the robot for realizing the incision. In order to achieve a performance optimization and a dynamic control of the single-incision laparoscopic surgical robot, the kinematics and dynamic modeling and dynamic stiffness analysis of the robot are especially important. The forward kinematics equation, inverse kinematics equation and Jacobian matrix of the SILS robot are derived based on D-H method and geometric method, and the kinematics numerical simulation is carried out by Matlab. The dynamic equation of the robot is derived by Kane method. Subsequently, a numerical simulation of the robot dynamics equation is performed, with its virtual prototype utilized to set the motion plan of the robot mechanism. After robot’s dynamic simulation, the numerical changes of the driving force and torque for each robot’s moving mechanism are obtained. The performed simulation results further verify the correctness of the established robot’s dynamic model. Finally, utilizing the above methods, the dynamic stiffness model and evaluation index of the robot are determined, and the dynamic stiffness of the robot is analyzed and evaluated. The results of the kinematics, dynamic and stiffness analysis of the SILS robot further validate that the 5-DOF SILS robot has a reasonable structure, motion and sufficient stability to meet the needs of single-incision laparoscopic surgery.
{"title":"Design, Kinematic, Dynamic and Stiffness Analysis of a 5-DOF Single-incision Laparoscopic Surgery Robot","authors":"Heqiang Tian","doi":"10.21535/IJRM.V7I1.1031","DOIUrl":"https://doi.org/10.21535/IJRM.V7I1.1031","url":null,"abstract":"In order to further reduce the incisions of laparoscopic surgery and the possibility of infection, the organic combination of single-incision laparoscopic surgery (SILS) and robotics has made the degree of minimally invasive surgery further improved. A new 5-DOF single-incision laparoscopic surgery robot was designed based on Axiomatic Design Theory, whose structure consisting of the movement mechanism, the endoscope and the position and pose adjustment mechanism. The robot parts are connected in series and parallel, allowing a pivotal motion of the endoscope in the center of the robot for realizing the incision. In order to achieve a performance optimization and a dynamic control of the single-incision laparoscopic surgical robot, the kinematics and dynamic modeling and dynamic stiffness analysis of the robot are especially important. The forward kinematics equation, inverse kinematics equation and Jacobian matrix of the SILS robot are derived based on D-H method and geometric method, and the kinematics numerical simulation is carried out by Matlab. The dynamic equation of the robot is derived by Kane method. Subsequently, a numerical simulation of the robot dynamics equation is performed, with its virtual prototype utilized to set the motion plan of the robot mechanism. After robot’s dynamic simulation, the numerical changes of the driving force and torque for each robot’s moving mechanism are obtained. The performed simulation results further verify the correctness of the established robot’s dynamic model. Finally, utilizing the above methods, the dynamic stiffness model and evaluation index of the robot are determined, and the dynamic stiffness of the robot is analyzed and evaluated. The results of the kinematics, dynamic and stiffness analysis of the SILS robot further validate that the 5-DOF SILS robot has a reasonable structure, motion and sufficient stability to meet the needs of single-incision laparoscopic surgery.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":"7 1","pages":"1-16"},"PeriodicalIF":1.1,"publicationDate":"2020-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44031919","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
With the successful introduction of advanced driver assistance systems, vehicles with driving automation technologies have begun to be released onto the market. Because the role of human drivers during automated driving may be different from the role of drivers with assistance systems, it is important to determine how general users consider such new technologies. The current study has attempted to consider driver trust, which plays a critical role in forming users’ technology acceptance. In a driving simulator experiment, the demographic information of 56 drivers (50% female, 64% student, and 53% daily driver) was analyzed with respect to Lee and Moray’s three dimensions of trust: purpose, process, and performance. The statistical results revealed that female drivers were more likely to rate higher levels of trust than males, and non-student drivers exhibited higher levels of trust than student drivers. However, no driving frequency-related difference was observed. The driver ratings of each trust dimension were neutral to moderate, but purpose-related trust was lower than process- and performance-related trust. Additionally, student drivers exhibited a tendency to distrust automation compared to non-student drivers. The findings present a potential perspective of driver acceptability of current automated vehicles.
{"title":"Effects of Demographic Characteristics on Trust in Driving Automation","authors":"Jieun Lee, G. Abe, Kenji Sato, M. Itoh","doi":"10.20965/jrm.2020.p0605","DOIUrl":"https://doi.org/10.20965/jrm.2020.p0605","url":null,"abstract":"With the successful introduction of advanced driver assistance systems, vehicles with driving automation technologies have begun to be released onto the market. Because the role of human drivers during automated driving may be different from the role of drivers with assistance systems, it is important to determine how general users consider such new technologies. The current study has attempted to consider driver trust, which plays a critical role in forming users’ technology acceptance. In a driving simulator experiment, the demographic information of 56 drivers (50% female, 64% student, and 53% daily driver) was analyzed with respect to Lee and Moray’s three dimensions of trust: purpose, process, and performance. The statistical results revealed that female drivers were more likely to rate higher levels of trust than males, and non-student drivers exhibited higher levels of trust than student drivers. However, no driving frequency-related difference was observed. The driver ratings of each trust dimension were neutral to moderate, but purpose-related trust was lower than process- and performance-related trust. Additionally, student drivers exhibited a tendency to distrust automation compared to non-student drivers. The findings present a potential perspective of driver acceptability of current automated vehicles.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":"32 1","pages":"605-612"},"PeriodicalIF":1.1,"publicationDate":"2020-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"68077533","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-01-01DOI: 10.3844/jmrsp.2020.96.115
Relly Victoria Petrescu
{"title":"Nanobotics","authors":"Relly Victoria Petrescu","doi":"10.3844/jmrsp.2020.96.115","DOIUrl":"https://doi.org/10.3844/jmrsp.2020.96.115","url":null,"abstract":"","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":"38 1","pages":""},"PeriodicalIF":1.1,"publicationDate":"2020-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84829403","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-01-01DOI: 10.3844/JMRSP.2020.74.84
Selorm Garfo, M. Muktadir, Sun Yi
This paper explores the automated detection of surface defects on 3-D printed products and concrete structures. They are the main factors to evaluate their quality in addition to dimension and roughness. Traditional detection by human inspectors is far from satisfactory. Manual inspection is time-consuming, error-prone and often leads to loss of resources. For this purpose, image processing and deep learning-based object detection adopted by Google Cloud Machine Learning (ML) Engine is used to detect surface defects. In the case of image processing, two approaches are presented in this paper. In both cases, pixels are being considered to differentiate a smooth or rough surface from a picture taken by a USB camera. For the deep learning- based solution, MobileNet -a base convolution neural network treated as an image feature extractor in combination with Single Shot MultiBox Detector (SSD) as an object detector hence MobileNet-SSD. The model was successfully trained on the Google Cloud ML Engine with the dataset of 20000+ images. The review of the results confirms that with the help of MobileNet-SSD can automatically detect surface defects more accurately and rapidly than conventional deep learning methods.
{"title":"Defect Detection on 3D Print Products and in Concrete Structures Using Image Processing and Convolution Neural Network","authors":"Selorm Garfo, M. Muktadir, Sun Yi","doi":"10.3844/JMRSP.2020.74.84","DOIUrl":"https://doi.org/10.3844/JMRSP.2020.74.84","url":null,"abstract":"This paper explores the automated detection of surface defects on 3-D printed products and concrete structures. They are the main factors to evaluate their quality in addition to dimension and roughness. Traditional detection by human inspectors is far from satisfactory. Manual inspection is time-consuming, error-prone and often leads to loss of resources. For this purpose, image processing and deep learning-based object detection adopted by Google Cloud Machine Learning (ML) Engine is used to detect surface defects. In the case of image processing, two approaches are presented in this paper. In both cases, pixels are being considered to differentiate a smooth or rough surface from a picture taken by a USB camera. For the deep learning- based solution, MobileNet -a base convolution neural network treated as an image feature extractor in combination with Single Shot MultiBox Detector (SSD) as an object detector hence MobileNet-SSD. The model was successfully trained on the Google Cloud ML Engine with the dataset of 20000+ images. The review of the results confirms that with the help of MobileNet-SSD can automatically detect surface defects more accurately and rapidly than conventional deep learning methods.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":"39 1","pages":""},"PeriodicalIF":1.1,"publicationDate":"2020-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90197479","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-01-01DOI: 10.3844/jmrsp.2020.113.135
Andualem Welabo, Gebremichael Tesfamariamr
In dealing with the trajectory tracking control of robotic manipulator many scholars have had to work in a sliding mode controller. However, SMC has two major limitations one is chattering the other is asymptotical convergence. The chattering problem occurs in traditional SMC due to the switching function of the discontinuous controller and the constant gain parameter of K. Though in this study a Fuzzy Gain Scheduling Terminal Sliding Mode (FGSTSM) controller with a hyperbolic tangent function instead of signum function, is proposed and applied for tracking control of the UR5 robot manipulator. Moreover, the mathematical model of the UR5 robot manipulator using the Newton-Euler algorithm was developed on Maple software of version Maple 18.2. Hence the trajectory tracking control of the UR5 robot manipulator simulation was conducted on MATLAB/SIMULINK of version Matlab R2016a. Then for simulation purposes, a curve (arc) was taken as the desired trajectory for the robot manipulator to track and finally the result is compared with the conventional SMC controller.
{"title":"Trajectory Tracking Control of UR5 Robot Manipulator Using Fuzzy Gain Scheduling Terminal Sliding Mode Controller","authors":"Andualem Welabo, Gebremichael Tesfamariamr","doi":"10.3844/jmrsp.2020.113.135","DOIUrl":"https://doi.org/10.3844/jmrsp.2020.113.135","url":null,"abstract":"In dealing with the trajectory tracking control of robotic manipulator many scholars have had to work in a sliding mode controller. However, SMC has two major limitations one is chattering the other is asymptotical convergence. The chattering problem occurs in traditional SMC due to the switching function of the discontinuous controller and the constant gain parameter of K. Though in this study a Fuzzy Gain Scheduling Terminal Sliding Mode (FGSTSM) controller with a hyperbolic tangent function instead of signum function, is proposed and applied for tracking control of the UR5 robot manipulator. Moreover, the mathematical model of the UR5 robot manipulator using the Newton-Euler algorithm was developed on Maple software of version Maple 18.2. Hence the trajectory tracking control of the UR5 robot manipulator simulation was conducted on MATLAB/SIMULINK of version Matlab R2016a. Then for simulation purposes, a curve (arc) was taken as the desired trajectory for the robot manipulator to track and finally the result is compared with the conventional SMC controller.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":"8 1","pages":""},"PeriodicalIF":1.1,"publicationDate":"2020-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87355298","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-10-28DOI: 10.1007/978-3-030-30036-4_26
Jhih-Yuan Huang, Wei-Po Lee, Bu-Wei Dong
{"title":"Learning Emotion Recognition and Response Generation for a Service Robot","authors":"Jhih-Yuan Huang, Wei-Po Lee, Bu-Wei Dong","doi":"10.1007/978-3-030-30036-4_26","DOIUrl":"https://doi.org/10.1007/978-3-030-30036-4_26","url":null,"abstract":"","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":"30 1","pages":""},"PeriodicalIF":1.1,"publicationDate":"2019-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86163556","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-10-28DOI: 10.1007/978-3-030-30036-4_43
J. Sandoval, M. Laribi, S. Zeghloul
{"title":"A Low-Cost 6-DoF Master Device for Robotic Teleoperation","authors":"J. Sandoval, M. Laribi, S. Zeghloul","doi":"10.1007/978-3-030-30036-4_43","DOIUrl":"https://doi.org/10.1007/978-3-030-30036-4_43","url":null,"abstract":"","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":"20 1","pages":""},"PeriodicalIF":1.1,"publicationDate":"2019-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72752932","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-10-28DOI: 10.1007/978-3-030-30036-4_3
Nguyen Vu Linh, C. Kuo
{"title":"Performance Evaluation of a Class of Gravity-Compensated Gear-Spring Planar Articulated Manipulators","authors":"Nguyen Vu Linh, C. Kuo","doi":"10.1007/978-3-030-30036-4_3","DOIUrl":"https://doi.org/10.1007/978-3-030-30036-4_3","url":null,"abstract":"","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":"72 1","pages":""},"PeriodicalIF":1.1,"publicationDate":"2019-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80207767","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-10-28DOI: 10.1007/978-3-030-30036-4_5
Wen-Tung Chang, D. Yang
{"title":"A Short Note on Equivalent Four-Bar Linkages of Direct-Contact Mechanisms","authors":"Wen-Tung Chang, D. Yang","doi":"10.1007/978-3-030-30036-4_5","DOIUrl":"https://doi.org/10.1007/978-3-030-30036-4_5","url":null,"abstract":"","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":"63 1","pages":""},"PeriodicalIF":1.1,"publicationDate":"2019-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80728106","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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