Int. J. Robotics Appl. Technol.最新文献

{"title":"Mission Design of Mobile Manipulators in Cluttered Environments for Service Applications","authors":"E. Xidias, P. Azariadis, N. Aspragathos","doi":"10.4018/IJRAT.2016010101","DOIUrl":"https://doi.org/10.4018/IJRAT.2016010101","url":null,"abstract":"The purpose of this paper is to present a mission design approach for a service mobile manipulator which is moving and manipulating objects in partly known indoor environments. The mobile manipulator is requested to pick up and place objects on predefined places (stations). The proposed approach is based on the Bump-Surface concept to represent robot's environment through a single mathematical entity. The solution of the mission design problem is searched on a higher dimension Bump-Surface in such a way that its inverse image into the actual robot environment satisfies the given objectives and constraints. The problem's objectives consist of determining the best feasible paths for both the mobile platform and for the manipulator's end-effector so that all the stations are served at the lowest possible cost. Simulation examples are presented to show the effectiveness of the presented approach.","PeriodicalId":249760,"journal":{"name":"Int. J. Robotics Appl. Technol.","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126351995","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}

{"title":"Awareness Based Recommendation: Passively Interactive Learning System","authors":"T. Yamaguchi, T. Nishimura, K. Takadama","doi":"10.4018/IJRAT.2016010105","DOIUrl":"https://doi.org/10.4018/IJRAT.2016010105","url":null,"abstract":"In Artificial Intelligence and Robotics, one of the important issues is to design Human interface. There are two issues, one is the machine-centered interaction design to adapt humans for operating the robots or systems. Another one is the human-centered interaction design to make it adaptable for humans. This research aims at latter issue. This paper presents the interactive learning system to assist positive change in the preference of a human toward the true preference, then evaluation of the awareness effect is discussed. The system behaves passively to reflect the human intelligence by visualizing the traces of his/her behaviors. Experimental results showed that subjects are divided into two groups, heavy users and light users, and that there are different effects between them under the same visualizing condition. They also showed that the authors’ system improves the efficiency for deciding the most preferred plan for both heavy users and light users. KeywoRdS Adaptable, Awareness, Heavy User, Human Interface, Interactive Learning, Light User, Preference, Recommendation, Reinforcement Learning","PeriodicalId":249760,"journal":{"name":"Int. J. Robotics Appl. Technol.","volume":"135 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121628007","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}

{"title":"Robust Adaptive Central Difference Particle Filter","authors":"Li Xue, Shesheng Gao, Y. Zhong, R. Jazar, A. Subic","doi":"10.4018/ijrat.2014010102","DOIUrl":"https://doi.org/10.4018/ijrat.2014010102","url":null,"abstract":"This paper presents a new robust adaptive central difference particle filtering method for nonlinear systems by combining the concept of robust adaptive estimation with the central difference particle filter. This method obtains system state estimate and covariances using the principle of robust estimation. Subsequently, the importance density is obtained by adjusting the state estimate and covariances through the equivalent weight function and adaptive factor constructed from predicted residuals to control the contributions to the new state estimation from measurement and kinematic model. The proposed method can not only minimize the variance of the importance density distribution to resist the disturbances of systematic noises, but it also fully takes advantage of present measurement information to avoid particle degeneration. Experiments and comparison analysis with the existing methods demonstrate the improved filtering accuracy of the proposed method.","PeriodicalId":249760,"journal":{"name":"Int. J. Robotics Appl. Technol.","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125094065","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}

{"title":"Professional and Personal Service Robots","authors":"T. Zielińska","doi":"10.4018/IJRAT.2016010104","DOIUrl":"https://doi.org/10.4018/IJRAT.2016010104","url":null,"abstract":"The short history of service robots with its precursors is presented. The definitions of service robot are discussed with some statistical data. The history of service robots summarizes the ancient period with robot precursors, the middle ages and the period of industrial revolution. The representative examples of different kinds of service robots built in the XX c. and XXI c. are given. The article is concluded focusing on the future trends.","PeriodicalId":249760,"journal":{"name":"Int. J. Robotics Appl. Technol.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128698267","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}

{"title":"Improving Productivity: A Review of Robotic Applications in Food Industry","authors":"Yudi Fernando, Anas Mathath, M. A. Murshid","doi":"10.4018/IJRAT.2016010103","DOIUrl":"https://doi.org/10.4018/IJRAT.2016010103","url":null,"abstract":"The role of robots is becoming substantial for industrial applications and business competitiveness. The purpose of this paper is to review robotic transformation concept and to investigate its business applications in the food industry. The robot transformation in food industry provided a robust support in raising business productivity, reduced cost and enhanced customer’s loyalty, besides the food safety and quality. Its service in production systems for material handling and packaging operations is inevitable. Despite the importance of robotics in improving productivity, small scale food companies are often reluctant to invest in robotization of their operations. Since it involves high initial investment, maintenance and costs associated with training skilled employees for programming of robotics. Mainly, two points have raised concerns in the discussion of this paper. First, the robot technology has been enhanced to deliver services for the large scale food companies. Meanwhile, the experiences gained in the food service sector which implement robots can replace the human touch. At the end of this review, several solutions are recommended to shed light on the applications of the robot in the food industry. KeywoRdS Applications, Food Industry, Productivity, Restaurants, Robot","PeriodicalId":249760,"journal":{"name":"Int. J. Robotics Appl. Technol.","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127518830","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}

{"title":"Development and Application of Molded Interconnect Devices","authors":"Liangyu Cui, Chengjuan Yang, Yanling Tian, Dawei Zhang","doi":"10.4018/ijrat.2014010101","DOIUrl":"https://doi.org/10.4018/ijrat.2014010101","url":null,"abstract":"With the improvements of electromechanical systems’ automation and intelligence, contradiction between the high integration, high performance and miniaturization, low cost has become the principal reason restricting the development of electromechanical system. The emergence of molded interconnection device (MID) technology provides a new way to resolve this contradiction. Integration of the mechanical and electrical functions in electromechanical system onto the same polymer molded base structure, replacement of the tradition printed circuit board (PCB), design and processing of 3D circuit system on polymer molded base structure surface distinguishes MID technology from others. MID technology can not only save space occupied by the electromechanical system and improve the system integration, but also can simplify the assembly process and lower the cost. In this study, present research and future development of MID technology were introduced first. Then the main technical problems involved in MID processing including the design method of MID, materials technology, equipment technology, surface mounted devices (SMD) assembly technique, and so on were analyzed systematically. Finally, using the ultrasonic micro embossing technology, a manufacturing method of polymer circuit board, radio frequency identification (RFID) antenna, microelectrode arrays, and some other polymer foil MID was proposed. Based on the in-depth analysis of polymer foil MID’s characteristics, polymer foil MID are expected to have a broad application in the field of microfluidic chip. Development and Application of Molded Interconnect Devices","PeriodicalId":249760,"journal":{"name":"Int. J. Robotics Appl. Technol.","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116538048","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}

{"title":"A Hybridization of Gravitational Search Algorithm and Particle Swarm Optimization for Odor Source Localization","authors":"Upma Jain, W. W. Godfrey, R. Tiwari","doi":"10.4018/IJRAT.2017010102","DOIUrl":"https://doi.org/10.4018/IJRAT.2017010102","url":null,"abstract":"This paper concerns with the problem of odor source localization by a team of mobile robots. The authors propose two methods for odor source localization which are largely inspired from gravitational search algorithm and particle swarm optimization. The intensity of odor across the plume area is assumed to follow the Gaussian distribution. As robots enter in the vicinity of plume area they form groups using K-nearest neighbor algorithm. The problem of local optima is handled through the use of search counter concept. The proposed approaches are tested and validated through simulation.","PeriodicalId":249760,"journal":{"name":"Int. J. Robotics Appl. Technol.","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126912184","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}

{"title":"Designing Autonomous Race Car Models for Learning Advanced Topics in Hard Real-Time System","authors":"E. Bagalini, M. Violante","doi":"10.4018/IJRAT.2015010101","DOIUrl":"https://doi.org/10.4018/IJRAT.2015010101","url":null,"abstract":"The purpose of this chapter is to illustrate the design challenge that teams of graduate students are facing, and the solutions they devised, to develop autonomous vehicles for the worldwide speed race competition known as The Freescale Cup. The purpose of the competition is to design the fastest car able to complete an unknown racetrack autonomously. The challenge posed by the competition is an ideal teaching ground for engineering students that can improve with a working experience the theoretical aspects learned in class in different fields such as hard-real-time system theory, control theory, model-based design theory, and computer vision theory. Besides the technical aspects, as cars are developed by teams of students, the competition is also supporting the development of soft skills (such as team work, and communication skills) that are not normally addressed by classical curricula. The results achieved after three years of participation suggest that this approach is very effective in improving the quality of engineering curricula","PeriodicalId":249760,"journal":{"name":"Int. J. Robotics Appl. Technol.","volume":"108 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127020595","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}

{"title":"Multi-Robot Navigation in Unknown Environment Using Strawberry Algorithm","authors":"B. Charan, A. Mittal, R. Tiwari","doi":"10.4018/IJRAT.2017010104","DOIUrl":"https://doi.org/10.4018/IJRAT.2017010104","url":null,"abstract":"Path Planning focuses on the robot motion from the initial position to final position such that it must avoid the hurdles and finally reach the goal in optimal path. But it is not an easy task because many conditions are included for the efficiency of final result like working on different environments, known or unknown target etc. In this paper the authors have proposed an algorithm inspired by the strawberry plants, and is applied in the path planning. The algorithm can efficiently work for different optimization parameters like Path Length, Energy and Number of Turns. The proposed algorithm is compared with RRT, A-star, PSO and the results obtained are satisfactory. The work can be applied in the real life challenges faced during area exploration","PeriodicalId":249760,"journal":{"name":"Int. J. Robotics Appl. Technol.","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129381160","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}

{"title":"Should We Program Robotic Emotions from the Gender Perspective?","authors":"M. G. Ordaz, Rocío Carrasco-Carrasco, F. Martínez-López","doi":"10.4018/ijrat.2013010101","DOIUrl":"https://doi.org/10.4018/ijrat.2013010101","url":null,"abstract":"Scientific research on robotic emotions has been increasingly developing for the last few years. It is presumed that in twenty five years’ time there will be robots with emotions capable of taking decisions. Therefore, it is important to determine if people should take into account gender when designing the development of this kind of robotic emotions. Moreover, the authors assume that nowadays there is no intelligence without emotions, which are the ones that ultimately help taking decisions. It is contended here that the emotional elements and features of human reasoning should be taken into account when designing the personality of robots. As has been shown in the last few years, the concept of gender is constructed by socio-cultural factors. Gender perspectives are increasingly being applied to different fields of knowledge. Indeed, and as recent feminist research has highlighted, technology is affected by gender relations. Technology in general has been traditionally considered as a sign of men’s power and masculinity defined in terms of technological capabilities. Nevertheless, current discourses have provided new definitions of technology, of gender identity and of what being human means. In the same way, definitions of gender also change with time, affected by technological developments. The present work aims at demonstrating that the gender perspective is indeed very useful when applied to the field of robotics. Specifically, and when dealing with complex decision-taking, it becomes necessary to analyse which managing activities women can better develop in order to apply them, together with other features, to the design of robotic emotions. The purpose is, then, to propose a robotic model that, after the inclusion of such emotional aspects, breaks with old constrained gender stereotypes and takes a rather liberating view. At the same time, such a proposal should enable researchers to get better results when creating robots capable of managing other robotic teams and taking complex decisions. In short, the authors seek to apply the gender perspective in the analysis of some emotional features to be taken into account before they are applied to the field of robotics. Should We Program Robotic Emotions from the Gender Perspective?","PeriodicalId":249760,"journal":{"name":"Int. J. Robotics Appl. Technol.","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133989712","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}