Supporting Mobile Swarm Robotics in Low Power and Lossy Sensor Networks 1 Introduction
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Designing transparent display experience through the use of kinetic interaction A Master’s Thesis by Interaction Design Master’s Programme Rafael Rybczyński School of Arts and Communication (K3) Malmö University, Sweden August 2017 MSwedenugust 2017 Designing transparent display experience through the use of kinetic interaction Interaction Design Master’s Programme School of Arts and Communication (K3) Malmö University, Sweden August 2017 Author: Rafael Rybczyński Supervisor: Susan Kozel Examiner: Clint Heyer Thesis Project I 15 credits 2017 Acknowledgements Over the lengths of this thesis project I have received support and encouragement from a many people. First of all, I would like to thank my supervisor Susan Kozel for advising me to trust my own instinct. Moreover I would like humbly to thank all the participants without whom this project would not have been possible. Also humbly I thank Alvar, Sanna, and Susanne for shelter and feedback. For proofreading my thanks goes to Jan Felix Rybczyński and Sanna Minkkinen. Finally, my deepest gratitude is reserved to my father Dr. med. Jerzy Antoni Rybczyński. Rest in peace. I would have wished for you reading this paper. Author’s notes Often during the process of doing this study I was asked why transparent displays. What’s the point? Probably I would say this goes way back to my childhood when enjoying my father reading novel stories to us as good night stories. A good example of great stories was Scheerbart’s utopian architectural vision The Gray Cloth who told about the great Swiss architect who traveled by an airship. Wherever he went, he designed buildings made from brightly colored glass, including the roof. -
AI, Robots, and Swarms: Issues, Questions, and Recommended Studies
AI, Robots, and Swarms Issues, Questions, and Recommended Studies Andrew Ilachinski January 2017 Approved for Public Release; Distribution Unlimited. This document contains the best opinion of CNA at the time of issue. It does not necessarily represent the opinion of the sponsor. Distribution Approved for Public Release; Distribution Unlimited. Specific authority: N00014-11-D-0323. Copies of this document can be obtained through the Defense Technical Information Center at www.dtic.mil or contact CNA Document Control and Distribution Section at 703-824-2123. Photography Credits: http://www.darpa.mil/DDM_Gallery/Small_Gremlins_Web.jpg; http://4810-presscdn-0-38.pagely.netdna-cdn.com/wp-content/uploads/2015/01/ Robotics.jpg; http://i.kinja-img.com/gawker-edia/image/upload/18kxb5jw3e01ujpg.jpg Approved by: January 2017 Dr. David A. Broyles Special Activities and Innovation Operations Evaluation Group Copyright © 2017 CNA Abstract The military is on the cusp of a major technological revolution, in which warfare is conducted by unmanned and increasingly autonomous weapon systems. However, unlike the last “sea change,” during the Cold War, when advanced technologies were developed primarily by the Department of Defense (DoD), the key technology enablers today are being developed mostly in the commercial world. This study looks at the state-of-the-art of AI, machine-learning, and robot technologies, and their potential future military implications for autonomous (and semi-autonomous) weapon systems. While no one can predict how AI will evolve or predict its impact on the development of military autonomous systems, it is possible to anticipate many of the conceptual, technical, and operational challenges that DoD will face as it increasingly turns to AI-based technologies. -
Openfog Reference Architecture for Fog Computing
OpenFog Reference Architecture for Fog Computing Produced by the OpenFog Consortium Architecture Working Group www.OpenFogConsortium.org February 2017 1 OPFRA001.020817 © OpenFog Consortium. All rights reserved. Use of this Document Copyright © 2017 OpenFog Consortium. All rights reserved. Published in the USA. Published February 2017. This is an OpenFog Consortium document and is to be used in accordance with the terms and conditions set forth below. The information contained in this document is subject to change without notice. The information in this publication was developed under the OpenFog Consortium Intellectual Property Rights policy and is provided as is. OpenFog Consortium makes no representations or warranties of any kind with respect to the information in this publication, and specifically disclaims implied warranties of fitness for a particular purpose. This document contains content that is protected by copyright. Copying or distributing the content from this document without permission is prohibited. OpenFog Consortium and the OpenFog Consortium logo are registered trademarks of OpenFog Consortium in the United States and other countries. All other trademarks used herein are the property of their respective owners. Acknowledgements The OpenFog Reference Architecture is the product of the OpenFog Architecture Workgroup, co-chaired by Charles Byers (Cisco) and Robert Swanson (Intel). It represents the collaborative work of the global membership of the OpenFog Consortium. We wish to thank these organizations for contributing -
Swarm Robotics Applications Using Argos and Mavproxy |
WHITE PAPER Autonomous Swarms in Active Services Abstract Robotics has evolved across multiple industry segments, from manufacturing to advanced technology, surveillance, and disaster management. Typically, robotics-driven processes are characterized by a set of pre-defined requirements and operations, carried out by individual robots (bots), and performed at an accelerated pace. However, collective decision making by autonomous intelligent robots, leveraging the concepts of machine learning and artificial intelligence (AI), is becoming increasingly important for agile operations. Technological advances have helped realize swarm operations, in which autonomous bots work in a coordinated manner to effectively execute tasks. In this paper, we propose the approach, design, and implementation of a robot swarm ecosystem that enables: n Active servicing: Collective decision making and execution to solve problems n Collaboration: Automated swarm response to priority services, without external directives n Automaticity: Leveraging blockchain for real- time processing of services being advertised as well as exchange of information WHITE PAPER Autonomous Swarms: Current Trends and Challenges The robotics landscape is rapidly evolving, with bots already being deployed for enterprise operations, commercial purposes, home automation and industrial applications. Robot swarms are being leveraged across segments including retail, travel, healthcare, manufacturing and semiconductors, for a variety of use cases. These swarms are being enabled with the autonomy to operate independently once a preset task or a passive service is assigned, leading to an evolved ecosystem of autonomous nodes or swarms. However, autonomous nodes/swarms executing passive services have two specific failure points. One is central management and the other is a non-configurable preset task. De-centralized management is a viable option, but it only scales down the risk and does not eliminate the point of failure. -
Smart Dust Technology
250, Mini-Project Report Amy Haas Smart Dust Technology Smart dust is an emerging technology with a huge potential for becoming an internationally successful commercial venture. Now is the best time to invest in smart dust – right at the point at which the scientific community is close to perfecting the technology and its applications but its potential has not yet been realized by the capitalist market. Fundamental Concept Smart dust is a theoretical concept of a tiny wireless sensor network, made up of microelectromechanical sensors (called MEMS), robots, or devices, usually referred to as motes, that have self-contained sensing, computation, communication and power1. According to the smart dust project design created by a team of UC Berkeley researchers2, within each of these motes is an integrated package of “MEMS sensors, a semiconductor laser diode and MEMS beam-steering mirror for active optical transmission, a MEMS corner-cube retroreflector for passive optical transmission, an optical receiver, signalprocessing and control circuitry, and a power source based on thick-film batteries and solar cells.” The intent is that these motes will eventually become the size of a grain of sand or a dust particle, hence the name “smart dust”, but the technology still has a long way to go to achieve its target size. In current sensor technology, the sensors are about the size of a bottle cap or small coin. As with most electronic devices or technologies, the biggest challenges in achieving actual smart dust are the power consumption issues and making the batteries small enough. Although there is a lot of work being done on solar cells to keep the motes self-sustaining, the components are just not small enough yet to actually be considered smart dust. -
Real-Time Kinematics Coordinated Swarm Robotics for Construction 3D Printing
1 Real-time Kinematics Coordinated Swarm Robotics for Construction 3D Printing Darren Wang and Robert Zhu, John Jay High School Abstract Architectural advancements in housing are limited by traditional construction techniques. Construction 3D printing introduces freedom in design that can lead to drastic improvements in building quality, resource efficiency, and cost. Designs for current construction 3D printers have limited build volume and at the scale needed for printing houses, transportation and setup become issues. We propose a swarm robotics-based construction 3D printing system that bypasses all these issues. A central computer will coordinate the movement and actions of a swarm of robots which are each capable of extruding concrete in a programmable path and navigating on both the ground and the structure. The central computer will create paths for each robot to follow by processing the G-code obtained from slicing a CAD model of the intended structure. The robots will use readings from real-time kinematics (RTK) modules to keep themselves on their designated paths. Our goal for this semester is to create a single functioning unit of the swarm and to develop a system for coordinating its movement and actions. Problem Traditional concrete construction is costly, has substantial environmental impact, and limits freedom in design. In traditional concrete construction, workers use special molds called forms to shape concrete. Over a third of the construction cost of a concrete house stems from the formwork alone. Concrete manufacturing and construction are responsible for 6% – 8% of CO2 emissions as well as 10% of energy usage in the world. Many buildings use more concrete than necessary, and this stems from the fact that formwork construction requires walls, floors, and beams to be solid. -
Robot Based Home Automation
International Journal of Recent Technology and Engineering (IJRTE) ISSN: 2277-3878, Volume-8, Issue-1S4, June 2019 Robot based Home Automation L. Nikhil Manikanta, M. Pushpavalli, P. Saikumar, P. Sivagami, M. Vikram Reddy, P. Abirami Abstract--- Robot Based Home Automation, nowadays in the information for the security outside the home for potential society we cannot trust anyone compared to systems and robots. threats and smart control of things like main gates, garage By trusting robots and the internet of things is much more than and also scanning the person through facial recognition human beings. When it comes to our home, the concept is to outside the home [4]. The setup also contains the solar make it smarter, safer and automatic and with the security of a robot. This project looks on building smart wireless and robotic panels for lighting purpose in the garden at the night. There security system which sends second to second information to is a waterproof fire sensor for when the fire appears owners and that too stored in the cloud by using the internet of accidental in the home automatically it detects and sprinkler things in case of any raises an alarm. Home automation by will on and water will appear inside the home. Gas sensor making some set of sensors. Internet of things is growing more by also used in the kitchen due to detection of leakage of day by day. Internet of Things is a system that uses computers cooking gas and it gives the alarm. For old age people, the and mobile devices to control home functions through the internet from anywhere in the world. -
Interactive Robots in Experimental Biology 3 4 5 6 Jens Krause1,2, Alan F.T
1 2 Interactive Robots in Experimental Biology 3 4 5 6 Jens Krause1,2, Alan F.T. Winfield3 & Jean-Louis Deneubourg4 7 8 9 10 11 12 1Leibniz-Institute of Freshwater Ecology and Inland Fisheries, Department of Biology and 13 Ecology of Fishes, 12587 Berlin, Germany; 14 2Humboldt-University of Berlin, Department for Crop and Animal Sciences, Philippstrasse 15 13, 10115 Berlin, Germany; 16 3Bristol Robotics Laboratory, University of the West of England, Coldharbour Lane, Bristol 17 BS16 1QY, UK; 18 4Unit of Social Ecology, Campus Plaine - CP 231, Université libre de Bruxelles, Bd du 19 Triomphe, B-1050 Brussels - Belgium 20 21 22 23 24 25 26 27 28 Corresponding author: Krause, J. ([email protected]), Leibniz Institute of Freshwater 29 Ecology and Inland Fisheries, Department of the Biology and Ecology of Fishes, 30 Müggelseedamm 310, 12587 Berlin, Germany. 31 32 33 1 33 Interactive robots have the potential to revolutionise the study of social behaviour because 34 they provide a number of methodological advances. In interactions with live animals the 35 behaviour of robots can be standardised, morphology and behaviour can be decoupled (so that 36 different morphologies and behavioural strategies can be combined), behaviour can be 37 manipulated in complex interaction sequences and models of behaviour can be embodied by 38 the robot and thereby be tested. Furthermore, robots can be used as demonstrators in 39 experiments on social learning. The opportunities that robots create for new experimental 40 approaches have far-reaching consequences for research in fields such as mate choice, 41 cooperation, social learning, personality studies and collective behaviour. -
A Literature Review on New Robotics: Automation from Love to War
A literature review on new robotics : automation from love to war Citation for published version (APA): Royakkers, L. M. M., & Est, van, Q. C. (2015). A literature review on new robotics : automation from love to war. International Journal of Social Robotics, 7(5), 549-570. https://doi.org/10.1007/s12369-015-0295-x DOI: 10.1007/s12369-015-0295-x Document status and date: Published: 01/11/2015 Document Version: Publisher’s PDF, also known as Version of Record (includes final page, issue and volume numbers) Please check the document version of this publication: • A submitted manuscript is the version of the article upon submission and before peer-review. There can be important differences between the submitted version and the official published version of record. People interested in the research are advised to contact the author for the final version of the publication, or visit the DOI to the publisher's website. • The final author version and the galley proof are versions of the publication after peer review. • The final published version features the final layout of the paper including the volume, issue and page numbers. Link to publication General rights Copyright and moral rights for the publications made accessible in the public portal are retained by the authors and/or other copyright owners and it is a condition of accessing publications that users recognise and abide by the legal requirements associated with these rights. • Users may download and print one copy of any publication from the public portal for the purpose of private study or research. • You may not further distribute the material or use it for any profit-making activity or commercial gain • You may freely distribute the URL identifying the publication in the public portal. -
Special Feature on Advanced Mobile Robotics
applied sciences Editorial Special Feature on Advanced Mobile Robotics DaeEun Kim School of Electrical and Electronic Engineering, Yonsei University, Shinchon, Seoul 03722, Korea; [email protected] Received: 29 October 2019; Accepted: 31 October 2019; Published: 4 November 2019 1. Introduction Mobile robots and their applications are involved with many research fields including electrical engineering, mechanical engineering, computer science, artificial intelligence and cognitive science. Mobile robots are widely used for transportation, surveillance, inspection, interaction with human, medical system and entertainment. This Special Issue handles recent development of mobile robots and their research, and it will help find or enhance the principle of robotics and practical applications in real world. The Special Issue is intended to be a collection of multidisciplinary work in the field of mobile robotics. Various approaches and integrative contributions are introduced through this Special Issue. Motion control of mobile robots, aerial robots/vehicles, robot navigation, localization and mapping, robot vision and 3D sensing, networked robots, swarm robotics, biologically-inspired robotics, learning and adaptation in robotics, human-robot interaction and control systems for industrial robots are covered. 2. Advanced Mobile Robotics This Special Issue includes a variety of research fields related to mobile robotics. Initially, multi-agent robots or multi-robots are introduced. It covers cooperation of multi-agent robots or formation control. Trajectory planning methods and applications are listed. Robot navigations have been studied as classical robot application. Autonomous navigation examples are demonstrated. Then services robots are introduced as human-robot interaction. Furthermore, unmanned aerial vehicles (UAVs) or autonomous underwater vehicles (AUVs) are shown for autonomous navigation or map building. -
Swarm Robotics”
applied sciences Editorial Editorial: Special Issue “Swarm Robotics” Giandomenico Spezzano Institute for High Performance Computing and Networking (ICAR), National Research Council of Italy (CNR), Via Pietro Bucci, 8-9C, 87036 Rende (CS), Italy; [email protected] Received: 1 April 2019; Accepted: 2 April 2019; Published: 9 April 2019 Swarm robotics is the study of how to coordinate large groups of relatively simple robots through the use of local rules so that a desired collective behavior emerges from their interaction. The group behavior emerging in the swarms takes its inspiration from societies of insects that can perform tasks that are beyond the capabilities of the individuals. The swarm robotics inspired from nature is a combination of swarm intelligence and robotics [1], which shows a great potential in several aspects. The activities of social insects are often based on a self-organizing process that relies on the combination of the following four basic rules: Positive feedback, negative feedback, randomness, and multiple interactions [2,3]. Collectively working robot teams can solve a problem more efficiently than a single robot while also providing robustness and flexibility to the group. The swarm robotics model is a key component of a cooperative algorithm that controls the behaviors and interactions of all individuals. In the model, the robots in the swarm should have some basic functions, such as sensing, communicating, motioning, and satisfy the following properties: 1. Autonomy—individuals that create the swarm-robotic system are autonomous robots. They are independent and can interact with each other and the environment. 2. Large number—they are in large number so they can cooperate with each other. -
Building 3D-Structures with an Intelligent Robot Swarm
BUILDING 3D-STRUCTURES WITH AN INTELLIGENT ROBOT SWARM A Dissertation Presented to the Faculty of the Graduate School of Cornell University in Partial Fulfillment of the Requirements for the Degree of Master of Science by Yiwen Hua May 2018 c 2018 Yiwen Hua ALL RIGHTS RESERVED BUILDING 3D-STRUCTURES WITH AN INTELLIGENT ROBOT SWARM Yiwen Hua, M.S. Cornell University 2018 This research is an extension to the TERMES system, a decentralized au- tonomous construction team composed of swarm robots building 2.5D struc- tures1, with custom-designed bricks. The work in this thesis concerns 1) im- proved mechanical design of the robots, 2) addition of heterogeneous building material, and 3) an extended algorithmic framework to use this material. In or- der to lower system cost and maintenance, the TERMES robot is redesigned for manufacturing in low-end 3D printers and the new drive train, including motor adapters and pulleys, is based on 3D printed components instead of machined aluminum. The work further extends the original system by enabling construc- tion of 3D structures without added hardware complexity in the robots. To do this, we introduce a reusable, spring-loaded expandable brick which can be eas- ily manufactured through one-step casting and which complies with the origi- nal robots and bricks. This thesis also introduces a decentralized construction algorithm that permits an arbitrary number of robots to build overhangs over convex cavities. To enable timely completion of large-scale structures, we also introduce a method by which to optimize the transition probabilities used by the robots to traverse the structure.