Networked Robots: from Telerobotics to Cloud Robotics
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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. -
Review of Advanced Medical Telerobots
applied sciences Review Review of Advanced Medical Telerobots Sarmad Mehrdad 1,†, Fei Liu 2,† , Minh Tu Pham 3 , Arnaud Lelevé 3,* and S. Farokh Atashzar 1,4,5 1 Department of Electrical and Computer Engineering, New York University (NYU), Brooklyn, NY 11201, USA; [email protected] (S.M.); [email protected] (S.F.A.) 2 Advanced Robotics and Controls Lab, University of San Diego, San Diego, CA 92110, USA; [email protected] 3 Ampère, INSA Lyon, CNRS (UMR5005), F69621 Villeurbanne, France; [email protected] 4 Department of Mechanical and Aerospace Engineering, New York University (NYU), Brooklyn, NY 11201, USA 5 NYU WIRELESS, Brooklyn, NY 11201, USA * Correspondence: [email protected]; Tel.: +33-0472-436035 † Mehrdad and Liu contributed equally to this work and share the first authorship. Abstract: The advent of telerobotic systems has revolutionized various aspects of the industry and human life. This technology is designed to augment human sensorimotor capabilities to extend them beyond natural competence. Classic examples are space and underwater applications when distance and access are the two major physical barriers to be combated with this technology. In modern examples, telerobotic systems have been used in several clinical applications, including teleoperated surgery and telerehabilitation. In this regard, there has been a significant amount of research and development due to the major benefits in terms of medical outcomes. Recently telerobotic systems are combined with advanced artificial intelligence modules to better share the agency with the operator and open new doors of medical automation. In this review paper, we have provided a comprehensive analysis of the literature considering various topologies of telerobotic systems in the medical domain while shedding light on different levels of autonomy for this technology, starting from direct control, going up to command-tracking autonomous telerobots. -
Synergy of Iot and AI in Modern Society: the Robotics and Automation Case
Case Report Robot Autom Eng J Volume 3 Issue 5 - September 2018 Copyright © All rights are reserved by Spyros G Tzafestas DOI: 10.19080/RAEJ.2018.03.555621 Synergy of IoT and AI in Modern Society: The Robotics and Automation Case Spyros G Tzafestas* National Technical University of Athens, Greece Submission: August 15, 2018; Published: September 12, 2018 *Corresponding author: Spyros G Tzafestas, National Technical University of Athens, Greece; Tel: + ; Email: Abstract The Internet of Things (IoT) is a recent revolution of the Internet which is increasingly adopted with great success in business, industry, the success in a large repertory of every-day applications with dominant one’s enterprise, transportation, robotics, industrial, and automation systemshealthcare, applications. economic, andOur otheraim in sectors this article of modern is to provide information a global society. discussion In particular, of the IoTmain supported issues concerning by artificial the intelligence synergy of enhances IoT and considerablyAI, including what is meant by the concept of ‘IoT-AI synergy’, illustrates the factors that drive the development of ‘IoT enabled by AI’, and summarizes the conceptscurrently ofrunning ‘Industrial and potentialIoT’ (IIoT), applications ‘Internet of of Robotic great value Things’ for (IoRT),the society. and ‘IndustrialStarting with Automation an overview IoT of (IAIoT). the IoT Then, and AI a numberfields, the of article case studies describes are outlined, Keywords: and, finally, some IoT/AI-aided robotics and industrial -
Panospheric Video for Robotic Telexploration
Panospheric Video for Robotic Telexploration John R. Murphy CMU-RI-TR-98-10 Submined in partial fulfiient of the requirements for the degree of Doctor of Philosophy in Robotics The Robotics Institute Cknegie Mellon University Pittsburgh, Pennsylvania 15213 May 1998 0 1998 by John R. Murphy. All rights reserved. This research was supported in part by NASA grant NAGW-117.5. The views and conclusions contained in this document are those of the author and should not be interpreted as representing the official policies, either expressed or implied, of NASA or the U.S. Government. Robotics Thesis Panospheric Video for Robotic Telexploration John Murphy Submitted in Partial Fulfillment of the Requirements for the Degree of Doctor of Philosophy in the field of Robotics ACC-. William L. Whittaka TheEis Cormittee Chair Date Matthew T. Mason- - Program Chir Y Date APPROVED: fL-4 36 JiiIff+? Pa Christian0 Rowst Date - Abstract Teleoperation using cameras and monitors fails to achieve the rich and natural perceptions available during direct hands-on operation. Optimally. a reniote telepresence reproduces visual sensations that enable equivalent understanding and interaction as direct operation. Through irnrnersive video acquisition and display. the situational awareness ola remote operator is brought closer lo that of direct operation. Early teleoperation research considered the value of wide tields of view. Howe~er. utilization of wide fields of view meant sacrificing resolution and presenting distorted imagery to the viewer. With recent advances in technology. these problems are no longer barriers to hyper-wide field of view video. Acquisition and display of video conveying the entire surroundings of a tclcoperated mobile robot requires innolwtion of hardware and software. -
The Robot Economy: Here It Comes
Noname manuscript No. (will be inserted by the editor) The Robot Economy: Here It Comes Miguel Arduengo · Luis Sentis Abstract Automation is not a new phenomenon, and ques- tions about its effects have long followed its advances. More than a half-century ago, US President Lyndon B. Johnson established a national commission to examine the impact of technology on the economy, declaring that automation “can be the ally of our prosperity if we will just look ahead”. In this paper, our premise is that we are at a technological in- flection point in which robots are developing the capacity to greatly increase their cognitive and physical capabilities, and thus raising questions on labor dynamics. With increas- ing levels of autonomy and human-robot interaction, intel- ligent robots could soon accomplish new human-like capa- bilities such as engaging into social activities. Therefore, an increase in automation and autonomy brings the question of robots directly participating in some economic activities as autonomous agents. In this paper, a technological frame- Fig. 1 Robots are rapidly developing capabilities that could one day work describing a robot economy is outlined and the chal- allow them to participate as autonomous agents in economic activities lenges it might represent in the current socio-economic sce- with the potential to change the current socio-economic scenario. Some nario are pondered. interesting examples of such activities could eventually involve engag- ing into agreements with human counterparts, the purchase of goods Keywords Intelligent robots · Robot economy · Cloud and services and the participation in highly unstructured production Robotics · IoRT · Blockchain processes. -
Multisensory Real-Time Space Telerobotics
MULTISENSORY REAL-TIME SPACE TELEROBOTICS. DEVELOPMENT AND ANALYSIS OF REAL-TIME TELEROBOTICS SYSTEMS FOR SPACE EXPLORATION 1 3 Marta Ferraz , Edmundo Ferreira2, Thomas Krueger 1European Space Agency, Human-Robot Interaction Lab, Netherlands, E-mail: [email protected] 2European Space Agency, Human-Robot Interaction Lab, Netherlands, E-mail: [email protected] 3European Space Agency, Human-Robot Interaction Lab, Netherlands, E-mail: [email protected] space environments. The rationale in support of this ABSTRACT later argument is the difficulties in achieving human We introduce a research project whose goal is the exploration - due to current technical limitations on development and analysis of real-time telerobotic spacecraft and EVA technology (i.e., spacesuits) [31]. control setups for space exploration in stationary orbit Another key goal of space telerobotics has been and from deep-space habitats. We suggest a new preparing direct human space exploration - approach to real-time space telerobotics - Multisensory terraforming planetary bodies in order to support Real-time Space Telerobotics - in order to improve human expedition and, ultimately, Earth-like life [34]. perceptual functions in operators and surpass sensorimotor perturbations caused by altered gravity Lately, there has been a strong investment on the conditions. We submit that telerobotic operations, in preparation of Crew Surface Telerobotics (CST) such conditions, can be improved by offering enhanced missions for space exploration - the crew remotely sources of sensory information to the operator: operates surface robots from a spacecraft or deep-space combined visual, auditory, chemical and habitats [10]. These missions include Moon, Mars and somatosensory stimuli. We will characterize and Near-Earth Asteroid exploration [4, 16, 34]. -
The Meteron Supvis-Justin Telerobotic Experiment and the Solex Proving Ground
See discussions, stats, and author profiles for this publication at: http://www.researchgate.net/publication/277268674 SIMULATING AN EXTRATERRESTRIAL ENVIRONMENT FOR ROBOTIC SPACE EXPLORATION: THE METERON SUPVIS-JUSTIN TELEROBOTIC EXPERIMENT AND THE SOLEX PROVING GROUND CONFERENCE PAPER · MAY 2015 READS 16 8 AUTHORS, INCLUDING: Neal Y. Lii Daniel Leidner German Aerospace Center (DLR) German Aerospace Center (DLR) 20 PUBLICATIONS 43 CITATIONS 10 PUBLICATIONS 28 CITATIONS SEE PROFILE SEE PROFILE Benedikt Pleintinger German Aerospace Center (DLR) 9 PUBLICATIONS 11 CITATIONS SEE PROFILE Available from: Neal Y. Lii Retrieved on: 24 September 2015 SIMULATING AN EXTRATERRESTRIAL ENVIRONMENT FOR ROBOTIC SPACE EXPLORATION: THE METERON SUPVIS-JUSTIN TELEROBOTIC EXPERIMENT AND THE SOLEX PROVING GROUND Neal Y. Lii1, Daniel Leidner1, Andre´ Schiele2, Peter Birkenkampf1, Ralph Bayer1, Benedikt Pleintinger1, Andreas Meissner1, and Andreas Balzer1 1Institute of Robotics and Mechatronics, German Aerospace Center (DLR), 82234 Wessling, Germany, Email: [email protected], [email protected] 2Telerobotics and Haptics Laboratory, ESA, 2201 AZ Noordwijk, The Netherlands, Email: [email protected] ABSTRACT This paper presents the on-going development for the Supvis-Justin experiment lead by DLR, together with ESA, planned for 2016. It is part of the ESA initiated Me- teron telerobotics experiment suite aimed to study differ- ent forms of telerobotics solutions for space applications. Supvis-Justin studies the user interface design, and super- vised autonomy aspects of telerobotics, as well as tele- operated tasks for a humanoid robot by teleoperating a dexterous robot on earth (located at DLR) from the Inter- national Space Station (ISS) with the use of a tablet PC. Figure 1. -
Consumer Cloud Robotics and the Fair Information Practice Principles
Consumer Cloud Robotics and the Fair Information Practice Principles ANDREW PROIA* DREW SIMSHAW ** & DR. KRIS HAUSER*** INTRODUCTION I. CLOUD ROBOTICS & TOMORROW’S DOMESTIC ROBOTS II. THE BACKBONE OF CONSUMER PRIVACY REGULATIONS AND BEST PRACTICES: THE FAIR INFORMATION PRACTICE PRINCIPLES A. A Look at the Fair Information Practice Principles B. The Consumer Privacy Bill of Rights 1. Scope 2. Individual Control 3. Transparency 4. Respect for Context 5. Security 6. Access and Accuracy 7. Focused Collection 8. Accountability C. The 2012 Federal Trade Commission Privacy Framework 1. Scope 2. Privacy By Design 3. Simplified Consumer Choice 4. Transparency III. WHEN THE FAIR INFORMATION PRACTICE PRINCIPLES MEET CLOUD ROBOTICS: PRIVACY IN A HOME OR DOMESTIC ENVIRONMENT A. The “Sensitivity” of Data Collected by Cloud-Enabled Robots in a Domestic Environment B. The Context of a Cloud-Enabled Robot Transaction: Data Collection, Use, and Retention Limitations C. Adequate Disclosures and Meaningful Choices Between a Cloud- Enabled Robot and the User 1. When Meaningful Choices are to be Provided 2. How Meaningful Choices are to be Provided D. Transparency & Privacy Notices E. Security F. Access & Accuracy G. Accountability IV. APPROACHING THE PRIVACY CHALLENGES INHERENT IN CONSUMER CLOUD ROBOTICS CONCLUSION PROIA, SIMSHAW & HAUSER CONSUMER CLOUD ROBOTICS & THE FIPPS INTRODUCTION At the 2011 Google I/O Conference, Google’s Ryan Hickman and Damon Kohler, and Willow Garage’s Ken Conley and Brian Gerkey, took the stage to give a rather intriguing presentation: -
A Study of Potential Applications of Automation and Robotics Technology in Construction, Maintenance and Operation of Highway Systems: a Final Report
A Study of Potential Applications of Automation and Robotics Technology in Construction, Maintenance and Operation of Highway Systems: A Final Report Ernest Kent Intelligent Systems Division U.S. DEPARTMENT OF COMMERCE Technology Administration National Institute of Standards and Technology Bldg. 220 Rm. B124 Gaithersburg, MD 20899 QC 100 .U56 NIST NO. 5667 1995 V.1 A Study of Potential Applications of Automation and Robotics Technology in Construction, Maintenance and Operation of Highway Systems: A Final Report Ernest Kent Intelligent Systems Division U.S. DEPARTMENT OF COMMERCE Technoiogy Administration Nationai Institute of Standards and Technology Bldg. 220 Rm. B124 Gaithersburg, MD 20899 June 1995 U.S. DEPARTMENT OF COMMERCE Ronaid H. Brown, Secretary TECHNOLOGY ADMiNISTRATION Mary L. Good, Under Secretary for Techrwlogy NATIONAL INSTITUTE OF STANDARDS AND TECHNOLOGY Arati Prabhakar, Director FINAL REPORT VOLUME: 1 To: FEDERAL HIGHWAY ADMINISTRATION Prepared by: NATIONAL INSTITUTE OF STANDARDS AND TECHNOLOGY Dr. Ernest Kent ' Vi \1 ;i ;4i V’jI’4 vP '’'. ^'^' .^. '-i'^- :'ii: ji I^.v • </ V; y :j 1,-'^ TABLE OF CONTENTS Volume: 1 ***This Volume*** Section Acknowledgments 1 Executive Summary 2 Overview of the Study 3 Summary of Results and Recommendations 4 White Papers on Selected Topics 5 Bibliographic Study 6 Volume: 2 Technology Proposals Submitted for Evaluation 7 CERF Cost/Benefits Analysis of Technology Proposals Measures of Merit 8 Volume: 3 1st Workshop Report: Industry Views and Requirements 9 2nd Workshop Report: Technical State of the Art 1 0 Volume: 4 Final Proposals for Potential Research Efforts 11 Abstract. The National Institute of Standards and Technology, at the request of the Federal Highway Administration, has conducted a study of potential appli- cations of automation and robotics technology in construction, maintenance, and operation of highway systems. -
The Ranger Telerobotic Shuttle Experiment: an On-Orbit Satellite Servicer
THE RANGER TELEROBOTIC SHUTTLE EXPERIMENT: AN ON-ORBIT SATELLITE SERVICER Joseph C. Parrish NASA Headquarters Office of Space Science, Advanced Technologies & Mission Studies Division Mail Code SM, Washington, DC, 20546-0001, U.S.A. phone: +1 301 405 0291, fax: +1 209 391 9785, e-mail: [email protected] Abstract 1 Introduction As space operations enter the 21st century, the role The Ranger Telerobotic Shuttle Experiment (RTSX) of robotic satellite servicing systems will increase dra- is a Space Shuttle-based flight experiment to demon- matically. Several such systems are currently in de- strate key telerobotic technologies for servicing as- velopment for use on the International Space Sta- sets in Earth orbit. The flight system will be tele- tion, including the Canadian Mobile Servicing Sys- operated from onboard the Space Shuttle and from a tem (MSS)[2] and the Japanese Experiment Module ground control station at the NASA Johnson Space Remote Manipulator System (JEM-RMS). Another Center. The robot, along with supporting equipment Japanese system, the Experimental Test System VII and task elements, will be located in the Shuttle pay- (ETS-VII) [I],has already demonstrated the ability for load bay. A number of relevant servicing operations rendezvous and docking, followed by ORU manipula- will be performed-including extravehicular activity tion under supervisory control. Under development by (EVA) worksite setup, orbit replaceable unit (ORU) the United States, the Ranger Telerobotic Shuttle Ex- exchange, and other dexterous tasks. The program periment (RTSX)[3] is progressing toward its mission is underway toward an anticipated launch date in on the NASA Space Shuttle to demonstrate telerobotic CY2001, and the hardware and software for the flight servicing of orbital assets. -
Teleoperation of a 7 DOF Humanoid Robot Arm Using Human Arm Accelerations and EMG Signals
Teleoperation of a 7 DOF Humanoid Robot Arm Using Human Arm Accelerations and EMG Signals J. Leitner, M. Luciw, A. Forster,¨ J. Schmidhuber Dalle Molle Institute for Artificial Intelligence (IDSIA) & Scuola universitaria professionale della Svizzera Italiana (SUPSI) & Universita` della Svizzera italiana (USI), Switzerland e-mail: [email protected] Abstract 2 Background and Related Work We present our work on tele-operating a complex hu- The presented research combines a variety of subsys- manoid robot with the help of bio-signals collected from tems together to allow the safe and robust teleoperation of the operator. The frameworks (for robot vision, collision a complex humanoid robot. For the experiments herein, avoidance and machine learning), developed in our lab, we are using computer vision, together with accelerom- allow for a safe interaction with the environment, when eters and EMG signals collected on the operator’s arm combined. This even works with noisy control signals, to remotely control the 7 degree-of-freedom (DOF) robot such as, the operator’s hand acceleration and their elec- arm – and the 5 fingered end-effector – during reaching tromyography (EMG) signals. These bio-signals are used and grasping tasks. to execute equivalent actions (such as, reaching and grasp- ing of objects) on the 7 DOF arm. 2.1 Robotic Teleoperation Telerobotics usually refers to the remote control of 1 Introduction robotic systems over a (wireless) link. First use of tele- robotics dates back to the first robotic space probes used More and more robots are sent to distant or dangerous during the 20-th century. Remote manipulators are nowa- environments to perform a variety of tasks. -
Benchmarks for Cloud Robotics by Arjun Kumar Singh a Dissertation
Benchmarks for Cloud Robotics by Arjun Kumar Singh A dissertation submitted in partial satisfaction of the requirements for the degree of Doctor of Philosophy in Computer Science in the Graduate Division of the University of California, Berkeley Committee in charge: Professor Pieter Abbeel, Chair Professor Ken Goldberg Professor Bruno Olshausen Summer 2016 Benchmarks for Cloud Robotics Copyright 2016 by Arjun Kumar Singh 1 Abstract Benchmarks for Cloud Robotics by Arjun Kumar Singh Doctor of Philosophy in Computer Science University of California, Berkeley Professor Pieter Abbeel, Chair Several areas of computer science, including computer vision and natural language processing, have witnessed rapid advances in performance, due in part to shared datasets and benchmarks. In a robotics setting, benchmarking is challenging due to the amount of variation in common applications: researchers can use different robots, different objects, different algorithms, different tasks, and different environments. Cloud robotics, in which a robot accesses computation and data over a network, may help address the challenge of benchmarking in robotics. By standardizing the interfaces in which robotic systems access and store data, we can define a common set of tasks and compare the performance of various systems. In this dissertation, we examine two problem settings that are well served by cloud robotics. We also discuss two datasets that facilitate benchmarking of several problems in robotics. Finally, we discuss a framework for defining and using cloud-based robotic services. The first problem setting is object instance recognition. We present an instance recognition system which uses a library of high-fidelity object models of textured household objects. The system can handle occlusions, illumination changes, multiple objects, and multiple instances of the same object.