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dynamic robots</title> <meta name="description" content="Search results for: inner-most dynamic robots"> <meta name="keywords" content="inner-most dynamic robots"> <meta name="viewport" content="width=device-width, initial-scale=1, minimum-scale=1, maximum-scale=1, user-scalable=no"> <meta charset="utf-8"> <link href="https://cdn.waset.org/favicon.ico" type="image/x-icon" rel="shortcut icon"> <link href="https://cdn.waset.org/static/plugins/bootstrap-4.2.1/css/bootstrap.min.css" rel="stylesheet"> <link href="https://cdn.waset.org/static/plugins/fontawesome/css/all.min.css" rel="stylesheet"> <link href="https://cdn.waset.org/static/css/site.css?v=150220211555" rel="stylesheet"> </head> <body> <header> <div class="container"> <nav class="navbar navbar-expand-lg navbar-light"> <a class="navbar-brand" href="https://waset.org"> <img src="https://cdn.waset.org/static/images/wasetc.png" alt="Open Science Research Excellence" title="Open Science Research Excellence" /> </a> <button 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action="https://publications.waset.org/abstracts/search"> <div id="custom-search-input"> <div class="input-group"> <i class="fas fa-search"></i> <input type="text" class="search-query" name="q" placeholder="Author, Title, Abstract, Keywords" value="inner-most dynamic robots"> <input type="submit" class="btn_search" value="Search"> </div> </div> </form> </div> </div> <div class="row mt-3"> <div class="col-sm-3"> <div class="card"> <div class="card-body"><strong>Commenced</strong> in January 2007</div> </div> </div> <div class="col-sm-3"> <div class="card"> <div class="card-body"><strong>Frequency:</strong> Monthly</div> </div> </div> <div class="col-sm-3"> <div class="card"> <div class="card-body"><strong>Edition:</strong> International</div> </div> </div> <div class="col-sm-3"> <div class="card"> <div class="card-body"><strong>Paper Count:</strong> 4205</div> </div> </div> </div> <h1 class="mt-3 mb-3 text-center" style="font-size:1.6rem;">Search results for: inner-most dynamic robots</h1> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4205</span> Cooperative Robot Application in a Never Explored or an Abandoned Sub-Surface Mine</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Michael%20K.%20O.%20Ayomoh">Michael K. O. Ayomoh</a>, <a href="https://publications.waset.org/abstracts/search?q=Oyindamola%20A.%20Omotuyi"> Oyindamola A. Omotuyi</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Autonomous mobile robots deployed to explore or operate in a never explored or an abandoned sub-surface mine requires extreme effectiveness in coordination and communication. In a bid to transmit information from the depth of the mine to the external surface in real-time and amidst diverse physical, chemical and virtual impediments, the concept of unified cooperative robots is seen to be a proficient approach. This paper presents an effective [human → robot → task] coordination framework for effective exploration of an abandoned underground mine. The problem addressed in this research is basically the development of a globalized optimization model premised on time series differentiation and geometrical configurations for effective positioning of the two classes of robots in the cooperation namely the outermost stationary master (OSM) robots and the innermost dynamic task (IDT) robots for effective bi-directional signal transmission. In addition, the synchronization of a vision system and wireless communication system for both categories of robots, fiber optics system for the OSM robots in cases of highly sloppy or vertical mine channels and an autonomous battery recharging capability for the IDT robots further enhanced the proposed concept. The OSM robots are the master robots which are positioned at strategic locations starting from the mine open surface down to its base using a fiber-optic cable or a wireless communication medium all subject to the identified mine geometrical configuration. The OSM robots are usually stationary and function by coordinating the transmission of signals from the IDT robots at the base of the mine to the surface and in a reverse order based on human decisions at the surface control station. The proposed scheme also presents an optimized number of robots required to form the cooperation in a bid to reduce overall operational cost and system complexity. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=sub-surface%20mine" title="sub-surface mine">sub-surface mine</a>, <a href="https://publications.waset.org/abstracts/search?q=wireless%20communication" title=" wireless communication"> wireless communication</a>, <a href="https://publications.waset.org/abstracts/search?q=outermost%20stationary%20master%20robots" title=" outermost stationary master robots"> outermost stationary master robots</a>, <a href="https://publications.waset.org/abstracts/search?q=inner-most%20dynamic%20robots" title=" inner-most dynamic robots"> inner-most dynamic robots</a>, <a href="https://publications.waset.org/abstracts/search?q=fiber%20optic" title=" fiber optic"> fiber optic</a> </p> <a href="https://publications.waset.org/abstracts/82955/cooperative-robot-application-in-a-never-explored-or-an-abandoned-sub-surface-mine" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/82955.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">213</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4204</span> A New Center of Motion in Cabling Robots</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Alireza%20Abbasi%20Moshaii">Alireza Abbasi Moshaii</a>, <a href="https://publications.waset.org/abstracts/search?q=Farshid%20Najafi"> Farshid Najafi</a> </p> <p class="card-text"><strong>Abstract:</strong></p> In this paper a new model for centre of motion creating is proposed. This new method uses cables. So, it is very useful in robots because it is light and has easy assembling process. In the robots which need to be in touch with some things this method is very good. It will be described in the following. The accuracy of the idea is proved by an experiment. This system could be used in the robots which need a fixed point in the contact with some things and make a circular motion. Such as dancer, physician or repair robots. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=centre%20of%20motion" title="centre of motion">centre of motion</a>, <a href="https://publications.waset.org/abstracts/search?q=robotic%20cables" title=" robotic cables"> robotic cables</a>, <a href="https://publications.waset.org/abstracts/search?q=permanent%20touching" title=" permanent touching"> permanent touching</a>, <a href="https://publications.waset.org/abstracts/search?q=mechatronics%20engineering" title=" mechatronics engineering"> mechatronics engineering</a> </p> <a href="https://publications.waset.org/abstracts/24087/a-new-center-of-motion-in-cabling-robots" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/24087.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">442</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4203</span> Q-Learning of Bee-Like Robots Through Obstacle Avoidance</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Jawairia%20Rasheed">Jawairia Rasheed</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Modern robots are often used for search and rescue purpose. One of the key areas of interest in such cases is learning complex environments. One of the key methodologies for robots in such cases is reinforcement learning. In reinforcement learning robots learn to move the path to reach the goal while avoiding obstacles. Q-learning, one of the most advancement of reinforcement learning is used for making the robots to learn the path. Robots learn by interacting with the environment to reach the goal. In this paper simulation model of bee-like robots is implemented in NETLOGO. In the start the learning rate was less and it increased with the passage of time. The bees successfully learned to reach the goal while avoiding obstacles through Q-learning technique. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=reinforlearning%20of%20bee%20like%20robots%20for%20reaching%20the%20goalcement%20learning%20for%20randomly%20placed%20obstacles" title="reinforlearning of bee like robots for reaching the goalcement learning for randomly placed obstacles">reinforlearning of bee like robots for reaching the goalcement learning for randomly placed obstacles</a>, <a href="https://publications.waset.org/abstracts/search?q=obstacle%20avoidance%20through%20q-learning" title=" obstacle avoidance through q-learning"> obstacle avoidance through q-learning</a>, <a href="https://publications.waset.org/abstracts/search?q=q-learning%20for%20obstacle%20avoidance" title=" q-learning for obstacle avoidance"> q-learning for obstacle avoidance</a>, <a href="https://publications.waset.org/abstracts/search?q=" title=""></a> </p> <a href="https://publications.waset.org/abstracts/155154/q-learning-of-bee-like-robots-through-obstacle-avoidance" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/155154.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">101</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4202</span> Creation of a Care Robot Impact Assessment</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Eduard%20Fosch-Villaronga">Eduard Fosch-Villaronga</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper pioneers Care Robot Impact Assessment (CRIA), a methodology used to identify, analyze, mitigate and eliminate the risks posed by the insertion of non-medical personal care robots (PCR) in medical care facilities. Its precedent instruments (Privacy and Surveillance Impact Assessment (PIA and SIA)) fall behind in coping with robots. Indeed, personal care robots change dramatically how care is delivered. The paper presents a specific risk-sector methodology, identifies which robots are under its scope and presents some of the challenges introduced by these robots. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=ethics" title="ethics">ethics</a>, <a href="https://publications.waset.org/abstracts/search?q=impact%20assessment" title=" impact assessment"> impact assessment</a>, <a href="https://publications.waset.org/abstracts/search?q=law" title=" law"> law</a>, <a href="https://publications.waset.org/abstracts/search?q=personal%20care%20robots" title=" personal care robots"> personal care robots</a> </p> <a href="https://publications.waset.org/abstracts/28994/creation-of-a-care-robot-impact-assessment" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/28994.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">576</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4201</span> Robust Stabilization of Rotational Motion of Underwater Robots against Parameter Uncertainties</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Riku%20Hayashida">Riku Hayashida</a>, <a href="https://publications.waset.org/abstracts/search?q=Tomoaki%20Hashimoto"> Tomoaki Hashimoto</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper provides a robust stabilization method for rotational motion of underwater robots against parameter uncertainties. Underwater robots are expected to be used for various work assignments. The large variety of applications of underwater robots motivates researchers to develop control systems and technologies for underwater robots. Several control methods have been proposed so far for the stabilization of nominal system model of underwater robots with no parameter uncertainty. Parameter uncertainties are considered to be obstacles in implementation of the such nominal control methods for underwater robots. The objective of this study is to establish a robust stabilization method for rotational motion of underwater robots against parameter uncertainties. The effectiveness of the proposed method is verified by numerical simulations. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=robust%20control" title="robust control">robust control</a>, <a href="https://publications.waset.org/abstracts/search?q=stabilization%20method" title=" stabilization method"> stabilization method</a>, <a href="https://publications.waset.org/abstracts/search?q=underwater%20robot" title=" underwater robot"> underwater robot</a>, <a href="https://publications.waset.org/abstracts/search?q=parameter%20uncertainty" title=" parameter uncertainty"> parameter uncertainty</a> </p> <a href="https://publications.waset.org/abstracts/119269/robust-stabilization-of-rotational-motion-of-underwater-robots-against-parameter-uncertainties" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/119269.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">160</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4200</span> Comparison Between PID and PD Controllers for 4 Cable-Based Robots</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Fouad%20Inel">Fouad Inel</a>, <a href="https://publications.waset.org/abstracts/search?q=Lakhdar%20Khochemane"> Lakhdar Khochemane</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This article presents a comparative response specification performance between two controllers of three and four cable based robots for various applications. The main objective of this work is: the first is to use the direct and inverse geometric model to study and simulate the end effector position of the robot with three and four cables. A graphical user interface has been implemented in order to visualizing the position of the robot. Secondly, we present the determination of static and dynamic tensions and lengths of cables required to flow different trajectories. At the end, we study the response of our systems in closed loop with a Proportional-IntegratedDerivative (PID) and Proportional-Integrated (PD) controllers then this last are compared the results of the same examples using MATLAB/Simulink; we found that the PID method gives the better performance, such as rapidly speed response, settling time, compared to PD controller. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=dynamic%20modeling" title="dynamic modeling">dynamic modeling</a>, <a href="https://publications.waset.org/abstracts/search?q=geometric%20modeling" title=" geometric modeling"> geometric modeling</a>, <a href="https://publications.waset.org/abstracts/search?q=graphical%20user%20interface" title=" graphical user interface"> graphical user interface</a>, <a href="https://publications.waset.org/abstracts/search?q=open%20loop" title=" open loop"> open loop</a>, <a href="https://publications.waset.org/abstracts/search?q=parallel%20cable-based%20robots" title=" parallel cable-based robots"> parallel cable-based robots</a>, <a href="https://publications.waset.org/abstracts/search?q=PID%2FPD%20controllers" title=" PID/PD controllers "> PID/PD controllers </a> </p> <a href="https://publications.waset.org/abstracts/24470/comparison-between-pid-and-pd-controllers-for-4-cable-based-robots" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/24470.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">421</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4199</span> Optimal Number of Reconfigurable Robots in a Transport System</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Mari%20Chaikovskaia">Mari Chaikovskaia</a>, <a href="https://publications.waset.org/abstracts/search?q=Jean-Philippe%20Gayon"> Jean-Philippe Gayon</a>, <a href="https://publications.waset.org/abstracts/search?q=Alain%20Quilliot"> Alain Quilliot</a> </p> <p class="card-text"><strong>Abstract:</strong></p> We consider a fleet of elementary robots that can be connected in different ways to transport loads of different types. For instance, a single robot can transport a small load, and the association of two robots can either transport a large load or two small loads. We seek to determine the optimal number of robots to transport a set of loads in a given time interval, with or without reconfiguration. We show that the problem with reconfiguration is strongly NP-hard by a reduction to the bin-packing problem. Then, we study a special case with unit capacities and derive simple formulas for the minimum number of robots, up to 3 types of loads. For this special case, we compare the minimum number of robots with or without reconfiguration and show that the gain is limited in absolute value but may be significant for small fleets. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=fleet%20sizing" title="fleet sizing">fleet sizing</a>, <a href="https://publications.waset.org/abstracts/search?q=reconfigurability" title=" reconfigurability"> reconfigurability</a>, <a href="https://publications.waset.org/abstracts/search?q=robots" title=" robots"> robots</a>, <a href="https://publications.waset.org/abstracts/search?q=transportation" title=" transportation"> transportation</a> </p> <a href="https://publications.waset.org/abstracts/160116/optimal-number-of-reconfigurable-robots-in-a-transport-system" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/160116.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">86</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4198</span> Comparison Performance between PID and PD Controllers for 3 and 4 Cable-Based Robots </h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Fouad.%20Inel">Fouad. Inel</a>, <a href="https://publications.waset.org/abstracts/search?q=Lakhdar.%20Khochemane"> Lakhdar. Khochemane </a> </p> <p class="card-text"><strong>Abstract:</strong></p> This article presents a comparative response specification performance between two controllers of three and four cable based robots for various applications. The main objective of this work is: The first is to use the direct and inverse geometric model to study and simulate the end effector position of the robot with three and four cables. A graphical user interface has been implemented in order to visualizing the position of the robot. Secondly, we present the determination of static and dynamic tensions and lengths of cables required to flow different trajectories. At the end, we study the response of our systems in closed loop with a Proportional-Integrated Derivative (PID) and Proportional-Integrated (PD) controllers then this last are compared the results of the same examples using MATLAB/Simulink; we found that the PID method gives the better performance, such as rapidly speed response, settling time, compared to PD controller. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=parallel%20cable-based%20robots" title="parallel cable-based robots">parallel cable-based robots</a>, <a href="https://publications.waset.org/abstracts/search?q=geometric%20modeling" title=" geometric modeling"> geometric modeling</a>, <a href="https://publications.waset.org/abstracts/search?q=dynamic%20modeling" title=" dynamic modeling"> dynamic modeling</a>, <a href="https://publications.waset.org/abstracts/search?q=graphical%20user%20interface" title=" graphical user interface"> graphical user interface</a>, <a href="https://publications.waset.org/abstracts/search?q=open%20loop" title=" open loop"> open loop</a>, <a href="https://publications.waset.org/abstracts/search?q=PID%2FPD%20controllers" title=" PID/PD controllers"> PID/PD controllers</a> </p> <a href="https://publications.waset.org/abstracts/13689/comparison-performance-between-pid-and-pd-controllers-for-3-and-4-cable-based-robots" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/13689.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">450</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4197</span> Efficient Control of Some Dynamic States of Wheeled Robots</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Boguslaw%20Schreyer">Boguslaw Schreyer</a> </p> <p class="card-text"><strong>Abstract:</strong></p> In some types of wheeled robots it is important to secure starting acceleration and deceleration maxima while at the same time maintaining transversal stability. In this paper torque distribution between the front and rear wheels as well as the timing of torque application have been calculated. Both secure an optimum traction coefficient. This paper also identifies required input signals to a control unit, which controls the torque values and timing. Using a three dimensional, two mass model of a robot developed by the author a computer simulation was performed confirming the calculations presented in this paper. These calculations were also implemented and confirmed during military robot testing. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=robot%20dynamics" title="robot dynamics">robot dynamics</a>, <a href="https://publications.waset.org/abstracts/search?q=torque%20distribution" title=" torque distribution"> torque distribution</a>, <a href="https://publications.waset.org/abstracts/search?q=traction%20coefficient" title=" traction coefficient"> traction coefficient</a>, <a href="https://publications.waset.org/abstracts/search?q=wheeled%20robots" title=" wheeled robots"> wheeled robots</a> </p> <a href="https://publications.waset.org/abstracts/69730/efficient-control-of-some-dynamic-states-of-wheeled-robots" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/69730.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">312</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4196</span> Predictive Output Feedback Linearization for Safe Control of Collaborative Robots</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Aliasghar%20Arab">Aliasghar Arab</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Autonomous robots interacting with humans, as safety-critical nonlinear control systems, are complex closed-loop cyber-physical dynamical machines. Keeping these intelligent yet complicated systems safe and smooth during their operations is challenging. The aim of the safe predictive output feedback linearization control synthesis is to design a novel controller for smooth trajectory following while unsafe situations must be avoided. The controller design should obtain a linearized output for smoothness and invariance to a safety subset. Inspired by finite-horizon nonlinear model predictive control, the problem is formulated as constrained nonlinear dynamic programming. The safety constraints can be defined as control barrier functions. Avoiding unsafe maneuvers and performing smooth motions increases the predictability of the robot’s movement for humans when robots and people are working together. Our results demonstrate the proposed output linearization method obeys the safety constraints and, compared to existing safety-guaranteed methods, is smoother and performs better. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=robotics" title="robotics">robotics</a>, <a href="https://publications.waset.org/abstracts/search?q=collaborative%20robots" title=" collaborative robots"> collaborative robots</a>, <a href="https://publications.waset.org/abstracts/search?q=safety" title=" safety"> safety</a>, <a href="https://publications.waset.org/abstracts/search?q=autonomous%20robots" title=" autonomous robots"> autonomous robots</a> </p> <a href="https://publications.waset.org/abstracts/152151/predictive-output-feedback-linearization-for-safe-control-of-collaborative-robots" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/152151.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">97</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4195</span> An Improved Dynamic Window Approach with Environment Awareness for Local Obstacle Avoidance of Mobile Robots</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Baoshan%20Wei">Baoshan Wei</a>, <a href="https://publications.waset.org/abstracts/search?q=Shuai%20Han"> Shuai Han</a>, <a href="https://publications.waset.org/abstracts/search?q=Xing%20Zhang"> Xing Zhang</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Local obstacle avoidance is critical for mobile robot navigation. It is a challenging task to ensure path optimality and safety in cluttered environments. We proposed an Environment Aware Dynamic Window Approach in this paper to cope with the issue. The method integrates environment characterization into Dynamic Window Approach (DWA). Two strategies are proposed in order to achieve the integration. The local goal strategy guides the robot to move through openings before approaching the final goal, which solves the local minima problem in DWA. The adaptive control strategy endows the robot to adjust its state according to the environment, which addresses path safety compared with DWA. Besides, the evaluation shows that the path generated from the proposed algorithm is safer and smoother compared with state-of-the-art algorithms. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=adaptive%20control" title="adaptive control">adaptive control</a>, <a href="https://publications.waset.org/abstracts/search?q=dynamic%20window%20approach" title=" dynamic window approach"> dynamic window approach</a>, <a href="https://publications.waset.org/abstracts/search?q=environment%20aware" title=" environment aware"> environment aware</a>, <a href="https://publications.waset.org/abstracts/search?q=local%20obstacle%20avoidance" title=" local obstacle avoidance"> local obstacle avoidance</a>, <a href="https://publications.waset.org/abstracts/search?q=mobile%20robots" title=" mobile robots"> mobile robots</a> </p> <a href="https://publications.waset.org/abstracts/102425/an-improved-dynamic-window-approach-with-environment-awareness-for-local-obstacle-avoidance-of-mobile-robots" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/102425.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">159</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4194</span> Dynamic Modeling of a Robot for Playing a Curved 3D Percussion Instrument Utilizing a Finite Element Method</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Prakash%20Persad">Prakash Persad</a>, <a href="https://publications.waset.org/abstracts/search?q=Kelvin%20Loutan"> Kelvin Loutan</a>, <a href="https://publications.waset.org/abstracts/search?q=Trichelle%20Seepersad"> Trichelle Seepersad</a> </p> <p class="card-text"><strong>Abstract:</strong></p> The Finite Element Method is commonly used in the analysis of flexible manipulators to predict elastic displacements and develop joint control schemes for reducing positioning error. In order to preserve simplicity, regular geometries, ideal joints and connections are assumed. This paper presents the dynamic FE analysis of a 4- degrees of freedom open chain manipulator, intended for striking a curved 3D surface percussion musical instrument. This was done utilizing the new MultiBody Dynamics Module in COMSOL, capable of modeling the elastic behavior of a body undergoing rigid body type motion. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=dynamic%20modeling" title="dynamic modeling">dynamic modeling</a>, <a href="https://publications.waset.org/abstracts/search?q=entertainment%20robots" title=" entertainment robots"> entertainment robots</a>, <a href="https://publications.waset.org/abstracts/search?q=finite%20element%20method" title=" finite element method"> finite element method</a>, <a href="https://publications.waset.org/abstracts/search?q=flexible%20robot%20manipulators" title=" flexible robot manipulators"> flexible robot manipulators</a>, <a href="https://publications.waset.org/abstracts/search?q=multibody%20dynamics" title=" multibody dynamics"> multibody dynamics</a>, <a href="https://publications.waset.org/abstracts/search?q=musical%20robots" title=" musical robots"> musical robots</a> </p> <a href="https://publications.waset.org/abstracts/9382/dynamic-modeling-of-a-robot-for-playing-a-curved-3d-percussion-instrument-utilizing-a-finite-element-method" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/9382.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">336</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4193</span> Collective Movement between Two Lego EV3 Mobile Robots</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Luis%20Fernando%20Pinedo-Lomeli">Luis Fernando Pinedo-Lomeli</a>, <a href="https://publications.waset.org/abstracts/search?q=Rosa%20Martha%20Lopez-Gutierrez"> Rosa Martha Lopez-Gutierrez</a>, <a href="https://publications.waset.org/abstracts/search?q=Jose%20Antonio%20Michel-Macarty"> Jose Antonio Michel-Macarty</a>, <a href="https://publications.waset.org/abstracts/search?q=Cesar%20Cruz-Hernandez"> Cesar Cruz-Hernandez</a>, <a href="https://publications.waset.org/abstracts/search?q=Liliana%20Cardoza-Avenda%C3%B1o"> Liliana Cardoza-Avendaño</a>, <a href="https://publications.waset.org/abstracts/search?q=Humberto%20Cruz-Hernandez"> Humberto Cruz-Hernandez</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Robots are working in industry and services performing repetitive or dangerous tasks, however, when flexible movement capabilities and complex tasks are required, the use of many robots is needed. Also, productivity can be improved by reducing times to perform tasks. In the last years, a lot of effort has been invested in research and development of collective control of mobile robots. This interest is justified as there are many advantages when two or more robots are collaborating in a particular task. Some examples are: cleaning toxic waste, transportation and manipulation of objects, exploration, and surveillance, search and rescue. In this work a study of collective movements of mobile robots is presented. A solution of collisions avoidance is developed. This solution is levered on a communication implementation that allows coordinate movements in different paths were avoiding obstacles. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=synchronization" title="synchronization">synchronization</a>, <a href="https://publications.waset.org/abstracts/search?q=communication" title=" communication"> communication</a>, <a href="https://publications.waset.org/abstracts/search?q=robots" title=" robots"> robots</a>, <a href="https://publications.waset.org/abstracts/search?q=legos" title=" legos"> legos</a> </p> <a href="https://publications.waset.org/abstracts/64452/collective-movement-between-two-lego-ev3-mobile-robots" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/64452.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">432</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4192</span> Energy Management Techniques in Mobile Robots</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=G.%20Gurguze">G. Gurguze</a>, <a href="https://publications.waset.org/abstracts/search?q=I.%20Turkoglu"> I. Turkoglu</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Today, the developing features of technological tools with limited energy resources have made it necessary to use energy efficiently. Energy management techniques have emerged for this purpose. As with every field, energy management is vital for robots that are being used in many areas from industry to daily life and that are thought to take up more spaces in the future. Particularly, effective power management in autonomous and multi robots, which are getting more complicated and increasing day by day, will improve the performance and success. In this study, robot management algorithms, usage of renewable and hybrid energy sources, robot motion patterns, robot designs, sharing strategies of workloads in multiple robots, road and mission planning algorithms are discussed for efficient use of energy resources by mobile robots. These techniques have been evaluated in terms of efficient use of existing energy resources and energy management in robots. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=energy%20management" title="energy management">energy management</a>, <a href="https://publications.waset.org/abstracts/search?q=mobile%20robot" title=" mobile robot"> mobile robot</a>, <a href="https://publications.waset.org/abstracts/search?q=robot%20administration" title=" robot administration"> robot administration</a>, <a href="https://publications.waset.org/abstracts/search?q=robot%20management" title=" robot management"> robot management</a>, <a href="https://publications.waset.org/abstracts/search?q=robot%20planning" title=" robot planning"> robot planning</a> </p> <a href="https://publications.waset.org/abstracts/75907/energy-management-techniques-in-mobile-robots" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/75907.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">266</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4191</span> The Follower Robots Tested in Different Lighting Condition and Improved Capabilities</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Sultan%20Muhammed%20Fatih%20Apaydin">Sultan Muhammed Fatih Apaydin</a> </p> <p class="card-text"><strong>Abstract:</strong></p> In this study, two types of robot were examined as being pioneer robot and follower robot for improving of the capabilities of tracking robots. Robots continue to tracking each other and measurement of the follow-up distance between them is very important for improvements to be applied. It was achieved that the follower robot follows the pioneer robot in line with intended goals. The tests were applied to the robots in various grounds and environments in point of performance and necessary improvements were implemented by measuring the results of these tests. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=mobile%20robot" title="mobile robot">mobile robot</a>, <a href="https://publications.waset.org/abstracts/search?q=remote%20and%20autonomous%20control" title=" remote and autonomous control"> remote and autonomous control</a>, <a href="https://publications.waset.org/abstracts/search?q=infra-red%20sensors" title=" infra-red sensors"> infra-red sensors</a>, <a href="https://publications.waset.org/abstracts/search?q=arduino" title=" arduino"> arduino</a> </p> <a href="https://publications.waset.org/abstracts/34758/the-follower-robots-tested-in-different-lighting-condition-and-improved-capabilities" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/34758.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">565</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4190</span> Hohmann Transfer and Bi-Elliptic Hohmann Transfer in TRAPPIST-1 System</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Jorge%20L.%20Nisperuza">Jorge L. Nisperuza</a>, <a href="https://publications.waset.org/abstracts/search?q=Wilson%20Sandoval"> Wilson Sandoval</a>, <a href="https://publications.waset.org/abstracts/search?q=Edward.%20A.%20Gil"> Edward. A. Gil</a>, <a href="https://publications.waset.org/abstracts/search?q=Johan%20A.%20Jimenez"> Johan A. Jimenez</a> </p> <p class="card-text"><strong>Abstract:</strong></p> In orbital mechanics, an active research topic is the calculation of interplanetary trajectories efficient in terms of energy and time. In this sense, this work concerns the calculation of the orbital elements for sending interplanetary probes in the extrasolar system TRAPPIST-1. Specifically, using the mathematical expressions of the circular and elliptical trajectory parameters, expressions for the flight time and the orbital transfer rate increase between orbits, the orbital parameters and the graphs of the trajectories of Hohmann and Hohmann bi-elliptic for sending a probe from the innermost planet to all the other planets of the studied system, are obtained. The relationship between the orbital transfer rate increments and the relationship between the flight times for the two transfer types is found. The results show that, for all cases under consideration, the Hohmann transfer results to be the least energy and temporary cost, a result according to the theory associated with Hohmann and Hohmann bi-elliptic transfers. Saving in the increase of the speed reaches up to 87% was found, and it happens for the transference between the two innermost planets, whereas the time of flight increases by a factor of up to 6.6 if one makes use of the bi-elliptic transfer, this for the case of sending a probe from the innermost planet to the outermost. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=bi-elliptic%20Hohmann%20transfer" title="bi-elliptic Hohmann transfer">bi-elliptic Hohmann transfer</a>, <a href="https://publications.waset.org/abstracts/search?q=exoplanet" title=" exoplanet"> exoplanet</a>, <a href="https://publications.waset.org/abstracts/search?q=extrasolar%20system" title=" extrasolar system"> extrasolar system</a>, <a href="https://publications.waset.org/abstracts/search?q=Hohmann%20transfer" title=" Hohmann transfer"> Hohmann transfer</a>, <a href="https://publications.waset.org/abstracts/search?q=TRAPPIST-1" title=" TRAPPIST-1"> TRAPPIST-1</a> </p> <a href="https://publications.waset.org/abstracts/98728/hohmann-transfer-and-bi-elliptic-hohmann-transfer-in-trappist-1-system" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/98728.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">192</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4189</span> Representations of Childcare Robots as a Controversial Issue</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Raya%20A.%20Jones">Raya A. Jones</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper interrogates online representations of robot companions for children, including promotional material by manufacturers, media articles and technology blogs. The significance of the study lies in its contribution to understanding attitudes to robots. The prospect of childcare robots is particularly controversial ethically, and is associated with emotive arguments. The sampled material is restricted to relatively recent posts (the past three years) though the analysis identifies both continuous and changing themes across the past decade. The method extrapolates social representations theory towards examining the ways in which information about robotic products is provided for the general public. Implications for social acceptance of robot companions for the home and robot ethics are considered. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=acceptance%20of%20robots" title="acceptance of robots">acceptance of robots</a>, <a href="https://publications.waset.org/abstracts/search?q=childcare%20robots" title=" childcare robots"> childcare robots</a>, <a href="https://publications.waset.org/abstracts/search?q=ethics" title=" ethics"> ethics</a>, <a href="https://publications.waset.org/abstracts/search?q=social%20representations" title=" social representations"> social representations</a> </p> <a href="https://publications.waset.org/abstracts/71758/representations-of-childcare-robots-as-a-controversial-issue" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/71758.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">252</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4188</span> Deadline Missing Prediction for Mobile Robots through the Use of Historical Data</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Edwaldo%20R.%20B.%20Monteiro">Edwaldo R. B. Monteiro</a>, <a href="https://publications.waset.org/abstracts/search?q=Patricia%20D.%20M.%20Plentz"> Patricia D. M. Plentz</a>, <a href="https://publications.waset.org/abstracts/search?q=Edson%20R.%20De%20Pieri"> Edson R. De Pieri</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Mobile robotics is gaining an increasingly important role in modern society. Several potentially dangerous or laborious tasks for human are assigned to mobile robots, which are increasingly capable. Many of these tasks need to be performed within a specified period, i.e., meet a deadline. Missing the deadline can result in financial and/or material losses. Mechanisms for predicting the missing of deadlines are fundamental because corrective actions can be taken to avoid or minimize the losses resulting from missing the deadline. In this work we propose a simple but reliable deadline missing prediction mechanism for mobile robots through the use of historical data and we use the Pioneer 3-DX robot for experiments and simulations, one of the most popular robots in academia. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=deadline%20missing" title="deadline missing">deadline missing</a>, <a href="https://publications.waset.org/abstracts/search?q=historical%20data" title=" historical data"> historical data</a>, <a href="https://publications.waset.org/abstracts/search?q=mobile%20robots" title=" mobile robots"> mobile robots</a>, <a href="https://publications.waset.org/abstracts/search?q=prediction%20mechanism" title=" prediction mechanism"> prediction mechanism</a> </p> <a href="https://publications.waset.org/abstracts/8352/deadline-missing-prediction-for-mobile-robots-through-the-use-of-historical-data" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/8352.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">401</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4187</span> Designing a Robust Controller for a 6 Linkage Robot </h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=G.%20Khamooshian">G. Khamooshian</a> </p> <p class="card-text"><strong>Abstract:</strong></p> One of the main points of application of the mechanisms of the series and parallel is the subject of managing them. The control of this mechanism and similar mechanisms is one that has always been the intention of the scholars. On the other hand, modeling the behavior of the system is difficult due to the large number of its parameters, and it leads to complex equations that are difficult to solve and eventually difficult to control. In this paper, a six-linkage robot has been presented that could be used in different areas such as medical robots. Using these robots needs a robust control. In this paper, the system equations are first found, and then the system conversion function is written. A new controller has been designed for this robot which could be used in other parallel robots and could be very useful. Parallel robots are so important in robotics because of their stability, so methods for control of them are important and the robust controller, especially in parallel robots, makes a sense. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=3-RRS" title="3-RRS">3-RRS</a>, <a href="https://publications.waset.org/abstracts/search?q=6%20linkage" title=" 6 linkage"> 6 linkage</a>, <a href="https://publications.waset.org/abstracts/search?q=parallel%20robot" title=" parallel robot"> parallel robot</a>, <a href="https://publications.waset.org/abstracts/search?q=control" title=" control"> control</a> </p> <a href="https://publications.waset.org/abstracts/100326/designing-a-robust-controller-for-a-6-linkage-robot" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/100326.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">159</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4186</span> Distributed Coverage Control by Robot Networks in Unknown Environments Using a Modified EM Algorithm</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Mohammadhosein%20Hasanbeig">Mohammadhosein Hasanbeig</a>, <a href="https://publications.waset.org/abstracts/search?q=Lacra%20Pavel"> Lacra Pavel</a> </p> <p class="card-text"><strong>Abstract:</strong></p> In this paper, we study a distributed control algorithm for the problem of unknown area coverage by a network of robots. The coverage objective is to locate a set of targets in the area and to minimize the robots’ energy consumption. The robots have no prior knowledge about the location and also about the number of the targets in the area. One efficient approach that can be used to relax the robots’ lack of knowledge is to incorporate an auxiliary learning algorithm into the control scheme. A learning algorithm actually allows the robots to explore and study the unknown environment and to eventually overcome their lack of knowledge. The control algorithm itself is modeled based on game theory where the network of the robots use their collective information to play a non-cooperative potential game. The algorithm is tested via simulations to verify its performance and adaptability. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=distributed%20control" title="distributed control">distributed control</a>, <a href="https://publications.waset.org/abstracts/search?q=game%20theory" title=" game theory"> game theory</a>, <a href="https://publications.waset.org/abstracts/search?q=multi-agent%20learning" title=" multi-agent learning"> multi-agent learning</a>, <a href="https://publications.waset.org/abstracts/search?q=reinforcement%20learning" title=" reinforcement learning"> reinforcement learning</a> </p> <a href="https://publications.waset.org/abstracts/61090/distributed-coverage-control-by-robot-networks-in-unknown-environments-using-a-modified-em-algorithm" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/61090.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">457</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4185</span> Intelligent Swarm-Finding in Formation Control of Multi-Robots to Track a Moving Target</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Anh%20Duc%20Dang">Anh Duc Dang</a>, <a href="https://publications.waset.org/abstracts/search?q=Joachim%20Horn"> Joachim Horn</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper presents a new approach to control robots, which can quickly find their swarm while tracking a moving target through the obstacles of the environment. In this approach, an artificial potential field is generated between each free-robot and the virtual attractive point of the swarm. This artificial potential field will lead free-robots to their swarm. The swarm-finding of these free-robots dose not influence the general motion of their swarm and nor other robots. When one singular robot approaches the swarm then its swarm-search will finish, and it will further participate with its swarm to reach the position of the target. The connections between member-robots with their neighbours are controlled by the artificial attractive/repulsive force field between them to avoid collisions and keep the constant distances between them in ordered formation. The effectiveness of the proposed approach has been verified in simulations. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=formation%20control" title="formation control">formation control</a>, <a href="https://publications.waset.org/abstracts/search?q=potential%20field%20method" title=" potential field method"> potential field method</a>, <a href="https://publications.waset.org/abstracts/search?q=obstacle%20avoidance" title=" obstacle avoidance"> obstacle avoidance</a>, <a href="https://publications.waset.org/abstracts/search?q=swarm%20intelligence" title=" swarm intelligence"> swarm intelligence</a>, <a href="https://publications.waset.org/abstracts/search?q=multi-agent%20systems" title=" multi-agent systems"> multi-agent systems</a> </p> <a href="https://publications.waset.org/abstracts/3582/intelligent-swarm-finding-in-formation-control-of-multi-robots-to-track-a-moving-target" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/3582.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">440</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4184</span> Measuring the Likeability of Robots among Seniors: A Field Research</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Balaji%20Viswanathan">Balaji Viswanathan</a>, <a href="https://publications.waset.org/abstracts/search?q=Tim%20Oates"> Tim Oates</a> </p> <p class="card-text"><strong>Abstract:</strong></p> A number of pilot projects have commenced across the world to use robots for senior care. We aim to measure the likeability of these robots among seniors and help robot designers focus on the features that matter. We built a robot likability score with over 30 parameters and used this to interview 50 seniors in various locations in the United States. This paper presents the results of this field research. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=HRI" title="HRI">HRI</a>, <a href="https://publications.waset.org/abstracts/search?q=assistive%20robotics" title=" assistive robotics"> assistive robotics</a>, <a href="https://publications.waset.org/abstracts/search?q=social%20robotics" title=" social robotics"> social robotics</a>, <a href="https://publications.waset.org/abstracts/search?q=HCI" title=" HCI"> HCI</a>, <a href="https://publications.waset.org/abstracts/search?q=aging" title=" aging"> aging</a> </p> <a href="https://publications.waset.org/abstracts/150304/measuring-the-likeability-of-robots-among-seniors-a-field-research" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/150304.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">105</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4183</span> FESA: Fuzzy-Controlled Energy-Efficient Selective Allocation and Reallocation of Tasks Among Mobile Robots</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Anuradha%20Banerjee">Anuradha Banerjee</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Energy aware operation is one of the visionary goals in the area of robotics because operability of robots is greatly dependent upon their residual energy. Practically, the tasks allocated to robots carry different priority and often an upper limit of time stamp is imposed within which the task needs to be completed. If a robot is unable to complete one particular task given to it the task is reallocated to some other robot. The collection of robots is controlled by a Central Monitoring Unit (CMU). Selection of the new robot is performed by a fuzzy controller called Task Reallocator (TRAC). It accepts the parameters like residual energy of robots, possibility that the task will be successfully completed by the new robot within stipulated time, distance of the new robot (where the task is reallocated) from distance of the old one (where the task was going on) etc. The proposed methodology increases the probability of completing globally assigned tasks and saves huge amount of energy as far as the collection of robots is concerned. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=energy-efficiency" title="energy-efficiency">energy-efficiency</a>, <a href="https://publications.waset.org/abstracts/search?q=fuzzy-controller" title=" fuzzy-controller"> fuzzy-controller</a>, <a href="https://publications.waset.org/abstracts/search?q=priority" title=" priority"> priority</a>, <a href="https://publications.waset.org/abstracts/search?q=reallocation" title=" reallocation"> reallocation</a>, <a href="https://publications.waset.org/abstracts/search?q=task" title=" task"> task</a> </p> <a href="https://publications.waset.org/abstracts/20335/fesa-fuzzy-controlled-energy-efficient-selective-allocation-and-reallocation-of-tasks-among-mobile-robots" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/20335.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">314</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4182</span> Streaming Communication Component for Multi-Robots</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=George%20Oliveira">George Oliveira</a>, <a href="https://publications.waset.org/abstracts/search?q=Luana%20D.%20Fronza"> Luana D. Fronza</a>, <a href="https://publications.waset.org/abstracts/search?q=Luiza%20Medeiros"> Luiza Medeiros</a>, <a href="https://publications.waset.org/abstracts/search?q=Patricia%20D.%20M.%20Plentz"> Patricia D. M. Plentz</a> </p> <p class="card-text"><strong>Abstract:</strong></p> The research presented in this article is part of a wide project that proposes a scheduling system for multi-robots in intelligent warehouses employing multi-robot path-planning (MPP) and multi-robot task allocation (MRTA) to reconcile multiple restrictions (task delivery time, task priorities, charging capacity, and robots battery capacity). We present the software component capable of interconnecting an open streaming processing architecture and robot operating system (ROS), ensuring communication and message exchange between robots and the environment in which they are inserted. Simulation results show the good performance of our proposed technique for connecting ROS and streaming platforms. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=complex%20distributed%20systems" title="complex distributed systems">complex distributed systems</a>, <a href="https://publications.waset.org/abstracts/search?q=mobile%20robots" title=" mobile robots"> mobile robots</a>, <a href="https://publications.waset.org/abstracts/search?q=smart%20warehouses" title=" smart warehouses"> smart warehouses</a>, <a href="https://publications.waset.org/abstracts/search?q=streaming%20platforms" title=" streaming platforms"> streaming platforms</a> </p> <a href="https://publications.waset.org/abstracts/136693/streaming-communication-component-for-multi-robots" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/136693.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">193</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4181</span> Assignment of Legal Personality to Robots: A Premature Meditation</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Solomon%20Okorley">Solomon Okorley</a> </p> <p class="card-text"><strong>Abstract:</strong></p> With the emergence of artificial intelligence, a proposition that has been made with increasing conviction is the need to assign legal personhood to robots. A major problem that arises when dealing with robots is the issue of liability: who do it hold liable when a robot causes harm? The suggestion to assign legal personality to robots has been made to aid in the assignment of liability. This paper contends that it is premature to assign legal personhood to robots. The paper employed the doctrinal and comparative research methodology. The paper first discusses the various theories that underpin the granting of legal personhood to juridical personalities to ascertain whether these theories can aid in the proposition to assign legal personhood to robots. These theories include fiction theory, aggregate theory, realist theory, and organism theory. Except for the aggregate theory, the fiction theory, the realist theory and the organism theory provide a good foundation to the proposal for legal personhood to be assigned to robots. The paper considers whether robots should be assigned legal personhood from a jurisprudential approach. The legal positivists assert that no metaphysical presuppositions are needed to determine who could be a legal person: the sole deciding factor is the engagement in legal relations and this prerequisite could be fulfilled by robots. However, rationalists, religionists and naturalists assert that the satisfaction of the metaphysical criteria is the basis of legal personality and since robots do not possess this feature, they cannot be assigned legal personhood. This differing perspective shows that the jurisprudential school of thought to which one belongs influences the decision whether to assign legal personhood to robots. The paper makes arguments for and against the assigning of legal personhood to robots. Assigning legal personhood to robots is necessary for the assigning of liability; and since robots are independent in their operation, they should be assigned legal personhood. However, it is argued that the degree of autonomy is insufficient. Robots do not understand legal obligations; they do not have a will of their own and the purported autonomy that they possess is an ‘imputed autonomy’. A crucial question to be asked is ‘whether it is desirable to confer legal personhood on robots’ and not ‘whether legal personhood should be assigned to robots’. This is due to the subjective nature of the responses to such a question as well as the peculiarities of countries in response to this question. The main argument in support of assigning legal personhood to robots is to aid in assigning liability. However, it is argued conferring legal personhood on robots is not the only way to deal with liability issues. Since any of the stakeholders involved with the robot system can be held liable for an accident, it is not desirable to assign legal personhood to robot. It is forecasted that in the epoch of strong artificial intelligence, granting robots legal personhood is plausible; however, in the current era, it is premature. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=autonomy" title="autonomy">autonomy</a>, <a href="https://publications.waset.org/abstracts/search?q=legal%20personhood" title=" legal personhood"> legal personhood</a>, <a href="https://publications.waset.org/abstracts/search?q=premature" title=" premature"> premature</a>, <a href="https://publications.waset.org/abstracts/search?q=jurisprudential" title=" jurisprudential"> jurisprudential</a> </p> <a href="https://publications.waset.org/abstracts/179209/assignment-of-legal-personality-to-robots-a-premature-meditation" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/179209.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">67</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4180</span> Localization of Mobile Robots with Omnidirectional Cameras</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Tatsuya%20Kato">Tatsuya Kato</a>, <a href="https://publications.waset.org/abstracts/search?q=Masanobu%20Nagata"> Masanobu Nagata</a>, <a href="https://publications.waset.org/abstracts/search?q=Hidetoshi%20Nakashima"> Hidetoshi Nakashima</a>, <a href="https://publications.waset.org/abstracts/search?q=Kazunori%20Matsuo"> Kazunori Matsuo</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Localization of mobile robots are important tasks for developing autonomous mobile robots. This paper proposes a method to estimate positions of a mobile robot using an omnidirectional camera on the robot. Landmarks for points of references are set up on a field where the robot works. The omnidirectional camera which can obtain 360 [deg] around images takes photographs of these landmarks. The positions of the robots are estimated from directions of these landmarks that are extracted from the images by image processing. This method can obtain the robot positions without accumulative position errors. Accuracy of the estimated robot positions by the proposed method are evaluated through some experiments. The results show that it can obtain the positions with small standard deviations. Therefore the method has possibilities of more accurate localization by tuning of appropriate offset parameters. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=mobile%20robots" title="mobile robots">mobile robots</a>, <a href="https://publications.waset.org/abstracts/search?q=localization" title=" localization"> localization</a>, <a href="https://publications.waset.org/abstracts/search?q=omnidirectional%20camera" title=" omnidirectional camera"> omnidirectional camera</a>, <a href="https://publications.waset.org/abstracts/search?q=estimating%20positions" title=" estimating positions"> estimating positions</a> </p> <a href="https://publications.waset.org/abstracts/11803/localization-of-mobile-robots-with-omnidirectional-cameras" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/11803.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">442</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4179</span> The Role of Context in Interpreting Emotional Body Language in Robots</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Jekaterina%20Novikova">Jekaterina Novikova</a>, <a href="https://publications.waset.org/abstracts/search?q=Leon%20Watts"> Leon Watts</a> </p> <p class="card-text"><strong>Abstract:</strong></p> In the emerging world of human-robot interaction, people and robots will interact socially in real-world situations. This paper presents the results of an experimental study probing the interaction between situational context and emotional body language in robots. 34 people rated video clips of robots performing expressive behaviours in different situational contexts both for emotional expressivity on Valence-Arousal-Dominance dimensions and by selecting a specific emotional term from a list of suggestions. Results showed that a contextual information enhanced a recognition of emotional body language of a robot, although it did not override emotional signals provided by robot expressions. Results are discussed in terms of design guidelines on how an emotional body language of a robot can be used by roboticists developing social robots. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=social%20robotics" title="social robotics">social robotics</a>, <a href="https://publications.waset.org/abstracts/search?q=non-verbal%20communication" title=" non-verbal communication"> non-verbal communication</a>, <a href="https://publications.waset.org/abstracts/search?q=situational%20context" title=" situational context"> situational context</a>, <a href="https://publications.waset.org/abstracts/search?q=artificial%20emotions" title=" artificial emotions"> artificial emotions</a>, <a href="https://publications.waset.org/abstracts/search?q=body%20language" title=" body language"> body language</a> </p> <a href="https://publications.waset.org/abstracts/20696/the-role-of-context-in-interpreting-emotional-body-language-in-robots" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/20696.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">289</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4178</span> Development of a Three-Dimensional-Flywheel Robotic System</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Chung-Chun%20Hsiao">Chung-Chun Hsiao</a>, <a href="https://publications.waset.org/abstracts/search?q=Yu-Kai"> Yu-Kai</a>, <a href="https://publications.waset.org/abstracts/search?q=Ting"> Ting</a>, <a href="https://publications.waset.org/abstracts/search?q=Kai-Yuan%20Liu"> Kai-Yuan Liu</a>, <a href="https://publications.waset.org/abstracts/search?q=Pang-Wei%20Yen"> Pang-Wei Yen</a>, <a href="https://publications.waset.org/abstracts/search?q=Jia-Ying%20Tu"> Jia-Ying Tu</a> </p> <p class="card-text"><strong>Abstract:</strong></p> In this paper, a new design of spherical robotic system based on the concepts of gimbal structure and gyro dynamics is presented. Robots equipped with multiple wheels and complex steering mechanics may increase the weight and degrade the energy transmission efficiency. In addition, the wheeled and legged robots are relatively vulnerable to lateral impact and lack of lateral mobility. Therefore, the proposed robotic design uses a spherical shell as the main body for ground locomotion, instead of using wheel devices. Three spherical shells are structured in a similar way to a gimbal device and rotate like a gyro system. The design and mechanism of the proposed robotic system is introduced. In addition, preliminary results of the dynamic model based on the principles of planar rigid body kinematics and Lagrangian equation are included. Simulation results and rig construction are presented to verify the concepts. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=gyro" title="gyro">gyro</a>, <a href="https://publications.waset.org/abstracts/search?q=gimbal" title=" gimbal"> gimbal</a>, <a href="https://publications.waset.org/abstracts/search?q=lagrange%20equation" title=" lagrange equation"> lagrange equation</a>, <a href="https://publications.waset.org/abstracts/search?q=spherical%20robots" title=" spherical robots"> spherical robots</a> </p> <a href="https://publications.waset.org/abstracts/30461/development-of-a-three-dimensional-flywheel-robotic-system" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/30461.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">314</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4177</span> Evaluation of Robot Application in Hospitality</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Lina%20Zhong">Lina Zhong</a>, <a href="https://publications.waset.org/abstracts/search?q=Sunny%20Sun"> Sunny Sun</a>, <a href="https://publications.waset.org/abstracts/search?q=Rob%20Law"> Rob Law</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Artificial intelligence has been developing rapidly. Previous studies have evaluated hotel technology either from an employee or consumer perspective. However, impacts, which mainly include the social and economic impacts of hotel robots, are unknown as they are newly introduced. To bridge the aforementioned research gap, this study evaluates hotel robots from contextual, diagnostic, evaluative, and strategic aspects using framework analysis as a basis to assist hotel managers in real-time hotel marketing strategy management, adjustment and revenue achievement. Findings show that, from a consumer perspective, the overall acceptance of hotel robots is low. The main implication is that the cost of hotel robots should be carefully estimated, and the investment should be made based on phases. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=application" title="application">application</a>, <a href="https://publications.waset.org/abstracts/search?q=evaluation" title=" evaluation"> evaluation</a>, <a href="https://publications.waset.org/abstracts/search?q=framework%20analysis" title=" framework analysis"> framework analysis</a>, <a href="https://publications.waset.org/abstracts/search?q=hotel%20robot" title=" hotel robot"> hotel robot</a> </p> <a href="https://publications.waset.org/abstracts/143410/evaluation-of-robot-application-in-hospitality" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/143410.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">170</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">4176</span> A Fully Interpretable Deep Reinforcement Learning-Based Motion Control for Legged Robots</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Haodong%20Huang">Haodong Huang</a>, <a href="https://publications.waset.org/abstracts/search?q=Zida%20Zhao"> Zida Zhao</a>, <a href="https://publications.waset.org/abstracts/search?q=Shilong%20Sun"> Shilong Sun</a>, <a href="https://publications.waset.org/abstracts/search?q=Chiyao%20Li"> Chiyao Li</a>, <a href="https://publications.waset.org/abstracts/search?q=Wenfu%20Xu"> Wenfu Xu</a> </p> <p class="card-text"><strong>Abstract:</strong></p> The control methods for legged robots based on deep reinforcement learning have seen widespread application; however, the inherent black-box nature of neural networks presents challenges in understanding the decision-making motives of the robots. To address this issue, we propose a fully interpretable deep reinforcement learning training method to elucidate the underlying principles of legged robot motion. We incorporate the dynamics of legged robots into the policy, where observations serve as inputs and actions as outputs of the dynamics model. By embedding the dynamics equations within the multi-layer perceptron (MLP) computation process and making the parameters trainable, we enhance interpretability. Additionally, Bayesian optimization is introduced to train these parameters. We validate the proposed fully interpretable motion control algorithm on a legged robot, opening new research avenues for motion control and learning algorithms for legged robots within the deep learning framework. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=deep%20reinforcement%20learning" title="deep reinforcement learning">deep reinforcement learning</a>, <a href="https://publications.waset.org/abstracts/search?q=interpretation" title=" interpretation"> interpretation</a>, <a href="https://publications.waset.org/abstracts/search?q=motion%20control" title=" motion control"> motion control</a>, <a href="https://publications.waset.org/abstracts/search?q=legged%20robots" title=" legged robots"> legged robots</a> </p> <a href="https://publications.waset.org/abstracts/189290/a-fully-interpretable-deep-reinforcement-learning-based-motion-control-for-legged-robots" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/189290.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">21</span> </span> </div> </div> <ul class="pagination"> <li class="page-item disabled"><span class="page-link">&lsaquo;</span></li> <li class="page-item active"><span class="page-link">1</span></li> <li class="page-item"><a class="page-link" href="https://publications.waset.org/abstracts/search?q=inner-most%20dynamic%20robots&page=2">2</a></li> <li class="page-item"><a class="page-link" href="https://publications.waset.org/abstracts/search?q=inner-most%20dynamic%20robots&page=3">3</a></li> <li class="page-item"><a class="page-link" href="https://publications.waset.org/abstracts/search?q=inner-most%20dynamic%20robots&page=4">4</a></li> <li class="page-item"><a class="page-link" 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