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POSTER: IoT and Humanoid Robotics for next generation Motor Rehabilitation systems

POSTER: IoT and Humanoid Robotics for Next Generation Motor ...

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International conference on Distributed Computing in Sensor systems (DCOSS)

作者： Stefano Borgo Marco Di Felice Alfonso Esposito Valeria Seidita Giulia Spaletta Roberto Toni Ivan Zyrianoff Laboratory for Applied Ontology (LOA) ISTC-CNR Trento Italy Department of Computer Science and Engineering University of Bologna Italy Department of Engineering University of Palermo Italy CNR - ISSMC Faenza Italy Endocrinology TMC Tufts University School of Medicine Boston MA USA

ISBN: (数字)9798350369441

ISBN: (纸本)9798350369458

The recent Covid-19 pandemic has highlighted the pressure on healthcare infrastructure, emphasizing the necessity for more tailored and sustainable healthcare systems that exploit the potential of emerging technologies such as robotics and the Internet of Things (IoT). In this paper, we delve into this potential by presenting I-TROPHYTS, an innovative framework designed for the real-time and semi-autonomous supervision of motor rehabilitation activities in indoor settings. I-TROPHYTS introduces a visionary approach that leverages humanoid robotics to mimic the actions of physiotherapists. This robotic system dynamically adjusts motor rehabilitation routines based on real-time performance and vital signs of groups of patients, which are monitored through wearable IoT devices. The paper introduces the I-TROPHYTS framework architecture along with its essential components. Furthermore, it elaborates on the implementation of the IoT monitoring infrastructure through the Bluetooh Mesh technology.

关键词： Performance evaluation Pandemics Humanoid robots Medical services Motors Real-time systems Internet of Things

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Survey paper on the Forward Kinematics Solution of a Stewart Platform

Survey paper on the Forward Kinematics Solution of a Stewart...

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International conference on next generation Intelligent systems (ICNGIS)

作者： Safeena M K Jiji K S Ramesh Kumar P Department of Electrical Engineering G.E.C Thrissur APJ Abdul Kalam Technological University Kerala India Department of Electrical Engineering G.E.C Palakkad APJ Abdul Kalam Technological University Kerala India

Over the past few decades, researchers have become increasingly interested in the Stewart Platform, a parallel manipulator with six degrees of freedom (DOF) that offers remarkable functionality over serial manipulators. The main objection to the implementation of closed loop control in Stewart Platform is its difficulty in solving the forward kinematics. In the forward kinematics problem, the pose and orientation of the moving platform are determined from the leg lengths. This is a high degree nonlinear problem with multiple solutions. Even though many studies were conducted about the kinematics of parallel robots, forward kinematics continues to be a hindrance to its practical application. Consequently, the real-time solution of forward kinematics is gaining interest. To address the direct kinematics problem, several approaches were presented, including numerical techniques, analytical methods, sensor-based methods, methods using neural networks, and observer-based methods. In this paper, the different approaches and limitations of the forward kinematics problem on Stewart Platform are analyzed.

关键词： Support vector machines Legged locomotion Parallel robots Neural networks Kinematics Robot sensing systems Manipulators

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ICDCN 2021 - Proceedings of the 2021 International conference on Distributed Computing and Networking

ICDCN 2021 - Proceedings of the 2021 International Conferenc...

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22nd International conference on Distributed Computing and Networking, ICDCN 2021

ISBN: (纸本)9781450389334

The proceedings contain 32 papers. The topics discussed include: asymmetric distributed trust;building next-generation healthcare systems using distributed machine learning;autonomous distributed systems of myopic mobile robots with lights;secure conflict-free replicated data types;P4Fuzz: compiler fuzzer for dependable programmable dataplanes;gathering with a strong team in weakly byzantine environments;communication costs in a geometric communication network;certification of an exact worst-case self-stabilization time;arbitrary pattern formation on infinite regular tessellation graphs;optimal exclusive perpetual grid exploration by luminous myopic opaque robots with common chirality;and performance analysis of a distributed algorithm for admission control in wireless networks under the 2-Hop interference model.

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How to Deploy a 10-km Interferometric Radio Telescope on the Moon with Just Four Tethered robots

How to Deploy a 10-km Interferometric Radio Telescope on the...

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2022 IEEE Aerospace conference, AERO 2022

作者： McGarey, Patrick Nesnas, Issa A. Rajguru, Adarsh Bezkrovny, Matthew Jamnejad, Vahraz Lux, Jim Sunada, Eric Teitelbaum, Lawrence Miller, Alexander Squyres, Steve W. Hallinan, Gregg Hegedus, Alex Burns, Jack O. Jet Propulsion Laboratory California Institute of Technology United States Blue Origin Enterprises United States California Institute of Technology United States University of Michigan United States University of Colorado Boulder United States

ISBN: (数字)9781665437608

ISBN: (纸本)9781665437608

The Far-side Array for Radio Science Investigations of the Dark ages and Exoplanets (FARSIDE) is a proposed mission concept to the lunar far side that seeks to deploy and operate an array of 128 dual-polarization, dipole antennas over a region of 100 square kilometers. The resulting interferometric radio telescope would provide unprecedented radio images of distant star systems, allowing for the investigation of faint ra-dio signatures of coronal mass ejections and energetic particle events and could also lead to the detection of magnetospheres around exoplanets within their parent star's habitable zone. Simultaneously, FARSIDE would also measure the 'Dark Ages' of the early Universe at a global 21-cm signal across a range of red shifts (z 50-100). Each discrete antenna node in the array is connected to a central hub (located at the lander) via a communication and power tether. Nodes are driven by cold-operable electronics that continuously monitor (for 5 or more years) an extremely wide-band of frequencies (200 kHz to 40 MHz), which surpass the capabilities of Earth-based telescopes by two orders of magnitude. Achieving this ground-breaking capability requires a robust deployment strategy on the lunar surface, which is feasible with existing, high-TRL technologies (demonstrated or under active development) and is capable of delivery to the surface on next-generation commercial landers, such as Blue Origin's Blue Moon Lander. This paper presents an antenna packaging, placement, and surface deployment trade study that leverages recent advances in tethered mobile robots under development at NASA's Jet Propulsion Laboratory, which are used to deploy a flat, antenna-embedded, tape tether with optical communication and power transmission capabilities. We investigate the feasibility of deploying 4 separate 12-km tethers, each with 64 remotely powered electronics nodes, using just four rovers that trace out a large spiral pattern that is over 10-km in diameter, where each

关键词： Extrasolar planets

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Internet of Robotic Things: Current Technologies and Applications 22

Internet of Robotic Things: Current Technologies and Applica...

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22nd International Arab conference on Information Technology (ACIT)

作者： Samara, Ghassan Hussein, Abla Matarneh, Israa Abdullah Alrefai, Mohammed Al-Safarini, Maram Y. Zarqa Univ Comp Sci Dept Zarqa Jordan Zarqa Univ Software Engn Dept Zarqa Jordan

ISBN: (纸本)9781665419956

The Internet of Robotic Things (IoRT) is a new domain that aims to link the IoT environment with robotic systems and technologies. IoRT connects robotic systems, connects them to the cloud, and transfers critical information as well as knowledge exchange to conduct complicated and intricate activities that a human cannot readily perform. The pertinent notion of IoRT has been discussed in this paper, along with the issues that this area faces on a daily basis. Furthermore, technological applications have been examined in order to provide a better understanding of IoRT and its current development phenomenon. The study describes three layers of IoRT infrastructure: network and control, physical, and service and application layer. In the next section, IoRT problems have been presented, with a focus on data processing and the security and safety of IoRT technological systems. In addition to discussing the difficulties, appropriate solutions have been offered and recommended. IoRT is regarded as an essential technology with the ability to bring about a plethora of benefits in smart society upon adoption, contributing to the generation and development of smart cities and industries in the near future.

关键词： Internet of Robotic Things IoRT Data Processing Security and Safety IoT Cloud robots

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UAV-as-a-Service for Robotic Edge System Resilience

UAV-as-a-Service for Robotic Edge System Resilience

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IEEE International conference on Web Services (ICWS)

作者： Shi Li Jiong Jin Mahbuba Afrin Qiushi Zheng Jing Fu Yu-Chu Tian School of Science Computing and Engineering Technologies Swinburne University of Technology Melbourne Australia School of Electrical Engineering Computing and Mathematical Sciences Curtin University Perth Australia School of Engineering STEM College RMIT University Melbourne Australia School of Computer Science Queensland University of Technology Brisbane Australia

ISBN: (数字)9798350368550

ISBN: (纸本)9798350368567

By melding the capabilities of robotics with the agility of edge computing, Robotic Edge System (RES) exemplifies the next generation of Internet Intelligent Service systems, delivering incredible efficiency and adaptability across diverse real world applications. Inevitably, RES is susceptible to mechanical disruptions of robots, particularly when some tasks are assigned to faulty ones, leading to uncertain failures and performance degradation. Due to communication and latency constraints, it is not always feasible to rely on edge/cloud computing infrastructure for system recovery. To address these issues, a UAV-as-a-Service (UAVaaS) approach is proposed that leverages the mobility of UAVs to enhance system resilience. Specifically, a Markov Decision Process (MDP) is utilized to assign tasks dynamically among active UAVs to achieve system recovery in a livestock monitoring scenario. Additionally, a Dual Noise Deep Deterministic Policy Gradient (DNDDPG)-based mechanism is proposed to minimize system recovery time and energy consumption. The proposed DNDDPG enhances exploration and decision-making during training by integrating parameter noise and behavioral noise into the classic Deep Deterministic Policy Gradient (DDPG) algorithm. The simulation results indicate that the proposed mechanism can achieve convergence within 100 episodes, thereby effectively minimizing the time and energy required for system recovery.

关键词： Fault tolerance Energy consumption Web services Noise Decision making System recovery Livestock robots Monitoring Convergence

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Autonomous Versus Manual Control of a Pasture Sanitation Robot 12th

Autonomous Versus Manual Control of a Pasture Sanitation R...

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Proceedings of the 12th International conference on Biomimetic and Biohybrid systems, Living Machines 2023

作者： Adams, Ian Quinn, Roger Lee, Greg Kroeger, Alexandra Feuerbacher, Erica N. Department of Mechanical and Aerospace Engineering Case Western Reserve University ClevelandOH44106-7222 United States Department of Electrical Engineering and Computer Science Case Western Reserve University ClevelandOH44106-7222 United States Department of Animal and Poultry Science Virginia Tech BlacksburgVA24061 United States

ISBN: (纸本)9783031395031

This work presents the collection and analysis of data from animal-robot interactions in two different control schemes. Cows (B. taurus) and horses (E. caballus) were introduced in pasture to a robot controlled either manually via teleoperation and autonomously via a costmap-based navigation algorithm. The robot maneuver at random, simulating a manure collection task, until all animals in the pasture lost vigilant attention to the robot. The time of initial loss of interest, interest over time, and time of ultimate loss of interest (10 consecutive seconds of non-vigilance) were recorded. The pasture sanitation robot was successful in manual and autonomous navigation of pastures. The robot was able to operate autonomously in pasture safely without changing qualitative response from the animals, as compared to manual methods. The deployment of autonomous control did not increase stress as a function of vigilance as compared to manual teleoperation. Both methods contribute to the development and evaluation of future pasture sanitation robots. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： robots

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A Phase-Change Emulsion Jamming Gripper for Manipulation of Micro-Scale Textured Surfaces

A Phase-Change Emulsion Jamming Gripper for Manipulation of ...

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IEEE International conference on Robotics and Automation (ICRA)

作者： Alex Keller Tianqi Yue Qiukai Qi Andrew T. Conn Jonathan Rossiter School of Engineering Mathematics and Technology and the Bristol Robotics Laboratory University of Bristol Bristol UK

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

The inherent elasticity of soft materials can be used to create robotic grippers that deform and comply to a variety of irregular shapes. To date, several soft adaptive grasping strategies have been reported, however, most of them focus on adapting to the overall shape of the structure, while the adaptive grasping of small surface asperities is overlooked. In this paper, we propose a novel method to achieve adaptive grasping on surface asperities with a smart shape-memory silicone sponge. Heating above 60°C makes the sponge soft and deformable to allow it to penetrate within surface asperities via a pressure normal to the surface. Cooling down below 60°C makes the sponge "jam" to retain its deformed shape. The interlocking force between the jammed sponge and the asperities, and the increased area of contact, allows for adaptive grasping on asperities down to 0.4 mm with an adhesive force of up to 27.7 N in a 40 × 40 mm contacting area. We introduce the design, working principle, fabrication, and optimization of a robotic gripper based on this shape-memory silicone sponge. This sponge-jamming gripper shows great potential for developing next-generation robotic grippers for the manipulation of textured and discontinuous surfaces.

关键词： Shape Service robots Force Grasping Pneumatic systems Surface texture Grippers

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Neuromorphic-Driven Agentic AI for Autonomous Decision-Making systems

Neuromorphic-Driven Agentic AI for Autonomous Decision-Makin...

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Mobile Networks and Wireless Communications (ICMNWC), IEEE International conference on

作者： Manjunath Kamath K Samata Mehta.S Akshaya H. L Shilpashree N Girish Jadhav Abhijit Mitra Department of Cyber Security NMAM Institute of Technology NITTE (Deemed to be University) Karkala India Department Of CSE (IOT & Cyber Security including Block Chain Technology) Brindavan College of Engineering Bengaluru India Department of Computer Science Sarada Vilas College Mysuru India Department Of Electrical Engineering Faculty of Engineering and Technology Parul institute of Engineering and Technology Parul University Post Limda India Symbiosis Centre for Advanced Legal Studies and Research (SCALSAR) Symbiosis Law School Symbiosis International (Deemed University) Pune India

ISBN: (数字)9798331528348

ISBN: (纸本)9798331528355

Agentic AI represents a paradigm shift in the development of intelligent systems capable of adaptive and proactive interactions in dynamic and complex environments. By integrating reinforcement learning (RL) with cognitive frameworks, Agentic AI goes beyond traditional rule-based and reactive models, enabling autonomous systems to make informed decisions, anticipate future states, and learn from experience. This paper explores the theoretical foundations and practical applications of Agentic AI, highlighting its potential to transform a variety of fields, including robotics, autonomous driving, finance, and healthcare. Through a detailed review of state-of-the-art research, we illustrate how cognitive architectures such as ACT-R and Soar, combined with advanced RL techniques like Deep Q-Networks (DQN) and Proximal Policy Optimization (PPO), contribute to the development of AI agents with human-like reasoning and decision-making capabilities. Experimental results demonstrate that Agentic AI significantly outperforms conventional AI approaches in terms of adaptability, learning efficiency, and decision accuracy. The findings suggest that Agentic AI offers a robust framework for creating intelligent systems capable of complex problem-solving, long-term planning, and proactive behavior, paving the way for the next generation of AI-driven applications.

关键词： Adaptation models Adaptive systems Decision making Finance Medical services Reinforcement learning Cognition Autonomous vehicles robots Optimization

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Blockchain Forum, the Robotic Process Automation (RPA) Forum, and the Central and Eastern Europe (CEE) Forum, held as part of the 20th International conference on Business Process Management, BPM 2022

Blockchain Forum, the Robotic Process Automation (RPA) Forum...

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Blockchain Forum, the Robotic Process Automation (RPA) Forum, and the Central and Eastern Europe (CEE) Forum, held as part of the 20th International conference on Business Process Management, BPM 2022

ISBN: (纸本)9783031161674

The proceedings contain 21 papers. The special focus in this conference is on Blockchain. The topics include: Rolling Back to Manual Work: An Exploratory Research on Robotic Process Re-Manualization;Steering the robots: An Investigation of IT Governance Models for Lightweight IT and Robotic Process Automation;Identifying the Socio-Human Inputs and Implications in Robotic Process Automation (RPA): A Systematic Mapping Study;a Human-in-the-Loop Approach to Support the Segments Compliance Analysis;recommending next Best Skill in Conversational Robotic Process Automation;Process Discovery Analysis for Generating RPA Flowcharts;can You Teach Robotic Process Automation Bots New Tricks?;API as Method for Improving Robotic Process Automation;Business Process Management in CEE Countries: A Literature-Based Research Landscape;process and Project Oriented Organization: The Essence and Maturity Measurement;Pupa: Smart Contracts for BPMN with Time-Dependent Events and Inclusive Gateways;the Competencies for Knowledge Management and the Process Orientation in the Post-Covid Economy. generation Z Students Perspective;The Future Development of ERP: Towards Process ERP systems?;a Systematic Local Fork Management Framework for Blockchain Sandbox Environments;fine-Grained Data Access Control for Collaborative Process Execution on Blockchain;challenges and Opportunities of Blockchain for Auditable Processes in the Healthcare Sector;measuring the Effects of Confidants on Privacy in Smart Contracts;threshold Signature for Privacy-Preserving Blockchain;from Natural Language to Workflows: Towards Emergent Intelligence in Robotic Process Automation.

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