Biblio

In Production System Engineering (PSE), domain experts from different disciplines reuse assets such as products, production processes, and resources. Therefore, PSE organizations aim at establishing reuse across engineering disciplines. However, the coordination of multi-disciplinary reuse tasks, e.g., the re-validation of related assets after changes, is hampered by the coarse-grained representation of tasks and by scattered, heterogeneous domain knowledge. This paper introduces the Multi-disciplinary Reuse Coordination (MRC) artifact to improve task management for multi-disciplinary reuse. For assets and their properties, the MRC artifact describes sub-tasks with progress and result states to provide references for detailed reuse task management across engineering disciplines. In a feasibility study on a typical robot cell in automotive manufacturing, we investigate the effectiveness of task management with the MRC artifact compared to traditional approaches. Results indicate that the MRC artifact is feasible and provides effective capabilities for coordinating multi-disciplinary re-validation after changes.

Recent years have witnessed several educational innovations to provide effective and engaging classroom instruction with the integration of immersive interactions based on augmented reality and virtual reality (AR/VR). This paper outlines the development of an ARCore-based application (app) that can impart interactive experiences for hands-on learning in engineering laboratories. The ARCore technology enables a smartphone to sense its environment and detect horizontal and vertical surfaces, thus allowing the smartphone to estimate any position in its workspace. In this mobile app, with touch-based interaction and AR feedback, the user can interact with a wheeled mobile robot and reinforce the concepts of kinematics for a differential drive mobile robot. The user experience is evaluated and system performance is validated through a user study with participants. The assessment shows that the proposed AR interface for interacting with the experimental setup is intuitive, easy to use, exciting, and recommendable.

Multi robot systems are defined as a collection of two or more robots that are capable of working autonomously while coordinating with each other. Three challenges emerge while designing any multi robot system. The robots have to coordinate their path planning or trajectory planning in order to avoid collision during the course of navigation, while collaborating tasks with other robots to achieve a specific end goal for the system. The other challenge, which is the focus of this paper, is the security of the entire multi robot system. Since robots have to coordinate with each other, any one of them being malicious due to any kind of security threat, can lead to a chain reaction that may compromise the entire system. Such security threats can be fatal if not dealt with immediately. This paper proposes the use of a Hybridized Blockchain Model (HBM) to identify such security threats and take necessary actions in real time so that the system does not encounter any catastrophic failure. The proposed security architecture uses ROS (Robot operating system) to decentralize the information collected by robot clients and HBM to monitor the clients and take necessary real time actions.

There have been developed image encryption algorithm using chaotic map and DNA pseudo-symbols sequence gained on the basis of real DNA symbols. In the suggested algorithm, the address for the selecting of DNA symbols sequence from Gene Bank, encoding rule of the DNA symbols, also the initial parameters of the chaotic map are determined on the secret key basis. Image pixels modification is based on the numerical values of the chaotic points sets coordinates obtained with the chaos play description of the DNA pseudo-symbols and the transference of pixels is based on displacement table constructed with the chaotic map.

Autonomous navigation of a robot is more challenging in an uncontrolled environment owing to the necessity of coordination among several activities. This includes, creating a map of the surrounding, localizing the robot inside the map, generating a motion plan consistent with the map, executing the plan with control and all other tasks involved concurrently. Moreover, autonomous navigation problems are significant for future robotics applications such as package delivery, security, cleaning, agriculture, surveillance, search and rescue, construction, and transportation which take place in uncontrolled environments. Therefore, an attempt has been made in this research to develop a robot which could function as a security agent for a house to address the aforesaid particulars. This robot has the capability to navigate autonomously in the prescribed map of the operating zone by the user. The desired map can be generated using a Light Detection and Ranging (LiDAR) sensor. For robot navigation, it requires to pick out the robot location accurately itself, otherwise robot will not move autonomously to a particular target. Therefore, Adaptive Monte Carlo Localization (AMCL) method was used to validate the accuracy of robot localization process. Moreover, additional sensors were placed around the building to sense the prevailing security threats from intruders with the aid of the robot.

The privacy protection and information security are two crucial issues for future advanced artificial intelligence devices, especially for cooperative system with rich core data exchange which may offer opportunities for attackers to fake interaction messages. To combat such threat, great efforts have been made by introducing trust mechanism in initiative or passive way. Furthermore, blockchain and distributed ledger technology provide a decentralized and peer-to-peer network, which has great potential application for multi-agent system, such as IoTs and robots. It eliminates third-party interference and data in the blockchain are stored in an encrypted way permanently and anti-destroys. In this paper, a methodology of blockchain is proposed and designed for advanced cooperative system with artificial intelligence to protect privacy and sensitive data exchange between multi-agents. The validation procedure is performed in laboratory by a three-level computing networks of Raspberry Pi 3B+, NVIDIA Jetson Tx2 and local computing server for a robot system with four manipulators and four binocular cameras in peer computing nodes by Go language.

Robot networks are susceptible to fail under the presence of malicious or defective robots. Resilient networks in the literature require high connectivity and large communication ranges, leading to high energy consumption in the communication network. This paper presents robot formations with guaranteed resiliency that use smaller communication ranges than previous results in the literature. The formations can be built on triangular and square lattices in the plane, and cubic lattices in the three-dimensional space. We support our theoretical framework with simulations.

Robots operating alongside humans in field environments have the potential to greatly increase the situational awareness of their human teammates. A significant challenge, however, is the efficient conveyance of what the robot perceives to the human in order to achieve improved situational awareness. We believe augmented reality (AR), which allows a human to simultaneously perceive the real world and digital information situated virtually in the real world, has the potential to address this issue. Motivated by the emerging prevalence of practical human-wearable AR devices, we present a system that enables a robot to perform cooperative search with a human teammate, where the robot can both share search results and assist the human teammate in navigation to the search target. We demonstrate this ability in a search task in an uninstrumented environment where the robot identifies and localizes targets and provides navigation direction via AR to bring the human to the correct target.

In this paper, the design as well as complete implementation of a robot which can be autonomously controlled for surveillance. It can be seamlessly integrated into an existing security system already present. The robot's inherent ability allows it to map the interiors of an unexplored building and steer autonomously using its self-ruling and pilot feature. It uses a 2D LIDAR to map its environment in real-time and HD camera records suspicious activity. It also features an in-built display with touch based commands and voice recognition that enables people to interact with the robot during any situation.

Wireless networking opens up many opportunities to facilitate miniaturized robots in collaborative tasks, while the openness of wireless medium exposes robots to the threats of Sybil attackers, who can break the fundamental trust assumption in robotic collaboration by forging a large number of fictitious robots. Recent advances advocate the adoption of bulky multi-antenna systems to passively obtain fine-grained physical layer signatures, rendering them unaffordable to miniaturized robots. To overcome this conundrum, this paper presents ScatterID, a lightweight system that attaches featherlight and batteryless backscatter tags to single-antenna robots to defend against Sybil attacks. Instead of passively "observing" signatures, ScatterID actively "manipulates" multipath propagation by using backscatter tags to intentionally create rich multipath features obtainable to a single-antenna robot. These features are used to construct a distinct profile to detect the real signal source, even when the attacker is mobile and power-scaling. We implement ScatterID on the iRobot Create platform and evaluate it in typical indoor and outdoor environments. The experimental results show that our system achieves a high AUROC of 0.988 and an overall accuracy of 96.4% for identity verification.

To meet the high requirement of human-machine interaction, quadruped robots with human recognition and tracking capability are studied in this paper. We first introduce a marker recognition system which uses multi-thread laser scanner and retro-reflective markers to distinguish the robot's leader and other objects. When the robot follows leader autonomously, the variant A* algorithm which having obstacle grids extended virtually (EA*) is used to plan the path. But if robots need to track and follow the leader's path as closely as possible, it will trust that the path which leader have traveled is safe enough and uses the incremental form of EA* algorithm (IEA*) to reproduce the trajectory. The simulation and experiment results illustrate the feasibility and effectiveness of the proposed algorithms.

Swarm robotics, a combination of Swarm intelligence and robotics, is inspired from how the nature swarms, such as flock of birds, swarm of bees, ants, fishes etc. These group behaviours show great flexibility and robustness which enable the robots to perform various tasks like pattern formation, rescue and military operation, space expedition etc. This paper discusses an algorithm for forming patterns, which are English alphabets, by identical robots, in a finite amount of time and also analyses outcome of the algorithm. In order to implement the algorithm, 9 identical circular robots of diameter 15 cm are used, each having a Node MCU module and a rotary encoder attached to one wheel of the robot. The robots are initially placed at the centres of an imaginary 3×3 grid, on a white sheet of paper, of dimensions 250cm × 250 cm. All the robots are connected to the laptop's network via wifi and data send from the laptop is received by the Node MCU modules. This data includes the distance to be moved and the angle to be turned by each robot in order to form the letter. The rotary encoders enable the robot to move specific distances and turn specific angles, with high accuracy, by real time feedback. The algorithm is written in Python and image processing is done using OpenCV. Certain approximations are used in order to implement collision avoidance. Finally after calibration, the word given as input, is formed letter by letter, using these 9 identical robots.

Multi-robot transfer learning allows a robot to use data generated by a second, similar robot to improve its own behavior. The potential advantages are reducing the time of training and the unavoidable risks that exist during the training phase. Transfer learning algorithms aim to find an optimal transfer map between different robots. In this paper, we investigate, through a theoretical study of single-input single-output (SISO) systems, the properties of such optimal transfer maps. We first show that the optimal transfer learning map is, in general, a dynamic system. The main contribution of the paper is to provide an algorithm for determining the properties of this optimal dynamic map including its order and regressors (i.e., the variables it depends on). The proposed algorithm does not require detailed knowledge of the robots' dynamics, but relies on basic system properties easily obtainable through simple experimental tests. We validate the proposed algorithm experimentally through an example of transfer learning between two different quadrotor platforms. Experimental results show that an optimal dynamic map, with correct properties obtained from our proposed algorithm, achieves 60-70% reduction of transfer learning error compared to the cases when the data is directly transferred or transferred using an optimal static map.

In this paper, we study the model of human trust where an operator controls a robotic swarm remotely for a search mission. Existing trust models in human-in-the-loop systems are based on task performance of robots. However, we find that humans tend to make their decisions based on physical characteristics of the swarm rather than its performance since task performance of swarms is not clearly perceivable by humans. We formulate trust as a Markov decision process whose state space includes physical parameters of the swarm. We employ an inverse reinforcement learning algorithm to learn behaviors of the operator from a single demonstration. The learned behaviors are used to predict the trust level of the operator based on the features of the swarm.