ENGINEERING RESEARCH PAPERS

ROBOTICS IEEE PAPER 2018




Peoples Judgments of Human and Robot Behaviors
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ABSTRACT The emergence of robots in everyday life raises the question of how people explain the behavior of robotsin particular, whether they explain robot behavior the same way as they explain human behavior. However, before we can examine whether peoples

Preliminary system and hardware design for Quori, a low-cost, modular, socially interactive robot
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ABSTRACT This paper presents progress on Quori, a low-cost socially interactive robot platform comprised of an upper-body humanoid with a rear projection head and two gesturing arms on a mobile base. The robots hardware is introduced and features are

Ziegler-Nichols Based Proportional-Integral-Derivative Controller for a Line Tracking Robot
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Line tracking robots have been widely implemented in various applications. Among various control strategies, a proportional-integral-derivative (PID) algorithm has been widely proposed to optimize the performance of a line tracking robot . However, the motivation of

Closure toDiscussion of Geometric Algorithms for Robot Dynamics: A Tutorial Review (Park, FC, Kim, B., Jang, C., and Hong, J., 2018, ASME Appl. Mech. Rev., 70 (1
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We are grateful to Chirikjian for his in-depth analysis and insightful comments on our tutorial review, which complement nicely our main discussion on how Lie group methods can be effectively used for robot dynamics. There is considerable machinery from the theory

Experiences of a motivational interview delivered by a robot : A qualitative study
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Background: Motivational interviewing (MI) is an effective intervention for supporting behaviour change, but traditionally depends on face-to-face dialogue with a human counsellor. This study addressed a key challenge for the goal of developing social robotic

Discussion ofGeometric Algorithms for Robot Dynamics: A Tutorial Review by Frank C. Park, Beobkyoon Kim, Cheongjae Jang, and Jisoo Hong
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ABSTRACT Lie-theoretic methods provide an elegant way to formulate many problems in robotics, and the tutorial by Park et al is simultaneously a complete and concise introduction to these methods as they pertain to robot dynamics. The central reason why Lie

Autonomic Management For Mobile Robot Battery Degradation
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ABSTRACT the majority of todays mobile robots are very dependent on battery power. Mobile robots can operate untethered for a number of hours but eventually they will need to recharge their batteries in-order to continue to function. While computer processing and

A Robot to Provide Support in Stigmatizing Patient-Caregiver Relationships
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ABSTRACT This paper introduces a computational model and actionselection mechanism that allow for a robot to support healthier interactions between Parkinsons patients and their caregivers. Patients caregivers will sometimes stigmatize the patients because of a

Design, Manufacturing and Test of a High-Precision MEMS Inclination Sensor for Navigation Systems in RobotAssisted Surgery
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ABSTRACT : Robot supported minimally invasive interventions are state of the art in operating theatres. To increase the accuracy of surgical instrument positioning, high-precision motion tracking systems are required. The miniaturization of microelectromechanical systems

Fabrication and Analysis Pneumatic Quadruped Robot
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ABSTRACT Pneumatic quadruped robot is a research project with wide variety of applications. It is a remarkable mechanical machine, category to few competitors to date. There are only limited places on earth where an existing wheeled and tracked vehicles can go, but a

A preliminary study of the effects of a smile-supplement robot on behavioral and psychological symptoms of elderly people with mild impairment
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Page 1.45 20183Journal of Humanities and Social Sciences Okayama University

KINEMATIC MODELING OF A SERIAL ROBOT USING DENAVIT-HARTENBERG METHOD IN MATLAB
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ABSTRACT -This paper discusses on denavit-hartenberg method in kinematic modeling of a serial robot using matlab. Denavit-Hartenberg (DH) representation is used to define the configuration of a link of a robot with respect to another link. All the four DH parameters are

Remotely teleoperating a humanoid robot to perform fine motor tasks with virtual reality
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ABSTRACT In this paper, we describe our ongoing work to develop cooperative control of NASAs R5 Valkyrie humanoid robot for performing dexterous manipulation tasks inside gloveboxes commonly found in many nuclear facilities. These tasks can be physically

Implementation aspects of time-optimal predictive path following for robot arms
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Planning of time-optimal trajectories for robots is an old problem that is still relevant today. In many applications, among which manufacturing, the robot is operating most cost effectively when tasks are completed in minimum time. Let us consider the class of tasks that can be ABSTRACT In recent years, deep learning approaches have been leveraged to achieve impressive results in object recognition. However, such techniques are problematic in real world robotics applications because of the burden of collecting and labeling training images A manipulator design theory for reduced dynamic complexity is well known. The kinematic structure and mass distribution of a manipulator allow one to obtain a linear system, ie single- input and single-output system with constant parameters. It simplifies the optimal control and

Using Narrative to Enable Longitudinal Human- Robot Interactions
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ABSTRACT New designs and metaphors for human- robot interaction need to be created to support interactions between humans and robots that occur over many days, weeks, months, or years. This position paper introduces a dynamic trajectory metaphor for long-term

DRC Team NimbRo Rescue: Perception and Control for Centaur-like Mobile Manipulation Robot Momaro
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ABSTRACT Robots that solve complex tasks in environments too dangerous for humans to enter are desperately needed, eg for search and rescue applications. We describe our mobile manipulation robot Momaro, with which we participated successfully in the DARPA

Robot Signaling its Intentions in Human- Robot Teaming
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ABSTRACT Facilitating a shared team understanding is an important task in human- robot teaming. In order to achieve efficient collaboration between the human and robot it requires not only the robot to understand what the human is doing, but also the robots behavior to be

A Framework for RobotGenerated Mixed-Reality Deixis
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ABSTRACT Language-capable robots interacting with human teammates may need to make frequent reference to nearby objects, locations, or people. In human- robot interaction, such references are often accompanied by deictic gestures such as pointing, using human-like ABSTRACT In this paper, we propose a test platform for a person carrier robot to measure the impacts and position changes of users on various types of terrain changes when boarding a robot . A robot is developed using a passenger wheelchair and a motor drive system, and

Sliding mode fuzzy control-based path-following control for a dolphin robot
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Dolphins are one of the most enigmatic sea creatures in the world. Long-term evolution endows them with excellent swimming skills, which motivate researchers and engineers to create an innovative biomimetic propulsive mechanism that could replace traditional screw

Geocaching with a Beam: Shared Outdoor Activities through a Telepresence Robot with 360 Degree Viewing
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ABSTRACT People often enjoy sharing outdoor activities together such as walking and hiking. However, when family and friends are separated by distance it can be difficult if not impossible to share such activities. We explore this design space by investigating the

CURRENT OPINION Mitral repair and the robot : a revolutionary tool or marketing ploy
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Recent findings Current evidence demonstrates that minimally invasive mitral repair techniques yield similar mitral repair results to conventional sternotomy with the benefits of shorter hospital stay, quicker recovery, better cosmesis and improved patient satisfaction. Despite this, broad

Graphically representing child- robot interaction proxemics
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ABSTRACT This paper discusses the current analysis of a large set of child- robot interaction experiments, in which a 2 4 year old child plays a set of games with a small humanoid robot with the goal of detecting early signs of autism in toddlers based on the interactions

Towards A Robot Hardware ABSTRACT ion Layer (R-HAL) Leveraging the XBot Software Framework
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ABSTRACT In this paper we present a new Robot Hardware ABSTRACT ion Layer (R-HAL) that permits to seamlessly program and control any robotic platform powered by the XBot control software framework. The implementation details of the R-HAL are introduced. The R-HAL is

Bilateral Anesthesia Mumps After RobotAssisted Hysterectomy Under General Anesthesia: Two Case Reports
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ABSTRACT : Acute post-operative parotid gland swelling oranesthesia mumpsis a rare complication that occurs after general or regional anesthesia. While the exact mechanism underlying this condition is not fully understood, mechanical obstruction of Stensens duct

MOVEMENT OF THE SPACE ROBOT MANIPULATOR IN ENVIRONMENT WITH OBSTACLES
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The paper considers a flat model of a space manipulation robot that serves a space station and represented as a carrier body with a manipulator attached to it. It is believed that the movement of the robot is carried out in an environment with obstacles in the absence of

Progression of stair climbing wheelchair of microcontroller of Global Positioning System (GPS) To Explore The Autonomous Robot
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ABSTRACT This paper deals with the arranging and progression of a stair climbing stage can be executed to modified wheelchair for physically weakened people. The usage of this remarkable vehicle beats the troubles went up against by physically incapacitated people ABSTRACT This paper proposes a human object identification by using a simplified fast region-based convolutional network (RCNN). Human identification is a problem of considerable practical interest. Here, we propose the state-of-the art method which is tested

A Nearest-Neighbor Approach to Recognizing Subjective Beliefs in Human- Robot Interaction
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ABSTRACT Trust is critical to the success of human- robot interaction (HRI), and one of the critical antecedents to trust is transparency. To best interact with human teammates, a robot must be able to ensure that they understand its decision-making process. Recent work has ABSTRACT In this chapter, we review previous estimation and sensor fusion approaches in the field of humanoid robotics. The focus is primarily but not exclusively on state estimation. Humanoids are modelled as free-floating mechanical systems subject to external forces and

Direct and Inverse Kinematics of a Manipulator Robot of Five Degrees of Freedom Implemented in Embedded System-CompactRIO
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ABSTRACT In this paper, three trajectories generation algorithms are implemented on the industrial controller CompactRIO. These algorithms allow to generate and control the coordinated movements of the Five Degrees of Freedom (5D. OF) of the Scorbot manipulator ABSTRACT In this research contribution, authors advocate a new relational means for intelligent robot and robot teams control and navigation. The main underlying theory is that of mereology and its extension rough mereology augmented with new concepts transferred ABSTRACT The aim of our work is to integrate a previously developed framework for high- level surveillance event detection with a smart robot to enhance the monitoring process. More specifically, the robot is able to improve the quality of a video stream, which in our

Surgical Robot with Variable Remote Center of Motion Mechanism Using Flexible Structure
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ABSTRACT Remote Center of Motion (RCM) mechanisms are often used in surgical robots for laparoscopic surgery. In this paper, a RCM mechanism for holding a robotic forceps that facilitates adjustment using a flexible structure is proposed. The flexible structure is

Thank You for Sharing that Interesting Fact! : Effects of Capability and Context on Indirect Speech Act Use in Task-Based Human- Robot Dialogue
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ABSTRACT Naturally interacting robots must be able to understand natural human speech. As such, recent work has sought to allow robots to infer the intentions behind commonly used non-literal utterances such as indirect speech acts (ISAs). However, it is still unclear to

RobotAssisted Medial Compartment Arthroplasty Following Remote Patellectomy: A Case Report
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Introduction: Total patellectomies are uncommon procedures that are reserved as salvage treatment for severely comminuted fractures of the patella. Due to the alteration of normal joint mechanics, these patients present later on in life with degenerative cartilage damage to ABSTRACT Many robot systems incorporate six-axis force/torque sensors to enable compliant interaction with the environment, even when a lower-cost three-axis sensor may be sufficient. One challenge is that a three-axis sensor may measure a coupling of the applied

Design and Development of Three Arms Transmission Line Inspection Robot
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ABSTRACT The high-voltage transmission line had been used primarily for power distribution from power plant or power station to the end users. However, the transmission line is highly prone to damage due to exposure to various thermalmechanical loadings and material

Monitoring and Controlling of Fire Fighthing Robot using IOT
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ABSTRACT The aim of this paper is to design a robot which acts as an extinguisher of fire. This proposed firefighting robot is expected to produce a small but very powerful and versatile robot . It detects fire in the disaster prone area. We design this project with the help

Companion Robots: the Hallucinatory Danger of Human- Robot Interactions
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ABSTRACT The advent of the so-called Companion Robots is raising many ethical concerns among scholars and in the public opinion. Focusing mainly on robots caring for the elderly, in this paper we analyze these concerns to distinguish which are directly ascribable to

Computational Analysis of Affect, Personality, and Engagement in HumanRobot Interactions
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ABSTRACT This chapter focuses on recent advances in social robots that are capable of sensing their users, and support their users through social interactions, with the ultimate goal of fostering their cognitive and socio-emotional wellbeing. Designing social robots with

Synthesis of the Decentralized Control System for RobotManipulator with Input Saturations
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ABSTRACT It is discussed the problem of synthesis of the decentralized adaptive-periodic control system for two degrees of freedom robotic manipulator which have an input limitations. The solution of the problem is based on the use of hyperstability criterion, L

Assis-Cicerone Robot With Visual Obstacle Avoidance Using a Stack of Odometric Data.
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ABSTRACT Modern research has shown that intelligent behaviour is, to a great extent, strongly supported on the use of a sophisticated memory. Additionally, vision is the main source of information for the average human. Constant increase of sensing and processing

Exercising with Baxter: Design and Evaluation of Assistive Social-Physical Human- Robot Interaction
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ABSTRACT The worldwide population of older adults is steadily increasing and will soon exceed the capacity of assisted living facilities. Accordingly, we aim to understand whether appropriately designed robots could help older adults stay active and engaged while living ABSTRACT The walking state monitoring is indispensable during the robotaided walking of people with lower limb dysfunctions. In this study, the existence of human- robot coordination state is first statistically verified in the process of using a walking-aid cane-type robot during

Analysis of Using Virtual Reality (VR) for Command and Control Applications of Multi- Robot Systems
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ABSTRACT With the introduction of autonomous robot swarms rapidly increasing in number and applications (eg multiple, heterogeneous drone swarms), command and control systems face new challenges and complexity in the human decision making processes. We

Evolving robot empathy towards humans with motor disabilities through artificial pain generation
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AIMS Neuroscience, 5 (1): 56 73. DOI: 10.3934/Neuroscience.2018.1.56 Received: 25 September 2017 Accepted: 15 January 2018 Published: 30 January 2018 Evolving robot empathy towards humans with motor disabilities Muh Anshar 1 and Mary-Anne Williams 2 1 Social, Cognitive

Smart Phone Based Robot for Domestic purpose using Bluetooth.
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ABSTRACT - Robot is a reprogrammable, multifunctional gadget which is basically intended to do work like human, for example, pick and place, stacking and emptying, observation, social insurance, modern, aviation application. Robots can perform hazardous and precise work to The brain is the ultimate challenge when it comes to understanding the basis of what makes living beings able to survive in hostile environments, adapt their lifestyle to changing environmental conditions or adapt to body damages by recruiting new neural circuits to

Is robotassisted radical cystectomy superior to standard open radical cystectomy An Indian perspective.
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Conclusions: The present study has shown comparable surgical and early post-operative outcomes with clear advantage of robotic approach in terms of intraoperative blood transfusion and lymph node yield. Although the study was non-randomised in nature, it ABSTRACT Human- robot collaboration plays a strong role in industrial production processes. The ISO/TS 15066 defines four different methods of collaboration between humans and robots. So far, there was no robotic system available that incorporates all four collaboration ABSTRACT Force sensors using strain gauge have been widely applied in mechanical systems. They usually possess a structure consisting of a simple cantilever beam and two strain gauges attached to two opposite beam surfaces. However, this structure shows

Design and Fabrication of a Smart Quadruped Robot
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ABSTRACT Over the decade robotics has been a major area of interest among the researchers and scientists in reducing human efforts. The need for robots to replace human work in different hazardous fields such as underground mining, nuclear power station and

Accelerometer Based Wireless Gesture Controlled Robot for Medical Assistance using Arduino Lilypad
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ABSTRACT This paper represents a medical assistance system for specially abled people, which can be controlled wirelessly via gesture. A sensor (accelerometer) detects the gesture or change in the gesture through which the patient will control the robot for assistance and a

Planning-aware communication for decentralised multi- robot coordination
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ABSTRACT We present an algorithm for selecting when to communicate during online planning phases of coordinated multi- robot missions. The key idea is that a robot decides to request communication from another robot by reasoning over the predicted information

An optimization-based shared control framework with applications in multi- robot systems
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In recent years, researchers have been developing tools to allow human operators to work with multiple robots. To this end, results for autonomous systems can be helpful, eg controllability analysis, null-space approach, containment control. On the other

Low Cost Obstacle Avoidance Robot with Logic Gates and Gate Delay Calculations
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ABSTRACT : As a fast growing field, robots are greatly used to achieve the desired task more accurately and mitigate the difficulties in odd environments where human face immense difficulties. In this paper an obstacle avoidance robot has been designed using basic gates Robotics is a vibrant field which grows in importance from year to year. It is also a subject that students enjoy at all levels from kindergarten to graduate school. The aim of learning robotics varies with the age group. For young kids, robots are an educational toy; for In November 2017, the 2nd International Symposium on Artificial Intelligence and Robotics took place in Kitakyushu, Japan. This conference was organized by the International Society for Artificial Intelligence and Robotics (ISAIR, https://shinoceanland. com/conference/)

Human Centered Robotics : Designing Valuable Experiences for Social Robots
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ABSTRACT As robots get more capable and begin to leave the lab and enter the real world, it is becoming increasingly important to ensure that we are building applications that solve real world problems and provide valuable experiences to their users. Designing for social

Benchmarking Speech Understanding in Service Robotics
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ABSTRACT . Speech understanding is a fundamental feature for many applications focused on human-robot interaction. Although many techniques and several services for speech recognition and natural language understanding have been developed in the last years

Dynamic Structures for Evolving Tactics and Strategies in Team Robotics
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ABSTRACT The autonomous robot systems of the future will be teams of robots with complementary specialisms. At any instant robot interactions determine relational structures, and sequences of these structures describe the team dynamics as trajectories through

Evaluating CoBlox: A Comparative Study of Robotics Programming Environments for Adult Novices
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ABSTRACT A new wave of collaborative robots designed to work alongside humans is bringing the automation historically seen in large-scale industrial settings to new, diverse contexts. However, the ability to program these machines often requires years of training ABSTRACT This paper describes an industrial robotics application, named Gilbreth, for picking up objects of different types from a moving conveyor belt and sorting the objects into bins according to type. The environment, which consists of a moving conveyor belt, a break ABSTRACT In complex technical systems like robotics platforms, a manifold of issues can impair their dependability. While common testing and simulation methods largely focus on functional aspects, the utilization of resources like CPU, network bandwidth, or memory is

Applying Radical Constructivism to Machine Learning: A Pilot Study in Assistive Robotics
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Markus NowakGerman Aerospace Center (DLR), Germanymarkus. nowak/at/dlr. de Claudio CastelliniGerman Aerospace Center (DLR), Germanyclaudio. castellini/at/dlr. de Carlo MassironiIstituto di Psicologia e Psicoterapia Interazionista Psicopraxis, Italycarlo

Control Systems and Robotics Outreach to Middle-school Girls: Approach, Results, and Suggestions
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ABSTRACT We conducted a three-day outreach camp focused on control systems and robotics for 8th grade girls from economically disadvantaged families. The overall objective of the camp was motivating the young girls to consider pursuing a career in engineering and My major motivation to think about swarm robotics is the question of how probabilistic local actions of small robots sum up to rational global patterns shown by the swarm. For the engineer, it has potential to let a dream come true because complex problems may be For more than one century surgical training has been based on the autocratic and pyramidal see one, do one, teach onemethod developed by William Halsted at John Hopkins Hospital [11. The advent of laparoscopy, manual first and robotically assisted later, posed new

Student Learning of Computational Thinking in A Robotics Curriculum: Transferrable Skills and Relevant Factors
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ABSTRACT : This poster presents findings from the implementation of a robotics curriculum emphasizing applying computational thinking (CT) to solve both programming and everyday reasoning problems. Utilizing an online CT instrument as the pre-and-post measure

Robotics for Successful Ageing
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ABSTRACT The main idea of the ongoing research is to use robotics to create new opportunities to help older people to remain alone in their apartments which can be achieved by using robots as an interacting tool between the elderly and their family ABSTRACT The proposed device is a piezoresistive sensor that converts mechanical energy from robot fingers movement into electrical energy to be used as feedback for sensing. The device consists of a piezoresistive layer with two upper interconnected fractals. The

Accessibility, Making and Tactile Robotics : Facilitating Collaborative Learning and Computational Thinking for Learners with Visual Impairments
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ABSTRACT : This poster focuses on accessibility concerns that learners with visual impairments (LVIs) face in making environments, particularly with contemporary toolkits. This exploratory study was conducted over a three-day summer making workshop with visually impaired high

Lessons Learned Flipping a Mobile Robotics Course
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ABSTRACT The goal of this paper is to describe the motivation, process and results of converting a traditional mobile robotics classroom into a flipped one. Mobile robotics has been taught at this university for 10 years and the course has proven to be very successful

Automation, Robotics and Mechatronics An Introduction to Monopropellant Powered Robotics
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ABSTRACT This paper describes the design and energetic characterization of an actuator designed to provide enhanced system energy and power density for self-powered robots. The proposed actuator is similar to a typical compressible gas fluid-powered actuator, but

The potential of a robotics summer course On Engineering Education
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ABSTRACT RobotCraft is an international internship with a summer course in robotics designed especially for BSc to PhD students. The students attending this 2-months program have the opportunity to work in robotics focusing on several state-of-theart approaches, technologies

The Limits and Potentials of Deep Learning for Robotics
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ABSTRACT : The application of deep learning in robotics leads to very specific problems and research questions that are typically not addressed by the computer vision and machine learning communities. In this paper we discuss a number of roboticsspecific learning

Robotics and Law: A Survey
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ABSTRACT . The legal agency of a robot depends on its consideration as i) a legal person (a proper person with rights and duties of their own; ii) as a strict agent in the business law-field (negotiations, contracts, etc); iii) as a source of responsibility for other agents in the system ABSTRACT Robotics is one of the most powerful domains in TE. Teaching robotics has to consider the fast loop of innovation and may vary between simple algorithms in primary classes and will not end with the critical engagement with the impact assessment of

RobotCraft: The first international collective internship for advanced robotics training
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ABSTRACT . This paper describes a two-month summer collective internship conceived to provide a unique hands-on experience in robotics . The objective of the Robotics Craftsmanship International Academy, or RobotCraft for short, is to introduce higher

Why the three laws of robotics do not work
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ABSTRACT This paper will be exploring the issue of safeguards around artificial intelligence. AI is a technological innovation that could potentially be created in the next few decades. There must be have controls in place before the creation ofstrong, sentient AI to avoid potentially

Light-driven Nano- robotics
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ABSTRACT The synergy between nanotech, biotech and optics is spawning the emerging field of nanobiophotonics. Optics already hurdle the diffraction barrier for imaging with nanoscopic resolutions as celebrated by the Nobel Prize 2014 in Chemistry. However

The Transformation of the Workplace through Robotics Artificial Intelligence, and Automation
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ABSTRACT Robotics is the fastest growing industry in the world, poised to become the largest in the next decade. The use of robots requires design, application and implementation of the appropriate safety controls in order to avoid creating hazards to production personnel

Formative Evaluation of a Hampton Roads Regional Approach to FIRST Robotics
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FIRST Robotics is a program with international outreach to produce a positive impact on getting more students involved in Science, Technology, Engineering and Mathematics activities by inviting school children to build robots in local and regional competitions. In

REVIEW PAPER ON AGRICULTURAL ROBOTICS
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ABSTRACT -One of the major economic issues faced by the country is agriculture as this is the sector which is source of livelihood for about 54% of Indians till date. Still today this sector is not well developed and faces lots of problems resulting into low productivity of crops. The

Probabilistic Programming for Robotics
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Autonomous robotic agents use noisy sensors and actuators to interact with a complex external world. As a result, inference engines and point estimators are essential to making modern robots work. Often, these are highly specialized and optimized to run in real-time, for

AI, Robotics and Cyber: How Much will They Change Warfare
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The Army AI and ML problems involve unique challenges: unstructured, unstable, rapidly changing, chaotic, rubble-filled adversarial environments; learning in real-time, under extreme time constraints, with only a few observations that are potentially erroneous, of

A New Skeleton Model and the Motion Rhythm Analysis for Human Shoulder Complex Oriented to Rehabilitation Robotics
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ABSTRACT -Rehabilitation robotics have become a widely accepted method to deal with the training of people with motor dysfunction. In robotics medium training, shoulder repeated exercise training has been proven beneficial for improving motion ability of human limbs. An
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