Detection system of a security robot using multisensor fusion algorithms

This article develops a detection system with a module-based intelligent security robot that has a uniform interface. The detection system contains a power detection module, a gas detection module, an environment detection module, and a fire detection module, etc. The control unit of these modules is a HOLTEK microchip. These modules can communicate with a master module via an I2C interface. The master module communicates with the main controller of the security robot via an RS232 interface. The main controller of the security robot system is an industry personal computer (IPC). It can display the status of these modules on the monitor. These detection modules can enhance the detection results using multisensory fusion algorithms. The user can add or remove the detection modules in any time, and the main controller can acquires sensor signals from these detection modules in real-time. Finally, we present some experimental results using these detection modules, and integrate these modules in a module-based intelligent security robot that executes several scenarios.     

Self-Repairing Algorithm of Lattice-Type Self-Reconfigurable Modular Robots

Self-reconfigurable modular robots consist of many identical modules. By changing the connections among modules, the configuration of the robot can be transformed into other configurations. For the self-reconfigurable modular robot, one of its main functions is its self-repairing ability. First, the module of the lattice-type self-reconfigurable robot is presented. It is composed of a central cube and six rotary arms. On each rotary arm the docking mechanism is designed to show the self-repairing ability. Second, the basic motion of the self-reconfigurable robot is described to change the positions of the module. The state matrix and the location matrix are proposed to describe the connection states. Third, a self-repairing algorithm based on the positions of the faulty modules is presented. The algorithm applies the Breadth-First-Search method and the Depth-First-Search method to find a locomotion path by which the faulty module is ejected and replaced by a spare module. At last, a simulation on the fourth-order lattice-type self-reconfigurable robot consisting of 729 modules shows the feasibility and effectiveness of this self-repairing algorithm in three dimensions.     

Developing a module-based security system for an intelligent home

The security system in a workplace or home is important to human life. Unlucky events are often caused by the negligence of humans. We have developed a modulebased security system for home automation. The structure of the security system contains many modules. Each module has two types of interface (wireless RF and speech). There are active and passive modules in the security system. The active security module is a smart robot. We have designed many types of smart robot for the security system. The passive security modules include a fire security module, an intruder security module, an environment security module, a gas security module, an AC power security module, and an appliance control module. In the security module, we use multisensor fusion algorithms to decide the exact output. In these modules, we use a two-wire communication method through the wireless RF interface, and a voice alarm for serious events, and transmit the real-time status to the supervised computer. In the smart robot system, we have designed many types of smart robot for the security system. We have designed a general user interface (GUI) for the intelligent security system. The user interface can supervise these modules and the smart robots via the wireless RF device, and supervise the security system via wireless, Internet, and cell phone.     

Multi-robot-based intelligent security system

This article describes a multiple security module-based intelligent security system that has multiple communication interfaces which can be applied in home automation. The interfaces of the intelligent security system contain wired RS485, wireless RF, and Internet. The detection modules of the system have both active and passive security modules. The passive security modules contain wired security modules and wireless security modules. The control unit of all security modules is a HOLTEK microchip. Each security module has two different interfaces. They use voice modules to alarm users of an event, and to transmit real-time event signals to the supervising computer via the wired RS485 or wireless RF interface. If an event occurs, the supervising computer calculates its belief values using Dempster-Shafter evidence theory according to the passive wired and wireless security modules. If the belief value is over a set threshold, the supervising computer commands the mobile robot to move to the event location, and receives a signal from the mobile robot via the wireless RF interface. The supervising computer recognizes the final decision output using Dempster-Shafter evidence theory, and displays the detection and decision output values on the monitor of the user interface. Finally, we present some experimental results using wired passive security modules, wireless passive security modules, and active security modules for fire detection and gas leakage detection using the experimental platform of the intelligent security system.     

Path planning of fire-escaping system for intelligent building

We present the path-planning techniques of the fire-escaping system for intelligent building, and use multiple mobile robots to present the experimental scenario. The fire-escaping system contains a supervised computer, an experimental platform, some fire-detection robots and some navigation robots. The mobile robot has the shape of a cylinder, and its diameter, height and weight are 10?cm, 15?cm and 1.5?kg, respectively. The mobile robot contains a controller module, two DC servomotors (including drivers), three IR sensor modules, a voice module and a wireless RF module. The controller of the mobile robot acquires the detection signals from reflective IR sensors through I/O pins and receives the command from the supervised computer via wireless RF interface. The fire-detection robot carries the flame sensor to detect fire sources moving on the grid-based experiment platform, and calculates the more safety escaping path using piecewise cubic Bezier curve on all probability escaping motion paths. Then the user interface uses A* searching algorithm to program escaping motion path to approach the Bezier curve on the grid-based platform. The navigation robot guides people moving to the safety area or exit door using the programmed escaping motion path. In the experimental results, the supervised computer programs the escaping paths using the proposed algorithms and presents movement scenario using the multiple smart mobile robots on the experimental platform. In the experimental scenario, the user interface transmits the motion command to the mobile robots moving on the grid-based platform, and locates the positions of fire sources by the fire-detection robots. The navigation robot guides people leaving the fire sources using the low-risk escaping motion path and moves to the exit door.     

一种用于食品链信息管理的RFID读写器的设计

介绍了一种符合ISO/IEC 15693协议的电子标签读写器系统,提出了一种适合于食品链信息管理的便携式RFID读卡器设计方案.该读卡器系统包括控制模块、射频识别通信模块、无线传感网数传模块、信息存储模块、电源管理模块、网络接口模块以及服务器数据备份等.本文主要介绍系统备模块的框架设计,并给出了信息的处理方法.     

Speech-based formation control of the multi-robot system

The article presents multiple pattern formation control of the multi-robot system using A* searching algorithm, and avoids the collision points moving on the motion platform. We use speech recognition algorithm to decide the various pattern formations, and program mobile robots to present the movement scenario on the grid-based motion platform. We have been developed some pattern formations to be applied in game applications, such as long snake pattern formation, phalanx pattern formation, crane wing pattern formation, sword pattern formation, cone pattern formation and so on. The mobile robot contains a controller module, three IR sensor modules, a voice module, a wireless RF module, a compass module, and two DC servomotors. The controller of the mobile robot can acquire the detection signals from reflect IR sensor modules and the compass module, and decide the cross points of the aisle. The mobile robot receives the command from the supervised computer, and transmits the status of environment to the supervised computer via wireless RF interface. We develop the user interface of the multi-robot system to program motion paths for various pattern formation exchanges using the minimum displacement. Users can use speech to control the multiple mobile robots to execut pattern formation exchange. In the experimental results, users can speak the pattern formation. The speech recognition system receives the signal to decide the pattern formation. The multiple mobile robots can receive the pattern formation command from the supervised computer, and arrange the assigned pattern formation on the motion platform, and avoid other mobile robots.     

Path planning of a multiple mobile robot system

We present path-planning techniques for a multiple mobile robot system. The mobile robot has the shape of a cylinder, and its diameter, height, and weight are 8 cm, 15 cm, and 1.5 kg, respectively. The controller of the mobile robot is an MCS-51 chip, and it acquires detection signals from sensors through I/O pins. It receives commands from the supervising computer via a wireless RF interface, and transmits the status of the robots to the supervising computer via a wireless RF interface. The mobile robot system is a module-based system, and contains a controller module (including two DC motors and drivers), an obstacle detection module, a voice module, a wireless RF module, an encoder module, and a compass detection module. We propose an evaluation method to arrange the position of the multiple mobile robot system, and develop a path-planning interface on the supervising computer. In the experimental results, the mobile robots were able to receive commands from the supervising computer, and to move their next positions according to the proposed method.     

A distributed and morphology-independent strategy for adaptive locomotion in self-reconfigurable modular robots

In this paper, we present a distributed reinforcement learning strategy for morphology-independent life-long gait learning for modular robots. All modules run identical controllers that locally and independently optimize their action selection based on the robot’s velocity as a global, shared reward signal. We evaluate the strategy experimentally mainly on simulated, but also on physical, modular robots. We find that the strategy: (i) for six of seven configurations (3–12 modules) converge in 96% of the trials to the best known action-based gaits within 15 min, on average, (ii) can be transferred to physical robots with a comparable performance, (iii) can be applied to learn simple gait control tables for both M-TRAN and ATRON robots, (iv) enables an 8-module robot to adapt to faults and changes in its morphology, and (v) can learn gaits for up to 60 module robots but a divergence effect becomes substantial from 20–30 modules. These experiments demonstrate the advantages of a distributed learning strategy for modular robots, such as simplicity in implementation, low resource requirements, morphology independence, reconfigurability, and fault tolerance.     

无线LED路灯的智能监控软件设计

为了能够智能监控无线LED路灯,分析由Zigbee路灯控制器、子网控制器和监控中心组成的LED路灯监控系统,设计监控中心上的智能监控软件。该软件基于Qt图形界面平台,采用C＋＋语言编写,采用模块化的解耦设计思路,分别设计数据管理模块、主界面模块、数据库模块、用户管理模块和通信管理模块五个模块,最终实现了智能监控软件。实验结果可知：该软件能够采集无线LED路灯的工作状态和智能控制无线LED路灯,具有较好的图像化界面,通用性和可靠性,具有一定的应用价值。     

Reconfigurable smart controller and interface architecture for Photo-voltaic Energy Storage System

Photo-voltaic Energy Storage Systems (PVESS) are the widely used non-conventional energy sources. System's reliability could be improved by standardizing its transducers and controller components as per IEEE 1451.0 standard protocol. The protocol defines the commands and functions required to interface transducers in digital domain using two functional modules namely “Transducer Interface Module” (TIM) and “Transducer Electronic Data Sheet” (TEDS). This paper presents a novel modular control structure of TIM and corresponding TEDS of a photo-voltaic system. Smart transducer interface module proposed in this paper can be embedded to the PVESS system. Effectiveness of the proposed smart system is illustrated for battery storage system using solar energy. Field Programmable Gate Array (FPGA) implementation of the protocol provides a compact Smart Energy Storage System (SESS). It supports knowledge based reconfigurable control module using TEDS information. Spartan 6 FPGA is chosen to implement the architecture with necessary command execution unit to effectively utilize TEDS information. Proposed architecture is implemented in FPGA and its performance is validated for battery storage system.     

Intelligent material flow by decentralizedcontrol networks

This contribution presents a modular system for decentralized control of track-bound plant-floor material flow. The first main element of the system is a transport network of intelligent track and transport modules that autonomously execute transport orders. There is only a limited number of different standard module types, initially not bound to a specific topology. All modules can independently perform local operations and, in order to coordinate their actions, communicate throughout the network via an integrated data bus. The second pillar is a PC-based graphical user interface for automatically configuring modules with topology data, for passing transport orders to transport modules, and for optionally supervising all concurrent processes.     

Impact Analysis of a Dual-Crawler-Driven Robot

This paper presents the impact analysis of a new dual-crawler-driven robot. This dual-crawler-driven robot is realized by connecting rigidly two crawler modules. In this newly proposed crawler module, a planetary gear reducer is deployed as the power transmission device to give two different outputs with just one actuator. Compared with the crawler driven by two actuators, our crawler module driven by one actuator could show good impact absorption when the robot collides with an obstacle due to the fact that there exists an output redundancy in each module. To determine what the advantage of our mechanism to the impact absorption is, impact analysis of the robot is conducted from the external components of the robot to its internal transmission parts while the robot encounters a collision with obstacles. The results of impact effect to the actuators in our mechanism are correspondingly derived in comparison with that in the conventional mechanism where each output is provided by one actuator. Numerical results are used to demonstrate the advantage of our mechanism on impact absorption.     

Construction and locomotion analysis of modular robots with pneumatic-actuated and binary-controlled expandable cubes

This paper presents the construction and locomotion analysis of the modular robots composed of expandable cubes (E-Cubes). The kinematic properties and experiment research of the assembled modular robots are the main focus of the paper. The E-Cube consisted of only prismatic joints is a cubic module with three degrees of freedom corresponding to three mutually perpendicular directions. The modular robots are constructed by connecting the vertex or edge of the adjacent modules. In this paper, first, the modular robot system including the E-Cube hardware, connection method of modules and a potential binary control strategy is described. And then, the detailed kinematics, stability and motion simulations of three configurations assembled with four modules are analysed. After that, a set of experimental pneumatic-based robotic system is built. At last, the gait experiments of the configurations are carried out to testify the feasibility and validity of design and locomotion functions. The experiment results show the reliability of the mechanical, control and pneumatic systems and the programming and control efficiency of the binary control strategy. As extension, a modular robot with eight modules is assembled, and its different locomotion gaits are simulated accordingly.     

The UJI Online Robot: An Education and Training Experience

This paper describes a complete vision-based online robot system that allows controlling both an educational and an industrial robot via web. We address some of the limitations of current similar systems particularly concerning the user interface. Some of its novel features are: its adjustable autonomy, so that the user can decide the right level of interaction from high-level voice commands down to mouse clicks, reducing in this way the cognitive fatigue resulting from remote operation; the interface is predictive, by using a 3D virtual environment endowed with augmented reality capabilities, the user can predict the results of the actions before sending the command to the real robot. Thus, network bandwidth is saved and off-line task specification is possible. This high level interaction is possible thanks to some built-in modules for performing basic tasks such as automatic object recognition, image processing, autonomous grasp determination and speech recognition. Finally, the system has been tested by means of an application in the Education and Training domain. One hundred undergraduate students have been using the web-based interface in order to program Pick and Place operations with the system. The results show performance, statistics, connection rates, and the students' opinions, as a way of evaluating the convenience and usability of the user interface.     

A modular approach to learning manipulation strategies from human demonstration

Object manipulation is a challenging task for robotics, as the physics involved in object interaction is complex and hard to express analytically. Here we introduce a modular approach for learning a manipulation strategy from human demonstration. Firstly we record a human performing a task that requires an adaptive control strategy in different conditions, i.e. different task contexts. We then perform modular decomposition of the control strategy, using phases of the recorded actions to guide segmentation. Each module represents a part of the strategy, encoded as a pair of forward and inverse models. All modules contribute to the final control policy; their recommendations are integrated via a system of weighting based on their own estimated error in the current task context. We validate our approach by demonstrating it, both in a simulation for clarity, and on a real robot platform to demonstrate robustness and capacity to generalise. The robot task is opening bottle caps. We show that our approach can modularize an adaptive control strategy and generate appropriate motor commands for the robot to accomplish the complete task, even for novel bottles.     

有向图中模块化航天器系统相对轨道的自适应分布式一致性

基于多智能体系统一致性理论,对模块化航天器相对轨道的分布式一致性问题进行了研究.各模块之间的信息交互拓扑结构为更具一般性的有向图.当存在模块质量不确定性的情形下,设计了仅依赖模块自身及其邻近模块信息且无需模块间相对速度信息的自适应控制算法.针对模型中存在外部干扰的情形,通过引入带有时变自适应参数的变结构控制项,实现了对未知上界干扰的补偿,并且证明了闭环系统是渐近稳定的.此外,本文所设计的算法具有分布式的特点,不会因为模块数量的增多而增加所提算法的复杂度.最后对6个模块组成的模块化航天器的编队飞行进行了仿真分析,仿真结果表明本文设计的控制律是有效可行的.     

Direct Virtual-hand Interface in Robot Assembly Programming

For a long time, robot assembly programming has been produced in two environments: on-line and off-line. On-line robot programming uses the actual robot for the experiments performing a given task; off-line robot programming develops a robot program in either an autonomous system with a high-level task planner and simulation or a 2D graphical user interface linked to other system components. This paper presents a whole hand interface for more easily performing robotic assembly tasks in the virtual tenvironment. The interface is composed of both static hand shapes (states) and continuous hand motions (modes). Hand shapes are recognized as discrete states that trigger the control signals and commands, and hand motions are mapped to the movements of a selected instance in real-time assembly. Hand postures are also used for specifying the alignment constraints and axis mapping of the hand-part coordinates. The basic virtual-hand functions are constructed through the states and modes developing the robotic assembly program. The assembling motion of the object is guided by the user immersed in the environment to a path such that no collisions will occur. The fine motion in controlling the contact and ending position/orientation is handled automatically by the system using prior knowledge of the parts and assembly reasoning. One assembly programming case using this interface is described in detail in the paper.