Scientists and engineers in the whole time history have turned to nature for encouragement and dreams for
trouble solving for the real time environments. By observing the performance of groups of bees and ants
are working together has given to a rise to the ‘swarm intelligence concepts’. One of the most interesting
and new explore area of recent decades towards the impressive challenge of robotics is the design of
swarm robots that are self-independent and self intelligence one. This concept can be essential for robots
exposed to environment that are shapeless or not easily available for an individual operator, such as a
distorted construction, the deep sea, or the surface of another planet. In this paper, we present a study on
the basic bio-inspirations of swarm and its physical configurations, such as reconfigurability, replication
and self-assembly. By introducing the swarm concepts through swarm-bot, which offers mainly
miniaturization with robustness, flexibility and scalability. This paper discusses about the various swarmbot intelligence, self-assembly and self-reconfigurability among the most important and capabilities as well
as functionality to swarm robots.
Inspired from social behavior of insects and other creatures, artificial intelligence community has learned a series of techniques commonly known as Swarm Intelligence. Here we give a 15 minute introduction to this area.
A robot swarm is essentially a decentralized multi robotics system that can collectively accomplish missions that a single robot could not achieve by itself. It has some unique characteristics that differentiate it from centralized multi robot systems. Swarm robotics is inspired by the swarming nature of insects and birds. It employs a large number of simple robots which can perform complex tasks in a more efficient way than a single robot. It consists of multi robotics in which large numbers of robots are coordinated in a distributed and decentralized way. The goal is to control a large number of simple robots to solve complex tasks. This paper presents an overview of swarm robotics and its applications, benefits, and challenges. Matthew N. O. Sadiku | Uwakwe C. Chukwu | Abayomi Ajayi-Majebi | Sarhan M. Musa "Swarm Robotics: An Overview" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-6 | Issue-4 , June 2022, URL: https://www.ijtsrd.com/papers/ijtsrd50035.pdf Paper URL: https://www.ijtsrd.com/engineering/electronics-and-communication-engineering/50035/swarm-robotics-an-overview/matthew-n-o-sadiku
Inspired from social behavior of insects and other creatures, artificial intelligence community has learned a series of techniques commonly known as Swarm Intelligence. Here we give a 15 minute introduction to this area.
A robot swarm is essentially a decentralized multi robotics system that can collectively accomplish missions that a single robot could not achieve by itself. It has some unique characteristics that differentiate it from centralized multi robot systems. Swarm robotics is inspired by the swarming nature of insects and birds. It employs a large number of simple robots which can perform complex tasks in a more efficient way than a single robot. It consists of multi robotics in which large numbers of robots are coordinated in a distributed and decentralized way. The goal is to control a large number of simple robots to solve complex tasks. This paper presents an overview of swarm robotics and its applications, benefits, and challenges. Matthew N. O. Sadiku | Uwakwe C. Chukwu | Abayomi Ajayi-Majebi | Sarhan M. Musa "Swarm Robotics: An Overview" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-6 | Issue-4 , June 2022, URL: https://www.ijtsrd.com/papers/ijtsrd50035.pdf Paper URL: https://www.ijtsrd.com/engineering/electronics-and-communication-engineering/50035/swarm-robotics-an-overview/matthew-n-o-sadiku
Intelligent Robotics Navigation System: Problems, Methods, and Algorithm IJECEIAES
This paper set out to supplement new studies with a brief and comprehensible review of the advanced development in the area of the navigation system, starting from a single robot, multi-robot, and swarm robots from a particular perspective by taking insights from these biological systems. The inspiration is taken from nature by observing the human and the social animal that is believed to be very beneficial for this purpose. The intelligent navigation system is developed based on an individual characteristic or a social animal biological structure. The discussion of this paper will focus on how simple agent’s structure utilizes flexible and potential outcomes in order to navigate in a productive and unorganized surrounding. The combination of the navigation system and biologically inspired approach has attracted considerable attention, which makes it an important research area in the intelligent robotic system. Overall, this paper explores the implementation, which is resulted from the simulation performed by the embodiment of robots operating in real environments.
Swarm robotics is a new approach to the coordination of multirobot systems which consist of large numbers of mostly simple physical robots In this paper, we will discuss this emerging filed, Swarm Robots. This filed has many applications. We will also discuss these applications in detail.
AN APPROACH OF IR-BASED SHORT-RANGE CORRESPONDENCE SYSTEMS FOR SWARM ROBOT BA...ijaia
This paper exhibits a short-run correspondence method appropriate for swarm versatile robots application.
Infrared is utilized for transmitting and accepting information and obstruction location. The infrared
correspondence code based swarm signaling is utilized for an independent versatile robot communication
system in this research. A code based signaling system is developed for transmitting information between
different entities of robot. The reflected infrared sign is additionally utilized for separation estimation for
obstruction evasion. Investigation of robot demonstrates the possibility of utilizing infrared signs to get a
solid nearby correspondence between swarm portable robots. This paper exhibits a basic decentralized
control for swarm of self-collecting robots. Every robot in the code based swarm signaling is completely
self-governing and controlled utilizing a conduct based methodology with just infrared-based nearby
detecting and correspondences. The viability of the methodology has been checked with simulation, for a
set of swarm robots.
MHead - Self-Organized Flocking in Mobile Robot SwarmsSamet Baykul
DATE: 2019.05
- Engineering design
- CAD by creating complex geometry via SolidWorks
- Arduino programming
- Control systems design
- Physics simulation in robotics by using Webots
- Prototyping by using a 3d printer
- Test setups
- Selection of mechatronics components
- Building an effective robot algorithms by using C++
- Literature survey for recent academic studies
PROJECT:
Goal: In order to have a more natural flocking behavior implementation, the data acquisition of each individual robot has to be kept as low as possible. On the other hand, in order to achieve a successful flocking behavior and to solve a more complex task, the number of individuals within a swarm robots must be increased. In other words, flocking size should be as much as possible. Consequently, there is need to develop a new swarm of robot platform that can demonstrate the solution of complex problems with large amounts of limited information. In order to achieve this goal, each individual robot should be designed in a minimalistic way and produced as cheaply as possible.
Swarm robotics : Design and implementationIJECEIAES
This project presents a swarming and herding behaviour using simple robots. The main goal is to demonstrate the applicability of artificial intelligence (AI) in simple robotics that can then be scaled to industrial and consumer markets to further the ability of automation. AI can be achieved in many different ways; this paper explores the possible platforms on which to build a simple AI robots from consumer grade microcontrollers. Emphasis on simplicity is the main focus of this paper. Cheap and 8 bit microcontrollers were used as the brain of each robot in a decentralized swarm environment were each robot is autonomous but still a part of the whole. These simple robots don’t communicate directly with each other. They will utilize simple IR sensors to sense each other and simple limit switches to sense other obstacles in their environment. Their main objective is to assemble at certain location after initial start from random locations, and after converging they would move as a single unit without collisions. Using readily available microcontrollers and simple circuit design, semi-consistent swarming behaviour was achieved. These robots don’t follow a set path but will react dynamically to different scenarios, guided by their simple AI algorithm.
Autonomous mobile robots have been used to carry out different tasks without continuous human guidance. To achieve the tasks, they must be able to navigate and avoid different kinds of obstacles that faced them. Navigation means that the robot can move through the environment to reach a destination. Obstacles avoidance considers a challenge which robot must overcome. In this work, the authors propose an efficient technique for obstacles avoidance through navigation of swarm mobile robot in an unstructured environment. All robots cooperate with each other to avoid obstacles. The robots detect the obstacles position around them and store their positions in shared memory. By accessing the shared memory, the other robots of the swarm can avoid the detected obstacles when they face them. To implement this idea, the Authors used a MATLAB® and V-REP® (Virtual Robot Experimentation Platform).
A NOVEL PROTOTYPE MODEL FOR SWARM MOBILE ROBOT NAVIGATION BASED FUZZY LOGIC C...ijcsit
Autonomous mobile robots have been used to carry out different tasks without continuous human guidance.
To achieve the tasks, they must be able to navigate and avoid different kinds of obstacles that faced them.
Navigation means that the robot can move through the environment to reach a destination. Obstacles
avoidance considers a challenge which robot must overcome. In this work, the authors propose an efficient
technique for obstacles avoidance through navigation of swarm mobile robot in an unstructured
environment. All robots cooperate with each other to avoid obstacles. The robots detect the obstacles
position around them and store their positions in shared memory. By accessing the shared memory, the
other robots of the swarm can avoid the detected obstacles when they face them. To implement this idea,
the Authors used a MATLAB® and V-REP® (Virtual Robot Experimentation Platform).
Distributed robotics has been the focus of attention in recent years. The idea of using a group of robots instead of a single one to execute a task came from the necessity of accomplishing a task that is too complex for a single robot. The use of multiple processing units lead to a distributed system within a single robot. Modern robotics systems are increasingly distributed, heterogeneous, and collaborative and can involve challenging computational tasks. A distributed approach can offer desirable advantages such as improved performance. This paper presents an introduction to distributed robots. Matthew N. O. Sadiku | Uwakwe C. Chukwu | Abayomi Ajayi-Majebi | Sarhan M. Musa "Distributed Robotics: A Primer" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-6 | Issue-4 , June 2022, URL: https://www.ijtsrd.com/papers/ijtsrd50026.pdf Paper URL: https://www.ijtsrd.com/engineering/mechanical-engineering/50026/distributed-robotics-a-primer/matthew-n-o-sadiku
Design & Development of Vision Controlled Snake Robotvivatechijri
A snake is the only reptile which has the ability to conquer harsh terrains like rock and sand with apparent ease. This project highlights the design, development and testing of a snake-like robot prototype. The snake robot offers high stability than any other wheeled devices. It simulates the serpentine motion of a snake and is controlled by the keyfob transmitter and receiver. The motion commands to snake robot are delivered by four button remote control. The brain of the snake robot is an Arduino microcontroller board which has a wireless camera connected with the board which is placed in the front head portion of the snake and therefore it possesses the ability to map and navigate in its surroundings and also to find the possibility of human life. The applications of these kinds of robots are mainly in space exploration, disaster management, surveillance, etc.
Hunting strategy for multi-robot based on wolf swarm algorithm and artificial...IJEECSIAES
The cooperation and coordination in multi-robot systems is a popular topic in the field of robotics and artificial intelligence, thanks to its important role in solving problems that are better solved by several robots compared to a single robot. Cooperative hunting is one of the important problems that exist in many areas such as military and industry, requiring cooperation between robots in order to accomplish the hunting process effectively. This paper proposed a cooperative hunting strategy for a multi-robot system based on wolf swarm algorithm (WSA) and artificial potential field (APF) in order to hunt by several robots a dynamic target whose behavior is unexpected. The formation of the robots within the multi-robot system contains three types of roles: the leader, the follower, and the antagonist. Each role is characterized by a different cognitive behavior. The robots arrive at the hunting point accurately and rapidly while avoiding static and dynamic obstacles through the artificial potential field algorithm to hunt the moving target. Simulation results are given in this paper to demonstrate the validity and the effectiveness of the proposed strategy.
Hunting strategy for multi-robot based on wolf swarm algorithm and artificial...nooriasukmaningtyas
The cooperation and coordination in multi-robot systems is a popular topic in the field of robotics and artificial intelligence, thanks to its important role in solving problems that are better solved by several robots compared to a single robot. Cooperative hunting is one of the important problems that exist in many areas such as military and industry, requiring cooperation between robots in order to accomplish the hunting process effectively. This paper proposed a cooperative hunting strategy for a multi-robot system based on wolf swarm algorithm (WSA) and artificial potential field (APF) in order to hunt by several robots a dynamic target whose behavior is unexpected. The formation of the robots within the multi-robot system contains three types of roles: the leader, the follower, and the antagonist. Each role is characterized by a different cognitive behavior. The robots arrive at the hunting point accurately and rapidly while avoiding static and dynamic obstacles through the artificial potential field algorithm to hunt the moving target. Simulation results are given in this paper to demonstrate the validity and the effectiveness of the proposed strategy.
FREE PUBLICATION - International Journal of Advances Robotics, Expert Systems...JaresJournal
Advance Robotics & Expert Systems carry original articles, review articles, case studies and short communications from all over the world. The main aim of this journal is to extend the state of the art on theoretical, computational and experimental aspects of expert systems related to the applied fields such as transportation, surveillance, medical and industrial domains. This journal is also concentrated on kinematics, dynamics and syntheses of various robot locomotion mechanisms such as walk, jump, run, slide, skate, swim, fly, roll etc.
International Journal of AdvancesRobotics, Expert Systems (JARES)JaresJournal
Advance Robotics & Expert Systems carry original articles, review articles, case studies and short communications from all over the world. The main aim of this journal is to extend the state of the art on theoretical, computational and experimental aspects of expert systems related to the applied fields such as transportation, surveillance, medical and industrial domains. This journal is also concentrated on kinematics, dynamics and syntheses of various robot locomotion mechanisms such as walk, jump, run, slide, skate, swim, fly, roll etc.
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Intelligent Robotics Navigation System: Problems, Methods, and Algorithm IJECEIAES
This paper set out to supplement new studies with a brief and comprehensible review of the advanced development in the area of the navigation system, starting from a single robot, multi-robot, and swarm robots from a particular perspective by taking insights from these biological systems. The inspiration is taken from nature by observing the human and the social animal that is believed to be very beneficial for this purpose. The intelligent navigation system is developed based on an individual characteristic or a social animal biological structure. The discussion of this paper will focus on how simple agent’s structure utilizes flexible and potential outcomes in order to navigate in a productive and unorganized surrounding. The combination of the navigation system and biologically inspired approach has attracted considerable attention, which makes it an important research area in the intelligent robotic system. Overall, this paper explores the implementation, which is resulted from the simulation performed by the embodiment of robots operating in real environments.
Swarm robotics is a new approach to the coordination of multirobot systems which consist of large numbers of mostly simple physical robots In this paper, we will discuss this emerging filed, Swarm Robots. This filed has many applications. We will also discuss these applications in detail.
AN APPROACH OF IR-BASED SHORT-RANGE CORRESPONDENCE SYSTEMS FOR SWARM ROBOT BA...ijaia
This paper exhibits a short-run correspondence method appropriate for swarm versatile robots application.
Infrared is utilized for transmitting and accepting information and obstruction location. The infrared
correspondence code based swarm signaling is utilized for an independent versatile robot communication
system in this research. A code based signaling system is developed for transmitting information between
different entities of robot. The reflected infrared sign is additionally utilized for separation estimation for
obstruction evasion. Investigation of robot demonstrates the possibility of utilizing infrared signs to get a
solid nearby correspondence between swarm portable robots. This paper exhibits a basic decentralized
control for swarm of self-collecting robots. Every robot in the code based swarm signaling is completely
self-governing and controlled utilizing a conduct based methodology with just infrared-based nearby
detecting and correspondences. The viability of the methodology has been checked with simulation, for a
set of swarm robots.
MHead - Self-Organized Flocking in Mobile Robot SwarmsSamet Baykul
DATE: 2019.05
- Engineering design
- CAD by creating complex geometry via SolidWorks
- Arduino programming
- Control systems design
- Physics simulation in robotics by using Webots
- Prototyping by using a 3d printer
- Test setups
- Selection of mechatronics components
- Building an effective robot algorithms by using C++
- Literature survey for recent academic studies
PROJECT:
Goal: In order to have a more natural flocking behavior implementation, the data acquisition of each individual robot has to be kept as low as possible. On the other hand, in order to achieve a successful flocking behavior and to solve a more complex task, the number of individuals within a swarm robots must be increased. In other words, flocking size should be as much as possible. Consequently, there is need to develop a new swarm of robot platform that can demonstrate the solution of complex problems with large amounts of limited information. In order to achieve this goal, each individual robot should be designed in a minimalistic way and produced as cheaply as possible.
Swarm robotics : Design and implementationIJECEIAES
This project presents a swarming and herding behaviour using simple robots. The main goal is to demonstrate the applicability of artificial intelligence (AI) in simple robotics that can then be scaled to industrial and consumer markets to further the ability of automation. AI can be achieved in many different ways; this paper explores the possible platforms on which to build a simple AI robots from consumer grade microcontrollers. Emphasis on simplicity is the main focus of this paper. Cheap and 8 bit microcontrollers were used as the brain of each robot in a decentralized swarm environment were each robot is autonomous but still a part of the whole. These simple robots don’t communicate directly with each other. They will utilize simple IR sensors to sense each other and simple limit switches to sense other obstacles in their environment. Their main objective is to assemble at certain location after initial start from random locations, and after converging they would move as a single unit without collisions. Using readily available microcontrollers and simple circuit design, semi-consistent swarming behaviour was achieved. These robots don’t follow a set path but will react dynamically to different scenarios, guided by their simple AI algorithm.
Autonomous mobile robots have been used to carry out different tasks without continuous human guidance. To achieve the tasks, they must be able to navigate and avoid different kinds of obstacles that faced them. Navigation means that the robot can move through the environment to reach a destination. Obstacles avoidance considers a challenge which robot must overcome. In this work, the authors propose an efficient technique for obstacles avoidance through navigation of swarm mobile robot in an unstructured environment. All robots cooperate with each other to avoid obstacles. The robots detect the obstacles position around them and store their positions in shared memory. By accessing the shared memory, the other robots of the swarm can avoid the detected obstacles when they face them. To implement this idea, the Authors used a MATLAB® and V-REP® (Virtual Robot Experimentation Platform).
A NOVEL PROTOTYPE MODEL FOR SWARM MOBILE ROBOT NAVIGATION BASED FUZZY LOGIC C...ijcsit
Autonomous mobile robots have been used to carry out different tasks without continuous human guidance.
To achieve the tasks, they must be able to navigate and avoid different kinds of obstacles that faced them.
Navigation means that the robot can move through the environment to reach a destination. Obstacles
avoidance considers a challenge which robot must overcome. In this work, the authors propose an efficient
technique for obstacles avoidance through navigation of swarm mobile robot in an unstructured
environment. All robots cooperate with each other to avoid obstacles. The robots detect the obstacles
position around them and store their positions in shared memory. By accessing the shared memory, the
other robots of the swarm can avoid the detected obstacles when they face them. To implement this idea,
the Authors used a MATLAB® and V-REP® (Virtual Robot Experimentation Platform).
Distributed robotics has been the focus of attention in recent years. The idea of using a group of robots instead of a single one to execute a task came from the necessity of accomplishing a task that is too complex for a single robot. The use of multiple processing units lead to a distributed system within a single robot. Modern robotics systems are increasingly distributed, heterogeneous, and collaborative and can involve challenging computational tasks. A distributed approach can offer desirable advantages such as improved performance. This paper presents an introduction to distributed robots. Matthew N. O. Sadiku | Uwakwe C. Chukwu | Abayomi Ajayi-Majebi | Sarhan M. Musa "Distributed Robotics: A Primer" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-6 | Issue-4 , June 2022, URL: https://www.ijtsrd.com/papers/ijtsrd50026.pdf Paper URL: https://www.ijtsrd.com/engineering/mechanical-engineering/50026/distributed-robotics-a-primer/matthew-n-o-sadiku
Design & Development of Vision Controlled Snake Robotvivatechijri
A snake is the only reptile which has the ability to conquer harsh terrains like rock and sand with apparent ease. This project highlights the design, development and testing of a snake-like robot prototype. The snake robot offers high stability than any other wheeled devices. It simulates the serpentine motion of a snake and is controlled by the keyfob transmitter and receiver. The motion commands to snake robot are delivered by four button remote control. The brain of the snake robot is an Arduino microcontroller board which has a wireless camera connected with the board which is placed in the front head portion of the snake and therefore it possesses the ability to map and navigate in its surroundings and also to find the possibility of human life. The applications of these kinds of robots are mainly in space exploration, disaster management, surveillance, etc.
Hunting strategy for multi-robot based on wolf swarm algorithm and artificial...IJEECSIAES
The cooperation and coordination in multi-robot systems is a popular topic in the field of robotics and artificial intelligence, thanks to its important role in solving problems that are better solved by several robots compared to a single robot. Cooperative hunting is one of the important problems that exist in many areas such as military and industry, requiring cooperation between robots in order to accomplish the hunting process effectively. This paper proposed a cooperative hunting strategy for a multi-robot system based on wolf swarm algorithm (WSA) and artificial potential field (APF) in order to hunt by several robots a dynamic target whose behavior is unexpected. The formation of the robots within the multi-robot system contains three types of roles: the leader, the follower, and the antagonist. Each role is characterized by a different cognitive behavior. The robots arrive at the hunting point accurately and rapidly while avoiding static and dynamic obstacles through the artificial potential field algorithm to hunt the moving target. Simulation results are given in this paper to demonstrate the validity and the effectiveness of the proposed strategy.
Hunting strategy for multi-robot based on wolf swarm algorithm and artificial...nooriasukmaningtyas
The cooperation and coordination in multi-robot systems is a popular topic in the field of robotics and artificial intelligence, thanks to its important role in solving problems that are better solved by several robots compared to a single robot. Cooperative hunting is one of the important problems that exist in many areas such as military and industry, requiring cooperation between robots in order to accomplish the hunting process effectively. This paper proposed a cooperative hunting strategy for a multi-robot system based on wolf swarm algorithm (WSA) and artificial potential field (APF) in order to hunt by several robots a dynamic target whose behavior is unexpected. The formation of the robots within the multi-robot system contains three types of roles: the leader, the follower, and the antagonist. Each role is characterized by a different cognitive behavior. The robots arrive at the hunting point accurately and rapidly while avoiding static and dynamic obstacles through the artificial potential field algorithm to hunt the moving target. Simulation results are given in this paper to demonstrate the validity and the effectiveness of the proposed strategy.
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swarm robots that are self-independent and self intelligence one. This concept can be essential for robots
exposed to environment that are shapeless or not easily available for an individual operator, such as a
distorted construction, the deep sea, or the surface of another planet. In this paper, we present a study on
the basic bio-inspirations of swarm and its physical configurations, such as reconfigurability, replication
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The paper presents the Inverse Kinematics (IK) close form derivation steps using combination of analytical and geometric techniques for the UR robot. The innovative application of this work is used in the precise positioning of puncture robotics system. The end effector is a puncture needle guide tube, which needs precise positioning over the puncture insertion point. The IK closed form solutions bring out maximum 8 solutions represents 8 different robot joints configurations. These multiple solutions are helpful in the puncture robotics system, it allow doctors to choose the most suitable configuration during the operation. Therefore the workspace becomes more adequate for the coexistence of human and robot. Moreover IK closed form solutions are more precise in positioning for medical puncture surgery compared to other numerical methods. We include a performance evaluation for both of the IK obtained by the closed form solution and by a numerical method.
ANALYSIS OF WTTE-RNN VARIANTS THAT IMPROVE PERFORMANCEJaresJournal
Businesses typically have assets such as machinery, electronics or their customers. These assets share a
common trait in that at some stage they will fail or, in the case of customers, they will churn. Knowing
when and where to focus limited resources is a key area of concern for businesses. A prediction model
called the WTTE-RNN was shown to be effective for predicting the time to event for topics such as machine
failure. The purpose of this research is to identify neural network architecture variants of the WTTE-RNN
model that have improved performance. The
FAULT DIAGNOSIS USING CLUSTERING. WHAT STATISTICAL TEST TO USE FOR HYPOTHESIS...JaresJournal
Predictive maintenance and condition-based monitoring systems have seen significant prominence in
recent years to minimize the impact of machine downtime on production and its costs. Predictive
maintenance involves using concepts of data mining, statistics, and machine learning to build models that
are capable of performing early fault detection, diagnosing the faults and predicting the time to failure.
Fault diagnosis has been one of the core areas where the actual failure mode of the machine is identified.
In fluctuating environments such as manufacturing, clustering techniques have proved to be more reliable
compared to supervised learning methods. One of the fundamental challenges of clustering is developing a
test hypothesis and choosing an appropriate statistical test for hypothesis testing. Most statistical analyses
use some underlying assumptions of the data which most real-world data is incapable of satisfying those
assumptions. This paper is dedicated to overcoming the following challenge by developing a test hypothesis
for fault diagnosis application using clustering technique and performing PERMANOVA test for hypothesis
testing.
Predicting Forced Population Displacement Using News ArticlesJaresJournal
The world has witnessed mass forced population displacement across the globe. Population displacement has various indications, with different social and policy consequences. Mitigation of the humanitarian crisis requires tracking and predicting the population movements to
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Displacement-Signal Extraction Framework (PD-SEF) to explore a large news corpus and extract
the signals of forced population displacement. PD-SEF measures and evaluates violence signals,
which is a critical factor of forced displacement from it. Following signal extraction, we propose a
displacement prediction model based on extracted violence scores. Experimental results indicate
the effectiveness of our framework in extracting high quality violence scores and building accurate
prediction models.
DEVELOPEMENT OF GAIT GENERATION SYSTEM FOR A LOWER LIMB PROSTHESIS USING MEAS...JaresJournal
Lower limb dynamic models are useful to investigate the biomechanics of the knee and ankle joints, but
many systems have several limitations which includes simplified forces, non physiologic kinematics and the
complicated interactions between the foot and the ground. Many approaches in control of prosthetic
devices use prediction algorithms to estimate ground reaction forces (GRF), which can degrade the
performance and the efficiency of the devices due to calculation errors. In this study, the variation of the
GRF during different gait cycles was investigated in the design of an adaptive fuzzy controller for a
dynamic model of an active ankle-knee prosthesis, the efficiency of the controller was tested for walking
gait, stair ascent and descent. Real experimental kinematics of the lower limb and GRF measured by forces
platforms were selected as the controller inputs and fuzzy reasoning was used to determine the adequate
torques to actuate the prosthetic device model. The capacity of the active prosthesis and the designed
controller to provide walking, stair ascent and descent cycles was tested by comparing the gait kinematics
to those provided by a healthy subject
DEVELOPEMENT OF GAIT GENERATION SYSTEM FOR A LOWER LIMB PROSTHESIS USING MEAS...JaresJournal
Lower limb dynamic models are useful to investigate the biomechanics of the knee and ankle joints, but many systems have several limitations which includes simplified forces, non physiologic kinematics and the complicated interactions between the foot and the ground. Many approaches in control of prosthetic devices use prediction algorithms to estimate ground reaction forces (GRF), which can degrade the performance and the efficiency of the devices due to calculation errors. In this study, the variation of the GRF during different gait cycles was investigated in the design of an adaptive fuzzy controller for a dynamic model of an active ankle-knee prosthesis, the efficiency of the controller was tested for walking gait, stair ascent and descent. Real experimental kinematics of the lower limb and GRF measured by forces platforms were selected as the controller inputs and fuzzy reasoning was used to determine the adequate torques to actuate the prosthetic device model. The capacity of the active prosthesis and the designed controller to provide walking, stair ascent and descent cycles was tested by comparing the gait kinematics to those provided by a healthy subject.
MULTIPLE CONFIGURATIONS FOR PUNCTURING ROBOT POSITIONINGJaresJournal
The paper presents the Inverse Kinematics (IK) close form derivation steps using combination of analytical
and geometric techniques for the UR robot. The innovative application of this work is used in the precise
positioning of puncture robotics system. The end effector is a puncture needle guide tube, which needs
precise positioning over the puncture insertion point. The IK closed form solutions bring out maximum 8
solutions represents 8 different robot joints configurations. These multiple solutions are helpful in the
puncture robotics system, it allow doctors to choose the most suitable configuration during the operation.
Therefore the workspace becomes more adequate for the coexistence of human and robot. Moreover IK
closed form solutions are more precise in positioning for medical puncture surgery compared to other
numerical methods. We include a performance evaluation for both of the IK obtained by the closed form
solution and by a numerical method.
2024.06.01 Introducing a competency framework for languag learning materials ...Sandy Millin
http://sandymillin.wordpress.com/iateflwebinar2024
Published classroom materials form the basis of syllabuses, drive teacher professional development, and have a potentially huge influence on learners, teachers and education systems. All teachers also create their own materials, whether a few sentences on a blackboard, a highly-structured fully-realised online course, or anything in between. Despite this, the knowledge and skills needed to create effective language learning materials are rarely part of teacher training, and are mostly learnt by trial and error.
Knowledge and skills frameworks, generally called competency frameworks, for ELT teachers, trainers and managers have existed for a few years now. However, until I created one for my MA dissertation, there wasn’t one drawing together what we need to know and do to be able to effectively produce language learning materials.
This webinar will introduce you to my framework, highlighting the key competencies I identified from my research. It will also show how anybody involved in language teaching (any language, not just English!), teacher training, managing schools or developing language learning materials can benefit from using the framework.
The French Revolution, which began in 1789, was a period of radical social and political upheaval in France. It marked the decline of absolute monarchies, the rise of secular and democratic republics, and the eventual rise of Napoleon Bonaparte. This revolutionary period is crucial in understanding the transition from feudalism to modernity in Europe.
For more information, visit-www.vavaclasses.com
Read| The latest issue of The Challenger is here! We are thrilled to announce that our school paper has qualified for the NATIONAL SCHOOLS PRESS CONFERENCE (NSPC) 2024. Thank you for your unwavering support and trust. Dive into the stories that made us stand out!
Biological screening of herbal drugs: Introduction and Need for
Phyto-Pharmacological Screening, New Strategies for evaluating
Natural Products, In vitro evaluation techniques for Antioxidants, Antimicrobial and Anticancer drugs. In vivo evaluation techniques
for Anti-inflammatory, Antiulcer, Anticancer, Wound healing, Antidiabetic, Hepatoprotective, Cardio protective, Diuretics and
Antifertility, Toxicity studies as per OECD guidelines
June 3, 2024 Anti-Semitism Letter Sent to MIT President Kornbluth and MIT Cor...Levi Shapiro
Letter from the Congress of the United States regarding Anti-Semitism sent June 3rd to MIT President Sally Kornbluth, MIT Corp Chair, Mark Gorenberg
Dear Dr. Kornbluth and Mr. Gorenberg,
The US House of Representatives is deeply concerned by ongoing and pervasive acts of antisemitic
harassment and intimidation at the Massachusetts Institute of Technology (MIT). Failing to act decisively to ensure a safe learning environment for all students would be a grave dereliction of your responsibilities as President of MIT and Chair of the MIT Corporation.
This Congress will not stand idly by and allow an environment hostile to Jewish students to persist. The House believes that your institution is in violation of Title VI of the Civil Rights Act, and the inability or
unwillingness to rectify this violation through action requires accountability.
Postsecondary education is a unique opportunity for students to learn and have their ideas and beliefs challenged. However, universities receiving hundreds of millions of federal funds annually have denied
students that opportunity and have been hijacked to become venues for the promotion of terrorism, antisemitic harassment and intimidation, unlawful encampments, and in some cases, assaults and riots.
The House of Representatives will not countenance the use of federal funds to indoctrinate students into hateful, antisemitic, anti-American supporters of terrorism. Investigations into campus antisemitism by the Committee on Education and the Workforce and the Committee on Ways and Means have been expanded into a Congress-wide probe across all relevant jurisdictions to address this national crisis. The undersigned Committees will conduct oversight into the use of federal funds at MIT and its learning environment under authorities granted to each Committee.
• The Committee on Education and the Workforce has been investigating your institution since December 7, 2023. The Committee has broad jurisdiction over postsecondary education, including its compliance with Title VI of the Civil Rights Act, campus safety concerns over disruptions to the learning environment, and the awarding of federal student aid under the Higher Education Act.
• The Committee on Oversight and Accountability is investigating the sources of funding and other support flowing to groups espousing pro-Hamas propaganda and engaged in antisemitic harassment and intimidation of students. The Committee on Oversight and Accountability is the principal oversight committee of the US House of Representatives and has broad authority to investigate “any matter” at “any time” under House Rule X.
• The Committee on Ways and Means has been investigating several universities since November 15, 2023, when the Committee held a hearing entitled From Ivory Towers to Dark Corners: Investigating the Nexus Between Antisemitism, Tax-Exempt Universities, and Terror Financing. The Committee followed the hearing with letters to those institutions on January 10, 202
Macroeconomics- Movie Location
This will be used as part of your Personal Professional Portfolio once graded.
Objective:
Prepare a presentation or a paper using research, basic comparative analysis, data organization and application of economic information. You will make an informed assessment of an economic climate outside of the United States to accomplish an entertainment industry objective.
BIO-INSPIRATIONS AND PHYSICAL CONFIGURATIONS OF SWARM-BOT
1. International Journal of Advance Robotics & Expert Systems (JARES) Vol.1, No.1,
41
BIO-INSPIRATIONS AND PHYSICAL
CONFIGURATIONS OF SWARM-BOT
Krishnaraju1
.A, Ramkumar.R1
and Sreenivasan.K2
1
Assistant Professor ,Department of Mechanical Engineering,
Mahendra Engineering College, Namakkal, Tamilnadu, India
2
Lecturer, Department of Production Engineering,
Thiyagarajar Polytechnic College, Salem, Tamilnadu, India
ABSTRACT
Scientists and engineers in the whole time history have turned to nature for encouragement and dreams for
trouble solving for the real time environments. By observing the performance of groups of bees and ants
are working together has given to a rise to the ‘swarm intelligence concepts’. One of the most interesting
and new explore area of recent decades towards the impressive challenge of robotics is the design of
swarm robots that are self-independent and self intelligence one. This concept can be essential for robots
exposed to environment that are shapeless or not easily available for an individual operator, such as a
distorted construction, the deep sea, or the surface of another planet. In this paper, we present a study on
the basic bio-inspirations of swarm and its physical configurations, such as reconfigurability, replication
and self-assembly. By introducing the swarm concepts through swarm-bot, which offers mainly
miniaturization with robustness, flexibility and scalability. This paper discusses about the various swarm-
bot intelligence, self-assembly and self-reconfigurability among the most important and capabilities as well
as functionality to swarm robots.
KEYWORDS
Bio-Inspiration, Environments, Flexibility, Physical configurations, Swarm-bot,
1. INTRODUCTION
Swarm-bot is an innovative intelligence design and which combines several very small mobile
robots to the desired functionality and can be autonomously self re-assembled into large
individual identity. A swarm-bot entity [13] is self-possessed of many (2 to 35 swarm- bots)
single robots physically organized. Each swarm-bot is a fully autonomous [2] mobile robot
accomplished to perform basic responsibilities such as autonomous direction-finding and
perception to grasp the surroundings objects. The special feature of the swarm-bot is which can
develop high rich link mechanism devices to patch up into various positions depends upon the
environment applications.
The swarms bots are exploited by several bio-insects [1] which provide a collective robots inter-
action with all are often that implicit world. Insect means any small creative with six legs and a
body divided like ants, bees and flies [19].
1.1 SOURCES OF INSPIRATION
Many research fields are going in the robotics, where self-organizing system [3] becomes the
source of inspiration for swarm. First and primary function of the swarm is learning of self-
organization, which is defined as “a process in which pattern at the worldwide level of an
organization emerges solely from numerous links among the lower-level system of the
organization.” In this sense, swarm-bots can be considered as the development and functionality
of self-organization in actually material form. Studies of self-organization in biological system
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[1], [3] demonstrate that interplay of positive and negative feedback of connections among the
individuals are essential for such phenomenon. Some social insects [19], such as ants and bees,
spend their most of time in foraging for food. Honey bee colonies have a decentralized system to
collect the food and it can adjust the searching methods precisely in order to enhance the
collection of system. Bees estimate the distance from the hive to food sources by measuring the
amount of energy consumed when they fly, besides the direction and the quality of the food
source as shown in figure 1. The above such phenomenon like decentralization, searching and
arriving into the optimized path make inspiration to the formation of swarm bots [13].
1.2 MOTIVATIONS FOR SWARM INSPIRATIONS
a) Robustness requires that the swarm robotic organization [1] should be able to keep on, to
operate, although at a lower arrangement, despite failures in the individuals, or problem in the
environment.
b) Flexibility requires the swarm robot organization to have the ability to generate modularized
solution to dissimilar tasks. As satisfactorily recognized by ants, take part in responsibilities of
very different nature such as foraging, prey retrieval and chain configuration [6]
c) Scalability requires that a swarm robotic organization should be able to operate below a wide
variety of group sizes.
d) Low cost requires this type robots can potentially lower overall cost by making many copies of
one type modulus. So in this economic of scale, one set of module, saving cost through reuse and
generate of the system. The source of figures is from swarmbot.org.
Figure 1 . Foraging Swarm Figure 2. Flocking Fish
Figure 3. Foraging behaviour of ants [Source: swarmbot.org]
Swarm robot features:
• Collected many individuals
• Individuals are maximum homogeneous structure
• Individuals are relatively incapable
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• The interactions among the individuals are based on the behavior rules that exploit only
local in sequence (communication )
• The overall behavior from self-inspiration process coordinated exploration
1.3 ENVIRONMENTAL MONITORING
• Swarm of mobile robots for localizing an odor source
• Simple behaviors based on odor and wind detection
• Communication can help to increase the efficiency
1.4 PHEROMONE ROBOTICS
• Robot dispersion
• Shortest path
• Pheromone diffusion
1.5 CHAINING
• Limited sensing range
• Signaling of colors (directional chains)
Figure 4 Ant pheromone shortest path route Figure 5. Pheromone Shortest path route
Figure 6. Chaining
2. PROBLEM IDENTIFICATION
The problem of inter connection between the existing modules robots, which has already
developed by many researchers in the field of self-reconfigurable robots. Some module robots
like MTRAN, Polybot [4],[5],[6],[15],[16] display some user efficient connection in MTRAN
design [2] based on the permanent magnet method with non-linear springs for dis-assembly.
Polybot connection between the plates with four groove pins that match four holes or opposite
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plates and gripped by the latching mechanism. Both are under working mechanical latching
mechanism. CONRO modules [10],[16] have pin based connection between the two modules, but
this module is not neutralas shown in figure 7. I-cubes and molecule module robot, having two
types of a module inbuilt the system. One module is based on the structure and another one is
connectivity (connecting complex shapes only possible).
Figure 7. Polybot module[5]
Figure 8. Polybot module linking mechanism [5]
Figure 9. MTRAN Module [2]
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Figure 10. Millibot model [9]
MTRAN modules [6] are having only flat contact surfaces for better tolerance to misalignment as
shown in figure 9. It does not withstand any lateral forces, by mechanical parts using friction.
Millibots are any two modules inter connect [6], [8],[10] with each other where the structure does
not exist. They are more complex design. Millibot design [9] is very simple base pin-hole
concept for strong mechanical stability, but it makes very tough to perform the task and also more
sensors used in the joints as shown in figure 10.
When given the task of building a robotic system, the main decisions to be taken by the
researchers concern the architecture of the hardware and of the control system. In this discussion,
we have presented the results of the swarm-bots project. The swarm bots project [13]
fundamentally focused on the evaluation of two particular choices in robotic system design. For
the hardware, we chose to implement a system comprised of many autonomous robots [2] with a
unique ability to attach to (and detach from) one another. So as to form bigger, physically
connected structures[11] and to control this system from the available information. These choices
were motivated by the desire to make our robotic system the swarm-bot robust and versatile ( By
saying that a robot is versatile we mean to say that it is capable of dynamically changing shape
and control functionality depending on the situation it faces], as well as allowing it to navigate on
rough terrain.
2.1 MECHANICAL CONCEPT AND IMPLEMENTATION
Figure 11. Hardware architecture of Swarm- Bot
In swarm-bots configuration, the connection between the bots is based on the above two
dimensional shape matching without penetration. The link mechanism is a gripper that matches
the shape of a ring present on the main body of the robot. Two connected swarm-bots with the
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detail of shape matching between gripper and ring. This concept allows a robot to grasp another
robot all around its body.
3. ROBOT DESIGN
3.1. SWARM-BOT SIZE
The swarm-bot is generally having a size 19cm x 12cm height and diameter respectively and
also weighs approximately 700g-800g, looks like a size of a small ball. [1]. They are having main
components which are all direction mobility treels drive mechanism (2DOF), rotation of the
main body with respect to motion base (1DOF), rigid arm with gripper (2DOF), flexible arm
with gripper (4DOF), sensors, panoramic camera and microphones etc. and also transparent ring
with colour LEDs Loudspeakers. Each Swarm -bot is equipped with two grippers.
3.1.1 RIGID GRIPPER
One is supported by a rigid structure with one degree of freedom (DOF) .The rigid gripper
allows creating very stable multi-robot structures with one active degree of freedom on each
inter-robot link.
3.1.2 FLEXIBLE GRIPPER
The second one is placed at the end of a flexible arm with three DOF. The flexible gripper
allows the creation of flexible swam configurations with the surface of the terrain. The flexible
gripper can extend all the way to the ground and therefore can also be used to grasp objects. The
two grippers play very different roles in swarm-bot configurations [12], [18]. Swarm-bot in our
review considered the mechanical robustness in autonomous operations [2]. It has simple and
less number of mechanical connections, with positions look like a gripper as shown in figure12.
In this robot systems are based on two dimensional shapes harmonizing without dispersion. In
this type module, mechanisms used by animals for this type of task, like mandibles. [Simply as
jaws]
Figure 12. Gripper model[11]
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Figure 13. Swarm collaborate to pass an obstacle[14]
3.2. MECHANICAL REPRESENTATION
A Swam-bot [13] entity is the collection of many (2 to 35swarm-bots) single robots physically
organized. In the Swarm-bot connection between the Swarm -bots are having 2D shape matching
without dispersion. The mechanism is a gripper that matches the position of a ring present on the
main body of the robot. The figure13 shows two connected Swarm-bots with a detail of location
corresponding between the gripper and ring. The solution allows a Swarm-bot to snatch another
Swarm-bot all around its body.
3.3. MOBILITY
The mobility of the system is ensured by a combination of tracks and wheels. We call this type of
structure as differential treels drive. Each side of the treels (one track and one wheel) is controlled
by a motor so that the Swarm-bot can freely move in the environment and easily rotate on the
spot. This structure enables a very good mobility, thanks to the position of the wheel and their
diameter larger than the tracks height. The resource of motivation for a robot design is taken from
nature and is formed by ecological necessities [19]. It gives various understanding of the wide-
ranging applications considerations needed to build a robot for robotic swarm applications [12].
The concept of a swarm robot design plan is that it should be very simple and relatively cheap to
produce. For example, if one robot would get misplaced or broken beyond repair during an
assignment it would not matter much. Measure is the key to success in a robotic swarm to
successfully utilize Swarm intelligence (SI) algorithms. A robot should be fairly strong, easy and
valuable [3]. There are more than a few designs in robotic swarm applications that satisfy these
terms. One case of such like a robot is the swarm-bot, [7],[13],[15],[19]. The Swarm-bot as the
name illustrate is designed for swarm applications and it’s suitable for swarm functions.
4. SWARM APPLICATIONS
4.1 TASKS THAT ARE TOO DANGEROUS COVER AN AREA
In several hazardous tasks such as mine rescue and recovery, robots may be permanent after the
task is accomplished as shown in figure 14; thus, it’s economically acceptable to use swarm
robotics with simple and low-priced individuals rather than using difficult and expensive robots
8. International Journal of Advance Robotics & Expert Systems (JARES) Vol.1, No.1,
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Figure 14. Rescue operation carried out by a group of swarm-bots. [14]
4.2 TASKS THAT REQUIRE IDLENESS
Swarm robotics can be also apply in situations in which it is hard or even not possible to estimate
in advance the funds needed to achieve tasks such as search and rescue, tracking, and cleaning.
The solution wanted in these cases should be scalable and flexible; therefore a robot swarm could
be an appealing solution: robots can be added or removed in time without any significant impact
on the performance to provide the appropriate amount of resources and meet the requirements of
the specific task. Looking at a swarm, it works as a collective, by a common behaviour to
complete a task rather than a robot performing the task. A swarm could be seen as one large
entity. The design of a robotic swarm or multi-robot system consists of different highly integrated
parts. Looking not at the physical design [11-12] of the swarm robot, the swarm design is more
the method a swarm functions within. Physical parameters are a condition of the swarm design,
though it does not play a vital role in its construction. Prominence is put on communication due to
the fact that it is the main advantage of the swarm concept [10]. A swarm uses communication to
share information among its members. New robotic system based on swarm techniques (S-bot) is
a growing field of cooperative robots, these collective swarms of robots with lighting through
interacting and cooperating to reach their goals.
The physical links are used to assemble into Swarm-bot form, able to solve problem that cannot
be solved by a single robot. Swarm-bot is capable of autonomously carrying out individual and
collective behaviour [11-12] by exploiting load interacting among the Swarm-bots. This bots are
always searching for a goal location or tracing a path to goal as shown in figure 15
Figure 15.Initial (a) and final (b) configuration of six s-bots self-assembling with the prey on flat terrain.
Types of rough terrain: the moderately rough terrain (c), and the very rough terrain (d).[2]
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5. COMPARISON OF SWARM BOT AND MRS ROBOTICS
Table 1. Comparison of Swarm Bot and MRS robotics
Characteristics Swarm robots MRS
Population Size Variation in great range Small
Control Decentralized and autonomous Centralized / remote
Homogeneity Homogeneous Heterogeneous
Flexibility High Low
Scalability High Low
Environment Unknown Known/Unknown
Motion Yes Yes
Our discussion falls between the domains of collective robotics (MRS) and self-reconfigurable
robotics [3-6],[8],[10]. It is closely bio-inspired, in the sense that many of our choices and
techniques have inspiration of some natural process or biological observations. However, we do
not try to replicate faithfully any natural system; we rather take inspiration from natural processes
and let these principles guide our engineering choices. Our work differs from collective robotics,
however, in that we are interested in the study of self-assembling structures and in their
exploitation for the solution of problems for which cooperation through physical connection is a
necessity.
As in self-reconfigurable robotics, we study robotic structures as swarm-bots that can change
their shape as a function of the task they are performing, however, in that the units composing our
self-reconfigurable robot are autonomous units that can perform tasks independently of each other
or in co-operation, as required by the particular task considered.
6. CONCLUSION
In this paper, we have discussed about the study of the problem of self-assembly in autonomous
mobile robots. Real life applications for robotic swarms using present technology are limited,
where supervision, interactions with a swarm and energy accumulators are of large concerns. This
concept brings some innovative elements through bio-inspired and collective robotics, which
opens new research directions in swarm robotics and distributed intelligence. In spite of the
similarity with self-reconfigurable robotics due to the physical connection between Swarm-bots,
several key aspects of the swarm-bot approach have shown to be complementary to self-
reconfigurable robots.
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