Industry has a rather leading role in defining the military use of robotics. Often more or less standard robots are introduced into the military operations without very thoroughly defined military requirements of functionality. These standard robots are then tested on how they function in military operational environment.
Communication is essential for the use of all kinds of systems robot. In most cases, especially when using multi robot systems where several robots deliberately cooperate in autonomous manner, there is a demand for communication of wireless to achieve high flexibility. The communication system is usually used to get information from system sensors, radar, vision, et cetera and to control the robot in single robot systems. Multi robot systems combine the functionality of single robot system to achieve a higher efficiency and to cope the scenarios that are more complex.
The example in the surveillance scenario, an object could be observed by a multi robot system from different sensors and with different positions. Through the result of data fusion process sensor, it would be possible to get a more exhaustive and complete situation awareness than achievable with only one sensor or robot.
Below the demands on the communication system were identified for military robotics:
• Wireless and mobile ad hoc communication.
• High ranges communication.
• High data rates of communication.
• Adjustment to the network varying availability.
• Compliance with Quality of Service requirements.
• Secure communication.
• Awareness of power.
• To prioritize the data.
A generic robot communication system should meet these requirements but recently technology does not support all of these requirements at the same time. Satellite communication may allow high data rates over a long distance but there is solution for robot system movement. Other technologies like HF, VHF, and UHF do support high ranges but lack high data rates. UMTS, GSM, and GPRS do support medium and high data but are in need of existing infrastructure that either may be under foreign control or even exist in the area of operation.
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The Future of Humanoid Robot
The robotics study originates back to ancient Egypt where priest created masks that moved as a way to intimidate their worshippers. Robotics, as we know it today, originated a half century ago with the creation of a robot named “Unimate”. This robot was created by Joseph Engelberger and George Devol. Unimate was created with the intention of being used in industry at a General Motor plant, working with heated die casting machines.
Presently the development of humanoid robots has become a larger area of focus for the community of engineering. Humanoid robots are precisely what their name would lead you to expect, robots designed to act and look like humans. While their current use is primarily within the industry of entertainment, there are hopes that one day they will be able to be used in a broader environment.
Modern investigation into humanoid robot development have lead to the desire to create a robot that can not only walk from one destination to another but also be able to compensate for that by moving around them and discern objects in front of it. This was where the present object came into play. The purpose of this project was to design and build a humanoid robot that capable of walking smoothly.
Humanoid robots of the future will be capable of helping mankind by accomplishing tasks that may too dirty, dull, dangerous, or even physically impossible, such as exploring other planets. Though there is still room for improvement for the locomotion of these robots to become more similar to the human.
It created a humanoid robot with a pair of legs, a pair of arms, a head and a torso which was able to walk in a manner similar to the human. The motion of walking was controlled by a program written by developer. For the head it used a camera that would eventually give the robot a vision capability and complete al attributes required to be ‘humans’.
Presently the development of humanoid robots has become a larger area of focus for the community of engineering. Humanoid robots are precisely what their name would lead you to expect, robots designed to act and look like humans. While their current use is primarily within the industry of entertainment, there are hopes that one day they will be able to be used in a broader environment.
Modern investigation into humanoid robot development have lead to the desire to create a robot that can not only walk from one destination to another but also be able to compensate for that by moving around them and discern objects in front of it. This was where the present object came into play. The purpose of this project was to design and build a humanoid robot that capable of walking smoothly.
Humanoid robots of the future will be capable of helping mankind by accomplishing tasks that may too dirty, dull, dangerous, or even physically impossible, such as exploring other planets. Though there is still room for improvement for the locomotion of these robots to become more similar to the human.
It created a humanoid robot with a pair of legs, a pair of arms, a head and a torso which was able to walk in a manner similar to the human. The motion of walking was controlled by a program written by developer. For the head it used a camera that would eventually give the robot a vision capability and complete al attributes required to be ‘humans’.
Software Architecture of Interaction Robot
It developed the software architecture for interaction robot. To incorporated the obtained ideas as ‘Communicative unit’ into the previous architecture. The structure basic of architecture is a network of ‘Situated modules’.
A network of situated module is the basic structure of the architecture. To develop the modules easily, it defines the situated modules as a program that performs a particular robot behavior in a particular situation. Developer easily implements situated modules with concerning only the particular limited situation because each module works in a particular situation. Situated module is implemented by coupling communicative sensory-motor units with directly supplementing other sensory motor units.
A robot autonomously behaves around environments and interacts with humans by executing situated modules sequentially. The developer develops situated modules progressively and adds them into the network in order to achieve the pre-determined robot tasks.
The architecture has the components for communication through the networks of computer. Some robots are able to execute behaviors synchronously by connecting to communication server. Robots can give information to humans in natural communication as new infrastructure of information. For instance, when the humans and robot will talk about weather, the robot will obtain weather information from the internet then it will talk “it will rain tomorrow”.
Then it will explain briefly other components of the architectures. Reactive modules realize look very simple and reactive behaviors such as avoidance. A current task, internal status represents intention, and an emotional model. According to the module control and internal status plans the execution of situated modules sequence. Inputs from sensors are pre processed as sensor modules such as speech recognition. Actuator modules perform low level controls of actuators according to the order of the situated modules. Based on the architecture, it has implemented interactive behaviors as situated modules into the developed robot. It was demonstrated on the ‘Robovie’ robot.
A network of situated module is the basic structure of the architecture. To develop the modules easily, it defines the situated modules as a program that performs a particular robot behavior in a particular situation. Developer easily implements situated modules with concerning only the particular limited situation because each module works in a particular situation. Situated module is implemented by coupling communicative sensory-motor units with directly supplementing other sensory motor units.
A robot autonomously behaves around environments and interacts with humans by executing situated modules sequentially. The developer develops situated modules progressively and adds them into the network in order to achieve the pre-determined robot tasks.
The architecture has the components for communication through the networks of computer. Some robots are able to execute behaviors synchronously by connecting to communication server. Robots can give information to humans in natural communication as new infrastructure of information. For instance, when the humans and robot will talk about weather, the robot will obtain weather information from the internet then it will talk “it will rain tomorrow”.
Then it will explain briefly other components of the architectures. Reactive modules realize look very simple and reactive behaviors such as avoidance. A current task, internal status represents intention, and an emotional model. According to the module control and internal status plans the execution of situated modules sequence. Inputs from sensors are pre processed as sensor modules such as speech recognition. Actuator modules perform low level controls of actuators according to the order of the situated modules. Based on the architecture, it has implemented interactive behaviors as situated modules into the developed robot. It was demonstrated on the ‘Robovie’ robot.
Artificial Intelligence and Robotics
Researchers in artificial intelligence (AI) feel that their work has suffered because of ‘public discussion’ hype might be a better term in the 1960s and 1980s which adversely affected advances in the field unlike the situation for nanotechnology after the delivery did not live to expectations and the funding was dropped. Currently many researchers feel that the aim of mimicking the human ability to solve problems and achieve goals in the real world is neither likely nor desirable because a long series of conceptual breakthroughs is required.
The applications number fro weak AI is growing. AI related patents in US increased from 100 – 1700 from 1989 to 1999, with total 3900 patents mentioning related terms. Generally AI systems are embedded within larger systems applications can be found in speech recognition, video games, and data mining business sector. Leading to voice led internet access or recognition in security applications, full speech recognition, is anticipated relatively soon. However, to extract meaning ability from natural language recognition remains way off. The data of mining market uses software to extract general regularities from data online, patterns humans may not look for or dealing in particular with large volumes.
The field of robotics is linked closely to that of AI, although definitional issues abound. Giving AI motor capability seems reasonable definition but most people would not regard a cruise missile as a robot even though the control techniques and navigation draw heavily on robotic research.
Experts moved away from the idea of complete automation as it was neither desirable nor feasible after the hype from the 1960s rebounded on investment. Instead more practical applications have been found such as, in the sphere of the military where Unmanned Combat Air Vehicles (UCAVs) are being developed with the hope of fielding them by 2008. Actually the funding for the AI is far more away compare to nanotechnology as it has no existing overview on the topic and information on the spending.
The applications number fro weak AI is growing. AI related patents in US increased from 100 – 1700 from 1989 to 1999, with total 3900 patents mentioning related terms. Generally AI systems are embedded within larger systems applications can be found in speech recognition, video games, and data mining business sector. Leading to voice led internet access or recognition in security applications, full speech recognition, is anticipated relatively soon. However, to extract meaning ability from natural language recognition remains way off. The data of mining market uses software to extract general regularities from data online, patterns humans may not look for or dealing in particular with large volumes.
The field of robotics is linked closely to that of AI, although definitional issues abound. Giving AI motor capability seems reasonable definition but most people would not regard a cruise missile as a robot even though the control techniques and navigation draw heavily on robotic research.
Experts moved away from the idea of complete automation as it was neither desirable nor feasible after the hype from the 1960s rebounded on investment. Instead more practical applications have been found such as, in the sphere of the military where Unmanned Combat Air Vehicles (UCAVs) are being developed with the hope of fielding them by 2008. Actually the funding for the AI is far more away compare to nanotechnology as it has no existing overview on the topic and information on the spending.
Developing of Human Robot Interaction
There are two research directions in robotics development, one is to develop robot task oriented that work in limited environments, and secondly is to develop interaction oriented robots that communicate with human and will participate in human society. Pet and industrial robots are the former ones. They work in limited areas and in factories with particular tasks such as behaving like animals and assembling industrial parts. In other word, the purpose of the interaction oriented robots that are developing is not to execute particular tasks. It is trying to develop a robot that exists as the partner in our daily life. These robots will be new information of communication infrastructure.
Regarding with the robots that interact with humans, there are many researches; mimicking of human body motions, conveying intentionality through facial expressions and behavior, developing mentally commitment. However, the robots lack physical expression ability. For instance some of them have only heads, some look like animals.
Robovie is the robot that has enough physical expression ability. It can generate almost all human like behaviors required for human robot interaction and communication with humans by using rich sensory information.
To make the best use of the physical expression ability, it has started a new collaborative work between cognitive science and robotics. Cognitive science, especially on the ideas about the practical use of the properties body for communication, helps to design more effective robots behavior. To incorporate the cognitive science’ ideas, it considered a new software architecture. It enables easy to develop and rich human interaction.
Further it needs to evaluate the performance of the interactive behaviors implementation. About the task oriented robots, it can evaluate their performance with physical measures such as accuracy and speed. The measurement helps to improve the performance. It is also need to apply psychological measures of these robots that interact with humans is discussed along with how they influence humans.
Regarding with the robots that interact with humans, there are many researches; mimicking of human body motions, conveying intentionality through facial expressions and behavior, developing mentally commitment. However, the robots lack physical expression ability. For instance some of them have only heads, some look like animals.
Robovie is the robot that has enough physical expression ability. It can generate almost all human like behaviors required for human robot interaction and communication with humans by using rich sensory information.
To make the best use of the physical expression ability, it has started a new collaborative work between cognitive science and robotics. Cognitive science, especially on the ideas about the practical use of the properties body for communication, helps to design more effective robots behavior. To incorporate the cognitive science’ ideas, it considered a new software architecture. It enables easy to develop and rich human interaction.
Further it needs to evaluate the performance of the interactive behaviors implementation. About the task oriented robots, it can evaluate their performance with physical measures such as accuracy and speed. The measurement helps to improve the performance. It is also need to apply psychological measures of these robots that interact with humans is discussed along with how they influence humans.
Interactive Humanoid Robot “Robovie”
The humanoid robot “Robovie” has a human-like appearance is designed for communications with humans. It has various sensors like a human, such as sense of touch, vision, audition and so on. With the sensors and the human-like body, the robot performs meaningful interactive behaviors for humans.
The size of the robot is important as an interactive robot. The Robovie size as 120 cm, which is same as a junior school student. The weight is 40 kg and the diameter is 40 cm. the robot has a head (3DOF), two eyes (2*2 DOF for gaze control), two arms (4*2 DOF) and a mobile platform (2 driving wheels and 1 free wheel).the robovie also has various sensors such as, 16 skin sensors covering the major parts of the robot, an omni-directional vision sensor, 10 tactile sensors around the mobile platform, 2 microphone to listen human voices, and 24 ultrasonic sensor for detecting obstacles. The skin sensor is important to realizing behaviors of interactive. It has developed a sensitive skin sensors using pressure sensitive conductivity rubber. This robovie also can work 4 hours and charges the battery by autonomously looking for battery charger stations. With the sensors and actuators, the robot can generate enough behaviors required for communication with humans.
Robovie is a self contained autonomous robot that has Pentium III PC on board for processing sensory data and generating behaviors. The operating system is Linux since the Pentium III PC is sufficiently fast and Robovie does not require precise real time controls like legged robots. Linux is the best solution for quick and easy development of Robovie’s software modules.
Mutual entrained gestures are important for smooth communications between a human and a robot. It has performed as experiment to ensure it. It focused on the interaction between a subject and the robot while it teaches a route direction. The relationship between the emergence of the subject’s entrained gestures and the level of understanding of the robot utterance was investigated by using several different gestures of the robots in teaching.
The size of the robot is important as an interactive robot. The Robovie size as 120 cm, which is same as a junior school student. The weight is 40 kg and the diameter is 40 cm. the robot has a head (3DOF), two eyes (2*2 DOF for gaze control), two arms (4*2 DOF) and a mobile platform (2 driving wheels and 1 free wheel).the robovie also has various sensors such as, 16 skin sensors covering the major parts of the robot, an omni-directional vision sensor, 10 tactile sensors around the mobile platform, 2 microphone to listen human voices, and 24 ultrasonic sensor for detecting obstacles. The skin sensor is important to realizing behaviors of interactive. It has developed a sensitive skin sensors using pressure sensitive conductivity rubber. This robovie also can work 4 hours and charges the battery by autonomously looking for battery charger stations. With the sensors and actuators, the robot can generate enough behaviors required for communication with humans.
Robovie is a self contained autonomous robot that has Pentium III PC on board for processing sensory data and generating behaviors. The operating system is Linux since the Pentium III PC is sufficiently fast and Robovie does not require precise real time controls like legged robots. Linux is the best solution for quick and easy development of Robovie’s software modules.
Mutual entrained gestures are important for smooth communications between a human and a robot. It has performed as experiment to ensure it. It focused on the interaction between a subject and the robot while it teaches a route direction. The relationship between the emergence of the subject’s entrained gestures and the level of understanding of the robot utterance was investigated by using several different gestures of the robots in teaching.
Human Robotic Interface Design based on Human Decision Making
The human robot interface design can directly affect the operator’s ability and desire to complete a task. The design also affects operator’s ability to understand current situation and to make decisions as well as supervise and provide high level commands to robotic system. There is also a wealth of human factors research that can affect all HRI designs while it is possible to spend a significant amount of time discussing specific interaction techniques. Such research is related to human decision making, vigilance, workload levels, situation awareness and human errors. These areas should be considered when developing a human robotic interface.
Human decision making area appears to be an untapped resource for the field of HRIs. These decisions are made rapidly in dynamic environment under varies condition. Such decision may have dire consequences depending upon the human’s current task. For example pilots during take off, a chemical process operator during a chemical leak, and individual when driving the car down in busy street. An understanding of the human decision process should be incorporated into the human robotic interface design in order to support the process human’s employ. The field of human decision making research involves individuals making decisions as well as teams of individuals.
Klien has studied human decision making with domain experts including pilots, firemen, nurses and nuclear power plant operator since 1985. The intent of his work is to identify how humans make rapid and effective decisions in a natural environment under difficult conditions.
Clint Bowers and Eduardo Salas are fundamental contributors to research regarding human decision making. They focus on how a system may or may not support the human decision make process. They look at how training can affect decision making when automation is used to support decision making in complex systems.
The naturalistic decision making result from Klein’s work may be applied to the development of cooperation techniques and decision making for robotic teams.
Human decision making area appears to be an untapped resource for the field of HRIs. These decisions are made rapidly in dynamic environment under varies condition. Such decision may have dire consequences depending upon the human’s current task. For example pilots during take off, a chemical process operator during a chemical leak, and individual when driving the car down in busy street. An understanding of the human decision process should be incorporated into the human robotic interface design in order to support the process human’s employ. The field of human decision making research involves individuals making decisions as well as teams of individuals.
Klien has studied human decision making with domain experts including pilots, firemen, nurses and nuclear power plant operator since 1985. The intent of his work is to identify how humans make rapid and effective decisions in a natural environment under difficult conditions.
Clint Bowers and Eduardo Salas are fundamental contributors to research regarding human decision making. They focus on how a system may or may not support the human decision make process. They look at how training can affect decision making when automation is used to support decision making in complex systems.
The naturalistic decision making result from Klein’s work may be applied to the development of cooperation techniques and decision making for robotic teams.
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