Robotics: Industry 4.0 Issues & New Intelligent Control Paradigms (Studies in Systems, Decision and Control, 272)

✍ Scribed by Alla G. Kravets (editor)

• Publisher: Springer
• Year: 2020
• Tongue: English
• Leaves: 237
• Category: Library

✦ Synopsis

This book focuses on open issues of new intelligent control paradigms and their usage. Industry 4.0 requires new approaches in the context of secure connection, control, and maintenance of robotic systems, as well as enhancing their interaction with humans. The book presents recent advances in industrial robotics, and robotic design and modeling for various domains, and discusses the methodological foundations of the collaborative robotics concept as a breakthrough in modern industrial technologies. It also describes the implementation of multi-agent models, programs and methods that could be used in future processes for control, condition assessment, diagnostics, prognostication, and proactive maintenance.
Further, the book addresses the issue of ensuring the space robotics systems and proposes reliable novel solutions. The authors also illustrate the integration of deep-learning methods and mathematical modeling based on examples of successful robotic systems in various countries, and analyze the connections between robotic modeling and design from the positions of new industrial challenges. The book is intended for practitioners and enterprise representatives, as well as scientists and Ph.D. and Master’s students pursuing research in the area of cyber-physical system development and implementation in various domains.

✦ Table of Contents

Preface
About This Book
Contents
Robotics Modeling and Design
Object Recognition of the Robotic System with Using a Parallel Convolutional Neural Network
1 Introduction
2 Object Recognition Areas
3 Scheme of a Parallel Convolutional Neural Network
4 Training of Parallel Mixed Convolutional Neural Network
5 Determination of Object Coordinates Relative to the Robot
6 Experiments
7 Conclusion
References
Mathematical Model of a Swarm Robotic System with Wireless Bi-directional Energy Transfer
1 Introduction
2 Development of a Mathematical Model
3 Limitations of the Developed Model
4 Use Case of the Developed Model
5 Conclusion
References
Pareto Optimal Solutions and Their Application in Designing Robots and Robotic Systems
1 Introduction
1.1 Formulation of the Problem
2 Literature Review
2.1 Classification of Applications Pareto-Optimal Solutions
3 Analytical Studies of the Pareto Optimum
3.1 Assertions and Research Algorithm
3.2 Criteria in the Task of the MCO
3.3 Pareto Construction Over a Limited Set of Data and in the Case of Fuzzy Preferences
3.4 Visualization of Two or More Criteria
4 Results and Discussions
4.1 Object of Study
5 Conclusion
References
Collaborative Robotics
Control and Ergonomic Problems of Collaborative Robotics
1 Introduction
2 Speech Dialogue Mode of Co-Robot Control
3 Other Modes of Human—Co-Robot Interaction
4 Problems of Multi-agent Co-robotic System Control
5 Conclusion
References
Human-Robot Interaction Efficiency and Human-Robot Collaboration
1 Introduction
2 The Relevance of the Research to Increase the Efficiency of HRI
3 Safety Issues in Human-Robot Interaction
4 The HRI Efficiency of the Collaborative Robot’s Work
5 Human-Robot Collaboration Index
6 Conclusion
References
Human-Robot Cooperation in Technological Wall Climbing Robot System
1 Introduction
2 Wall Climbing Robot Control Motion Along Underwater Surfaces
3 Technological Tasks Solving with the Help of Man-Operator
4 Structure of the Control System for the Collaboration of Man-Operator with Robot
5 Algorithms of the Supervision Control Robot Motion
6 Conclusion
References
Features of Human-Exoskeleton Interaction
1 Introduction
2 Implementation of Operator-Exoskeleton Interaction
3 Experimental Study
4 Conclusion
References
Analysis of Dynamics in Human—Exoskeleton Collaborative System
1 Introduction
2 Method for Analyzing Human Interaction and Exoskeleton
2.1 Collection of Anthropometric Data
2.2 Exoskeleton Variants Analysis
2.3 Exoskeleton Structure
2.4 A Parametric Model of the Exoskeleton of the Lower Extremities
2.5 Description of the Method for Analyzing the Mobility of an Operator with an Exoskeleton When Performing Certain Tasks
3 Conclusion
References
Multi-agent Robotic Systems
Formation Control of Ground Multi-agent System Using Quadcopter with Camera
1 Introduction
2 Problem Statement
3 Environmental Map Building and Agent Positioning
3.1 Environmental Map Building
3.2 Agent Positioning
4 Formation Switching Control Strategy
4.1 Collision Avoidance Strategy
4.2 Formation Switching Strategy
5 Experiment and Result Analysis
6 Conclusion
References
Dependence of Dynamics of Multi-robot System on Control Architecture
1 Introduction
2 Multi-robot System Dynamics
3 Experiments
4 Conclusion
References
The Application of Multi-agent Robotic Systems for Earthquake Rescue
1 Introduction
2 Problem Statement
3 The Research of the Search and Rescue Problems
3.1 Analyze the Rescue Operations in Earthquakes
3.2 The Communication System of Search and Rescue System
3.3 Analyze the Search Process Based on Theory Probability
3.4 Analysis of Search Methods
3.5 Method of Dividing the Search Area
3.6 Task Allocation in Multi-agents Robotic System
3.7 The Movement Planning of Agents
4 Conclusion
References
About Controlling the Shape of the Sprinkler
1 Introduction
2 Methodology
3 Discussion: Research and Results
4 Conclusion
References
Space Robotics
Modern Space Robotics
1 Introduction
2 Experience in Orbital Operation of Space Robotics Devices
3 Experimental Development of Space Robotics Devices
4 Assembly and Service Robotic Space Modules
5 Conclusion
References
Moving-Base Space Robots—Applying Eigen-Dynamics of a Reduced System to Synthesize Controls
1 Introduction
2 Kinetic Energy of the System “Space Module—Massless Manipulator—Payload”
3 Equation of Dynamics of the Reduced System
4 Applying Eigen Dynamics of a Reduced System to Synthesize Controls
5 Conclusion
References
The Concept of Failure- and Fault-Tolerance on Base of the Dynamic Redundancy for Distributed Control Systems of Spacecraft Groups
1 Introduction
2 Definition of the Failure- and Fault-Tolerance Concept of Multifunctional Spacecraft and Their Groups Control Systems
3 The Proposed Concept of Failure- and Fault-Tolerant Control Systems for Multifunctional Spacecraft and Their Groups Design
4 Conclusion
References
Industrial Robotics
Industrial Robotics Review
1 General Trends Review
1.1 Expansion of New Application Areas of Industrial Robots
1.2 Expansion of Robots’ Payloads and Sizes
1.3 Application of New Kinematic Schemes in Manipulators
1.4 Collaborative Robotics
1.5 The Flexible Basement of Manipulators
1.6 Industrial Robots’ Tools and Grippers
1.7 Industrial Mobile Robots
1.8 Exoskeletons
1.9 Industrial Robots with Low-Cost Mechanics
1.10 Dual-Manipulators
2 Industry 4.0 and Its Developments
3 Conclusions
References
Development of an Information Control System for a Remotely Operated Vehicle with Hybrid Propulsion System
1 Introduction
2 ROV Baseline Requirements
3 Development of an Information Control System
3.1 Analysis of the Applicability of Underwater Local Navigation Systems
3.2 Configurations of ROV’s Navigation Systems
3.3 Information-Measuring Complex of ROV
4 Experimental Testing of the Information Management System
5 Conclusion
References
Control System of a Starting-Landing Platform with Parallel Kinematics for Pilotless Flying Machines in the Conditions of Uncertainty
1 Introduction
2 Analysis of Working Space of a Platform of Stewart as a Starting the Device
3 Control of Position and Orientation of a Starting Platform of Stewart
4 The Conclusion
References
Intuitive Industrial Robot Programming Interface with Augmented Reality Environment
1 Introduction
2 System Architecture
3 Augmented Reality Environment
3.1 Intuitive Programming Procedure of Industrial Robot with AR-Stylus
4 Conclusion
References