AI and IoT-Based Intelligent Automation in Robotics E-Book
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- Herausgeber: John Wiley & Sons
- Kategorie: Wissenschaft und neue Technologien
- Sprache: Englisch
The 24 chapters in this book provides a deep overview of robotics and the application of AI and IoT in robotics. It contains the exploration of AI and IoT based intelligent automation in robotics. The various algorithms and frameworks for robotics based on AI and IoT are presented, analyzed, and discussed. This book also provides insights on application of robotics in education, healthcare, defense and many other fields which utilize IoT and AI. It also introduces the idea of smart cities using robotics.
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Seitenzahl: 562
Veröffentlichungsjahr: 2021
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Table of Contents
Cover
Title Page
Copyright
Preface
1 Introduction to Robotics
1.1 Introduction
1.2 History and Evolution of Robots
1.3 Applications
1.4 Components Needed for a Robot
1.5 Robot Interaction and Navigation
1.6 Conclusion
References
2 Techniques in Robotics for Automation Using AI and IoT
2.1 Introduction
2.2 Brief History of Robotics
2.3 Some General Terms
2.4 Requirements of AI and IoT for Robotic Automation
2.5 Role of AI and IoT in Robotics
2.6 Diagrammatic Representations of Some Robotic Systems
2.7 Algorithms Used in Robotics
2.8 Application of Robotics
2.9 Case Studies
2.10 Conclusion
References
3 Robotics, AI and IoT in the Defense Sector
3.1 Introduction
3.2 How Robotics Plays an Important Role in the Defense Sector
3.3 Review of the World’s Current Robotics Capabilities in the Defense Sector
3.4 Application Areas of Robotics in Warfare
3.5 Conclusion
3.6 Future Work
References
4 Robotics, AI and IoT in Medical and Healthcare Applications
4.1 Introduction
4.2 AI, Robotics and IoT: A Logical Combination
4.3 Essence of AI, IoT, and Robotics in Healthcare
4.4 Future Applications of Robotics, AI, and IoT
4.5 Conclusion
References
5 Towards Analyzing Skill Transfer to Robots Based on Semantically Represented Activities of Humans
5.1 Introduction
5.2 Related Work
5.3 Overview of Proposed System
5.4 Results and Discussion
5.5 Conclusion
References
6 Healthcare Robots Enabled with IoT and Artificial Intelligence for Elderly Patients
6.1 Introduction
6.2 Existing Robots in Healthcare
6.3 Challenges in Implementation and Providing Potential Solutions
6.4 Robotic Solutions for Problems Facing the Elderly in Society
6.5 Healthcare Management
6.6 Conclusion and Future Directions
References
7 Robotics, AI, and the IoT in Defense Systems
7.1 AI in Defense
7.2 Overview of IoT in Defense Systems
7.3 Robotics in Defense
7.4 AI, Robotics, and IoT in Defense: A Logical Mix in Context
7.5 Conclusion
References
8 Techniques of Robotics for Automation Using AI and the IoT
8.1 Introduction
8.2 Internet of Robotic Things Concept
8.3 Definitions of Commonly Used Terms
8.4 Procedures Used in Making a Robot
8.5 IoRT Technologies
8.6 Sensors and Actuators
8.7 Component Selection and Designing Parts
8.8 Process Automation
8.9 Robots and Robotic Automation
8.10 Architecture of the Internet of Robotic Things
8.11 Basic Abilities
8.12 More Elevated Level Capacities
8.13 Conclusion
References
9 An Artificial Intelligence-Based Smart Task Responder: Android Robot for Human Instruction Using LSTM Technique
9.1 Introduction
9.2 Literature Review
9.3 Proposed System
9.4 Results and Discussion
9.5 Conclusion
References
10 AI, IoT and Robotics in the Medical and Healthcare Field
10.1 Introduction
10.2 A Survey of Robots and AI Used in the Health Sector
10.3 Sociotechnical Considerations
10.4 Legal Considerations
10.5 Regulating Robotics, AI and IoT as Medical Devices
10.6 Conclusion
References
11 Real-Time Mild and Moderate COVID-19 Human Body Temperature Detection Using Artificial Intelligence
11.1 Introduction
11.2 Contactless Temperature
11.3 Fever Detection Camera
11.4 Simulation and Analysis
11.5 Conclusion
References
12 Drones in Smart Cities
12.1 Introduction
12.2 Utilization of UAVs for Wireless Network
12.3 Introduced Framework
12.4 UAV IoT Applications
12.5 Conclusion
References
13 UAVs in Agriculture
13.1 Introduction
13.2 UAVs in Smart Farming and Take-Off Panel
13.3 Introduction to UGV Systems and Planning
13.4 UAV-Hyperspectral for Agriculture
13.5 UAV-Based Multisensors for Precision Agriculture
13.6 Automation in Agriculture
13.7 Conclusion
References
14 Semi-Automated Parking System Using DSDV and RFID
14.1 Introduction
14.2 Ad Hoc Network
14.3 Radio Frequency Identification (RFID)
14.4 Problem Identification
14.5 Survey of the Literature
14.6 PANet Architecture
14.7 Conclusion
References
15 Survey of Various Technologies Involved in Vehicle-to-Vehicle Communication
15.1 Introduction
15.2 Survey of the Literature
15.3 Brief Description of the Techniques
15.4 Various Technologies Involved in V2V Communication
15.5 Results and Analysis
15.6 Conclusion
References
16 Smart Wheelchair
16.1 Background
16.2 System Overview
16.3 Health-Monitoring System Using IoT
16.4 Driver Circuit of Wheelchair Interfaced with Amazon Alexa
16.5 MATLAB Simulations
16.6 Conclusion
16.7 Future Work
Acknowledgment
References
17 Defaulter List Using Facial Recognition
17.1 Introduction
17.2 System Analysis
17.3 Implementation
17.4 Inputs and Outputs
17.5 Conclusion
References
18 Visitor/Intruder Monitoring System Using Machine Learning
18.1 Introduction
18.2 Machine Learning
18.3 System Design
18.4 Haar-Cascade Classifier Algorithm
18.5 Components
18.6 Experimental Results
18.7 Conclusion
Acknowledgment
References
19 Comparison of Machine Learning Algorithms for Air Pollution Monitoring System
19.1 Introduction
19.2 System Design
19.3 Model Description and Architecture
19.4 Dataset
19.5 Models
19.6 Line of Best Fit for the Dataset
19.7 Feature Importance
19.8 Comparisons
19.9 Results
19.10 Conclusion
References
20 A Novel Approach Towards Audio Watermarking Using FFT and CORDIC-Based QR Decomposition
20.1 Introduction and Related Work
20.2 Proposed Methodology
20.3 Algorithm Design
20.4 Experiment Results
20.5 Conclusion
References
21 Performance of DC-Biased Optical Orthogonal Frequency Division Multiplexing in Visible Light Communication
21.1 Introduction
21.2 System Model
21.3 Proposed Method
21.4 Results and Discussion
21.5 Conclusion
References
22 Microcontroller-Based Variable Rate Syringe Pump for Microfluidic Application
22.1 Introduction
22.2 Related Work
22.3 Methodology
22.4 Result
22.5 Inference
22.6 Conclusion and Future Works
References
23 Analysis of Emotion in Speech Signal Processing and Rejection of Noise Using HMM
23.1 Introduction
23.2 Existing Method
23.3 Proposed Method
23.4 Conclusion
References
24 Securing Cloud Data by Using Blend Cryptography with AWS Services
24.1 Introduction
24.2 Background
24.3 Proposed Technique
24.4 Results
24.5 Conclusion
References
Index
End User License Agreement
List of Tables
Chapter 1
Table 1.1 History of the earliest robots.
Chapter 6
Table 6.1 Existing robots and their physical appearance and functionalities in v...
Table 6.2 Robot functions that solve issues faced by the elderly.
Chapter 7
Table 7.1 Taxonomy of historical AI definitions.
Chapter 9
Table 9.1 Instruction and categorization of instruction accuracy for user input.
Table 9.2 Instruction and categorization of instruction accuracy for gates.
Table 9.3 Single instruction insertion precision.
Table 9.4 One expression translation.
Chapter 15
Table 15.1 Comparison of various technologies involved in V2V communication.
Chapter 16
Table 16.1 Motor directions for wheelchair movements.
Chapter 19
Table 9.1 Error obtained in each model.
Table 9.2 Trained model performance.
Chapter 20
Table 20.1 Evaluation of audio signals and the respective extricated watermark i...
Table 20.2 Quality analysis of extracted watermark images under various attacks.
Chapter 21
Table 21.1 Simulation parameters of DCO-OFDM.
Chapter 22
Table 22.1 Dimensions of materials used in the fabrication of the mechanical ass...
Table 22.2 Volume of the syringe discharged in 60 seconds.
Table 22.3 Maximum deviation in time taken for discharge of oil and water.
List of Illustrations
Chapter 2
Figure 2.1 Venn diagram of AI, ML and DL.
Figure 2.2 Representation of an agent.
Figure 2.3 Architecture of the Internet of Things.
Figure 2.4 Basic robot architecture.
Figure 2.5 Workings of an industrial robot.
Figure 2.6 Workingsof a healthcare robot.
Figure 2.7 Workings of agricultural robots.
Figure 2.8 Types of machine learning algorithms.
Figure 2.9 Applications of Robotics.
Chapter 3
Figure 3.1 The journey of weapons in warfare.
Figure 3.2 “Warrior,” the first Chinese patient robot.
Figure 3.3 Armed robots being developed for U.S. armed forces.
Figure 3.4 Some advanced Russian military robots.
Figure 3.5 Indian military robots.
Figure 3.6 Autonomous drones in action.
Figure 3.7 Autonomous tanks.
Figure 3.8 Autonomous submarines and ships currently under development.
Figure 3.9 Some examples of humanoid armed robots.
Figure 3.10 Armed soldier exoskeletons.
Chapter 4
Figure 4.1 Artificial intelligence market for healthcare applications in the wor...
Figure 4.2 Robotics system.
Figure 4.3 Robotics in healthcare.
Figure 4.4 Some of the apps symbolic of the rise of mobile healthcare.
Figure 4.5 Uses for AI-enabled IoT.
Figure 4.6 Areas of healthcare being enhanced by AI and robotics.
Figure 4.7 Uses for the IoMRT.
Figure 4.8 Architecture of the IoMRT.
Chapter 5
Figure 5.1 Steps in attaining the objective.
Figure 5.2 Proposed system steps.
Figure 5.3 Steps in extraction of information.
Figure 5.4 Mapping user activities with movement of robots.
Figure 5.5 Representation of subclass.
Figure 5.6 Performance comparison chart.
Figure 5.7 Comparison of proposed system with existing system.
Chapter 6
Figure 6.1 Sensors that are used to collect patient’s health data.
Figure 6.2 Flowchart of modules in the healthcare management system.
Chapter 7
Figure 7.1 Relationship of related AI definitions [3].
Figure 7.2 Daksh remotely operated vehicles.
Figure 7.3 Applications of Artificial Intelligence For Militaries.
Chapter 8
Figure 8.1 Robotic process automation (RPA). [https://www.google.com/search?q=ro...
Figure 8.2 Cycle of robotics process automation. Hand drawn.
Figure 8.3 Artificial Intelligence and robotics process automation. [https://tow...
Figure 8.4 Internet of robotic things – converging sensing/actuating, hypoconnec...
Chapter 9
Figure 9.1 Robot movement based on human instructions.
Figure 9.2 Sample NLP process.
Figure 9.3 Steps in proposed system.
Figure 9.4 Text transformation using NLP.
Figure 9.5 Sentence separation sample text.
Figure 9.6 Lemmatized sample text.
Figure 9.7 Stop word recognition of sample text.
Figure 9.8 Parsing dependencies in sample text.
Figure 9.9 Recognition of noun phrases in sample text.
Figure 9.10 Input data given to robots.
Figure 9.11 LSTM processing information in instructions given to robots (Sentenc...
Figure 9.12 States of LSTM.
Chapter 10
Figure 10.1 Surgical robot.
Figure 10.2 Robotics exoskeletons.
Figure 10.3 An example of robotic prosthetics.
Figure 10.4 Examples of artificial organs.
Figure 10.5 Outpatient pharmacy automation.
Figure 10.6 Educational robots.
Figure 10.7 The six As of evidence-based practice.
Chapter 11
Figure 11.1 Thermopile radiation sensors.
Figure 11.2 Optical fiber pyrometers.
Figure 11.3 RGB sensor with IR filter.
Figure 11.4 A 3D sensor.
Figure 11.5 Thermal infrared images.
Figure 11.6 YOLO BBox Annotation Tool user interface with annotated image.
Figure 11.7 Image produced with the IN-DEPTH camera for fever detection.
Figure 11.8 Power heater.
Figure 11.9 Accuracy.
Figure 11.10 Classification.
Figure 11.11 RGB sensor proposed method.
Figure 11.12 BB-2 temperature.
Chapter 12
Figure 12.1 Classifications of the UAVs.
Figure 12.2 An example of a fixed-wing drone.
Figure 12.3 Example of a rotary-wing drone.
Figure 12.4 Development of UAVs using the IoT.
Figure 12.5 Framework of UVAs using 5G.
Figure 12.6 Data links.
Figure 12.7 Architecture of UAVs.
Figure 12.8 Network formed between the wireless sensor network and the drone.
Figure 12.9 Data upload process.
Figure 12.10 Data download process.
Figure 12.11 UAV traffic management.
Figure 12.12 Traffic management using the UTM system.
Figure 12.13 Situation awareness.
Figure 12.14 Public safety.
Chapter 13
Figure 13.1 Trajectory path for the filed assessment.
Figure 13.2 View of farm field through UAV camera.
Figure 13.3 View of farm through UAV camera (zoom).
Figure 13.4 View of farm through UAV camera (more zoom).
Figure 13.5 View of farm through UAV camera (max zoom).
Figure 13.6 OODA working on decision-making process.
Figure 13.7 System architecture.
Figure 13.8 UAV-hyper-spectral image.
Figure 13.9 Combining UAV-multispectral and UAV-hyperspectral images.
Figure 13.10 Bayesian graphs.
Figure 13.11 Image showing the location of a fruit field in a surveyed farm.
Figure 13.12 These are the thermal images which are used for FLIR systems used t...
Figure 13.13 These are the thermal images which are used for FLIR systems used t...
Figure 13.14 UAAVs/drones used for work in the agriculture sector.
Figure 13.15 Normalized difference vegetation index (NDVI) image and soil image ...
Chapter 14
Figure 14.1 Destination-sequenced distance vector routing protocol.
Figure 14.2 Architecture of PANet.
Chapter 15
Figure 15.1 Block diagram of ARM and Zigbee for vehicle-to-vehicle communication...
Figure 15.2 V2V communication using Wi-Fi.
Figure 15.3 V2V communication using Li-Fi in accordance with the First Scheme.
Figure 15.4 Block diagram for V2V communication using Li-Fi in accordance with t...
Chapter 16
Figure 16.1 The wheelchair project.
Figure 16.2 Alexa Interfaced wheelchair block diagram.
Figure 16.3 Health-monitoring system block diagram.
Figure 16.4 (a) The health monitoring system circuit; (b) Health parameters obta...
Figure 16.5 Driver circuit used in wheelchair implementing two BTS7960 driver ci...
Figure 16.6 (a–c) Serial monitor plotter of the ultrasonic radar system prototyp...
Figure 16.7 The PRM algorithm.
Figure 16.8 (a,b) Results obtained upon implementation of Probabilistic Road Map...
Figure 16.9 The RRT algorithm.
Figure 16.10 RRT Algorithm illustration.
Figure 16.11 (a,b) Results obtained with RRT algorithm.
Figure 16.12 Planned trajectory based on waypoints obtained through implementing...
Figure 16.13 Differential drive robot following the path.
Chapter 17
Figure 17.1 Block diagram depicting the data flow [5].
Figure 17.2 Architecture of the proposed system [3].
Figure 17.3 Flow chart of the proposed system [6].
Figure 17.4 Identifying whether the inputted data is a student or an intruder [8...
Chapter 18
Figure 18.1 Process of visitor/intruder monitoring system.
Figure 18.2 Block diagram of visitor/intruder monitoring system.
Figure 18.3 Raspberry Pi.
Figure 18.4 Zebronics Crystal Plus web camera.
Figure 18.5 Mail sent to the given email ID.
Figure 18.6 Final outcome with image and name (Known person).
Figure 18.7 Final outcome with image as mentioned “unknown person” (Unknown intr...
Figure 18.8 After adding a frequent visitor to the dataset,the result is “Indu h...
Chapter 19
Figure 19.1 Work flow.
Figure 19.2 System architecture.
Figure 19.3 Sample data frame.
Figure 19.4 System architecture.
Figure 19.5 Line of best fit.
Figure 19.6 Feature importance.
Figure 19.7 Pearson’s correlation coefficient.
Figure 19.8 Results of Multiple Linear Regression comparing the true values and ...
Figure 19.9 Results of Decision Tree Regression comparing the true values and th...
Figure 19.10 Results of Random Forest Regression comparing the true values and t...
Figure 19.11 Results of Support Vector Regression comparing the true values and ...
Figure 19.12 Results of Extreme Gradient Boost comparing the true values and the...
Figure 19.13 Scatter plot matrix used to visualize relationships.
Figure 19.14 Heat map.
Figure 19.15 Performance analysis.
Chapter 20
Figure 20.1 (a) Host audio (Blues); (b) watermark image.
Figure 20.2 Flow chart of the complete process of watermark embedding.
Figure 20.3 Process of watermark extraction.
Figure 20.4 Process of audio watermarking in MATLAB.
Figure 20.5 (a) Watermark image before embedding; (b) watermark image after the ...
Figure 20.6 Sample of watermark image extracted from the attacked—(a) noise, (b)...
Chapter 21
Figure 21.1 Transmitter block of DCO-OFDM.
Figure 21.2 Receiver block of DCO-OFDM.
Figure 21.3 Block diagram of DCO-OFDM.
Figure 21.4 Input signal of DCO-OFDM.
Figure 21.5 Parallel signal of DCO-OFDM.
Figure 21.6 Modulated signal of DCO-OFDM.
Figure 21.7 IFFT signal of DCO-OFDM.
Figure 21.8 Clipped signal of DCO-OFDM.
Figure 21.9 Scaled signal of DCO-OFDM.
Figure 21.10 DC-biased signal of DCO-OFDM.
Figure 21.11 VCSEL optical spectrum of DCO-OFDM.
Figure 21.12 CW Lorentzian laser optical spectrum of DCO-OFDM.
Figure 21.13 Fiber optical spectrum of DCO-OFDM.
Figure 21.14 Optical combiner spectrum of DCO-OFDM.
Figure 21.15 Demodulated signal of DCO-OFDM.
Figure 21.16 Parallel signal of DCO-OFDM.
Figure 21.17 Received signal of DCO-OFDM.
Chapter 22
Figure 22.1 Cost range of syringe pumps provided by various dealers.
Figure 22.2 Flowchart showing the steps involved in developing the syringe pump.
Figure 22.3 (a) Material used and components made are provided for mechanical as...
Figure 22.4 Block diagram of hardware implementation.
Figure 22.5 Algorithm for fluid discharge from syringe.
Figure 22.6 Top view of prototype.
Figure 22.7 (a) Syringe holder and (b) Stepper motor.
Figure 22.8 Comparison plot indicating maximum time taken by oil and water to co...
Figure 22.9 Comparison plot indicating maximum deviation in time taken by oil an...
Figure 22.10 Graph indicating the difference in time taken for complete discharg...
Figure 22.11 Volume vs Time plot with respect to inner diameter of syringe.
Figure 22.12 Volume (1000 μl) vs Time uncertainty (seconds).
Figure 22.13 Volume (3000 μl) vs Time uncertainty (seconds).
Chapter 23
Figure 23.1 Outline of proposed emotion extraction from speech.
Figure 23.2 MFCC process.
Figure 23.3 Mel scale bank of filters.
Figure 23.4 Algorithm for an HMM.
Chapter 24
Figure 24.1 Overview of the cloud.
Figure 24.2 Threats in cloud computing.
Figure 24.3 Overview of quantum cryptography.
Figure 24.4 Quantum key generation using BB84.
Figure 24.5 Generation of secret keys in existing method.
Figure 24.6 Overview of authentication process.
Figure 24.7 Storing the message after encryption in DynamoDB.
Figure 24.8 Sending the secret key after authentication.
Figure 24.9 Obtaining data after decryption from DynamoDB.
Figure 24.10 Output after the message encryption.
Figure 24.11 Overview of creation of the table on DynamoDB.
Figure 24.12 Encrypted message stored on DynamoDB.
Figure 24.13 Output of the message after decryption.
Guide
Cover
Table of Contents
Title Page
Copyright
Preface
Begin Reading
Index
End User License Agreement
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Scrivener Publishing
100 Cummings Center, Suite 541J
Beverly, MA 01915-6106
Publishers at Scrivener
Martin Scrivener ([email protected])
Phillip Carmical ([email protected])
AI and IoT-Based Intelligent Automation in Robotics
Edited by
Ashutosh Kumar Dubey
Abhishek Kumar
S. Rakesh Kumar
N. Gayathri
Prasenjit Das
This edition first published 2021 by John Wiley & Sons, Inc., 111 River Street, Hoboken, NJ 07030, USA and Scrivener Publishing LLC, 100 Cummings Center, Suite 541J, Beverly, MA 01915, USA
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Preface
It is widely believed that the current technologies are not the only factors that limits the building of an efficient human-machine intelligent processing engine. The emotions and the cognitive abilities are also playing an important role in understanding the various aspects through various intelligent technologies.
Artificial Intelligence (AI) is one of the trending technologies in the recent era. The emergence of the robotics and application of AI in it brings out a significant change in the domain. Various algorithms that emerge in AI and the computational efficiency of the systems has made it possible to address a number of applications through robotics. The Internet of Things (IoT) is the important domain that plays a major role in robotics. With the aid of IoT and AI, robotics an exponential development in providing solutions to complex technical problems have been explored.
This book aims at providing an overview of robotics and the application of AI and IoT in robotics. It contains the deep exploration of AI and IoT based intelligent automation in robotics. The various algorithms and frameworks for robotics based on AI and IoT have been presented analyzed and discussed. This book also provides insights on application of robotics in education, healthcare, defense and many other fields with the utilization of IoT and AI. It also includes the idea of smart cities using robotics.
This book contains twenty-four chapters. Chapter 1 reports the introduction about the robotics. Chapter 2 explores the techniques of robotics for automation using AI and IoT. Chapter 3 descriptively investigates the role of the defense in the same technological aspects. Chapter 4 examines the role of AI and IoT based intelligent automation of robotics in case of healthcare. Chapter 5 explores the skill transfer to robots based on semantically represented the activities of humans. Chapter 6 illustrates the healthcare robots enabled with IoT and artificial intelligence for old aged patients. Chapter 7 explores the robotics, AI and IoT in defense system. Chapter 8 describes the techniques of robotics for automation using AI and IoT. Chapter 9 discusses an artificial intelligence based smart task responder that is android robot for human instruction using LSTM technique. Chapter 10 explores the robotics, AI and IoT in medical and healthcare. Chapter 11 scrutinizes real time mild and moderate Covid’19 human body temperature detection using AI. Chapter 12 shows the role of drones in smart cities. Chapter 13 presents UAV’s in terms of agriculture prospective. Chapter 14 discussed the semi-automated parking system by using DSDV and RFID. Chapter 15 reviews on the various technologies involved in vehicle to vehicle communication. Chapter 16 explores about the smart wheelchair. Chapter 17 explores defaulters list using facial recognition. Chapter 18 introduces visitor/intruder monitoring system using machine learning. Chapter 19 provides a comparison of machine learning algorithms for air pollution monitoring system. Chapter 20 discusses a novel approach towards audio watermarking using FFT and Cordic Q-R decomposition. Chapter 21 explores the performance of DC biased optical orthogonal frequency division multiplexing in visible light communication. Chapter 22 illustrates the microcontroller based variable rate syringe pump for microfluidic application. Chapter 23 illustrates the analysis of emotion in speech signal processing and rejection of noise. Chapter 24 discusses regarding securing cloud data by using blend cryptography with AWS services.
Overall, this book is designed for exploring global technological information about the AI and IoT based intelligent automation in robotics. Armed with specific usage practices, applicability, framework and challenges readers can make informed choices about the adoption of AI and IoT based intelligent automation. It may be helpful in the development of efficient framework and models in the adoption of these techniques in different domains.
It is a great pleasure for us to acknowledge the contributions and assistance of many individuals. We would like to thank all the authors who submitted chapters for their contributions and fruitful discussion that made this book a great success. We hope the readers find value and future insights into the contributions made by the authors. This book also opens up further avenues and opportunities for the future research. We are very thankful to the team of Scrivener publishing specially to Martin Scrivener for providing the meticulous service for timely publication of this book. We would like to express our deep sense of gratitude for the encouragement and support offered by our Institutions/Universities and colleagues. Last but not least, we gratefully acknowledge the support, encouragement and patience of our families.
Ashutosh Kumar DubeyAbhishek KumarS. Rakesh KumarN. GayathriPrasenjit DasFebruary 2021
1Introduction to Robotics
Srinivas Kumar Palvadi1, Pooja Dixit2 and Vishal Dutt3*
1Department of Computer Science Engineering, University of Madras, Chennai, Tamil Nadu, India
2Sophia Girls’ College (Autonomous), Ajmer, Rajasthan, India
3Department of Computer Science, Aryabhatta College, Ajmer, Rajasthan, India
Abstract
These days, automation plays a major role in all sectors of society and the technology of robotic automation is very much in demand along with other significantly trending concepts such as the Internet of Things (IoT), Machine Learning (ML), Artificial Intelligence (AI) and Cloud Computing. Many people are showing interest in purchasing things which have process automation; for example, do not increase speed once they reach a certain point and automatically turn off the water tank when it is about to overfill. Robotics is also the technology where when an instruction is given to the device it acts accordingly based on the user instruction. When we want the robot to perform based on the user instruction, we first have to train the device or robot with the instructions for the particular task we want to do. For example, if we give a data set to the robot for creation of coffee and we give an instruction to the robot to “Prepare Tea,” the robot doesn’t respond to the request because the request doesn’t match the available datasets in the robot. In this chapter, I will focus on a basic introduction to robots, their architecture and the equipment needed for designing robots.
Keywords: Machine learning, IoT, AI, energy, drones, nano tubes, energy, actuation
1.1 Introduction
“Robotics” or “robots” is a very popular term which we are increasingly hearing day by day. The word “robotics” was derived from the word “robot,” which comes from the Slavic word “robota,” meaning slave/servant. Robots were introduced to society by George C. Devol, who generally referred to them as artificial people. Generally, robots consist of different components such as sensors, controlling devices, manipulators, power supply as well as software to perform the defined action. A combination of these characteristics forms the robot. For preparing the perfect robot we have to proceed with designing, building, programming as well as testing the robot using a combination of physics, mathematics, computational techniques, mechanical engineering, electrical engineering and structural engineering. In some of the particular scenarios the concepts of biology, chemistry and medicine are also involved based on the requirements. Generally, robot technology is used [1] in environments where a human cannot perform the action.
Many people treat robots as machines but in many of the real-time applications robots replace the person and also act as a person, such as the androids in the movies Star Wars, Terminator and Star Trek: The Next Generation. The robots capture human faces and activities and perform tasks as a person does. Even though developers are implementing many advancements in robots and using them in many applications, they are not able to develop enough common sense in them because robots perform the task based on the user’s instructions but can’t predict future actions by doing tasks in a dynamic manner. So, regarding this topic, many of the researchers are working in this domain under the research domain named “humanoid robots.”
Most of the robots which were created till now are very dangerous, boring, onerous and just plain nasty. We can find these types of robots in the medical, automobile, manufacturing, and industrial industries among others, as well as the space industry. Robots, such as the Mars rover Sojourner and the upcoming Mars Exploration rover or the underwater robotic vehicle Caribou, were designed and sent to places where humans cannot go, such as volcanoes, mars, etc., for the purpose of helping to conduct research in those particular places. On the other hand, other types of robots were designed for the purpose of entertaining small children and others. A few of them are Techno, Polly and AIBO ERS-220, which often arrive at the stores around Christmas time.
Robots are very efficient, fun and easy to design. In his book Being Digital, Nicholas Negroponte relates an excellent story that took place about eight years ago at the time of the televised premier of the Media Lab’s LEGO/Logo work at the Hennigan School. When the robot was first introduced to the children in school, they didn’t show interest in adopting it. However, in a third attempt, the children talked, played and had fun with the robot. The children asked the robot questions and the robot started giving responses to the children. The children in the class felt very excited and had fun with the robot.
Finally, what exactly does robot mean?
Many authors gave definitions based on their understanding. There is really no standard definition of robotics. When designing the robot, every designer needs to have the following properties and features, if not it is not considered a robot [2].
The robot should have following characteristics:
Sensing
First, robots have to recognize the surroundings and respond according to them. The robots will not behave in all the environments. We have to imbue robots with sensitivity to light (eyes), touch, pressure (like hands), chemicals (nose), sound (ears) and taste (tongue) among others. By combining all these we will get the correct working robot for the environment.
Movement
The robot should be capable of identifying surroundings/ environment in order to perform actions such as moving its body all around the surroundings.
Energy
Robots should be capable of identifying the power in their battery and should charge by themselves.
Intelligence
Robots need to become smarter than humans. Those who make robots smart are called programmers. Robots should require a minimum amount of knowledge to understand and perform the task that the user instructed.
So, the definition of the term robot encompasses a sensor, controlling device, physical device, manipulator, and a programming testing device, with mechanical engineering, electrical engineering, mathematics, and a small portion of chemistry also being involved.
1.2 History and Evolution of Robots
Table 1.1 shows the origins of robotics along with detailed information of when the robots came into existence, the developer’s name, etc. Presently, there are various types of robots which are used for various environments for various users. Moreover, the robots were classified into mechanical construction, electrical components and computer programming mechanism.
Table 1.1 History of the earliest robots.
Date
Significance
Robot name
Inventor
3rd century BC and earlier
First humanoid automata based on an earlier description
Yan Shi
1st century AD and earlier
Descriptions of more than 100 machines and automata which include a fire engine, a wind organ, a coin-operated machine, and a steam-powered engine
Ctesibius, Philo of Byzantium, Heron of Alexandria, and others
c. 420 BC
Robot designed like a bird, which will fly
Flying Pigeon
Archytas of Tarentum
1206
First humanoid robot with automata mechanism
Robot band, hand-washing automaton [11], automated moving peacocks [12]
Al-Jazari
1495
Humanoid robot
Mechanical Knight
Leonardo da Vinci
1738
Mechanical duck which can eat, flap its wings, and excrete
Digesting Duck
Jacques de Vaucanson
1898
First radio-controlled device
Teleautomaton
Nikola Tesla
1921
First fictional automatons called robots
Rossum’s Universal Robots
Karel Čapek
1930s
Humanoid robot exhibited at the 1939 and 1940 New York World’s Fair
Elektro
Westinghouse Electric Corporation
1946
First general-purpose digital computer
Whirlwind
Multiple people
5
1948
Simple robots exhibiting biological behaviors
Elsie and Elmer
William Grey Walter
1956
First commercial robot from the Unimation company
Unimate
George Devol
1961
First installed industrial robot
Unimate
George Devol
1967 to 1972
First full-scale humanoid intelligent robot
WABOT-1
Waseda University
1973
First industrial robot with six electromechanically driven axes
Famulus
KUKA Robot Group
1974
First microcomputer controlled electric industrial robot, IRB 6 from ASEA, which was already patented in 1972.
IRB 6
ABB Robotics
1975
Programmable universal manipulation arm, a Unimation product
PUMA
Victor Scheinman
1978
First object-level robot programming language, which allows robots to handle variations in object position, shape, and sensor noise
Freddy I and II, RAPT robot programming language
Patricia Ambler and Robin Popplestone
1983
First multitasking, parallel programming language used for a robot control
ADRIEL I
Stevo Bozinovski and Mihail Sestakov
The mechanical part of the robot is designed for mechanical purposes such as designing the particular shape and processing of the particular task. With the mechanical components it also follows the physics friction mechanism for processing of the task.
The robots have the electrical power capable of handling the mechanical products because the electricity is capable of handling the machine [3]. Even though there are petrol-based robots, they still require electrical energy in order to function, just as a car works with a battery.
1.3 Applications
Because the lives of people were becoming busier, robots were designed to help meet the needs of their users. Initially we assigned the task or multiple tasks as per the instructions of humans and the robots performed the task if the particular task was programmed and vice versa. Later on, the robots were designed in such a way that specific robots or customized robots were designed for specific tasks. The main theme in designing customized robots was to make them work more efficiently. Generally, the robots were designed in an assembly manner for making them more adaptive as well as making the tasks speedier. Such types of robots were categorized as “assembly robots.” Now robots were also used in the automobile industry for procedures such as welding, tightening, etc., and the robots were the products called “integrated units” because they were designed in such a way that they were integrated with different fields like mechanical and electrical engineering and computers. For example, robots that performed welding tasks were called “welding robots.” Any type of robot had the capability of performing various types of tasks [4]. Some robots were exclusively designed for making the heavy load changes and such type of robots were treated as “heavy duty robots.” Finally, “humanoid robots” were designed for addressing all the emergencies that a human does.
The robots described above are just some of the various robots and their applications in specific fields. Some of the various types of robots and various places where they are being used include:
Military robots
Industrial robots
Collaborative robots
Construction robots
Agricultural robots
Medical robots
Robots for kitchen automation
Spot robot for combat
Robots for cleaning up contaminated areas
such as toxic sites or nuclear facilities
Domestic robots
Nanorobots
Swarm robots
Autonomous drones
Robots for sports field line marking
1.4 Components Needed for a Robot
Electricity, mechanical power and programming are the main things needed to successfully design a robot. First, when designing the robot, the planning and outlook of how it should be viewed after implementation are the main things to keep in mind [5]. Below are the requirements for designing a full-fledged robot:
1) Power Source
For the power source the main thing which we use is batteries. The power taken from electricity will convert to the thermal energy stored in the batteries. All robots need a battery in order to work. The robot will work up to a certain number of hours when it is fully charged. The batteries, such as silicon batteries and acid batteries, are used because batteries, such as silver-cadmium batteries, are too expensive. While designing the required battery for a particular robot, initially we only have to think about the power consumption of the robot based on its working capacity. If the robot work capacity is less and if we give more power the electricity inside the robot may short circuit and total loss or damage to the robot may ensue. We also have to consider the weight of the robot while designing because if the robot is heavier it will consume more power when performing the user requests [6]. If the robot is heavier there are many disadvantages such as not cost-effective, difficult to manage the tasks, higher power consumption, inefficient, etc. Apart from electric power there are a few other alternatives which are beneficial, such as
Pneumatic power
Solar power
Hydraulic power
Flywheel energy storage
Anaerobic digestion
Nuclear power
2) Actuation
In human terminology, the actuator is like muscles for the robot. Here the overall thing depends on the momentum of the device. Most of the devices work in an electrical and mechanical manner. These robots help in controlling, managing and monitoring the works. After designing the particular robot for a particular manner in the customized way, many of the alterations were performed on the robot and many of the software updates and alterations were made either in terms of hardware or software or battery or capacity, etc., based on the load and capacity of the robot.
3) Electric Motors
A large number of robots use electrical and mechanical power for performing tasks. The robots use mechanical power as well as electrical power for performing tasks. The robots use DC motors and AC motors for industrial purposes for performing the heavy loaded type of tasks. There will be motors which perform the heavy loaded as well as light loaded tasks. Here, when performing the heavy loaded and light loaded tasks the capacity of battery as well as the usage of the battery varies from time to time.
4) Linear Actuators
There are various types of actuators which have faster speed as well as direction. Here, when the speed changes the direction also changes and vice versa. There are various types of robots which have more pneumatic and hydraulic actuators. There is an actuator called a “linear actuator” which has a motor as well as a lead screw. Another type of actuator which is powered by hand is the rack and pinion actuator commonly found in cars.
5) Series Elastic Actuator
This part is designed in a flexible and elastic manner and works in a more robust manner in controlling things like energy efficiency, robust force control and shock absorption. The generated results, weakens the overall interaction with humans if the measurement is high.
6) Air Muscles
Air muscles were also treated as pneumatic muscles or air muscles. These will extend up to the range of 40%. The air muscles are used to provide privacy in applications. This mechanism is used in the application of robots.
7) Muscle Wire
This technique is also called shape memory alloy mechanism. For this method a procedure of exactly 5 percent electricity was needed for the development of the small type of mini robot applications.
8) Electroactive Polymers
These are the materials used because they consume more electricity. They are used in the muscles and hands when making the robot because using electroactive polymers activates the hands and legs shaking moments and also help in the waking, swimming, floating and running of the robots.
9) Piezo Motors
Piezo motors are widely used alternatives to DC motors. This working principle is also very different. It depends on the rotator motion. There are different operations such as one which uses a vibration mechanism and another which uses an oscillation mechanism of the elements. The main advantage of using a piezo mechanism is that it makes the motor more efficient.
10) Nanotubes
Nanotubes are used in the robots during the design process in order to conduct experiments on how the electricity flows and the level of elasticity in the body of robot.
11) Sensing
The main theme in developing sensing is that it helps to measure the environment and also says how to react based on the situations from moment to moment. The reaction of the robot to what action has happened is very important. The response of the robot changes as per the environment.
12) Touch
Here, sensing mainly depends on the software we are using. Recently, for touch sensing the tactile sensors used vary widely. The sensor is a mechanism which has a rigid body and all the touch properties from top to bottom for the robot. The sensor was designed in such a way to have a rigid cone surface with all the objects. This mechanism helps in forming the grip of the robots in a very strong manner for the purpose of handling objects.
13) Vision
The computer vision of the robots is very important. The vision helps in the extraction of the images and if needed the data which is captured by the robot will be stored in the server for recollecting what tasks are done by the robot from the start to the end of the day, which can help the user for cross-checking purposes if needed [7]. The vision of the robot may take many forms; it takes images or it records video based upon the settings made by the user. The vision mechanism is based purely on the computer sensor and electromagnetic radiation and the light rays generated are visual light or infrared light.
14) Manipulation
Minute manipulations are done on robots from time to time like replacing hands and legs for better moment; in other words, it is an endless effort.
15) Mechanical Grippers
Grippers play a major role in designing the robot for some important things like vision, sensing and responding in a particular manner. Mechanical grippers help a robot catch any object with its hands using the grippers to catch things without dropping them. Like hands, grippers also play a major role in handling objects using friction [8]. There is another type of gripper known as a “vacuum gripper,” which is simple to add in a block to the robot. Vacuum grippers are very active in nature and are mainly used in windscreens.
These above components are needed for building an efficient robot.
1.5 Robot Interaction and Navigation
Navigation is very important to how the robot works and plays a major role in different tasks, such as locating the robot, its position, its condition, etc. There are a few advanced robots, such as ASIMO, which will automatically charge themselves based on their position.
1.5.1 Humanoid Robot
Humanoid robots are the majority of those used in homes and restaurants for task automation. Once the timetable of when the tasks should be done is set, the tasks are assigned to the robot and it will automatically perform the task as part of its daily routine per the schedule [14]. Not until the user makes any alteration to the existing timetable will the robot change its task. While making the schedule or adding the new task for the robot to perform on a daily basis, first we have to train the robot by giving instructions like the step-by-step procedure for performing the task, which is called an “algorithm.” The algorithm given to the robot it treated as the training set. First, while implementing the task the task should be tested by the user to confirm whether all the steps are working correctly [9]. This is the basic thing that the robot performs. There are some types of robots that have advanced features or characteristics such as speech recognition, robotic voice, gesture, facial expression, artificial emotions, personality and social intelligence.
1.5.2 Control
The mechanical structure of a robot must be controlled to perform errands. The control of a robot includes three distinct stages: perception, processing, and action (mechanical standards). Sensors give data about the earth or the robot itself (for example, the situation of its joints or its end effector). This data is then prepared to be stored or transmitted to ascertain the proper signals to the actuators (engines) which move the mechanical device.
The handling stage can run intricately. At a responsive level, it might decipher crude sensor data legitimately into actuator orders. A combinations of sensors may initially be utilized to gauge boundaries of intrigue (for example, the situation of the robot’s gripper) from boisterous sensor information. A prompt undertaking (for example, moving the gripper a specific way) is deduced from these evaluations. Procedures from the control hypothesis convert the assignment into orders that drive the actuators [10].
At longer time scales or with progressively modern undertakings, the robot may need to assemble and dissuade a “subjective” model. Subjective models attempt to speak to the robot, the world, and how they collaborate. For example, acknowledgment and PC vision can be utilized to follow objects; mapping strategies can be utilized to assemble maps of the world; lastly, movement arranging and other man-made consciousness procedures might be utilized to make sense of the proper behavior. For instance, an organizer may make sense of how to accomplish an undertaking without hitting deterrents, falling over, and so forth [11].
1.5.3 Autonomy Levels
This mechanism has a lot of various levels of algorithms, which are classified below along with the steps followed for performing the task.
Direct interaction with the help of telephone or teleported devices.
Specifying the particular position to the robot and where it should move or giving step-by-step instructions from beginning to end until it reaches its destination.
An autonomous robot performs some tasks beyond user specified ones because some robots are capable of performing tasks and alerting the user when the robot is in trouble, etc. [12].
There are a few types of robots which are operated by the user’s instruction via telephone.
There are a few robots which perform specific moves based on the instructions given upon starting.
There are a few robots which only perform the tasks specified by one person. Whichever task is specified first by the instructor is identified by the robot as the task specified, which is stored in its memory and performed as the stored task. Such types of robots are called “task level autonomous.”
There are a few robots which do whatever task it is instructed to do by the user; such types of robots are called “fully autonomous” [13].
1.6 Conclusion
Robotics is a technology spreading throughout all industries because of its many advantages, including its ability to reduce man power, save money by reducing man power, complete tasks very effectively and quickly, prevent human mistakes, be more easily maintained, quickly respond in a more responsive manner; along with many other applications in fields where the robot performs, such as in multinational corporations (MNCs). Because of the automation process used for unit testing, integration testing, system testing and acceptance testing in MNCs being performed only by robots, many people are losing their jobs. Moreover, there are many applications where the robot performs or plays a major role in various areas, a few of which are industry, business, research, dynamics, kinematics, bionics, biometrics, quantum computing, education, training, career training, certification, summer robotics camp, robotics competition, employment, software industry, software projects testing, occupation safety and health implications and many more. Future development of robots or the robotic field is vast, and in a decade there is a chance that people will be replaced with robots for all tasks in every sector. This is because of the many advantages of robots which have already been adopted in a few sectors, with many more sectors ready to adopt the process. On one hand, this will lead to many good changes, but on the other hand many small jobs will be lost and unemployment will increase, etc.
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*Corresponding author: [email protected]
2Techniques in Robotics for Automation Using AI and IoT
Sandeep Kr. Sharma, N. Gayathri*, S. Rakesh Kumar and Rajiv Kumar Modanval
School of Computing Science and Engineering, Galgotias University, Uttar Pradesh, India
Abstract
Gone are the days when people use manual methods to perform every task; now the world has evolved and we have advanced technologies like artificial intelligence (AI) and the internet of things (IoT) that have changed our world outlook. With the rapid advancement in technology, we are gifted with lots of modern technologies that are being integrated into our day-to-day lives, making it much easier.
In this chapter, we will discuss various techniques used for automation, like AI and the IoT, which form the basis for robotics. There’s a technique called robotic process automation (RPA) which is very popular nowadays, which can be used to automate any computational process. One software that is used to practice and build the RPA system is UiPath Studio, which comes in handy for all sorts of scripts and contains many tools that can be used to make automated bots. Apart from that, we will be discussing and proposing some other such techniques and studying the requirements for AI and IoT in the automation of robots.
Defining the roles and algorithms in integration with machine learning (ML), we will also be looking at some case studies and various other applications for automation in different scenarios. With the increase in the popularity of AI, the day is not very far off when we will have a replacement for humans—not only a replacement, but also a more advanced form of humans. Today, robots are so smart that they are capable of mimicking human behavior and are so efficient that it will take a normal human about 100 to 1000 times more time to complete the task. In this way, they are making our lives so easy and comfortable.
Keywords: Artificial intelligence (AI), internet of things (IoT), robotics, automation, robots, machine learning
2.1 Introduction
Technically the word automation refers to the running of some action or process that mimics human behavior without or very little involvement of humans. Earlier this was not very popular and things were mostly processed via humans but with the advancement of technology and computation power we now have access to the most advanced robots and automation [1] tools with which one can perform any task easily and rapidly. If we look at the broader aspects of automation it mainly finds application in industries and manufacturing sectors which were the provenience for the automation and the automated machines used for various jobs like painting, manufacturing parts, storage, monitoring, etc. Still, almost all industries are utilizing these automated robots in their day-to-day processes.
The Industrial Revolution [2] played a big role in making automation so popular that it is considered foolish not utilize the automation procedure, as not using automation will lead to a waste of time and money as “time is money.”
