ABSTRACT
At present, due to the COVID-19, China's social and economic development has slowed down. Some life service e-commerce platforms have successively launched "contactless delivery" services, which can effectively curb the spread of the epidemic. Robot distribution is the current mainstream, but robots are different from people and need to have accurate program settings. Both path planning and obstacle avoidance are currently top issues. This requires the mobile robot to successfully arrive at the destination while minimizing the impact on the surrounding environment and pedestrians, and avoiding encroachment on the movement space of pedestrians. Therefore, the mobile robot needs to be able to actively avoid moving pedestrians in a dynamic environment, in addition to avoiding static obstacles, and safely and efficiently integrate into the pedestrian movement environment. In this paper, the path planning problem of unmanned delivery robot is studied, and the path of mobile robot in the crowd is determined by global planning and local planning, and the matlab simulation is used for verification. © The Authors. Published under a Creative Commons Attribution CC-BY 3.0 License.
ABSTRACT
The COVID-19 pandemic has led to a surge of interest in research work involving the development of robotic systems that reduce human-to-human interaction, as such a technology can greatly benefit healthcare industries in preventing the spread of highly infectious diseases. An indoor service robot is built and equipped with wheel odometry and a 2D LiDAR. However, the presence of the systematic odometry errors is evident during field testing. Hence, the possibility of minimizing systematic odometry errors is inspected using various methods of calculation, namely: UMBmark, Lee's and Jung's. The methods all use the Bidirectional Square Path test, performed together with ROS. It is found that Jung's method is the most appropriate method showing a 20.4% improvement compared to the uncalibrated dead reckoning accuracy. Moreover, it is found that the presence of slippage, a nonsystematic error, greatly affects the return position errors of the robot. Consequently, it is recommended to improve the design of the wheelbase to minimize the effects of nonsystematic errors. © 2022 IEEE.
ABSTRACT
Companion bots such as chatbots in cyberspace or robots in real space gained popularity during the COVID-19 pandemic as a means of comforting humans and reducing their loneliness. These bots can also help enhance the lives of elderly people. In this paper, we present how to design and implement a quick prototype of companion bots for elderly people. A companion bot named "Hello Steve"that is able to send emails, open YouTube to provide entertainment, and remember the times an elderly person must take medicine and remind them is designed and implemented as a quick prototype. In addition, the bot combines the features of a mobile robot and a chatbot. The experimental results show the effectiveness of the design through its very high accuracy when navigating mobile-robot-like tasks and responding to chatbot-like tasks via voice commands. © 2023 MYU K.K.
ABSTRACT
In recent years, the novel corona virus pandemic is raging around the world, and the safety of home environment and public environment has become the focus of people's attention [2]. Therefore, the research on disinfection robot has become one of the important directions in the field of machinery and artificial intelligence. This paper proposes a robot with the STM32 MCU as the core of disinfection, and is equipped with a variety of sensors and a camera vision, has the original cloud service management platform, the remote deployment of navigation, based on visual SLAM to realize high precision navigation and positioning, can realize to indoor environment autonomously route planning, automatic obstacle avoidance checking, disinfection, epidemic prevention function, at the same time can pass Bit computer software realizes remote control of robot, which has great development potential. © 2022 ACM.
ABSTRACT
There has been an increase of interest and demand in the usage of logistic indoor service robots that are designed to minimize interactions between humans due to the occurrence of the COVID-19 outbreak. The application of the rising technology in the medical sector has great benefits in the industry, such as the prevention of the spread of highly infectious diseases using distance as a factor. Rooting from the purpose of the said robot, the main focus should be the ease of navigation through achieving the desired trajectory, in order to maximize the functionality, prevent collision, reduce user maneuvering difficulties, and such. Hence, this paper is focused on improving the trajectory errors on the robot navigation performance based on different control system designs specifically, a physical joystick controller and a mobile-based Bluetooth application controller. The design of the joystick is based on a pivot as its base which is directed to all angles and the design of the Bluetooth app is based on fourdirectional buttons that will operate upon clicking, and switching to other buttons to change commands. With this, the researchers conducted linear path and rotational tests using both remote control modes that are based on five varying speed values of 0.75 m/s, 0.5m/s, 0.35m/s, 0.25m/s, and 0.15 m/s. Based on the data analysis, the yielded results showed that using the Bluetooth app lowers the robot's trajectory error by 50% to 60% compared to using ajoystick to navigate to the desired point. Thus, the researchers concluded that the design of a control system greatly affects the robot navigation in achieving the desired trajectory. Considering the nonsystematic errors, a calibration based on the hardware structure design specifically on the caster wheel is recommended. © 2023 IEEE.
ABSTRACT
In view of the fact that Covid-19 is highly contagious, which poses great threat and inconvenience to people's production and life, a multifunctional robot control system with single-chip microcomputer as the control core is designed, aiming at the problems of centralized isolation points in communities, complicated situation and difficult management. Firstly, Gmapping algorithm is used to realize the robot's autonomous positioning and avoidance. Secondly, a three-degree-of-freedom robot arm is designed to disinfect any indoor space. Finally, Gmapping algorithm is used to recognize and measure the temperature of human face. Through the simulation experiment, this method can improve the efficiency of searching the shortest path and carry out disinfection work while reducing human contact, improving public safety and has practical value. © 2023 IEEE.
ABSTRACT
Accelerated by the COVID-19 pandemic, anthropomorphic service robots are continuously penetrating various domains of our daily lives. With this development, the urge for an interdisciplinary approach to responsibly design human-robot interaction (HRI), with particular attention to human dignity, privacy, compliance, and transparency, increases. This paper contributes to design science, in developing a new artifact, i.e., an interdisciplinary framework for designing responsible HRI with anthropomorphic service robots, which covers the three design science research cycles. Furthermore, we propose a multi-method approach by applying this interdisciplinary framework. Thereby, our finding offer implications for designing HRI in a responsible manner. © 2022 IEEE Computer Society. All rights reserved.
ABSTRACT
Prevention of infectious diseases as the Covid-19 is of essential importance for the well-being of humanity. This is especially so at hospitals, where many vulnerable individuals frequent. Hand disinfection is one of the methods for preventing communicable diseases. In this paper we introduce a new modular mobile service robot designed for hand disinfection in hospitals and other public spaces. It consists of two separable parts: the driving base and the disinfection stand. The base was made in a horseshoe shape which allows it to lift its payload (the stand) near its center of gravity and distribute the weight evenly on its four wheels. The stand is able to function both in conjunction with the base and also autonomously. The whole robot was designed with social interaction in mind to achieve better hand sanitization compliance, which is of essential importance in hospitals for preventing infectious diseases. We conducted a test of how well the robot is able to find and approach people in its vicinity who face different directions. Even though the robot does not achieve its goal position ideally, it always ends up facing the user, which is even more important for starting an interaction than reaching its goal position very precisely. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.
ABSTRACT
Virtual Reality (VR) and simulation continue po-sitioning as suitable tools for fine-tuning processes otherwise impossible in real life. Such is the case of Aether, a mobile service robot for elderly care developed during the COVID-19 pandemic. Aether's development was negatively impacted due to restrictions placed on accessing long-term care facilities that impeded testing object tracking, elderly tracking, fall detection, and human-robot interactions. Our efforts to maximize Aether's development led us to create a digital twin where the core functionality is replicated to train the machine learning modules to optimize the robot's responses before real-world deployment. However, the digital twin creation requires significant authoring to ensure the virtual environment matches the real one by employing 3D technical artistry skills, which demands a professional knowledgeable in this domain. This paper presents a sandbox prototype for scene customization that allows importing, positioning, scaling, and saving changes for mobile robot simulation. Our preliminary testing of the sandbox has focused on usability to understand how the setting up of the environment is perceived. Preliminary results indicate that the sandbox is usable with improvements pertaining to improving the manipulation of the objects. © 2022 IEEE.
ABSTRACT
In recent years, the logistics sector expanded significantly, leading to the birth of smart warehouses. In this context, a key role is represented by autonomous mobile robots, whose main challenge is to find collision-free paths in their working environment in real-time. Model Predictive Control Algorithms combined with global path planners, such as the A* algorithm, show great potential in providing efficient navigation for collision avoidance problems. This paper proposes a Dual Forward–Backward Algorithm to find the solution to a Model Predictive Control problem in which the task of driving a mobile robotic platform into a bi-dimensional semi-structured environment is formulated in a convex optimisation framework.
ABSTRACT
Nowadays, service robots are highly anticipated in an aging society with low birthrates due to a shortage of human workers. Furthermore, COVID-19 avoids daily human communication in person. To utilize service robots in such a society, several types of robots are necessary to cope with the aforementioned society's various problems. Through collaboration with various types of robots, we have proposed and demonstrated an architecture for providing a broader range of services through this study. This architecture eliminates robot interface differences and allows the connection of various robots with a common communication protocol. In the teleoperation experiment, we could connect various types of robots manufactured by different companies using a general-purpose interface unit and we could teleoperate them via the Internet. We also confirmed in the collaboration experiment that the robots can be connected regardless of their functions by managing them according to their functions. Our architecture has verified the function to make collaboration of different types of robots both in teleoperation and collaborative tasks by different robots. In the future, we will conduct experiments to evaluate the practical services that service robots can provide in actual facilities such as shopping malls. © 2023 IEEE.
ABSTRACT
In recent years, with the emergence of COVID-19, the shortage of medical resources has become increasingly obvious. However, current environments such as hospital wards still require a large number of medical staff to deliver medicines. In this paper, we propose a mobile robot that can complete medicine grabbing and delivery in a hospital ward scenario. First, a lightweight neural network is built to improve the detection efficiency of Faster R-CNN algorithm for boxed medicine. Then, the pose of the robotic arm grasping the pill box is determined by point cloud matching to control the mechanical grasping of the pill box. Finally, a discomfort function representing the collision risk between the robot and the pedestrian is incorporated into the Risk-RRT algorithm to improve the navigation performance of the algorithm. By building a real experimental platform, the experiments verify the performance of our proposed medicine delivery robot system. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2022.
ABSTRACT
The COVID-19 pandemic shows growing demand of robots to replace humans for conducting multiple tasks including logistics, patient care, and disinfection in contaminated areas. In this paper, a new autonomous disinfection robot is proposed based on aerosolized hydrogen peroxide disinfection method. Its unique feature lies in that the autonomous navigation is planned by developing an atomization disinfection model and a target detection algorithm, which enables cost-effective, point-of-care, and full-coverage disinfection of the air and surface in indoor environment. A prototype robot has been fabricated for experimental study. The effectiveness of the proposed concept design for automated indoor environmental disinfection has been verified with air and surface quality monitoring provided by a qualified third-party testing agency. Note to Practitioners - Robots are desirable to reduce the risk of human infection of highly contagious virus. For such purpose, a novel autonomous disinfection robot is designed herein for automated disinfection of air and surface in indoor environment. The robot structure consists of a mobile carrier platform and an atomizer disinfection module. The disinfection modeling is conducted by using the measurement data provided by a custom-built PM sensor array. To achieve cost-effective and qualified disinfection, a full-coverage path planning scheme is proposed based on the established disinfection model. Moreover, for specifically disinfecting the frequently contacted objects (e.g., tables and chairs in offices and hospitals), a target perception algorithm is proposed to mark the localization of these objects in the map, which are disinfected by the robot more carefully in these marked areas. Experimental results indicate that the developed disinfection robot offers great effectiveness to fight against the COVID-19 pandemic. © 2004-2012 IEEE.
ABSTRACT
In recent years, due to the impact of COVID-19 around the world, there has been a serious shortage of medical resources. In order to supplement the manpower and fear that medical staff's contact with patients will cause a breach in the epidemic, reduce the workload of nurses, and help nurses perform repetitive tasks so that nurses can concentrate more on the patient's condition. Therefore, this paper proposes M-Robot, which is a friendly interface service robot based on the Android system and can be controlled by voice, touch, and remote control in the medical care field. The system is mainly divided into two parts. One is the web server. The web server is divided into two parts: front-end and back-end. The front-end is responsible for friendly user interface management, and the back-end is for accessing the SQLite database, as well as processing speech recognition and semantic understanding in voice services. In the other part, we use TEMI robot to develop and complete the desired service. Its service content includes environment introduction, delivery service, questionnaire survey, broadcast car, scheduling reminder, follow-up record, and patient instruction video. In the voice control mode, the user can say the wake-up word to the robot and say the required service content, and the robot will execute after receiving the message;in the remote control mode, we provide a friendly web interface for remote control. As well as the information needed to manage various services. © 2022 IEEE.
ABSTRACT
This article presents the design of an Application in Android operating system, with the aim of monitoring movements in real time through a 2D graphic representation system for a group of Mobile Robots with medical assistance capabilities, in a portable and economical way. In addition, to provide information about the robots positioning in Cartesian coordinates, percentage of current battery and state of operation during their navigation. The robots are link to an Android mobile device through wireless communication in MQTT or WiFi protocol, depending on the technical case available. As a basis of application there is in the first instance a Covid hospital, the need arises as a means of medical assistance between the patient with Covid symptoms and the doctor, nurses and support staff in their treatment and isolation, in order to avoid contact, contagion and the additional expense of wearing special clothing to treat the patient. © 2022 IEEE.
ABSTRACT
This paper evaluates a robot that distributed hand-sanitizer over an eight month period (October 2020-June 2021) in public places on the Oregon State University campus. During COVID times, many robots have been deployed in public places as social distancing enforcers, food delivery robots, UV-sanitation robots and more, but few studies have assessed the social situations of these robots. Using the context of robot distributing hand sanitizer, this work explores the benefits that social robots may provide to encouraging healthy human activities, as well as ways in which street-performance inspired approaches and a bit of humor might improve the quality and experience of functional human-robot interactions. After gaining human-in-the-loop deployment experience with a customized interface to enable both planned and improvized responses to human bystanders, we run two sub-studies. In the first, we compare the performance of the robot (moving or still) relative to a traditional hand sanitizer dispenser stick (N=2048, 3 week data collection period). In the second, we evaluate how varied utterance strategies further impact the interaction results (N=185, 2 week data collection period). The robot dramatically outperforms the stick dispenser across all tracked behavioral variables, cuing high levels of positive social engagement. This work finds the utterance design is more complex socially, and offer insights to future robot designers about how to integrate helpful and playful speech into service robot interactions. Finally, across both sub-studies, the work shows that people in groups are more likely to engage with the robot and each other, as well as sanitize their hands. © 2022 IEEE.
ABSTRACT
Since 2019, the COVID-19 virus has spread worldwide, posing a significant health and safety concern. The application of mobile robots in the medical field has gradually demonstrated their unique advantages. Therefore, we focus on the application of mobile robots inwards. By collating and summarizing some of the most popular existing path planning algorithms, this paper illustrates that different algorithms can produce varying outcomes depending on different environments and hardware used. MATLAB is used in this study to simulate four algorithms: To determine the most efficient path, A∗, RRT, RRT∗, and PRM in a specific hospital map are compared, as well as parameters including path length, average execution time, and resource consumption. Modelling a single-layer hospital map makes it possible for mobile robots in the medical field to execute tasks more efficiently between entry and ward in the COVID-19 hospital environment. Based on a comparison and comprehensive consideration of the data derived from the simulations, it is found that the A∗algorithm is superior in terms of optimality, completeness, time complexity, and spatial complexity. Therefore, the A∗algorithm is more valuable in finding the best path for a mobile robot in a hospital environment. © 2022 ACM.
ABSTRACT
The COVID-19 pandemic demanded innovative approaches to handle the situation around the globe. The Coronavirus challenged the effectiveness and practice of conventional surface disinfection methods. Existing disinfection methods rely on the manual administration of disinfectants. They are time-consuming, costly, and subject to human error. The paper proposes the implementation of an Ultraviolet Disinfection module that can be attached to any autonomous mobile robot. The autonomous Ultraviolet-C (UV-C) disinfection robot helps the user disinfect the premise without human intervention. The proposed system ensures proper disinfection by discovering near-optimal paths through the environment in minimum time. © 2022 IEEE.
ABSTRACT
Mobile robots have been used in warehouses worldwide as a means for distribution of goods and gained demand after the Covid19 labor issue. This paper proposes an Autonomous Mobile Robot (AMR) to navigate in a warehouse environment to its target location using LIDAR. The method used to solve this problem is a deep reinforcement learning algorithm called deep Q-network (DQN) to detect and avoid obstacles and reach the target location. DQN is used as it is desired for solving complex tasks. Training of the DQN algorithm is carried out in ROS Gazebo environment using LIDAR-based robot model. The LIDAR sensor detects the obstacles and the odometer sensor helps to find the distance between the target location are used as inputs for training the algorithm and optimal actions are taken based on the two inputs. A reward policy is awarded when an obstacle is avoided and reaches the target location. The results show that mobile robot can successfully navigate in an unknown environment through simulation and real life. © 2022 IEEE.
ABSTRACT
In recent years, business environments are undergoing disruptive changes across sectors [1]. Globalization and technological advances, such as artificial intelligence and the internet of things, have completely redesigned business activities, bringing to light an ever-increasing interest and attention towards the customer [2], especially in healthcare sector. In this context, researchers is paying more and more attention to the introduction of new technologies capable of meeting the patients' needs [3, 4] and the Covid-19 pandemic has contributed and still contributes to accelerate this phenomenon [5]. Therefore, emerging technologies (i.e., AI-enabled solutions, service robots, conversational agents) are proving to be effective partners in improving medical care and quality of life [6]. Conversational agents, often identified in other ways as 'chatbots', are AI-enabled service robots based on the use of text [7] and capable of interpreting natural language and ensuring automation of responses by emulating human behavior [8, 9, 10]. Their introduction is linked to help institutions and doctors in the management of their patients [11, 12], at the same time maintaining the negligible incremental costs thanks to their virtual aspect [13-14]. However, while the utilization of these tools has significantly increased during the pandemic [15, 16, 17], it is unclear what benefits they bring to service delivery. In order to identify their contributions, there is a need to find out which activities can be supported by conversational agents.This paper takes a grounded approach [18] to achieve contextual understanding design and to effectively interpret the context and meanings related to conversational agents in healthcare interactions. The study context concerns six chatbots adopted in the healthcare sector through semi-structured interviews conducted in the health ecosystem. Secondary data relating to these tools under consideration are also used to complete the picture on them. Observation, interviewing and archival documents [19] could be used in qualitative research to make comparisons and obtain enriched results due to the opportunity to bridge the weaknesses of one source by compensating it with the strengths of others. Conversational agents automate customer interactions with smart meaningful interactions powered by Artificial Intelligence, making support, information provision and contextual understanding scalable. They help doctors to conduct the conversations that matter with their patients. In this context, conversational agents play a critical role in making relevant healthcare information accessible to the right stakeholders at the right time, defining an ever-present accessible solution for patients' needs. In summary, conversational agents cannot replace the role of doctors but help them to manage patients. By conveying constant presence and fast information, they help doctors to build close relationships and trust with patients. © 2022 IEEE.