AI and IoT-Based Intelligent Automation in Robotics. Группа авторов
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SpiNNaker, a machine built at the University of Manchester [19] that is a supercomputer capable of very quickly mimicking a human brain which not only thinks but can create the models of neurons in our brains, and is capable of simulating it in real-time far faster than any other computer in the world [20].
In any IoT-enabled devices [24] which are equipped with sensors (temperature, humidity, pressure, vibration, speed, etc.), percepts are formed of the environment and that information is transferred over the cloud via wireless devices through routers. That data is then input into our android phones or any user interface devices, where the data is then compared with the existing database based on how it performs some actions via actuators, whether it is an alarm, buzzer or fan, to inform the system administrator or user. Then, with the use of AI, the system now acts to resolve the problem on the basis of the percept sequence about the situation stored in the cloud database [16].
2.6 Diagrammatic Representations of Some Robotic Systems
Industrial RobotThe admin of the robotic arm is controlled via a controller embedded with a wireless chip so as to control the arm remotely. The central system enables the admin to manage the settings and set up various modes at which the arm needs to run. The system is connected with the robotic arm that collects data from the system via some protocols like file transfer protocol (FTP) that gives instructions on what task is to be done and how. A representation of the process is shown in Figure 2.5.
Healthcare RobotThe various steps to perform robotic surgery are shown in the flow diagram in Figure 2.6 below. The benefits of robotic surgery is that it can precisely perform the surgery without any extra cuts and cannot make mistakes like human doctors can, as continuous monitoring is done during surgery to check if everything is going well.Figure 2.5 Workings of an industrial robot.Figure 2.6 Workingsof a healthcare robot.
Agricultural RobotAgricultural robots can be very helpful to farmers as they really work very hard to cultivate the crops and don’t think about seasonal weather—from the harsh sun of summers to the chilly winters. By using agricultural robots, farmers can perform all sorts of work on their land remotely—while just sitting at home. Figure 2.7 is a representation of how these robots works.
The robotic machinery is connected wirelessly via the cloud, which is connected to the farmer’s home or phone. A farmer can use a phone or controller system to control the robotic machinery to carry out actions in the field.
Figure 2.7 Workings of agricultural robots.
2.7 Algorithms Used in Robotics
Artificial intelligence works based on some algorithms and those algorithms are studied under machine learning (ML). These algorithms are used based on the requirement of the type of task to be carried out and the final goal to be achieved. ML algorithms are categorized into the four basic types depicted in Figure 2.8 below.
The algorithms that fall under each category have been derived on the basis of mathematical and statistical inferences and work as per some mathematical model—everything can be depicted in terms of mathematical models and those models form the basis of machine learning algorithms that are to be used in robotics. In some industrial robots, the motion planning of robotic arms is done via algorithms such as the Bayesian filter. The Bayes’ rule has some fascinating roles in robotics that is hidden under a single equation:
Figure 2.8 Types of machine learning algorithms.
The above expression can be understood as:
Expression before the integral can be understood as: make a guess and improve it by reading the sensor data.
Expression within integral or after integral can be understood as: draw what we already know and try to guess to make it better.
The above algorithm can be used to derive some other algorithms like:
1 Algorithms for linear and non-linear systems:Linear:− Linear Kalman filterNon-linear:− Extended Kalman filter− Unscented Kalman filter
2 Improved version of Kalman filter: Information filter
3 Particle filter: Used in the Monte Carlo method
4 Histogram filter: For making multidimensional items and histograms
For more algorithms used in robotics please refer to [21, 22].
2.8 Application of Robotics
The growth in technology brings more innovation on a daily basis due to the fact that continuous research and experimentation are going on in every field, and robotics has such a vast application and scope that almost every field is utilizing it in their day-to-day lives to perform intensive tasks where humans fail to perform. Some of the robotics applications include:
1 1) Industrial ApplicationsBeginning with the Industrial Revolution, there has been continuous incremental progress in the uses of robots for manufacturing purposes, and automation has become a key aspect in the industry as robotic arms are capable of performing various tasks such as welding, cutting, bending, moving, painting, etc. Therefore, they are intensively utilized to perform various operations in industry.Some of the most common robots that are used in industry are:Articulated robotsScararobotsDelta robotsCartesian coordinate robotsCylindrical coordinate robotsSpherical coordinate robotsFor more details refer to [23].
2 2) Healthcare Service ApplicationsHealthcare is the most prominent and sophisticated industry that requires the greatest attention as it counts as a basic entity for any nation. So, it becomes important to open the doors of innovation for this sector also. Although it is under development, some experiments are going on to use robots to replace nurses to perform some of their common tasks such as providing timely medicine to patients, changing their clothes, dressing their wounds, lifting patients up, etc.Some of the medical robots changing the healthcare industry are:DaVinci is a system capable of performing surgical operations with tiny incisions and utmost precision.EndoscopyBot is a camera embedded in the robot which enters the body through a natural opening and searches for the damaged parts or any foreign material stuck somewhere in the body and traces the disease caused by them.Orthoses (Exoskeletons) are useful for patients with walking abnormalities due to surgery to help them walk and also provoke the weak muscles and make them heal faster.Targeted Therapy Microrobots are of microscopic size and help in therapy for specific targets in the body.Some other robots include Disinfectant Bots, Clinical Training Bots, Companion Bots, Telepresence Robot Surrogates, Robotic Nurses, Robotic-Assisted Biopsy, etc. [25].
3 3) Outer Space ApplicationsRobots are now widely used in outer space exploration. They are sent as unmanned vehicles to space to explore new planets, stars, and other celestial bodies. The most famous robot was the Mars Rover by NASA which was sent to explore the planet Mars. Spirit and Opportunity were two other robots sent to Mars, whose robotic arms were used to investigate soil and rocks