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Distributed Sensor Networks Deployed Using Soft Growing Robots [article]

Alexander M. Gruebele, Andrew C. Zerbe, Margaret M. Coad, Allison M. Okamura, Mark R. Cutkosky
2021 arXiv   pre-print
Due to their ability to move without sliding relative to their environment, soft growing robots are attractive for deploying distributed sensor networks in confined spaces.  ...  However, incorporation of distributed sensors onto soft growing robots is challenging because it requires an interface between stiff and soft materials, and the sensor network needs to undergo significant  ...  SENSOR DESIGN Building on and addressing gaps in related work, we present a distributed sensor network that can be deployed using soft growing robots. A.  ... 
arXiv:2012.07899v2 fatcat:mgz226uoefe7rcl7hob3tfmo4u

Towards the development of a cyber-physical measurement system (CPMS): case study of a bioinspired soft growing robot for remote measurement and monitoring applications

Stanislao Grazioso, Annarita Tedesco, Mario Selvaggio, Stefano Debei, Sebastiano Chiodini
The innovative system is a soft growing robot composed of a robot base, to be placed outside the remote environments and a robot body that accesses the site through growth.  ...  The system can be endowed with sensors to enable remote measurement and monitoring tasks, or can be used to transport sensors in remote locations.  ...  At the tip of the system, a sensor can be placed to enable remote measurement tasks, or a sensor can be deployed through the robot body when the target is reached.  ... 
doi:10.21014/acta_imeko.v10i2.1123 fatcat:qgpqcphqyvfz7fwqdnb2u3uriq

Branching Vine Robots for Unmapped Environments

Paul E. Glick, Iman Adibnazari, Dylan Drotman, Donald Ruffatto III, Michael T. Tolley
2022 Frontiers in Robotics and AI  
These results show the promise of using branching vine robots for traversing complex and unmapped terrain.  ...  In this work we develop branching robots that deploy through an eversion process that mimics key features of plant growth (i.e., apical extension, branching).  ...  Furthermore, these environmental interactions are helpful for soft growing robots, aiding with navigation (Greer et al., 2020) , and helping to support the deployed structure and increase payload capacity  ... 
doi:10.3389/frobt.2022.838913 pmid:35402519 pmcid:PMC8987124 fatcat:sq3i6ggg2racxi5l4vavprk2i4

A Vision-Based Sensing Approach for a Spherical Soft Robotic Arm

Matthias Hofer, Carmelo Sferrazza, Raffaello D'Andrea
2021 Frontiers in Robotics and AI  
No mechanical interaction between the sensor and the soft structure is required and consequently the compliance of the soft system is preserved.  ...  Proprioception refers to sensing the robot's own state and is of crucial importance in order to deploy soft robotic systems outside of laboratory environments, i.e. where no external sensing, such as motion  ...  The use of a distributed fiber Bragg sensor network is demonstrated in Wang et al. (2016) for a cone-shaped soft manipulator made from silicone.  ... 
doi:10.3389/frobt.2021.630935 pmid:33718442 pmcid:PMC7953419 fatcat:xkhx2eairvbhpdeiplwn2ome3u

Recent Advances in Mobile Grid and Cloud Computing

Sayed Shah
2018 Intelligent Automation and Soft Computing  
Due to recent advances in mobile computing and networking technologies, it has become feasible to integrate various mobile devices such as robots, aerial vehicles, sensors, and smartphones with grid and  ...  Grid and cloud computing systems have been extensively used to solve large and complex problems in science and engineering areas.  ...  The proposed sensor grid platform can be deployed using centralized architecture or decentralized architecture.  ... 
doi:10.1080/10798587.2017.1280995 fatcat:3kcy2zmpyjd3rbxcn247cbhbfu

A Field-Tested Harvesting Robot for Oyster Mushroom in Greenhouse

Jiacheng Rong, Pengbo Wang, Qian Yang, Feng Huang
2021 Agronomy  
Intel RealSense D435i is adopted to collect RGB images and point cloud images in real time; an improved SSD algorithm is proposed to detect mushrooms, and finally, the existing soft gripper is manipulated  ...  The two crucial components of the harvesting robot are the perception module and the end-effector.  ...  For convolutional neural networks, weights of the network learned the data distribution of the data set, so that the convolution kernel parameters formed the cognition of the feature distribution in the  ... 
doi:10.3390/agronomy11061210 fatcat:l3wrqefvdnh4fas7daclzurssm

Materials that couple sensing, actuation, computation, and communication

M. A. McEvoy, N. Correll
2015 Science  
Pneumatic and hydraulic systems that create volumetric changes have been extensively used in soft robots and could be implemented in a robotic material to create distributed volumetric changes for shape-changing  ...  rather than integrating sensor networks into materials.  ... 
doi:10.1126/science.1261689 pmid:25792332 fatcat:ecnwxdac4rczfcuu5psshaidia

Soft Robotics as an Enabling Technology for Agroforestry Practice and Research

Girish Chowdhary, Mattia Gazzola, Girish Krishnan, Chinmay Soman, Sarah Lovell
2019 Sustainability  
Advances in soft arms and manipulators can enable agricultural robots that can have better reach and dexterity around plants than traditional robots equipped with hard industrial robotic arms.  ...  However, current soft robotic arms are difficult to design and control, slow to actuate, and have limited payloads.  ...  The distributed instrument would autonomously reconfigure itself by controlling the trajectories of the robots and optimizing distributed sensor placement to ensure high-quality and consistent data.  ... 
doi:10.3390/su11236751 fatcat:awwqdn2iargxxcwyixb6rgd6hi

Fermi Estimate on the Web: Placing Sensor Networks on the Web with Noise

Yoshiteru Ishida, Ryunosuke Chiba
2015 Procedia Computer Science  
The Fermi estimate is reformulated to be used in a virtual sensor network and several examples are discussed.  ...  This paper proposes a framework for web intelligence based on virtual sensor networks on the web.  ...  Acknowledgements We did not cite the names of tools or specify the site search dates used in the examples, because this paper merely aims to illustrate how and why the virtual sensor network may be used  ... 
doi:10.1016/j.procs.2015.08.285 fatcat:jrwgp4dadretbidmgfvktygbci

Super-Flexible Skin Sensors Embedded on the Whole Body, Self-Organizing Based on Haptic Interactions

Tomoyuki Noda, Takahiro Miyashita, Hiroshi Ishiguro, Norihiro Hagita
2008 Robotics: Science and Systems IV  
This is useful for distributed processing and helps to reduce the maintenance problems of manually configuring large numbers of sensors.  ...  Since soft skin on a robot tends to invite humans to engage in even more touch interactions, it is doubly important that the robot can process haptic feedback from humans.  ...  Fig. 2 (a) shows the communication robot Robovie-IIF [20] , provided with high-density soft tactile sensors and a sensor network consisting of a RS422 bus network via which nodes connected to a host  ... 
doi:10.15607/rss.2008.iv.038 dblp:conf/rss/NodaMIH08 fatcat:twssgwjvw5hg3gt3xbsmkmzq2a

Robots in Industry.Past,present and future of a growing collaboration with humans

Antoni Grau, Marina Indri, Lucia Lo Bello, Thilo Sauter
2020 IEEE Industrial Electronics Magazine  
The idea of deploying soft robots in industry is not new, although the term has evolved with the latest developments in robotics. Soft no longer means deformable and not built with rigid elements.  ...  Robotics Technology Distributed Today, robots are extensively used in industry, being an essential element in most manufacturing processes.  ... 
doi:10.1109/mie.2020.3008136 fatcat:l4g7ljvvfrfrbihkw3xuuhh6wq

Radial and Sigmoid Basis Function Neural Networks in Wireless Sensor Routing Topology Control in Underground Mine Rescue Operation Based on Particle Swarm Optimization

Mary Opokua Ansong, Hong-Xing Yao, Jun Steed Huang
2013 International Journal of Distributed Sensor Networks  
In times of danger and unsafe situations, data-mule robot with Through The Earth (TTE) radio would be used to carry water, food, equipments, and so forth to miners underground and return with information  ...  Using Matlab, the optimised vectors with high survival rate and fault tolerant, based on rock type, were generated as inputs for the neural networks.  ...  The survival probability range also indicated its scalability at various robot locations, different sizes of sensor nodes, and Figure 10 was used for the relationship. at different types of rock softness  ... 
doi:10.1155/2013/376931 fatcat:i37hawfmhjh7td6emtq5igoh2e

Dynamic Load and Response Prediction of HAWT Blades for Health Monitoring Application

Heather SAUDER, Partha P. SARKAR, Simon LAFLAMME
2014 Wind Engineers JAWE  
The novel strain gauge that has been developed by one of the authors consists of a soft elastomeric capacitor (SEC) arranged in a network configuration.  ...  While some US companies like General Electric propose to use robots to perform blade inspections, there is an alternate solution to this problem which requires continuous monitoring of the blades.  ...  The novel strain gauge that has been developed by one of the authors consists of a soft elastomeric capacitor (SEC) arranged in a network configuration.  ... 
doi:10.5359/jawe.39.347 fatcat:e3o5hy3aebgkplxajdmmkra3g4

Joint Entropy-based Morphology Optimization of Soft Strain Sensor Networks for Functional Robustness

Thomas George Thuruthel, Josie Hughes, Fumiya Iida
2020 IEEE Sensors Journal  
Dense and distributed tactile sensors are critical for robots to achieve human-like manipulation skills.  ...  Soft robotic sensors are a potential technological solution to obtain the required high dimensional sensory information unobtrusively.  ...  ACKNOWLEDGMENT The authors would like to thank Frank Clemens (EMPA) for providing assistance and for providing the sensor materials.  ... 
doi:10.1109/jsen.2020.2995237 fatcat:eqboo5cfprgo3nwyvdqy54uapu

Malleable Agents for Re-Configurable Robotic Manipulators [article]

Athindran Ramesh Kumar, Gurudutt Hosangadi
2022 arXiv   pre-print
Recent attempts have performed domain adaptation and Sim2Real transfer to provide robustness to robotic arm dynamics and sensor/camera variations.  ...  We propose an RL agent with sequence neural networks embedded in the deep neural network to adapt to robotic arms that have a varying number of links.  ...  In order to aid exploration, a soft policy is used which samples from a Gaussian distribution with mean and standard deviation provided by the actor network.  ... 
arXiv:2202.02395v1 fatcat:5imnqodlh5gjpmtq74kmy2dib4
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