arXiv subjects

Seemal Asif

Publications and source records attributed to Seemal Asif.

3 recordsLinked to original sources

arXiv2024

A Framework for Controlling Multiple Industrial Robots using Mobile Applications

Purpose: Over the last few decades, the development of the hardware and software has enabled the application of advanced systems. In the robotics field, the UI design is an intriguing area to be explored due to the creation of devices with a wide range of functionalities in a reduced size. Moreover, the idea of using the same UI to control several systems arouses a great interest considering that this involves less learning effort and time for the users. Therefore, this paper will present a mobile application to control two industrial robots with four modes of operation. Design/methodology/approach: The smartphone was selected to be the interface due to its wide range of capabilities and the MIT Inventor App was used to create the application, whose environment is supported by Android smartphones. For the validation, ROS was used since it is a fundamental framework utilised in industrial robotics and the Arduino Uno was used to establish the data transmission between the smartphone and the board NVIDIA Jetson TX2. In MIT Inventor App, the graphical interface was created to visualize the options available in the app whereas two scripts in python were programmed to perform the simulations in ROS and carry out the tests. Findings: The results indicated that the use of the sliders to control the robots is more favourable than the Orientation Sensor due to the sensibility of the sensor and human limitations to hold the smartphone perfectly still. Another important finding was the limitations of the autonomous mode, in which the robot grabs an object. In this case, the configuration of the Kinect camera and the controllers has a significant impact on the success of the simulation. Finally, it was observed that the delay was appropriate despite the use of the Arduino UNO to transfer the data between the Smartphone and the Nvidia Jetson TX2.

cs.RO↗

arXiv2024

A Study on Centralised and Decentralised Swarm Robotics Architecture for Part Delivery System

Drones are also known as UAVs are originally designed for military purposes. With the technological advances, they can be seen in most of the aspects of life from filming to logistics. The increased use of drones made it sometimes essential to form a collaboration between them to perform the task efficiently in a defined process. This paper investigates the use of a combined centralised and decentralised architecture for the collaborative operation of drones in a parts delivery scenario to enable and expedite the operation of the factories of the future. The centralised and decentralised approaches were extensively researched, with experimentation being undertaken to determine the appropriateness of each approach for this use-case. Decentralised control was utilised to remove the need for excessive communication during the operation of the drones, resulting in smoother operations. Initial results suggested that the decentralised approach is more appropriate for this use-case. The individual functionalities necessary for the implementation of a decentralised architecture were proven and assessed, determining that a combination of multiple individual functionalities, namely VSLAM, dynamic collision avoidance and object tracking, would give an appropriate solution for use in an industrial setting. A final architecture for the parts delivery system was proposed for future work, using a combined centralised and decentralised approach to combat the limitations inherent in each architecture.

cs.RO↗

arXiv2024

On the Design of Human-Robot Collaboration Gestures

Effective communication between humans and collaborative robots is essential for seamless Human-Robot Collaboration (HRC). In noisy industrial settings, nonverbal communication, such as gestures, plays a key role in conveying commands and information to robots efficiently. While existing literature has thoroughly examined gesture recognition and robots' responses to these gestures, there is a notable gap in exploring the design of these gestures. The criteria for creating efficient HRC gestures are scattered across numerous studies. This paper surveys the design principles of HRC gestures, as contained in the literature, aiming to consolidate a set of criteria for HRC gesture design. It also examines the methods used for designing and evaluating HRC gestures to highlight research gaps and present directions for future research in this area.

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