![2 AI and IoT-Based Intelligent Automation in Robotics
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 character-
istics 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, mechani-
cal 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, bor-
ing, onerous and just plain nasty. We can find these types of robots in the
medical, automobile, manufacturing, and industrial industries among oth-
ers, as well as the space industry. Robots, such as the Mars rover Sojourner
and the upcoming Mars Exploration rover or the underwater robotic vehi-
cle 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 intro-
duced 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](https://image.slidesharecdn.com/23263919-250519194349-2e526a8d/85/Ai-And-Iotbased-Intelligent-Automation-In-Robotics-Ashutosh-Kumar-Dubey-25-320.jpg)
![Introduction to Robotics 3
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 envi-
ronments. We have to imbue robots with sensitivity to light
(eyes), touch, pressure (like hands), chemicals (nose), sound
(ears)andtaste(tongue)amongothers.Bycombiningallthese
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](https://image.slidesharecdn.com/23263919-250519194349-2e526a8d/85/Ai-And-Iotbased-Intelligent-Automation-In-Robotics-Ashutosh-Kumar-Dubey-26-320.jpg)
![4 AI and IoT-Based Intelligent Automation in Robotics
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 autom
atons 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
(Continued)](https://image.slidesharecdn.com/23263919-250519194349-2e526a8d/85/Ai-And-Iotbased-Intelligent-Automation-In-Robotics-Ashutosh-Kumar-Dubey-27-320.jpg)
![6 AI and IoT-Based Intelligent Automation in Robotics
for various users. Moreover, the robots were classified into mechanical con-
struction, electrical components and computer programming mechanism.
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 mechan-
ical 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 mul-
tiple 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 cus-
tomized robots was to make them work more efficiently. Generally, the
robots were designed in an assembly manner for making them more adap-
tive as well as making the tasks speedier. Such types of robots were catego-
rized 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 per-
formed 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 var-
ious places where they are being used include:
• Military robots
• Industrial robots
• Collaborative robots](https://image.slidesharecdn.com/23263919-250519194349-2e526a8d/85/Ai-And-Iotbased-Intelligent-Automation-In-Robotics-Ashutosh-Kumar-Dubey-29-320.jpg)
![Introduction to Robotics 7
• 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 bat-
teries. The power taken from electricity will convert to the
thermal energy stored in the batteries. All robots need a bat-
tery 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 bat-
teries, 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 consump-
tion of the robot based on its working capacity. If the robot
work capacity is less and if we give more power the elec-
tricity 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](https://image.slidesharecdn.com/23263919-250519194349-2e526a8d/85/Ai-And-Iotbased-Intelligent-Automation-In-Robotics-Ashutosh-Kumar-Dubey-30-320.jpg)
![10 AI and IoT-Based Intelligent Automation in Robotics
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.](https://image.slidesharecdn.com/23263919-250519194349-2e526a8d/85/Ai-And-Iotbased-Intelligent-Automation-In-Robotics-Ashutosh-Kumar-Dubey-33-320.jpg)
![Introduction to Robotics 11
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 “algo-
rithm.” 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 con-
firm 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 deci-
pher crude sensor data legitimately into actuator orders. A combinations of
sensors may initially be utilized to gauge boundaries of intrigue (for exam-
ple, 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 collabo-
rate. 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 proce-
dures might be utilized to make sense of the proper behavior. For instance,
an organizer may make sense of how to accomplish an undertaking with-
out hitting deterrents, falling over, and so forth [11].](https://image.slidesharecdn.com/23263919-250519194349-2e526a8d/85/Ai-And-Iotbased-Intelligent-Automation-In-Robotics-Ashutosh-Kumar-Dubey-34-320.jpg)
![12 AI and IoT-Based Intelligent Automation in Robotics
1.5.3 Autonomy Levels
This mechanism has a lot of various levels of algorithms, which are classi-
fied 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 begin-
ning to end until it reaches its destination.
• An autonomous robot performs some tasks beyond user
specified ones because some robots are capable of perform-
ing 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 speci-
fied 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 auton-
omous” [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,](https://image.slidesharecdn.com/23263919-250519194349-2e526a8d/85/Ai-And-Iotbased-Intelligent-Automation-In-Robotics-Ashutosh-Kumar-Dubey-35-320.jpg)
![16 AI and IoT-Based Intelligent Automation in Robotics
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.Earlierthiswasnotverypopularandthingsweremostlyprocessed
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, manufac-
turing parts, storage, monitoring, etc. Still, almost all industries are utiliz-
ing 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.”
2.2 Brief History of Robotics
Robotics has always been a fascinating topic for research and innovation
which has its origin in ancient times, but the modern notion began to be
established with the inception of the Industrial Revolution. The term “robot,”
which in Czech means slave, was first coined in a play about the men work-
ing on the assembly lines of factories [3]. Also, the term “robotics” [4] was
neologized by the American science fiction writer Isaac Asimov in his story
“Runaround” in the year 1942. Who knew the robots dreamed of in fiction
would become one of the revolutionary technologies in the near future [5]?
The first robot was invented in the year 1950 by George C. Devol [3], who
patented a reprogrammable manipulator termed “Unimate.” He tried sell-
ing it to industry but failed. A few years later, in 1960 Joseph Engelberger,
an engineer and businessman, procured the patent from Devol and mod-
ified it to make an industrial robot and established a company called
Unimation to produce and sell the robots. His works and endeavors gave
him the honorary title of “Father of Robotics” [6] in industry. So, it is
uncanny that the robots that we have today were idealized from science
fiction and now are revolutionizing technology.](https://image.slidesharecdn.com/23263919-250519194349-2e526a8d/85/Ai-And-Iotbased-Intelligent-Automation-In-Robotics-Ashutosh-Kumar-Dubey-39-320.jpg)
![Techniques in Robotics for Automation Using AI and IoT 17
2.3 Some General Terms
• Artificial Intelligence: Refers to making machines capable of
mimicking human behavior and intelligence in a way to act
and think like humans. And it is called artificial because the
intelligence has been given to machines by means of some
programming which is dissimilar to the natural intelligence
exhibited by humans. The term “artificial intelligence” (AI)
was first coined in 1856 by John McCarthy. AI is one of the
disruptive technologies with powerful features and can be
used in a wide variety of applications; for example, AI can be
used to play games, monitor the health of patients and used
as a traffic controller system. In the education sector it can
act as an independent and effective tutor; apart from that it
can be used to predict diseases and weather, etc. The list is
countless [7] as it finds endless possibilities of applications
due to its advanced characteristics and tools.
The Venn diagram of AI in Figure 2.1 below shows that it
is the superset of machine learning (ML) and deep learning
(DL).
• Machine Learning: Describes the learning behavior of
machines by means of data fed to it. Based upon learning
the machine makes predictions based on statistical inference
and finding a pattern in data by using some advanced math-
ematical models [8]. It is the branch of artificial intelligence
Machine
Learning
Artificial
Deep
Figure 2.1 Venn diagram of AI, ML and DL.](https://image.slidesharecdn.com/23263919-250519194349-2e526a8d/85/Ai-And-Iotbased-Intelligent-Automation-In-Robotics-Ashutosh-Kumar-Dubey-40-320.jpg)
![18 AI and IoT-Based Intelligent Automation in Robotics
that works in its backend and defines various algorithmic
procedures to be followed to make the machine intelligent
so as to make accurate predictions [9]. Based on the learning
behavior and the type of data, it is divided into four types:
− Supervised learning
− Unsupervised learning
− Semi-supervised learning
− Reinforcement learning
• Agent: Refers to something that perceives the environment
through sensors and performs action via actuators based
on some predefined rules for which the agent is trained.
Just like in humans, there are five sense (i.e., sight, sound,
smell, taste, and touch), and based on the information of our
senses we perform actions through our limbs, etc. A simple
diagrammatic representation of an agent is shown in Figure
2.2 below.
The agents act as a backbone for AI techniques that gov-
ern how they are working and what sorts of applications they
are dealing with. Based on utility there are different types of
agents [10]:
− Simple reflex agent
− Model-based agent
− Goal-based agent
− Utility-based agent
Sensors
Agent
Actuators
Action
Percepts
Environment
?(Based
on Utility)
Figure 2.2 Representation of an agent.](https://image.slidesharecdn.com/23263919-250519194349-2e526a8d/85/Ai-And-Iotbased-Intelligent-Automation-In-Robotics-Ashutosh-Kumar-Dubey-41-320.jpg)
![Techniques in Robotics for Automation Using AI and IoT 19
• Internet of Things: Refers to the interconnection of the things
that we use in our daily lives with the internet. The basic
idea of the IoT [11] is to connect all the devices through the
internet via short-range wireless devices, such as Zigbee,
Bluetooth, RFID, and various sorts of sensors and devices
[12], by which they can communicate with each other and
share the sensor data among the peer devices in order to
facilitate the end-user/client via cloud services. It is one of
the most demanding technologies in any industry and from
2019 to 2025 it is expected to grow by 33.81% [13]. The basic
architecture of the IoT is shown in Figure 2.3 below.
• Robots: Programmable machines capable of performing
complex tasks in intense and rigorous environments. They
are designed as in Figure 2.4 to automate any human tasks
with the controllers built-in or outside based on the require-
ments. Robots are now being used in many places [14] to
perform dangerous or repetitive tasks to safeguard humans,
and are being used especially in industry in painting jobs,
warehouses, assembly lines, etc. So, basically, they are auto-
mating the environment in order to reduce human efforts.
And now robots have become an essential commodity of
many sectors; for example, they find application in health-
care [15], education, research and development, and are
used in architecture, as waiters in restaurants, and almost
Wireless
Communication
Temperature
Pressure
Humidity
Motion
Sensors in
various
Electronic
Devices
Network Layer
Devices
IoT Gateway/Framework
Mobile App/
Software for
various gadgets
Accessing
data via
devices
Cloud
Figure 2.3 Architecture of the Internet of Things.](https://image.slidesharecdn.com/23263919-250519194349-2e526a8d/85/Ai-And-Iotbased-Intelligent-Automation-In-Robotics-Ashutosh-Kumar-Dubey-42-320.jpg)
![Techniques in Robotics for Automation Using AI and IoT 21
if we look at the very first form of computer and the computers now available
to us, i.e., powerful computers in our pockets, we can see a huge difference. In
the same way, the technologies are transforming our lives and giving birth to
more advanced forms of machinery that we had once only thought possible.
So, while AI and IoT are required because they are bundled with full-
fledged tools and techniques, which are enough to make a powerful robot
using traditional programming, it will take months writing the same code-
base in comparison to the codes that are written using these technologies.
Basically, AI and IoT are efficient and effective enough to work in develop-
ing any robotic system.
2.5 Role of AI and IoT in Robotics
Artificial intelligence (AI) and Internet of Things (IoT) are the technolo-
gies of today and they are becoming more and more advanced day by day.
These technologies are in very high demand in the industry as all the inno-
vations taking place are based on them. AI comprises mathematical and
statistical models that govern the working of algorithms that are used to
develop intelligent systems and the IoT consists of various tools and tech-
niques to effectively manage the sensors and their intercommunications
via the use of various protocols and devices. Due to the high capabilities of
these technologies, they are highly adopted in industries, healthcare, busi-
nesses, and various sectors of the economy [16].
Both of these technologies, when used together, can be much more ben-
eficial as IoT is better at collecting data and AI is a great tool to process
huge amounts of data. As IoT uses other technologies like big data or AI
for data processing, this implies that AI works on the backend of IoT and
plays a major role in working on any system or framework comprising the
two [17]. The perfect example can be our voice user interface devices such
as Alexa or Google Home. They were trained with some data and that data
has been processed via AI whose engine gives output on the basis of data.
Similarly, in robotics, which is a complex system consisting of various
types of sensors, various electrical and mechanical devices work together
to perform an assigned task. In robotics for the case of recognizing and
classifying tasks, it uses computer vision in which the thousands of raw
images of objects are fed into machines, and once trained it can classify and
recognize objects. In this case, the camera will capture the images from the
surrounding (which falls in the IoT domain) and gives it to the ML engine
for processing, and once processed the output is shown via actuators or via
any output devices.](https://image.slidesharecdn.com/23263919-250519194349-2e526a8d/85/Ai-And-Iotbased-Intelligent-Automation-In-Robotics-Ashutosh-Kumar-Dubey-44-320.jpg)
![22 AI and IoT-Based Intelligent Automation in Robotics
Some of the major roles of AI and IoT in robotics are:
• To program various aspects like learning, understanding,
thinking, and inferring based on rules into the robot so as to
perform accordingly.
• To implement various supervised, unsupervised, semi-
supervised, or reinforcement learning algorithms into the
robots based on the utility of robots either in industry, busi-
ness, or for commercial purposes.
• To establish various connections between different parts
of the robot-like camera connection, wireless modules like
Zigbee or Bluetooth, connections between microcontrollers
to actuators, etc.
• To set up a trained classifier or model so that it can be used
by the robot.
• To install sensors and actuators so as to sense the environ-
ment and perform accordingly.
• To create an inference engine for performing inference on
the basis of a percept sequence or percept history.
• In some cases, to enable speech synthesis so as to talk or con-
trol via voice, i.e., voice user interface (VUI) [17].
• To establish connections via the cloud so that it can be
remotely configured or controlled.
The performance of a robot is governed by its memory or percept
sequence and, while training, the model finds some sort of patterns in data
that form the basis for learning. While creating a robot there are various
aspects that need to be taken care of and the aim is to develop a cognitive
architecture in which integration of reasoning, planning, reacting, creating,
learning from the past, etc. [18] exists. Inspired by human biology, we try to
mimic every biological behavior artificially in robots, like neural networks
being built to mimic the behavior of our brain into machines, and various
joints being artificially created which were inspired by the human body.
Apart from that, artificial organs are being created to help needy
people. Although mimicking the human brain is such a typical task, var-
ious companies/researchers are working day and night to build a replace-
ment for the human brain. One such project is 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 cre-
ate 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].](https://image.slidesharecdn.com/23263919-250519194349-2e526a8d/85/Ai-And-Iotbased-Intelligent-Automation-In-Robotics-Ashutosh-Kumar-Dubey-45-320.jpg)
![Techniques in Robotics for Automation Using AI and IoT 23
In any IoT-enabled devices [24] which are equipped with sensors (tem-
perature, 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 Robot
The admin of the robotic arm is controlled via a control-
ler 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 proto-
col (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 Robot
The 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 doc-
tors can, as continuous monitoring is done during surgery
to check if everything is going well.
Wireless
Workspace
Controller
Admin
Central System
Robotic Arm
FTP
AP1
Gripper
Object
Figure 2.5 Workings of an industrial robot.](https://image.slidesharecdn.com/23263919-250519194349-2e526a8d/85/Ai-And-Iotbased-Intelligent-Automation-In-Robotics-Ashutosh-Kumar-Dubey-46-320.jpg)
![26 AI and IoT-Based Intelligent Automation in Robotics
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 under-
stood 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 filter
Non-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].
MACHINE LEARNING TYPES
Supervised
Learning
Regression/
Classification
–> Taxi Fare/
Housing Prices
–> Sentiment/
Spam filter
–> City
Panning/
Customer
Segmentation
–> Lane
Finding via
GPS
–> Speech
Analysis/Text
Classification
–> Optimized
marketing
–> Driverless
cars
Clustering
Clustering/
Classification
Classification/
Control
Unsupervised
Learning
Semi-supervised
Learning
Reinforcement
Learning
Figure 2.8 Types of machine learning algorithms.](https://image.slidesharecdn.com/23263919-250519194349-2e526a8d/85/Ai-And-Iotbased-Intelligent-Automation-In-Robotics-Ashutosh-Kumar-Dubey-49-320.jpg)
![Techniques in Robotics for Automation Using AI and IoT 27
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) Industrial Applications
Beginning with the Industrial Revolution, there has been con-
tinuous incremental progress in the uses of robots for manu-
facturing 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 oper-
ations in industry.
Some of the most common robots that are used in industry are:
• Articulated robots
• Scararobots
• Delta robots
• Cartesian coordinate robots
• Cylindrical coordinate robots
• Spherical coordinate robots
For more details refer to [23].
2) Healthcare Service Applications
Healthcare 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 develop-
ment, some experiments are going on to use robots to replace
nurses to perform some of their common tasks such as provid-
ing 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 opera-
tions with tiny incisions and utmost precision.](https://image.slidesharecdn.com/23263919-250519194349-2e526a8d/85/Ai-And-Iotbased-Intelligent-Automation-In-Robotics-Ashutosh-Kumar-Dubey-50-320.jpg)
![28 AI and IoT-Based Intelligent Automation in Robotics
• 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 walk-
ing 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.
• SomeotherrobotsincludeDisinfectantBots,ClinicalTraining
Bots, Companion Bots, Telepresence Robot Surrogates,
Robotic Nurses, Robotic-Assisted Biopsy, etc. [25].
3) Outer Space Applications
Robots 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 on
the Red Planet. Other robots, such as the Phoenix Mars Lander
and Curiosity Rover, were also sent for further exploration.
4) Military Applications
Defense is the key element for running a nation and therefore
any nation invests much more in their defense system. So, robots
can play a major role in making defense systems [26] more effec-
tive and secure. Lots of research is going on to make advanced
robotic systems for the army and defense. One such pioneering
robot developed was the Predator drone with unmanned aerial
vehicles that can take photographs with greater accuracy and
can launch missiles accurately to the target without any pilot.
Some key points of why robots can be used in military appli-
cations are:
• They can’t get tired
• They don’t know what fear is
• They can open their eyes day and night
• They don’t hide
• They don’t talk while on duty
• They can perform their duty in any weather](https://image.slidesharecdn.com/23263919-250519194349-2e526a8d/85/Ai-And-Iotbased-Intelligent-Automation-In-Robotics-Ashutosh-Kumar-Dubey-51-320.jpg)
![30 AI and IoT-Based Intelligent Automation in Robotics
2.9 Case Studies
2.9.1 Sophia
Sophia, a robot that became the world’s first robot citizen [28], is also the
first robot that can express feelings. It is a humanoid robot that is the brain-
child of the American company Hanson Robotics and was developed in
Hong Kong by the head creator David Hanson. The main quality of Sophia
is that it understands and learns from human behavior by interacting with
people. It looks just like humans, with a face which was designed to look
similar to Audrey Hepburn, a British actress. It is her amazing qualities
that led the Saudi government to honor her with the first robot citizen of
the country at the Future Investment Summit held in Riyadh on October
25, 2017 [29]. Sophia has an attractive female face and her eyes are the
camera that can recognize the person and say hello to them by their name
[30]. Sophia can make about 62 facial expressions and also has a sense
of humor. She keeps on learning and is getting better every day. The gap
between humans and robots is decreasing day by day. Sophia is a state-of-
the-art humanoid that has changed the robotic world and the day is not
far off when there will be no difference between the thoughts of machines
and humans.
2.9.2 ASIMO
Honda’s ASIMO is a four feet tall humanoid robot that can work as a per-
fect companion in our homes. It was developed by scientists at Honda
technologies. The design of its body is human-like, and it can talk and can
recognize and interact with people. It can play with children by tossing
a coin and also can serve cold drinks by opening the bottle with his own
hands. It has a great working capability and can be used in stores for cus-
tomer service. ASIMO can also run like humans with a speed of 3.5 mph.
However, it is not yet available for the proposed purpose and Honda
[27] is continuously working to perform some advanced upgrades to make
it more human-like.
2.9.3 Cheetah Robot
The Cheetah robot created at MIT [31] was the first robot capable of doing
a backflip. It is a lightweight and springy robot that can perform a range of
motions such as walking right-side up or upside down. Apart from that, it
can walk two times faster than a normal human being on uneven terrain.](https://image.slidesharecdn.com/23263919-250519194349-2e526a8d/85/Ai-And-Iotbased-Intelligent-Automation-In-Robotics-Ashutosh-Kumar-Dubey-53-320.jpg)
![Techniques in Robotics for Automation Using AI and IoT 31
The robot has four legs, with each leg consisting of three low-cost motors
that can be easily replaced, and gives a wide range of motion with low iner-
tia and high torque design. It can recover from an unexpected force. Also,
its balancing capability is far better than other robots and can easily and
instantly balance itself. So, one can say that it is the only state-of-the-art
balancing and backflipping robot present till now [32].
2.9.4 IBM Watson
IBM Watson is the smart question-answering system that can answer
any question that has been asked in natural language. It was named after
Thomas J. Watson, IBM’s founder and first CEO. Initially, It was built for
serving the purpose of QA(question answering) and it uses machine learn-
ing and cognitive thinking to perform the QA, but recently the capabilities
of Watson have been increased [33]. Now, it’s not only a QA system but
also has the capability to talk, hear, see, learn, interpret, and perform as a
recommendation system.
2.10 Conclusion
In this chapter, we have discussed various robotics techniques that are used
for automation via two of the most in-demand and trending tech systems
of the industry—AI and the IoT. Based on their capabilities they are used
for automation in a wide range of robotic applications, including health-
care, manufacturing, defense, space exploration, restaurants, agriculture,
houses, etc. Looking at the requirements we have defined the roles of vari-
ous robots and diagrammatically described each role. Apart from that, we
have also discussed some of the algorithms that are used in robotics and
how they can be used to derive other algorithms based on requirements.
Defining the application we have discussed various case studies of some
of the most popular and astonishing accomplishments of various institu-
tions or companies with a description of their inventions and the innova-
tive changes they have brought to our modern world which have helped in
making it a better place to live.
References
1. Trevathan, V.L. (Ed.), A Guide to the Automation Body of Knowledge, in:
Research Triangle Park, 2nd ed., International Society of Automation, NC,
USA.](https://image.slidesharecdn.com/23263919-250519194349-2e526a8d/85/Ai-And-Iotbased-Intelligent-Automation-In-Robotics-Ashutosh-Kumar-Dubey-54-320.jpg)
![This ebook is for the use of anyone anywhere in the United
States and most other parts of the world at no cost and with
almost no restrictions whatsoever. You may copy it, give it away
or re-use it under the terms of the Project Gutenberg License
included with this ebook or online at www.gutenberg.org. If you
are not located in the United States, you will have to check the
laws of the country where you are located before using this
eBook.
Title: Index of the Project Gutenberg Works of Charles A.
Eastman
Author: Charles A. Eastman
Editor: David Widger
Release date: August 14, 2018 [eBook #57696]
Most recently updated: February 25, 2021
Language: English
Credits: Produced by David Widger
*** START OF THE PROJECT GUTENBERG EBOOK INDEX OF THE
PROJECT GUTENBERG WORKS OF CHARLES A. EASTMAN ***](https://image.slidesharecdn.com/23263919-250519194349-2e526a8d/85/Ai-And-Iotbased-Intelligent-Automation-In-Robotics-Ashutosh-Kumar-Dubey-60-320.jpg)
![INDEX OF THE PROJECT
GUTENBERG WORKS OF
CHARLES A. EASTMAN
[AKA OHIYESA]
Compiled by David Widger](https://image.slidesharecdn.com/23263919-250519194349-2e526a8d/85/Ai-And-Iotbased-Intelligent-Automation-In-Robotics-Ashutosh-Kumar-Dubey-61-320.jpg)
Ai And Iotbased Intelligent Automation In Robotics Ashutosh Kumar Dubey
- 1. Ai And Iotbased Intelligent Automation In Robotics Ashutosh Kumar Dubey download https://ebookbell.com/product/ai-and-iotbased-intelligent- automation-in-robotics-ashutosh-kumar-dubey-46527838 Explore and download more ebooks at ebookbell.com
- 2. Here are some recommended products that we believe you will be interested in. You can click the link to download. Ai And Iotbased Intelligent Health Care Sanitation Shashank Awasthi https://ebookbell.com/product/ai-and-iotbased-intelligent-health-care- sanitation-shashank-awasthi-50334824 Ai Edge And Iotbased Smart Agriculture Intelligent Datacentric Systems 1st Edition Ajith Abraham Editor https://ebookbell.com/product/ai-edge-and-iotbased-smart-agriculture- intelligent-datacentric-systems-1st-edition-ajith-abraham- editor-37244888 Ai Models For Blockchainbased Intelligent Networks In Iot Systems Concepts Methodologies Tools And Applications Bharat Bhushan https://ebookbell.com/product/ai-models-for-blockchainbased- intelligent-networks-in-iot-systems-concepts-methodologies-tools-and- applications-bharat-bhushan-50443786 Intelligence Of Things Aiiot Based Criticalapplications And Innovations Fadi Alturjman https://ebookbell.com/product/intelligence-of-things-aiiot-based- criticalapplications-and-innovations-fadi-alturjman-35997532
- 3. Connectivity And Edge Computing In Iot Customized Designs And Aibased Solutions 1st Ed 2021 Gao https://ebookbell.com/product/connectivity-and-edge-computing-in-iot- customized-designs-and-aibased-solutions-1st-ed-2021-gao-36421838 Ai And Iot Technology And Applications For Smart Healthcare Systems Alex Khang https://ebookbell.com/product/ai-and-iot-technology-and-applications- for-smart-healthcare-systems-alex-khang-56273332 Ai And Iot For Proactive Disaster Management Ouaissa Mariyam https://ebookbell.com/product/ai-and-iot-for-proactive-disaster- management-ouaissa-mariyam-58353226 Ai And Iot In Renewable Energy Rabindra Nath Shaw Nishad Mendis https://ebookbell.com/product/ai-and-iot-in-renewable-energy-rabindra- nath-shaw-nishad-mendis-27971112 Ai And Iot In Renewable Energy 1st Ed 2021 Rabindra Nath Shaw https://ebookbell.com/product/ai-and-iot-in-renewable-energy-1st- ed-2021-rabindra-nath-shaw-37244894
- 6. AI and IoT-Based Intelligent Automation in Robotics
- 7. Scrivener Publishing 100 Cummings Center, Suite 541J Beverly, MA 01915-6106 Publishers at Scrivener Martin Scrivener ([email protected]) Phillip Carmical ([email protected])
- 8. AI and IoT-Based Intelligent Automation in Robotics Edited by Ashutosh Kumar Dubey, Abhishek Kumar, S. Rakesh Kumar, N. Gayathri, Prasenjit Das
- 9. 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 © 2021 Scrivener Publishing LLC For more information about Scrivener publications please visit www.scrivenerpublishing.com. All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form or by any means, electronic, mechanical, photocopying, recording, or other- wise, except as permitted by law. Advice on how to obtain permission to reuse material from this title is available at http://www.wiley.com/go/permissions. Wiley Global Headquarters 111 River Street, Hoboken, NJ 07030, USA For details of our global editorial offices, customer services, and more information about Wiley prod- ucts visit us at www.wiley.com. Limit of Liability/Disclaimer of Warranty While the publisher and authors have used their best efforts in preparing this work, they make no rep resentations or warranties with respect to the accuracy or completeness of the contents of this work and specifically disclaim all warranties, including without limitation any implied warranties of merchant- ability or fitness for a particular purpose. No warranty may be created or extended by sales representa tives, written sales materials, or promotional statements for this work. The fact that an organization, website, or product is referred to in this work as a citation and/or potential source of further informa tion does not mean that the publisher and authors endorse the information or services the organiza tion, website, or product may provide or recommendations it may make. This work is sold with the understanding that the publisher is not engaged in rendering professional services. The advice and strategies contained herein may not be suitable for your situation. You should consult with a specialist where appropriate. Neither the publisher nor authors shall be liable for any loss of profit or any other commercial damages, including but not limited to special, incidental, consequential, or other damages. Further, readers should be aware that websites listed in this work may have changed or disappeared between when this work was written and when it is read. Library of Congress Cataloging-in-Publication Data ISBN 978-1-119-71120-9 Cover image: Pixabay.Com Cover design by Russell Richardson Set in size of 11pt and Minion Pro by Manila Typesetting Company, Makati, Philippines Printed in the USA 10 9 8 7 6 5 4 3 2 1
- 10. v Contents Preface xvii 1 Introduction to Robotics 1 Srinivas Kumar Palvadi, Pooja Dixit and Vishal Dutt 1.1 Introduction 1 1.2 History and Evolution of Robots 3 1.3 Applications 6 1.4 Components Needed for a Robot 7 1.5 Robot Interaction and Navigation 10 1.5.1 Humanoid Robot 11 1.5.2 Control 11 1.5.3 Autonomy Levels 12 1.6 Conclusion 12 References 13 2 Techniques in Robotics for Automation Using AI and IoT 15 Sandeep Kr. Sharma, N. Gayathri, S. Rakesh Kumar and Rajiv Kumar Modanval 2.1 Introduction 16 2.2 Brief History of Robotics 16 2.3 Some General Terms 17 2.4 Requirements of AI and IoT for Robotic Automation 20 2.5 Role of AI and IoT in Robotics 21 2.6 Diagrammatic Representations of Some Robotic Systems 23 2.7 Algorithms Used in Robotics 25 2.8 Application of Robotics 27 2.9 Case Studies 30 2.9.1 Sophia 30 2.9.2 ASIMO 30 2.9.3 Cheetah Robot 30 2.9.4 IBM Watson 31
- 11. vi Contents 2.10 Conclusion 31 References 31 3 Robotics, AI and IoT in the Defense Sector 35 Rajiv Kumar Modanval, S. Rakesh Kumar, N. Gayathri and Sandeep Kr. Sharma 3.1 Introduction 36 3.2 How Robotics Plays an Important Role in the Defense Sector 36 3.3 Review of the World’s Current Robotics Capabilities in the Defense Sector 38 3.3.1 China 38 3.3.2 United State of America 39 3.3.3 Russia 40 3.3.4 India 41 3.4 Application Areas of Robotics in Warfare 43 3.4.1 Autonomous Drones 43 3.4.2 Autonomous Tanks and Vehicles 44 3.4.3 Autonomous Ships and Submarines 45 3.4.4 Humanoid Robot Soldiers 47 3.4.5 Armed Soldier Exoskeletons 48 3.5 Conclusion 50 3.6 Future Work 50 References 50 4 Robotics, AI and IoT in Medical and Healthcare Applications 53 Pooja Dixit, Manju Payal, Nidhi Goyal and Vishal Dutt 4.1 Introduction 53 4.1.1 Basics of AI 53 4.1.1.1 AI in Healthcare 54 4.1.1.2 Current Trends of AI in Healthcare 55 4.1.1.3 Limits of AI in Healthcare 56 4.1.2 Basics of Robotics 57 4.1.2.1 Robotics for Healthcare 57 4.1.3 Basics of IoT 59 4.1.3.1 IoT Scenarios in Healthcare 60 4.1.3.2 Requirements of Security 61 4.2 AI, Robotics and IoT: A Logical Combination 62 4.2.1 Artificial Intelligence and IoT in Healthcare 62 4.2.2 AI and Robotics 63 4.2.2.1 Limitation of Robotics in Medical Healthcare 66 4.2.3 IoT with Robotics 66
- 12. Contents vii 4.2.3.1 Overview of IoMRT 67 4.2.3.2 Challenges of IoT Deployment 69 4.3 Essence of AI, IoT, and Robotics in Healthcare 70 4.4 Future Applications of Robotics, AI, and IoT 71 4.5 Conclusion 72 References 72 5 Towards Analyzing Skill Transfer to Robots Based on Semantically Represented Activities of Humans 75 Devi.T, N. Deepa, S. Rakesh Kumar, R. Ganesan and N. Gayathri 5.1 Introduction 76 5.2 Related Work 77 5.3 Overview of Proposed System 78 5.3.1 Visual Data Retrieval 79 5.3.2 Data Processing to Attain User Objective 80 5.3.3 Knowledge Base 82 5.3.4 Robot Attaining User Goal 83 5.4 Results and Discussion 83 5.5 Conclusion 85 References 85 6 Healthcare Robots Enabled with IoT and Artificial Intelligence for Elderly Patients 87 S. Porkodi and D. Kesavaraja 6.1 Introduction 88 6.1.1 Past, Present, and Future 88 6.1.2 Internet of Things 88 6.1.3 Artificial Intelligence 89 6.1.4 Using Robotics to Enhance Healthcare Services 89 6.2 Existing Robots in Healthcare 90 6.3 Challenges in Implementation and Providing Potential Solutions 90 6.4 Robotic Solutions for Problems Facing the Elderly in Society 98 6.4.1 Solutions for Physical and Functional Challenges 98 6.4.2 Solutions for Cognitive Challenges 98 6.5 Healthcare Management 99 6.5.1 Internet of Things for Data Acquisition 99 6.5.2 Robotics for Healthcare Assistance and Medication Management 102 6.5.3 Robotics for Psychological Issues 103
- 13. viii Contents 6.6 Conclusion and Future Directions 103 References 104 7 Robotics, AI, and the IoT in Defense Systems 109 Manju Payal, Pooja Dixit, T.V.M. Sairam and Nidhi Goyal 7.1 AI in Defense 110 7.1.1 AI Terminology and Background 110 7.1.2 Systematic Sensing Applications 111 7.1.3 Overview of AI in Defense Systems 112 7.2 Overview of IoT in Defense Systems 114 7.2.1 Role of IoT in Defense 116 7.2.2 Ministry of Defense Initiatives 117 7.2.3 IoT Defense Policy Challenges 117 7.3 Robotics in Defense 118 7.3.1 Technical Challenges of Defense Robots 120 7.4 AI, Robotics, and IoT in Defense: A Logical Mix in Context 123 7.4.1 Combination of Robotics and IoT in Defense 123 7.4.2 Combination of Robotics and AI in Defense 124 7.5 Conclusion 126 References 127 8 Techniques of Robotics for Automation Using AI and the IoT 129 Kapil Chauhan and Vishal Dutt 8.1 Introduction 130 8.2 Internet of Robotic Things Concept 131 8.3 Definitions of Commonly Used Terms 132 8.4 Procedures Used in Making a Robot 133 8.4.1 Analyzing Tasks 133 8.4.2 Designing Robots 134 8.4.3 Computerized Reasoning 134 8.4.4 Combining Ideas to Make a Robot 134 8.4.5 Making a Robot 134 8.4.6 Designing Interfaces with Different Frameworks or Robots 134 8.5 IoRT Technologies 135 8.6 Sensors and Actuators 137 8.7 Component Selection and Designing Parts 138 8.7.1 Robot and Controller Structure 140 8.8 Process Automation 141 8.8.1 Benefits of Process Automation 141 8.8.2 Incorporating AI in Process Automation 141
- 14. Contents ix 8.9 Robots and Robotic Automation 142 8.10 Architecture of the Internet of Robotic Things 142 8.10.1 Concepts of Open Architecture Platforms 143 8.11 Basic Abilities 143 8.11.1 Discernment Capacity 143 8.11.2 Motion Capacity 144 8.11.3 Manipulation Capacity 144 8.12 More Elevated Level Capacities 145 8.12.1 Decisional Self-Sufficiency 145 8.12.2 Interaction Capacity 145 8.12.3 Cognitive Capacity 146 8.13 Conclusion 146 References 146 9 An Artificial Intelligence-Based Smart Task Responder: Android Robot for Human Instruction Using LSTM Technique 149 T. Devi, N. Deepa, SP. Chokkalingam, N. Gayathri and S. Rakesh Kumar 9.1 Introduction 150 9.2 Literature Review 152 9.3 Proposed System 152 9.4 Results and Discussion 157 9.5 Conclusion 161 References 162 10 AI, IoT and Robotics in the Medical and Healthcare Field 165 V. Kavidha, N. Gayathri and S. Rakesh Kumar 10.1 Introduction 165 10.2 A Survey of Robots and AI Used in the Health Sector 167 10.2.1 Surgical Robots 167 10.2.2 Exoskeletons 168 10.2.3 Prosthetics 170 10.2.4 Artificial Organs 171 10.2.5 Pharmacy and Hospital Automation Robots 172 10.2.6 Social Robots 173 10.2.7 Big Data Analytics 175 10.3 Sociotechnical Considerations 176 10.3.1 Sociotechnical Influence 176 10.3.2 Social Valence 177 10.3.3 The Paradox of Evidence-Based Reasoning 178
- 15. x Contents 10.4 Legal Considerations 180 10.4.1 Liability for Robotics, AI and IoT 180 10.4.2 Liability for Physicians Using Robotics, AI and IoT 181 10.4.3 Liability for Institutions Using Robotics, AI and IoT 182 10.5 Regulating Robotics, AI and IoT as Medical Devices 183 10.6 Conclusion 185 References 185 11 Real-Time Mild and Moderate COVID-19 Human Body Temperature Detection Using Artificial Intelligence 189 K. Logu, T. Devi, N. Deepa,S. Rakesh Kumar and N. Gayathri 11.1 Introduction 190 11.2 Contactless Temperature 191 11.2.1 Bolometers (IR-Based) 192 11.2.2 Thermopile Radiation Sensors (IR-Based) 193 11.2.3 Fiber-Optic Pyrometers 193 11.2.4 RGB Photocell 194 11.2.5 3D Sensor 195 11.3 Fever Detection Camera 196 11.3.1 Facial Recognition 197 11.3.2 Geometric Approach 198 11.3.3 Holistic Approach 198 11.3.4 Model-Based 198 11.3.5 Vascular Network 199 11.4 Simulation and Analysis 200 11.5 Conclusion 203 References 203 12 Drones in Smart Cities 205 Manju Payal, Pooja Dixit and Vishal Dutt 12.1 Introduction 206 12.1.1 Overview of the Literature 206 12.2 Utilization of UAVs for Wireless Network 209 12.2.1 Use Cases for WN Using UAVs 209 12.2.2 Classifications and Types of UAVs 210 12.2.3 Deployment of UAVS Using IoT Networks 213 12.2.4 IoT and 5G Sensor Technologies for UAVs 214 12.3 Introduced Framework 217 12.3.1 Architecture of UAV IoT 217
- 16. Contents xi 12.3.2 Ground Control Station 218 12.3.3 Data Links 218 12.4 UAV IoT Applications 223 12.4.1 UAV Traffic Management 223 12.4.2 Situation Awareness 223 12.4.3 Public Safety/Saving Lives 225 12.5 Conclusion 227 References 227 13 UAVs in Agriculture 229 DeepanshuSrivastava, S. RakeshKumar and N. Gayathri 13.1 Introduction 230 13.2 UAVs in Smart Farming and Take-Off Panel 230 13.2.1 Overview of Systems 230 13.3 Introduction to UGV Systems and Planning 234 13.4 UAV-Hyperspectral for Agriculture 236 13.5 UAV-Based Multisensors for Precision Agriculture 239 13.6 Automation in Agriculture 242 13.7 Conclusion 245 References 245 14 Semi-Automated Parking System Using DSDV and RFID 247 Mayank Agrawal, Abhishek Kumar Rawat, Archana, SandhyaKatiyar and Sanjay Kumar 14.1 Introduction 247 14.2 Ad Hoc Network 248 14.2.1 Destination-Sequenced Distance Vector (DSDV) Routing Protocol 248 14.3 Radio Frequency Identification (RFID) 249 14.4 Problem Identification 250 14.5 Survey of the Literature 250 14.6 PANet Architecture 251 14.6.1 Approach for Semi-Automated System Using DSDV 252 14.6.2 Tables for Parking Available/Occupied 253 14.6.3 Algorithm for Detecting the Empty Slots 255 14.6.4 Pseudo Code 255 14.7 Conclusion 256 References 256
- 17. xii Contents 15 Survey of Various Technologies Involved in Vehicle-to-Vehicle Communication 259 Lisha Kamala K., Sini Anna Alex and Anita Kanavalli 15.1 Introduction 259 15.2 Survey of the Literature 260 15.3 Brief Description of the Techniques 262 15.3.1 ARM and Zigbee Technology 262 15.3.2 VANET-Based Prototype 262 15.3.2.1 Calculating Distance by Considering Parameters 263 15.3.2.2 Calculating Speed by Considering Parameters 263 15.3.3 Wi-Fi–Based Technology 263 15.3.4 Li-Fi–Based Technique 264 15.3.5 Real-Time Wireless System 266 15.4 Various Technologies Involved in V2V Communication 267 15.5 Results and Analysis 267 15.6 Conclusion 268 References 268 16 Smart Wheelchair 271 Mekala Ajay, Pusapally Srinivas and Lupthavisha Netam 16.1 Background 271 16.2 System Overview 275 16.3 Health-Monitoring System Using IoT 275 16.4 Driver Circuit of Wheelchair Interfaced with Amazon Alexa 276 16.5 MATLAB Simulations 277 16.5.1 Obstacle Detection 277 16.5.2 Implementing Path Planning Algorithms 278 16.5.3 Differential Drive Robot for Path Following 280 16.6 Conclusion 282 16.7 Future Work 282 Acknowledgment 283 References 283 17 Defaulter List Using Facial Recognition 285 Kavitha Esther, Akilindin S.H., Aswin S. and Anand P. 17.1 Introduction 286 17.2 System Analysis 287 17.2.1 Problem Description 287 17.2.2 Existing System 287
- 18. Contents xiii 17.2.3 Proposed System 287 17.3 Implementation 289 17.3.1 Image Pre-Processing 289 17.3.2 Polygon Shape Family Pre-Processing 289 17.3.3 Image Segmentation 289 17.3.4 Threshold 289 17.3.5 Edge Detection 291 17.3.6 Region Growing Technique 291 17.3.7 Background Subtraction 291 17.3.8 Morphological Operations 291 17.3.9 Object Detection 292 17.4 Inputs and Outputs 292 17.5 Conclusion 292 References 293 18 Visitor/Intruder Monitoring System Using Machine Learning 295 G. Jenifa, S. Indu,C. Jeevitha andV. Kiruthika 18.1 Introduction 296 18.2 Machine Learning 296 18.2.1 Machine Learning in Home Security 297 18.3 System Design 297 18.4 Haar-Cascade Classifier Algorithm 298 18.4.1 Creating the Dataset 298 18.4.2 Training the Model 299 18.4.3 Recognizing the Face 299 18.5 Components 299 18.5.1 Raspberry Pi 299 18.5.2 Web Camera 300 18.6 Experimental Results 300 18.7 Conclusion 302 Acknowledgment 302 References 303 19 Comparison of Machine Learning Algorithms for Air Pollution Monitoring System 305 Tushar Sethi and R. C. Thakur 19.1 Introduction 305 19.2 System Design 306 19.3 Model Description and Architecture 307 19.4 Dataset 308 19.5 Models 310
- 19. xiv Contents 19.6 Line of Best Fit for the Dataset 312 19.7 Feature Importance 313 19.8 Comparisons 315 19.9 Results 318 19.10 Conclusion 318 References 321 20 A Novel Approach Towards Audio Watermarking Using FFT and CORDIC-Based QR Decomposition 323 Ankit Kumar, Astha Singh, Shiv Prakash andVrijendra Singh 20.1 Introduction and Related Work 324 20.2 Proposed Methodology 326 20.2.1 Fast Fourier Transform 328 20.2.2 CORDIC-Based QR Decomposition 329 20.2.3 Concept of Cyclic Codes 331 20.2.4 Concept of Arnold’s Cat Map 331 20.3 Algorithm Design 331 20.4 Experiment Results 334 20.5 Conclusion 337 References 338 21 Performance of DC-Biased Optical Orthogonal Frequency Division Multiplexing in Visible Light Communication 339 S. Ponmalar and Shiny J.J. 21.1 Introduction 340 21.2 System Model 341 21.2.1 Transmitter Block 341 21.2.2 Receiver Block 342 21.3 Proposed Method 342 21.3.1 Simulation Parameters for OptSim 343 21.3.2 Block Diagram of DCO-OFDM in OptSim 343 21.4 Results and Discussion 344 21.5 Conclusion 352 References 353 22 Microcontroller-Based Variable Rate Syringe Pump for Microfluidic Application 355 G. B. Tejashree, S. Swarnalatha, S. Pavithra, M. C. Jobin Christ and N. Ashwin Kumar 22.1 Introduction 356 22.2 Related Work 357
- 20. Contents xv 22.3 Methodology 358 22.3.1 Hardware Design 359 22.3.2 Hardware Interface with Software 360 22.3.3 Programming and Debugging 361 22.4 Result 362 22.5 Inference 363 22.5.1 Viscosity (η) 365 22.5.2 Time Taken 365 22.5.3 Syringe Diameter 366 22.5.4 Deviation 366 22.6 Conclusion and Future Works 366 References 368 23 Analysis of Emotion in Speech Signal Processing and Rejection of Noise Using HMM 371 S. Balasubramanian 23.1 Introduction 372 23.2 Existing Method 373 23.3 Proposed Method 374 23.3.1 Proposed Module Description 375 23.3.2 MFCC 376 23.3.3 Hidden Markov Models 379 23.4 Conclusion 382 References 383 24 Securing Cloud Data by Using Blend Cryptography with AWS Services 385 Vanchhana Srivastava, Rohit Kumar Pathak and Arun Kumar 24.1 Introduction 385 24.1.1 AWS 387 24.1.2 Quantum Cryptography 388 24.1.3 ECDSA 389 24.2 Background 389 24.3 Proposed Technique 392 24.3.1 How the System Works 393 24.4 Results 394 24.5 Conclusion 396 References 396 Index 399
- 21. xvii Preface It is widely believed that the current technologies are not the only factors that limits the building of an efficient human-machine intelligent pro- cessing 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 applica- tion 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 ana- lyzed 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 intro- duction 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 exam- ines 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
- 22. xviii Preface aged patients. Chapter 7 explores the robotics, AI and IoT in defense sys- tem. 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 rec- ognition. 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 communica- tion. 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 infor- mation about the AI and IoT based intelligent automation in robotics. Armed with specific usage practices, applicability, framework and chal- lenges 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 assis- tance 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.
- 23. Preface xix We would like to express our deep sense of gratitude for the encourage- ment 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 Dubey Abhishek Kumar S. Rakesh Kumar N. Gayathri Prasenjit Das February 2021
- 24. 1 Ashutosh Kumar Dubey, Abhishek Kumar, S. Rakesh Kumar, N. Gayathri, Prasenjit Das (eds.) AI and IoT-Based Intelligent Automation in Robotics, (1–14) © 2021 Scrivener Publishing LLC 1 Introduction to Robotics Srinivas Kumar Palvadi1 , Pooja Dixit2 and Vishal Dutt3 * 1 Department of Computer Science Engineering, University of Madras, Chennai, Tamil Nadu, India 2 Sophia Girls’ College (Autonomous), Ajmer, Rajasthan, India 3 Department 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 trend- ing concepts such as the Internet of Things (IoT), Machine Learning (ML), Artificial Intelligence(AI)andCloudComputing.Manypeopleareshowinginterestinpurchas- ing 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,” *Corresponding author: [email protected]
- 25. 2 AI and IoT-Based Intelligent Automation in Robotics 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 character- istics 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, mechani- cal 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, bor- ing, onerous and just plain nasty. We can find these types of robots in the medical, automobile, manufacturing, and industrial industries among oth- ers, as well as the space industry. Robots, such as the Mars rover Sojourner and the upcoming Mars Exploration rover or the underwater robotic vehi- cle 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 intro- duced 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
- 26. Introduction to Robotics 3 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 envi- ronments. We have to imbue robots with sensitivity to light (eyes), touch, pressure (like hands), chemicals (nose), sound (ears)andtaste(tongue)amongothers.Bycombiningallthese 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
- 27. 4 AI and IoT-Based Intelligent Automation in Robotics 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 autom atons 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 (Continued)
- 28. Introduction to Robotics 5 Table 1.1 History of the earliest robots. (Continued) Date Significance Robot name Inventor 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
- 29. 6 AI and IoT-Based Intelligent Automation in Robotics for various users. Moreover, the robots were classified into mechanical con- struction, electrical components and computer programming mechanism. 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 mechan- ical 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 mul- tiple 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 cus- tomized robots was to make them work more efficiently. Generally, the robots were designed in an assembly manner for making them more adap- tive as well as making the tasks speedier. Such types of robots were catego- rized 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 per- formed 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 var- ious places where they are being used include: • Military robots • Industrial robots • Collaborative robots
- 30. Introduction to Robotics 7 • 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 bat- teries. The power taken from electricity will convert to the thermal energy stored in the batteries. All robots need a bat- tery 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 bat- teries, 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 consump- tion of the robot based on its working capacity. If the robot work capacity is less and if we give more power the elec- tricity 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
- 31. 8 AI and IoT-Based Intelligent Automation in Robotics 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, man- aging and monitoring the works. After designing the partic- ular 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 capac- ity, 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 pur- poses 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 direc- tion 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
- 32. Introduction to Robotics 9 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 mecha- nism. For this method a procedure of exactly 5 percent elec- tricity 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 acti- vates 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
- 33. 10 AI and IoT-Based Intelligent Automation in Robotics 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.
- 34. Introduction to Robotics 11 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 “algo- rithm.” 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 con- firm 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 deci- pher crude sensor data legitimately into actuator orders. A combinations of sensors may initially be utilized to gauge boundaries of intrigue (for exam- ple, 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 collabo- rate. 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 proce- dures might be utilized to make sense of the proper behavior. For instance, an organizer may make sense of how to accomplish an undertaking with- out hitting deterrents, falling over, and so forth [11].
- 35. 12 AI and IoT-Based Intelligent Automation in Robotics 1.5.3 Autonomy Levels This mechanism has a lot of various levels of algorithms, which are classi- fied 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 begin- ning to end until it reaches its destination. • An autonomous robot performs some tasks beyond user specified ones because some robots are capable of perform- ing 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 speci- fied 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 auton- omous” [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,
- 36. Introduction to Robotics 13 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 advan- tages 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. References 1. Qin, T., Li, P., Shen, S., VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator. IEEE Trans. Rob., 34, 4, 1004–1020, Aug. 2018. 2. Pequito, S., Khorrami, F., Krishnamurthy, P., Pappas, G.J., Analysis and Design of Actuation–Sensing–Communication Interconnection Structures Toward Secured/Resilient LTI Closed-Loop Systems. IEEE Trans. Control Network Syst., 6, 2, 667–678, June 2019. 3. Chang, X. and Yang, G., New Results on Output Feedback $H_{infty} $ Control for Linear Discrete-Time Systems. IEEE Trans. Autom. Control, 59, 5, 1355–1359, May 2014. 4. Li, Z., Zhang, T., Ma, C., Li, H., Li, X., Robust Passivity Control for 2-D Uncertain Markovian Jump Linear Discrete-Time Systems. IEEE Access, 5, 12176–12184, 2017. 5. Yang, C., Ge, S.S., Xiang, C., Chai, T., Lee, T.H., Output Feedback NN Control for Two Classes of Discrete-Time Systems with Unknown Control Directions in a Unified Approach. IEEE Trans. Neural Networks, 19, 11, 1873–1886, Nov. 2008. 6. Münz, U., Pfister, M., Wolfrum, P., Sensor and Actuator Placement for Linear Systems Based on Optimization. IEEE Trans. Autom. Control, 59, 11, 2984– 2989, Nov. 2014. 7. Sui, S., Tong, S., Chen, C.L.P., Finite-Time Filter Decentralized Control for Nonstrict-Feedback Nonlinear Large-Scale Systems. IEEE Trans. Fuzzy Syst., 26, 6, 3289–3300, Dec. 2018. 8. Rakovic, S.V. and Baric, M., Parameterized Robust Control Invariant Sets for Linear Systems: Theoretical Advances and Computational Remarks. IEEE Trans. Autom. Control, 55, 7, 1599–1614, July 2010. 9. Li, Y., Sun, K., Tong, S., Adaptive Fuzzy Robust Fault-Tolerant Optimal Control for Nonlinear Large-Scale Systems. IEEE Trans. Fuzzy Syst., 26, 5, 2899–2914, Oct. 2018.
- 37. 14 AI and IoT-Based Intelligent Automation in Robotics 10. Zhang, H. and Feng, G., Stability Analysis and $H_{infty}$ Controller Design of Discrete-Time Fuzzy Large-Scale Systems Based on Piecewise Lyapunov Functions. IEEE Trans. Syst. Man Cybern. Part B (Cybernetics), 38, 5, 1390–1401, Oct. 2008. 11. Bakule, L., Rodellar, J., Rossell, J.M., Robust Overlapping Guaranteed Cost Control of Uncertain State-Delay Discrete-Time Systems. IEEE Trans. Autom. Control, 51, 12, 1943–1950, Dec. 2006. 12. Liu, Y. and Tong, S., Adaptive NN Tracking Control of Uncertain Nonlinear Discrete-Time Systems with Nonaffine Dead-Zone Input. IEEE Trans. Cybern., 45, 3, 497–505, March 2015. 13. Li, D. and Li, D., Adaptive Control via Neural Output Feedback for a Class of Nonlinear Discrete-Time Systems in a Nested Interconnected Form. IEEE Trans. Cybern., 48, 9, 2633–2642, Sept. 2018. 14. Alzenad, M., El-Keyi, A., Yanikomeroglu, H., 3D placement of an unmanned aerial vehicle base station for maximum coverage of users with different QoS requirements. IEEE Wirel. Commun. Lett., 7, 38–41, 2018.
- 38. 15 Ashutosh Kumar Dubey, Abhishek Kumar, S. Rakesh Kumar, N. Gayathri, Prasenjit Das (eds.) AI and IoT-Based Intelligent Automation in Robotics, (15–34) © 2021 Scrivener Publishing LLC 2 Techniques 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 intelli- gence (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 tech- nologies 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. *Corresponding author: [email protected]
- 39. 16 AI and IoT-Based Intelligent Automation in Robotics 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.Earlierthiswasnotverypopularandthingsweremostlyprocessed 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, manufac- turing parts, storage, monitoring, etc. Still, almost all industries are utiliz- ing 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.” 2.2 Brief History of Robotics Robotics has always been a fascinating topic for research and innovation which has its origin in ancient times, but the modern notion began to be established with the inception of the Industrial Revolution. The term “robot,” which in Czech means slave, was first coined in a play about the men work- ing on the assembly lines of factories [3]. Also, the term “robotics” [4] was neologized by the American science fiction writer Isaac Asimov in his story “Runaround” in the year 1942. Who knew the robots dreamed of in fiction would become one of the revolutionary technologies in the near future [5]? The first robot was invented in the year 1950 by George C. Devol [3], who patented a reprogrammable manipulator termed “Unimate.” He tried sell- ing it to industry but failed. A few years later, in 1960 Joseph Engelberger, an engineer and businessman, procured the patent from Devol and mod- ified it to make an industrial robot and established a company called Unimation to produce and sell the robots. His works and endeavors gave him the honorary title of “Father of Robotics” [6] in industry. So, it is uncanny that the robots that we have today were idealized from science fiction and now are revolutionizing technology.
- 40. Techniques in Robotics for Automation Using AI and IoT 17 2.3 Some General Terms • Artificial Intelligence: Refers to making machines capable of mimicking human behavior and intelligence in a way to act and think like humans. And it is called artificial because the intelligence has been given to machines by means of some programming which is dissimilar to the natural intelligence exhibited by humans. The term “artificial intelligence” (AI) was first coined in 1856 by John McCarthy. AI is one of the disruptive technologies with powerful features and can be used in a wide variety of applications; for example, AI can be used to play games, monitor the health of patients and used as a traffic controller system. In the education sector it can act as an independent and effective tutor; apart from that it can be used to predict diseases and weather, etc. The list is countless [7] as it finds endless possibilities of applications due to its advanced characteristics and tools. The Venn diagram of AI in Figure 2.1 below shows that it is the superset of machine learning (ML) and deep learning (DL). • Machine Learning: Describes the learning behavior of machines by means of data fed to it. Based upon learning the machine makes predictions based on statistical inference and finding a pattern in data by using some advanced math- ematical models [8]. It is the branch of artificial intelligence Machine Learning Artificial Deep Figure 2.1 Venn diagram of AI, ML and DL.
- 41. 18 AI and IoT-Based Intelligent Automation in Robotics that works in its backend and defines various algorithmic procedures to be followed to make the machine intelligent so as to make accurate predictions [9]. Based on the learning behavior and the type of data, it is divided into four types: − Supervised learning − Unsupervised learning − Semi-supervised learning − Reinforcement learning • Agent: Refers to something that perceives the environment through sensors and performs action via actuators based on some predefined rules for which the agent is trained. Just like in humans, there are five sense (i.e., sight, sound, smell, taste, and touch), and based on the information of our senses we perform actions through our limbs, etc. A simple diagrammatic representation of an agent is shown in Figure 2.2 below. The agents act as a backbone for AI techniques that gov- ern how they are working and what sorts of applications they are dealing with. Based on utility there are different types of agents [10]: − Simple reflex agent − Model-based agent − Goal-based agent − Utility-based agent Sensors Agent Actuators Action Percepts Environment ?(Based on Utility) Figure 2.2 Representation of an agent.
- 42. Techniques in Robotics for Automation Using AI and IoT 19 • Internet of Things: Refers to the interconnection of the things that we use in our daily lives with the internet. The basic idea of the IoT [11] is to connect all the devices through the internet via short-range wireless devices, such as Zigbee, Bluetooth, RFID, and various sorts of sensors and devices [12], by which they can communicate with each other and share the sensor data among the peer devices in order to facilitate the end-user/client via cloud services. It is one of the most demanding technologies in any industry and from 2019 to 2025 it is expected to grow by 33.81% [13]. The basic architecture of the IoT is shown in Figure 2.3 below. • Robots: Programmable machines capable of performing complex tasks in intense and rigorous environments. They are designed as in Figure 2.4 to automate any human tasks with the controllers built-in or outside based on the require- ments. Robots are now being used in many places [14] to perform dangerous or repetitive tasks to safeguard humans, and are being used especially in industry in painting jobs, warehouses, assembly lines, etc. So, basically, they are auto- mating the environment in order to reduce human efforts. And now robots have become an essential commodity of many sectors; for example, they find application in health- care [15], education, research and development, and are used in architecture, as waiters in restaurants, and almost Wireless Communication Temperature Pressure Humidity Motion Sensors in various Electronic Devices Network Layer Devices IoT Gateway/Framework Mobile App/ Software for various gadgets Accessing data via devices Cloud Figure 2.3 Architecture of the Internet of Things.
- 43. 20 AI and IoT-Based Intelligent Automation in Robotics all the sectors of our economy. With the increase in research and innovation, more and more intelligent systems are being prepared that are forming the foundation of modern society and helping in reshaping the future. 2.4 Requirements of AI and IoT for Robotic Automation Robotic automation is one of the most challenging and lengthy tasks without the use of any proper tools and techniques and today that requirement is fulfilled by one of the most advanced techniques available to us, so-called Artificial Intelligence and the Internet of Things, with the help of which we are able to design more complex and more powerful robots. For instance, Sense Act Sense Act Plan Sense Act Plan Reactive Hierarchical Hybrid Figure 2.4 Basic robot architecture.
- 44. Techniques in Robotics for Automation Using AI and IoT 21 if we look at the very first form of computer and the computers now available to us, i.e., powerful computers in our pockets, we can see a huge difference. In the same way, the technologies are transforming our lives and giving birth to more advanced forms of machinery that we had once only thought possible. So, while AI and IoT are required because they are bundled with full- fledged tools and techniques, which are enough to make a powerful robot using traditional programming, it will take months writing the same code- base in comparison to the codes that are written using these technologies. Basically, AI and IoT are efficient and effective enough to work in develop- ing any robotic system. 2.5 Role of AI and IoT in Robotics Artificial intelligence (AI) and Internet of Things (IoT) are the technolo- gies of today and they are becoming more and more advanced day by day. These technologies are in very high demand in the industry as all the inno- vations taking place are based on them. AI comprises mathematical and statistical models that govern the working of algorithms that are used to develop intelligent systems and the IoT consists of various tools and tech- niques to effectively manage the sensors and their intercommunications via the use of various protocols and devices. Due to the high capabilities of these technologies, they are highly adopted in industries, healthcare, busi- nesses, and various sectors of the economy [16]. Both of these technologies, when used together, can be much more ben- eficial as IoT is better at collecting data and AI is a great tool to process huge amounts of data. As IoT uses other technologies like big data or AI for data processing, this implies that AI works on the backend of IoT and plays a major role in working on any system or framework comprising the two [17]. The perfect example can be our voice user interface devices such as Alexa or Google Home. They were trained with some data and that data has been processed via AI whose engine gives output on the basis of data. Similarly, in robotics, which is a complex system consisting of various types of sensors, various electrical and mechanical devices work together to perform an assigned task. In robotics for the case of recognizing and classifying tasks, it uses computer vision in which the thousands of raw images of objects are fed into machines, and once trained it can classify and recognize objects. In this case, the camera will capture the images from the surrounding (which falls in the IoT domain) and gives it to the ML engine for processing, and once processed the output is shown via actuators or via any output devices.
- 45. 22 AI and IoT-Based Intelligent Automation in Robotics Some of the major roles of AI and IoT in robotics are: • To program various aspects like learning, understanding, thinking, and inferring based on rules into the robot so as to perform accordingly. • To implement various supervised, unsupervised, semi- supervised, or reinforcement learning algorithms into the robots based on the utility of robots either in industry, busi- ness, or for commercial purposes. • To establish various connections between different parts of the robot-like camera connection, wireless modules like Zigbee or Bluetooth, connections between microcontrollers to actuators, etc. • To set up a trained classifier or model so that it can be used by the robot. • To install sensors and actuators so as to sense the environ- ment and perform accordingly. • To create an inference engine for performing inference on the basis of a percept sequence or percept history. • In some cases, to enable speech synthesis so as to talk or con- trol via voice, i.e., voice user interface (VUI) [17]. • To establish connections via the cloud so that it can be remotely configured or controlled. The performance of a robot is governed by its memory or percept sequence and, while training, the model finds some sort of patterns in data that form the basis for learning. While creating a robot there are various aspects that need to be taken care of and the aim is to develop a cognitive architecture in which integration of reasoning, planning, reacting, creating, learning from the past, etc. [18] exists. Inspired by human biology, we try to mimic every biological behavior artificially in robots, like neural networks being built to mimic the behavior of our brain into machines, and various joints being artificially created which were inspired by the human body. Apart from that, artificial organs are being created to help needy people. Although mimicking the human brain is such a typical task, var- ious companies/researchers are working day and night to build a replace- ment for the human brain. One such project is 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 cre- ate 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].
- 46. Techniques in Robotics for Automation Using AI and IoT 23 In any IoT-enabled devices [24] which are equipped with sensors (tem- perature, 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 Robot The admin of the robotic arm is controlled via a control- ler 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 proto- col (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 Robot The 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 doc- tors can, as continuous monitoring is done during surgery to check if everything is going well. Wireless Workspace Controller Admin Central System Robotic Arm FTP AP1 Gripper Object Figure 2.5 Workings of an industrial robot.
- 47. 24 AI and IoT-Based Intelligent Automation in Robotics • Agricultural Robot Agricultural 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 Prepare Robot Prepare tools Position Patient Prepare Surgery table and put required equipment Prepare Patient Preoperative Information Position robot near the patient 2 1 3 Installing cameras and instruments in the robotic arm Move patient to the table Perform Surgical procedure Remove instruments and cameras Move patient from the table To spectrometer Console Preparation Docking Undocking Figure 2.6 Workingsof a healthcare robot.
- 48. Techniques in Robotics for Automation Using AI and IoT 25 controller system to control the robotic machinery to carry out actions in the field. 2.7 Algorithms Used in Robotics Artificial intelligence works based on some algorithms and those algo- rithms 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 mathemat- ical models and those models form the basis of machine learning algo- rithms 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: Bel x P z x P x u x Bel x dx t t t t t t t t ( ) ( ) ( , ) ( ) = − − − ∫ η 1 1 1 Robotic Farmer Router Wireless Cloud Figure 2.7 Workings of agricultural robots.
- 49. 26 AI and IoT-Based Intelligent Automation in Robotics 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 under- stood 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 filter Non-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]. MACHINE LEARNING TYPES Supervised Learning Regression/ Classification –> Taxi Fare/ Housing Prices –> Sentiment/ Spam filter –> City Panning/ Customer Segmentation –> Lane Finding via GPS –> Speech Analysis/Text Classification –> Optimized marketing –> Driverless cars Clustering Clustering/ Classification Classification/ Control Unsupervised Learning Semi-supervised Learning Reinforcement Learning Figure 2.8 Types of machine learning algorithms.
- 50. Techniques in Robotics for Automation Using AI and IoT 27 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) Industrial Applications Beginning with the Industrial Revolution, there has been con- tinuous incremental progress in the uses of robots for manu- facturing 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 oper- ations in industry. Some of the most common robots that are used in industry are: • Articulated robots • Scararobots • Delta robots • Cartesian coordinate robots • Cylindrical coordinate robots • Spherical coordinate robots For more details refer to [23]. 2) Healthcare Service Applications Healthcare 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 develop- ment, some experiments are going on to use robots to replace nurses to perform some of their common tasks such as provid- ing 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 opera- tions with tiny incisions and utmost precision.
- 51. 28 AI and IoT-Based Intelligent Automation in Robotics • 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 walk- ing 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. • SomeotherrobotsincludeDisinfectantBots,ClinicalTraining Bots, Companion Bots, Telepresence Robot Surrogates, Robotic Nurses, Robotic-Assisted Biopsy, etc. [25]. 3) Outer Space Applications Robots 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 on the Red Planet. Other robots, such as the Phoenix Mars Lander and Curiosity Rover, were also sent for further exploration. 4) Military Applications Defense is the key element for running a nation and therefore any nation invests much more in their defense system. So, robots can play a major role in making defense systems [26] more effec- tive and secure. Lots of research is going on to make advanced robotic systems for the army and defense. One such pioneering robot developed was the Predator drone with unmanned aerial vehicles that can take photographs with greater accuracy and can launch missiles accurately to the target without any pilot. Some key points of why robots can be used in military appli- cations are: • They can’t get tired • They don’t know what fear is • They can open their eyes day and night • They don’t hide • They don’t talk while on duty • They can perform their duty in any weather
- 52. Techniques in Robotics for Automation Using AI and IoT 29 • They don’t have health risks The above points are enough to describe why robots can be beneficial for military purposes. 5) Other Applications Other applications include: • Smart home systems that intelligently monitor home secu- rity, manage energy usage, maintain proper temperature, clean houses, and provide proper lighting and aircondition- ing based on requirements • Smart traffic system • In making real-life games • Robotic police/cops • Driving assistant, etc. Figure 2.9 below depicts various applications of robots in our day-to- day lives. Industry Agricultural Healthcare Space Exploration Music Painting Drones Waiter at restaurant Astronaut Business Instructional Dancing Figure 2.9 Applications of Robotics.
- 53. 30 AI and IoT-Based Intelligent Automation in Robotics 2.9 Case Studies 2.9.1 Sophia Sophia, a robot that became the world’s first robot citizen [28], is also the first robot that can express feelings. It is a humanoid robot that is the brain- child of the American company Hanson Robotics and was developed in Hong Kong by the head creator David Hanson. The main quality of Sophia is that it understands and learns from human behavior by interacting with people. It looks just like humans, with a face which was designed to look similar to Audrey Hepburn, a British actress. It is her amazing qualities that led the Saudi government to honor her with the first robot citizen of the country at the Future Investment Summit held in Riyadh on October 25, 2017 [29]. Sophia has an attractive female face and her eyes are the camera that can recognize the person and say hello to them by their name [30]. Sophia can make about 62 facial expressions and also has a sense of humor. She keeps on learning and is getting better every day. The gap between humans and robots is decreasing day by day. Sophia is a state-of- the-art humanoid that has changed the robotic world and the day is not far off when there will be no difference between the thoughts of machines and humans. 2.9.2 ASIMO Honda’s ASIMO is a four feet tall humanoid robot that can work as a per- fect companion in our homes. It was developed by scientists at Honda technologies. The design of its body is human-like, and it can talk and can recognize and interact with people. It can play with children by tossing a coin and also can serve cold drinks by opening the bottle with his own hands. It has a great working capability and can be used in stores for cus- tomer service. ASIMO can also run like humans with a speed of 3.5 mph. However, it is not yet available for the proposed purpose and Honda [27] is continuously working to perform some advanced upgrades to make it more human-like. 2.9.3 Cheetah Robot The Cheetah robot created at MIT [31] was the first robot capable of doing a backflip. It is a lightweight and springy robot that can perform a range of motions such as walking right-side up or upside down. Apart from that, it can walk two times faster than a normal human being on uneven terrain.
- 54. Techniques in Robotics for Automation Using AI and IoT 31 The robot has four legs, with each leg consisting of three low-cost motors that can be easily replaced, and gives a wide range of motion with low iner- tia and high torque design. It can recover from an unexpected force. Also, its balancing capability is far better than other robots and can easily and instantly balance itself. So, one can say that it is the only state-of-the-art balancing and backflipping robot present till now [32]. 2.9.4 IBM Watson IBM Watson is the smart question-answering system that can answer any question that has been asked in natural language. It was named after Thomas J. Watson, IBM’s founder and first CEO. Initially, It was built for serving the purpose of QA(question answering) and it uses machine learn- ing and cognitive thinking to perform the QA, but recently the capabilities of Watson have been increased [33]. Now, it’s not only a QA system but also has the capability to talk, hear, see, learn, interpret, and perform as a recommendation system. 2.10 Conclusion In this chapter, we have discussed various robotics techniques that are used for automation via two of the most in-demand and trending tech systems of the industry—AI and the IoT. Based on their capabilities they are used for automation in a wide range of robotic applications, including health- care, manufacturing, defense, space exploration, restaurants, agriculture, houses, etc. Looking at the requirements we have defined the roles of vari- ous robots and diagrammatically described each role. Apart from that, we have also discussed some of the algorithms that are used in robotics and how they can be used to derive other algorithms based on requirements. Defining the application we have discussed various case studies of some of the most popular and astonishing accomplishments of various institu- tions or companies with a description of their inventions and the innova- tive changes they have brought to our modern world which have helped in making it a better place to live. References 1. Trevathan, V.L. (Ed.), A Guide to the Automation Body of Knowledge, in: Research Triangle Park, 2nd ed., International Society of Automation, NC, USA.
- 55. Random documents with unrelated content Scribd suggests to you:
- 59. The Project Gutenberg eBook of Index of the Project Gutenberg Works of Charles A. Eastman
- 60. This ebook is for the use of anyone anywhere in the United States and most other parts of the world at no cost and with almost no restrictions whatsoever. You may copy it, give it away or re-use it under the terms of the Project Gutenberg License included with this ebook or online at www.gutenberg.org. If you are not located in the United States, you will have to check the laws of the country where you are located before using this eBook. Title: Index of the Project Gutenberg Works of Charles A. Eastman Author: Charles A. Eastman Editor: David Widger Release date: August 14, 2018 [eBook #57696] Most recently updated: February 25, 2021 Language: English Credits: Produced by David Widger *** START OF THE PROJECT GUTENBERG EBOOK INDEX OF THE PROJECT GUTENBERG WORKS OF CHARLES A. EASTMAN ***
- 61. INDEX OF THE PROJECT GUTENBERG WORKS OF CHARLES A. EASTMAN [AKA OHIYESA] Compiled by David Widger
- 62. CONTENTS Click on the ## before each title to view a linked table of contents for each of the twelve volumes. Click on the title itself to open the original online file. ## INDIAN HEROES AND GREAT CHIEFTAINS ## INDIAN BOYHOOD ## OLD INDIAN DAYS ## THE SOUL OF THE INDIAN ## INDIAN CHILD LIFE ## THE INDIAN TODAY ## WIGWAM EVENINGS ## RED HUNTERS AND THE ANIMAL PEOPLE
- 63. ## INDIAN SCOUT TALKS TABLES OF CONTENTS OF VOLUMES INDIAN HEROES AND GREAT CHIEFTAINS
- 64. By Charles A. Eastman (Ohiyesa) CONTENTS INDIAN HEROES AND GREAT CHIEFTAINS RED CLOUD SPOTTED TAIL LITTLE CROW TAMAHAY GALL CRAZY HORSE SITTING BULL RAIN-IN-THE-FACE TWO STRIKE AMERICAN HORSE
- 65. DULL KNIFE ROMAN NOSE CHIEF JOSEPH LITTLE WOLF HOLE-IN-THE-DAY INDIAN BOYHOOD
- 66. By Ohiyesa (Charles A. Eastman) CONTENTS I. EARLIEST RECOLLECTIONS I. Hadakah, “The Pitiful Last” II. Early Hardships III. My Indian Grandmother IV. An Indian Sugar Camp V. A Midsummer Feast II. AN INDIAN BOY’S TRAINING III. MY PLAYS AND PLAYMATES I. Games and Sports II. My Playmates III: The Boy Hunter IV. Hakadah’s First Offering V. FAMILY TRADITIONS I: A Visit to Smoky Day II. The Stone Boy VI. EVENING IN THE LODGE
- 67. I: Evening in the Lodge II. Adventures of My Uncle VII. THE END OF THE BEAR DANCE VIII. THE MAIDENS’ FEAST IX. MORE LEGENDS I: A Legend of Devil’s Lake II. Manitoshaw’s Hunting X. INDIAN LIFE AND ADVENTURE I: Life in the Woods II. A Winter Camp III. Wild Harvests IV. A Meeting on the Plains V. An Adventurous Journey XI. The Laughing Philosopher XII. FIRST IMPRESSIONS OF CIVILIZATION OLD INDIAN DAYS
- 68. By Charles A. Eastman (Ohiyesa) CONTENTS PART ONE. THE WARRIOR I. THE LOVE OF ANTELOPE II. THE MADNESS OF BALD EAGLE III. THE SINGING SPIRIT IV. THE FAMINE V. THE CHIEF SOLDIER VI. THE WHITE MAN’S ERRAND VII. THE GRAVE OF THE DOG PART TWO. THE WOMAN I. WINONA, THE WOMAN-CHILD II. WINONA, THE CHILD-WOMAN III. SNANA’S FAWN
- 69. IV. SHE-WHO-HAS-A-SOUL V. THE PEACE-MAKER VI. BLUE SKY VII. THE FAITHFULNESS OF LONG EARS VIII. THE WAR MAIDEN GLOSSARY THE SOUL OF THE INDIAN
- 71. By Charles Alexander Eastman (Ohiyesa)
- 72. CONTENTS FOREWORD I. THE GREAT MYSTERY II. THE FAMILY ALTAR III. CEREMONIAL AND SYMBOLIC WORSHIP IV. BARBARISM AND THE MORAL CODE V. THE UNWRITTEN SCRIPTURES VI. ON THE BORDER-LAND OF SPIRITS INDIAN CHILD LIFE By
- 73. CHARLES A. EASTMAN (Ohiyesa) ILLUSTRATED BY GEORGE VARIAN 1913
- 74. CONTENTS Part One MY INDIAN CHILDHOOD CHAPTER PAGE I. "The Pitiful Last" 1 II. Early Hardships 9 III. An Indian Sugar Camp 19 IV. Games and Sports 26 V. An Indian Boy's Training 37 VI. The Boy Hunter 48 VII. Evening in the Lodge 58 Part Two STORIES OF REAL INDIANS I. Winona's Childhood 75 II. Winona's Girlhood 83 III. A Midsummer Feast 93 IV. The Faithfulness of Long Ears 103 V. Snana's Fawn 118 VI. Hakadah's First Offering 131 VII. The Grave of the Dog 145
- 75. LIST OF ILLUSTRATIONS Snana called loudly to her companion turnip-diggers Frontispiece So he bravely jumped upon the nest PAGE 32 "Oh, what nice claws he has, uncle!" I exclaimed eagerly 69 He began to sing a dirge for him 140 THE INDIAN TO-DAY
- 76. The Past and Future of the First American BY
- 77. CHARLES A. EASTMAN (OHIYESA) 1915
- 78. CONTENTS CHAPTER PAGE I. The Indian as He Was 3 II. The How and the Why of Indian Wars 19 III. The Agency System: Its Uses and Abuses 34 IV. The New Indian Policy 49 V. The Indian in School 64 VI. The Indian at Home 81 VII. The Indian as a Citizen 95 VIII. The Indian in College and the Professions 115 IX. The Indian's Health Problem 135 X. Native Arts and Industries 148 XI. The Indian's Gifts to the Nation 164 Bibliography 179 Table of Indian Reservations 183
- 79. WIGWAM EVENINGS
- 80. SIOUX FOLK TALES RETOLD BY CHARLES A. EASTMAN (Ohiyesa) AND ELAINE GOODALE EASTMAN Illustrated by Edwin Willard Deming Copyright, 1909
- 81. CONTENTS EVENINGS PAGE First The Buffalo and the Field-mouse 1 Second The Frogs and the Crane 15 Third The Eagle and the Beaver 25 Fourth The War Party 31 Fifth The Falcon and the Duck 39 Sixth The Raccoon and the Bee-tree 49 Seventh The Badger and the Bear 61 Eighth The Good-luck Token 71 Ninth Unktomee and his Bundle of Songs 79 Tenth Unktomee and the Elk 89 Eleventh The Festival of the Little People 99 Twelfth Eya the Devourer 107
- 82. Thirteenth The Wars of Wa- Kee-Yan and Unk-Tay-Hee 115 Fourteenth The Little Boy Man 123 Fifteenth The Return of the Little Boy Man 131 Sixteenth The First Battle 139 Seventeenth The Beloved of the Sun 147 Eighteenth Wood-Chopper and Berry-picker 155 Nineteenth The Son-in-law 165 Twentieth The Comrades 175 Twenty-first The Laugh- maker 185 Twenty- second The Runaways 193 Twenty-third The Girl Who Married the Star 203 Twenty- fourth North Wind and Star Boy 211 Twenty-fifth The Ten Virgins 221 Twenty-sixth The Magic Arrows 231 Twenty- seventh The Ghost-Wife 243
- 83. ILLUSTRATIONS PAGE The Stranger Watches the Laugh-maker and the Bears Frontispiece Smoky Day Telling Tales of Old Days around his Fire 5 Just then a Fox Crept Up Behind the Crane 23 The Falcon chases the old Drake 43 "Come down, friends!" called the Raccoon 54 So they ran and they ran out of the woods on to the shining white beach 57 "I would not trouble you," said he, "but my little folks are starving" 67 "Oh, that is only a bundle of old songs," replied Unktomee 83 Tanagela and her little brother 91 With his long spear he stabbed each of the monsters 129
- 84. He came to a little hut where lived an old Bear 162 "Do not shoot a white deer when you see him coming toward you" 171 They stood thus with their beaks touching over the stream 200 Star Boy attacked by Hinhan, the Owl 215 She took up handsful of ashes to throw into their faces 227 He offered up the body as a sacrifice 235 At the touch of his magic arrow, it fell at his feet 240 He was once seen with several Deer about him, petting and handling them 247 RED HUNTERS And the Animal People
- 85. By Charles A. Eastman (Ohiyesa) AUTHOR OF "INDIAN BOYHOOD" 1904
- 86. CONTENTS PAGE The Great Cat's Nursery 3 On Wolf Mountain 24 The Dance of the Little People 46 Wechah the Provider 66 The Mustering of the Herds 89 The Sky Warrior 106 A Founder of Ten Towns 123 The Gray Chieftain 143 Hootay of the Little Rosebud 159 The River People 177 The Challenge 200 Wild Animals from the Indian Stand-point 224 Glossary of Indian Words and Phrases 247 INDIAN SCOUT TALKS A GUIDE FOR BOY SCOUTS AND CAMP FIRE GIRLS BY
- 87. CHARLES A. EASTMAN (OHIYESÄ) Author of “Wigwam Evenings,” etc. 1914 CONTENTS CHAPTER PAGE I. At Home With Nature 1 II. Indian Methods of Physical Training 7 III. How to Make Friends With Wild Animals 15 IV. The Language of Footprints 25 V. Hunting With Sling-shot and Bow and Arrow 34 VI. Primitive Modes of Trapping and Fishing 42 VII. How to Make and Handle Indian Canoes 48 VIII. The Camp Site and the Carry 55 IX. How to Build Wigwams and Shelters 61 X. Fire Without Matches and Cooking Without Pots 69 XI. How to Make and Follow a Blazed Trail 77 XII. Indian Signals in Camp and Field 85 XIII. An Indian Boy’s Sports 91 XIV. A Winter Masque 99 XV. An Indian Girl’s Sports 106 XVI. Indian Names and Their Significance 112 XVII. Indian Girls’ Names and Symbolic Decorations 120 XVIII. The Language of Feathers and Ceremonial Dress 126 XIX. Indian Ceremonies for Boy Scouts 137 XX. The Maidens’ Feast: A Ceremony for Girls 146 XXI. The Gesture-language of the Indian 151
- 88. Welcome to our website – the perfect destination for book lovers and knowledge seekers. We believe that every book holds a new world, offering opportunities for learning, discovery, and personal growth. That’s why we are dedicated to bringing you a diverse collection of books, ranging from classic literature and specialized publications to self-development guides and children's books. More than just a book-buying platform, we strive to be a bridge connecting you with timeless cultural and intellectual values. With an elegant, user-friendly interface and a smart search system, you can quickly find the books that best suit your interests. Additionally, our special promotions and home delivery services help you save time and fully enjoy the joy of reading. Join us on a journey of knowledge exploration, passion nurturing, and personal growth every day! ebookbell.com