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You searched for subject:(Robot Satisfaction). Showing records 1 – 3 of 3 total matches.

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University of Manitoba

1. Fiawoo, Seth. Independent activity and local opportunity for dynamic robot team management in dangerous domains.

Degree: Computer Science, 2019, University of Manitoba

Dangerous domains are a challenge for teams of heterogeneous robots, since robot losses may involve the loss of particular skills that might be rare in the domain. Previous research has resulted in a framework that allows teams to rebalance and recruit from the environment. However, there is currently no consideration of situations where agents may at times provide more useful work globally by not joining a team, or situations where it might be discovered that types of work might be associated with a given locality. My thesis extends this framework to give agents the ability to refuse to join teams and work for times on their own, by considering current satisfaction in the use of their skills, the likely rarity of their skills, and the distribution of places those skills are used in the environment. I examine this work in a simulated Urban Search and Rescue domain. My results show that in scenarios where a robot’s special skills are rare and tasks requiring those skills are only available at a few fixed locations in the environment, a robot is more useful if it suspends its team commitment to make itself available to all teams. Advisors/Committee Members: Anderson, John (Computer Science) (supervisor), Scuse, David (Computer Science) McNeill, Dean (Electrical and Computer Engineering) (examiningcommittee).

Subjects/Keywords: Robotics; Multi-Robot Systems; Urban Search and Rescue; Heterogeneous Robot Teams; Robot Satisfaction; Rare Skills; Recruitment

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6th Edition):

Fiawoo, S. (2019). Independent activity and local opportunity for dynamic robot team management in dangerous domains. (Masters Thesis). University of Manitoba. Retrieved from http://hdl.handle.net/1993/34202

Chicago Manual of Style (16th Edition):

Fiawoo, Seth. “Independent activity and local opportunity for dynamic robot team management in dangerous domains.” 2019. Masters Thesis, University of Manitoba. Accessed April 11, 2021. http://hdl.handle.net/1993/34202.

MLA Handbook (7th Edition):

Fiawoo, Seth. “Independent activity and local opportunity for dynamic robot team management in dangerous domains.” 2019. Web. 11 Apr 2021.

Vancouver:

Fiawoo S. Independent activity and local opportunity for dynamic robot team management in dangerous domains. [Internet] [Masters thesis]. University of Manitoba; 2019. [cited 2021 Apr 11]. Available from: http://hdl.handle.net/1993/34202.

Council of Science Editors:

Fiawoo S. Independent activity and local opportunity for dynamic robot team management in dangerous domains. [Masters Thesis]. University of Manitoba; 2019. Available from: http://hdl.handle.net/1993/34202


KTH

2. Zhao, Zhengyang. Optimizing Task Sequence and Cell Layout for Dual Arm Robot Assembly Using Constraint Programming.

Degree: Information and Communication Technology (ICT), 2015, KTH

Nowadays, assembly robots are increasingly used in the manufacturing industry to replace or collaborate with human labors. This is the goal of the dual arm assembly robot developed by ABB. With the rapid upgrading in consumer electronics products, the lifetime of an assembly line could be only a few months. However, even for experienced programmers, to manually construct a good enough assembly sequence is time consuming, and the quality of the generated assembly sequence is not guaranteed. Moreover, a good robot assembly sequence is important to the throughput of an assembly line. For dual arm robots, it is also important to obtain a balance between the two arms, as well as handling scheduling conflicts and avoiding collisions in a crowded environment. In this master thesis, a program is produced to automatically generate the optimal assembly sequence for a class of real-world assembly cases. The solution also takes the layout of the assembly cell into account, thus constructing the best combination of cell layout, workload balancing, task sequence and task scheduling. The program is implemented using Google OR-Tools – an open-source support library for combinatorial optimization. A customized search strategy is proposed and a comparison between this strategy and the built-in search strategy of Google OR-Tools is done. The result shows that the used approach is effective for the problem study case. It takes about 4 minutes to find the optimal solution and 32 minutes to prove its optimality. In addition, the result also shows that the customized search strategy works consistently with good performance for different problem cases. Moreover, the customized strategy is more efficient than built-in search strategy in many cases.

Numera används monteringsrobotar alltmer inom tillverkningsindustrin för att ersätta eller samarbeta med människor. Detta är måluppgiften för den tvåarmiga monteringsroboten, YuMi, som utvecklats av ABB. Med den korta produktlivslängden för hemelektronikprodukter kan livslängden för en monteringslinje vara ett fåtal månader. Även för erfarna robotprogrammerare är det svårt och tidsödande att manuellt konstruera en tillräckligt bra monteringsordning, och dessutom kan resultatets kvalitet inte garanteras. En bra monteringsordning är nödvändig för genomströmningen i en monteringslinje. För tvåarmiga robotar, är det också viktigt att få en balans mellan de två armarna, samt hantering av schemakrockar och undvika kollisioner i en trång miljö. I detta examensarbete har ett program skrivits, som automatiskt genererar optimala lösningar för en klass av verkliga monteringsfall. Lösningen tar hänsyn till utformningen av monteringscellen och arrangerar cellen på bästa sätt, balanserar arbetsbelastningen, ordnar och tidsbestämmer uppgifter. Programmet använder sig av Google OR-Tools – ett öppet kodbibliotek för kombinatorisk optimering. Dessutom föreslås en skräddarsydd sökstrategi, som jämförs med Google OR-Tools inbyggda sökstrategi. Resultatet visar att den använda metoden är…

Subjects/Keywords: Constraint Satisfaction Problem; Constraint Optimization Problem; Vehicle Routing Problem; Dual Arm Robot Assembly; Search heuristics; Constraint Satisfaction Problem; Optimeringsproblem med bivillkor; Ruttplanering; Tvåarmad robotmontering; Sökheuristik; Computer and Information Sciences; Data- och informationsvetenskap

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6th Edition):

Zhao, Z. (2015). Optimizing Task Sequence and Cell Layout for Dual Arm Robot Assembly Using Constraint Programming. (Thesis). KTH. Retrieved from http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-186593

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16th Edition):

Zhao, Zhengyang. “Optimizing Task Sequence and Cell Layout for Dual Arm Robot Assembly Using Constraint Programming.” 2015. Thesis, KTH. Accessed April 11, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-186593.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7th Edition):

Zhao, Zhengyang. “Optimizing Task Sequence and Cell Layout for Dual Arm Robot Assembly Using Constraint Programming.” 2015. Web. 11 Apr 2021.

Vancouver:

Zhao Z. Optimizing Task Sequence and Cell Layout for Dual Arm Robot Assembly Using Constraint Programming. [Internet] [Thesis]. KTH; 2015. [cited 2021 Apr 11]. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-186593.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Zhao Z. Optimizing Task Sequence and Cell Layout for Dual Arm Robot Assembly Using Constraint Programming. [Thesis]. KTH; 2015. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-186593

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

3. Tay, Noel Nuo Wi. Human-centric Semantic Reasoning and Optimization for Smart Home : スマートホームのための人間中心セマンティック推論と最適化.

Degree: 博士(工学), 2017, Tokyo Metropolitan University / 首都大学東京

首都大学東京, 2017-03-25, 博士(工学)

Subjects/Keywords: Smart home consists of various kinds of Internet of Tings (IoT) devices connected to the private house that cooperatively provide inhabitants (users) with proactive services related to comfort; security and safety. Examples of services include 1) manipulation of lighting and temperature based on time and context; 2) reminder service of user’s schedules by using the nearest output device; and 3) device organization to realize surveillance system. However; current smart homes are developed mostly from the viewpoint of technical capabilities; where users have to decide how the connected devices are going to serve them. They may have to setup the devices based on the available functionalities and specifications of the devices; and also have to alter their living styles according to the role of each device. Besides; most devices can only provide simple services independently. Œus; cooperation among the devices is important. On the other hand; human-centric approach; which centered on humans’ need to enhance their living experience; is an important technological paradigm where services are provided anywhere and anytime based on situation. Smart home abiding this approach should cooperatively maximize fulfillment of quality of life (QOL) for individual users subject to personal constraints. In this respect; the devices are bound to enable communication of information; and their operations are coordinated to deliver services cooperatively via a sequence of device actions called a plan. Due to personalization and automation; a number of problems have to be solved. First; a means of automatic binding between loosely coupled devices depending on services delivered have to be devised; as manual setup is impractical. Secondly; coordination of devices needs to generate complex plans; without requiring manual specification of sub-plans. Besides; issue of over-constrained goals during service provisions that arises from flawed or contradicting specification from multiple users should be considered. Apart from that; low training data in general environment setting for individual identification should be addressed. The aim of this research is to establish an integrated system for the human-centric smart home (HcSH) that provides personalized service through loosely coupled devices automatically. This research modularizes the overall system into three modules; which are human identification (HIM); automated planner (APM); and semantic reasoner (SRM). HIM helps select the appropriate QOL; SRM binds the devices by associating them with planning components; which are then used by APM to generate plans for device coordination to maximize QOL fulfillment. Chapter 1 gives the introduction and design motivation. Chapter 2 presents the related works and literature reviews; as well as justifications relevant to this thesis. Chapter 3 deals with HIM; which is realized via face identification. For face identification; problems faced are heavy computational load and insufficient learning data. The solution is to use transfer learning to handle data issue while being able to build generalized face model. For face model refinement; active learning is implemented. Experimental results show the method is competitive in terms of accuracy and computational cost compared to current state of the art. Chapter 4 presents APM; where planning via solving Constraint Satisfaction Problem (CSP) is laid out. CSP in planning is declarative without requiring prior specification of sub-plans; and can handle variables of larger domains. Due to the high possibility of having over-constrained QOL as in practical cases; CSP planner cannot fulfill all of them. An example is a contradicting TV channel request from 2 persons. Optimization through weighted CSP is therefore used to maximize QOL fulfillment. Experiments on weighted CSP shows that the method is capable of performing optimization while generating complex plans. Chapter 5 is on SRM; where knowledge representation is constructed by Web Ontology Language (OWL) description logic. It models knowledge on home and building layout and device functionalities. OWL is used because it is decidable and that it is endorsed by World Wide Web Consortium (W3C). We deal with case studies based on further inference on building state as an important example to discuss the applicability of the proposed method; and demonstrate the use of building ontology. This is followed by automated device binding and the method to generate basic planning components of rules in automated planning. Finally; an extension to robot complex planning is provided to demonstrate how it can be easily extended. Chapter 6 demonstrates the applicability of the HcSH; which integrates all three modules through its implementation in a prototype smart home with 5 rooms; which houses 2 persons. Various tests are performed to show the generated plans are near optimal without redundancy. Œe system is also shown to be scalable given increasing amount of devices. Case studies show that the system can perform well even under short time threshold. Finally; chapter 7 summarizes the thesis. Future vision of the work is also laid out; which is to implement it as a community-centric system.

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6th Edition):

Tay, N. N. W. (2017). Human-centric Semantic Reasoning and Optimization for Smart Home : スマートホームのための人間中心セマンティック推論と最適化. (Thesis). Tokyo Metropolitan University / 首都大学東京. Retrieved from http://hdl.handle.net/10748/00009960

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16th Edition):

Tay, Noel Nuo Wi. “Human-centric Semantic Reasoning and Optimization for Smart Home : スマートホームのための人間中心セマンティック推論と最適化.” 2017. Thesis, Tokyo Metropolitan University / 首都大学東京. Accessed April 11, 2021. http://hdl.handle.net/10748/00009960.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7th Edition):

Tay, Noel Nuo Wi. “Human-centric Semantic Reasoning and Optimization for Smart Home : スマートホームのための人間中心セマンティック推論と最適化.” 2017. Web. 11 Apr 2021.

Vancouver:

Tay NNW. Human-centric Semantic Reasoning and Optimization for Smart Home : スマートホームのための人間中心セマンティック推論と最適化. [Internet] [Thesis]. Tokyo Metropolitan University / 首都大学東京; 2017. [cited 2021 Apr 11]. Available from: http://hdl.handle.net/10748/00009960.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Tay NNW. Human-centric Semantic Reasoning and Optimization for Smart Home : スマートホームのための人間中心セマンティック推論と最適化. [Thesis]. Tokyo Metropolitan University / 首都大学東京; 2017. Available from: http://hdl.handle.net/10748/00009960

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

.