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Advanced Sensor Modules for ISO/IEC Compliant Emerging Robots
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Advanced Sensor Modules for ISO/IEC Compliant Emerging Robots

A special issue of Sensors (ISSN 1424-8220). This special issue belongs to the section "Sensors and Robotics".

Deadline for manuscript submissions: closed (20 May 2022) | Viewed by 16655

Special Issue Editors

Dr. Donghan Kim

E-Mail Website
Guest Editor
Department of Robotics, Hanyang University ERICA Campus, Ansan, Republic of Korea
Interests: robot navigation; human-robot interaction; service robot; multi-robot system
Special Issues, Collections and Topics in MDPI journals
Prof. Dr. Gurvinder Singh Virk

E-Mail Website
Guest Editor
1. School of Engineering, UPES University, Dehradun, India
2. Endoenergy Systems, Sahibzada Ajit Singh Nagar, Punjab, India
Interests: service robots; climbing and walking robots; wearable exoskeletons (medical and non-medical applications); ISO/IEC standardisation, human-robot interaction; robot safety; robot security; robot modularity; human motion intention detection; autonomous robotics; intelligent systems; real-time embedded systems; software engineering; entrepreneurship
Special Issues, Collections and Topics in MDPI journals
Prof. Dr. Soon-Geul Lee

E-Mail Website
Guest Editor
Mechanical Engineering Department, Kyung Hee University, Yongin 17104, Republic of Korea
Interests: robot dynamics and control
Special Issues, Collections and Topics in MDPI journals
Dr. Canjun Yang

E-Mail Website
Guest Editor
School of Mechanical Engineering, Zhejiang University, Zheda Road 38#, Hangzhou, China
Interests: human-robot interaction; underwater robots; wearable robots

Special Issue Information

Dear Colleagues,

Robotics has been a core pillar in the manufacturing industry for several decades and is a multi-billion Euro industry today. As statistics reveal, growth in the robotics industry continues to be exponential. Since the installation of the first industrial robot in the 1960s, the sector has become established and is now beginning to expand into new service market and other real-world applications; the new scenarios considered require much closer human–robot interactions and complex situations and scenarios to be considered. Today, robotics is no longer a technology for only manufacturing but has evolved to also address much wider range of applications and domains (domestic, collaborative, underwater, hazardous, etc.) where a wide variety of services have to be provided to different end users. This evolution needs new approaches and new regulations to ensure safety of the new service robots that can facilitate the new types of human-robot interactions. New sensors are essential for ensuring the new service robots can be realised, the various safety-related and security-related situations can be successfully achieved and the emerging safety and security requirements complied with.

ISO (especially TC 199 (Safety of machinery) and TC 299 (Robotics)), and IEC (especially, TC44 (Safety of machinery – Electrotechnical aspects), TC 61 Safety of household and similar electrical appliances, TC62 (Electrical equipment in medical practice)) have the goal to develop high quality standards for the safety of robots as the applications grow from the industrial sector to service scenarios in medical and non-medical applications. In addition, international standardisation has sought to foster the growth of robotic markets by introducing standards to harmonise robot terminology, robot performance assessment and promote inter-operability by developing robot modularity concepts.

The standards provide global organizations and individuals with valuable information on how to design and implement approaches to realise robots in an internationally acceptable way. Value is added to the robot investments by providing clear best practices on how to ensure compliant safe installations, as well as providing standardized interfaces and performance criteria. Most of the new approaches rely on ensuring that good sensory information can be obtained to ensure the information provided is reliable and secure and the decision making will meet the new requirements for safety, performance and inter-operability.

In this Special Issue, papers focus on the emerging regulations and the development and integration of new sensors, sensor systems and sensor modules to be used in new scenarios for the robots to be able to achieve the design goals. Practical experimental results are particularly encouraged, as are papers setting advances in the wider context of international standards.

Prof. Dr. Donghan Kim
Prof. Dr. Gurvinder Singh Virk
Prof. Dr. Soon-Geul Lee
Dr. Canjun Yang
Guest Editors

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Sensors is an international peer-reviewed open access semimonthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2600 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • Robot Performance Measuring Sensor and Sensor System
  • Sensory issues related to Robotic Safety 
  • International Standards - Robot Terminology and Characteristics - Service Robot Safety - Medical Robot Safety and Essential Performance - Collaborative Industrial Robot Safety - Performance of Service Robot - Modularity for Robotics 
  • Sensors, Sensor Systems and Sensor Modules 
  • Service robot applications 
  • ISO and IEC requirements 
  • Safety-related situations 
  • Security-related situations 
  • Performance assessment 
  • Inter-operability

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Published Papers (4 papers)

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Research

20 pages, 3186 KiB  
Article
A Low-Power Distributed Visual Sensor Network for Real-Time Barcode Localization and Identification
by Leander Hendrikx, Rui Zhong, Bruno Cornelis and Adrian Munteanu
Sensors 2022, 22(4), 1433; https://doi.org/10.3390/s22041433 - 13 Feb 2022
Viewed by 2210
Abstract
A novel low-power distributed Visual Sensor Network (VSN) system is proposed, which performs real-time collaborative barcode localization, tracking, and robust identification. Due to a dynamic triggering mechanism and efficient transmission protocols, communication is organized amongst the nodes themselves rather than being orchestrated by [...] Read more.
A novel low-power distributed Visual Sensor Network (VSN) system is proposed, which performs real-time collaborative barcode localization, tracking, and robust identification. Due to a dynamic triggering mechanism and efficient transmission protocols, communication is organized amongst the nodes themselves rather than being orchestrated by a single sink node, achieving lower congestion and significantly reducing the vulnerability of the overall system. Specifically, early detection of the moving barcode is achieved through a dynamic triggering mechanism. A hierarchical transmission protocol is designed, within which different communication protocols are used, depending on the type of data exchanged among nodes. Real-Time Transport Protocol (RTP) is employed for video communication, while the Transmission Control Protocol (TCP) and Long Range (LoRa) protocol are used for passing messages amongst the nodes in the VSN. Through an extensive experimental evaluation, we demonstrate that the proposed distributed VSN brings substantial advantages in terms of accuracy, power savings, and time complexity compared to an equivalent system performing centralized processing. Full article
(This article belongs to the Special Issue Advanced Sensor Modules for ISO/IEC Compliant Emerging Robots)
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17 pages, 4628 KiB  
Article
Development of a Robot Arm Link System Embedded with a Three-Axis Sensor with a Simple Structure Capable of Excellent External Collision Detection
by Alchan Yun, Woosub Lee, Soonkyum Kim, Jong-Ho Kim and Hyungseok Yoon
Sensors 2022, 22(3), 1222; https://doi.org/10.3390/s22031222 - 5 Feb 2022
Cited by 9 | Viewed by 6234
Abstract
In order to effectively detect the contact state between the operator and the collaborative robot, a sensor with excellent external force detection performance is needed. The existing force/torque sensor and joint torque sensor, which are the two main external force sensors methods in [...] Read more.
In order to effectively detect the contact state between the operator and the collaborative robot, a sensor with excellent external force detection performance is needed. The existing force/torque sensor and joint torque sensor, which are the two main external force sensors methods in cooperative robots, have limitations; only the force exerted at the end effector is detected, and it induces a low stiffness in the overall structure which affects the control performance. In the case of sensorless collision detection methods that utilize the current sensor that is used for motor control, the estimation of the performance of external force is sensitive to the sensor noise and dynamic model accuracy only to the extent that it can be used for collision detection. In this paper, we propose a strain gauge-based three-axis sensor of a cylindrical shape, which is often used as a link in a robot. By integrating sensors with robot links, the external force can be precisely measured without compromising the stiffness and is decoupled with joint disturbances, such as motor friction. Sensor calibration is conducted using static load evaluation equipment, and the reliability of collision detection is confirmed by comparing the theoretical/structural analysis results. Through the weight test and sensor characteristic evaluation, the performance and output stability are validated. Full article
(This article belongs to the Special Issue Advanced Sensor Modules for ISO/IEC Compliant Emerging Robots)
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13 pages, 10776 KiB  
Article
Position Control of a Pneumatic Drive Using a Fuzzy Controller with an Analytic Activation Function
by Željko Šitum and Danko Ćorić
Sensors 2022, 22(3), 1004; https://doi.org/10.3390/s22031004 - 27 Jan 2022
Cited by 10 | Viewed by 2830
Abstract
The fuzzy logic controller, which uses an analytic activation function for the defuzzification procedure, was applied to the position control of a servo pneumatic drive controlled by a proportional valve. The Gaussian shape of input fuzzy sets, with the possibility of their modification, [...] Read more.
The fuzzy logic controller, which uses an analytic activation function for the defuzzification procedure, was applied to the position control of a servo pneumatic drive controlled by a proportional valve. The Gaussian shape of input fuzzy sets, with the possibility of their modification, was used to fuzzify the input signal. The control signal was determined by introducing an analytic function instead of defining the fuzzy rule base. In this way, a conventional 2-D fuzzy rule table base is modified into 1-D fuzzy defuzzification based on an analytic function to calculate the controller output. In this control algorithm, the problem of conventional fuzzy logic control, in terms of the exponential growth in rules as the number of input variables increases, is eliminated. The synthesis controller procedure is adjusted to the flow rate characteristic of the proportional valve. The developed control algorithms are verified by computer simulation and by testing on a real pneumatic rodless cylindrical drive. Full article
(This article belongs to the Special Issue Advanced Sensor Modules for ISO/IEC Compliant Emerging Robots)
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16 pages, 4984 KiB  
Article
Multi-Robot 2.5D Localization and Mapping Using a Monte Carlo Algorithm on a Multi-Level Surface
by Vinicio Alejandro Rosas-Cervantes, Quoc-Dong Hoang, Soon-Geul Lee and Jae-Hwan Choi
Sensors 2021, 21(13), 4588; https://doi.org/10.3390/s21134588 - 4 Jul 2021
Cited by 7 | Viewed by 4191
Abstract
Most indoor environments have wheelchair adaptations or ramps, providing an opportunity for mobile robots to navigate sloped areas avoiding steps. These indoor environments with integrated sloped areas are divided into different levels. The multi-level areas represent a challenge for mobile robot navigation due [...] Read more.
Most indoor environments have wheelchair adaptations or ramps, providing an opportunity for mobile robots to navigate sloped areas avoiding steps. These indoor environments with integrated sloped areas are divided into different levels. The multi-level areas represent a challenge for mobile robot navigation due to the sudden change in reference sensors as visual, inertial, or laser scan instruments. Using multiple cooperative robots is advantageous for mapping and localization since they permit rapid exploration of the environment and provide higher redundancy than using a single robot. This study proposes a multi-robot localization using two robots (leader and follower) to perform a fast and robust environment exploration on multi-level areas. The leader robot is equipped with a 3D LIDAR for 2.5D mapping and a Kinect camera for RGB image acquisition. Using 3D LIDAR, the leader robot obtains information for particle localization, with particles sampled from the walls and obstacle tangents. We employ a convolutional neural network on the RGB images for multi-level area detection. Once the leader robot detects a multi-level area, it generates a path and sends a notification to the follower robot to go into the detected location. The follower robot utilizes a 2D LIDAR to explore the boundaries of the even areas and generate a 2D map using an extension of the iterative closest point. The 2D map is utilized as a re-localization resource in case of failure of the leader robot. Full article
(This article belongs to the Special Issue Advanced Sensor Modules for ISO/IEC Compliant Emerging Robots)
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