CSC592: Adv Robot Programming Assignment #1 [Kastuv M.

Tuladhar 7411725]

1. How can we make difference between swarm robots and modular robots? Discuss with
applications.

Swarm robots are multi-robot system which is motivated from the dense group of insects that works as
a team with a social behavior [1]. Large number of simple robots can perform the complex tasks than a
single robot in much efficient manner. They have a special characteristics of decentralized control, lack
of synchronization with identical members. [2]

Swarm robots have a huge application mostly in task that demands miniaturization as:
Disaster rescue missions: where swarm of different size robots search to detect presence of life.
Interactive arts for artists.
Mining and Agricultural foraging.
Military purpose to form autonomous army and many more.

Figure 1: Swarm robots autonomously assembled to predetermined shape

Modular robots are self-reconfiguring autonomous kinematics machines with variable morphology.
They are capable of deliberately change their own shape by rearranging the connectivity of their parts
in order to adapt to new circumstances, perform new tasks, or recover from damage [3].

Applications:
Access dangerous / tight spaces and support rescue mission.
Inspection of narrow and dirty environment.
Space Exploration because of self-sustainable and self-repair ability.
CSC592: Adv Robot Programming Assignment #1 [Kastuv M. Tuladhar 7411725]

Figure 2SuperBot modular robot for space exploration

Modular robot in figure 2 depicts various modules connected to each other where each module has
microcontrollers, sensors, communications, power supply and degree of freedom which is developed
by Dr. Wei-Min for NASA project as a prototype for space exploration [4].

The versatility of the modular robots is its functions come up with the expense of designing complexity
by creating large robots out of smaller one. While the requirement of effective and efficient interaction
to each other adds further challenge.
In a nutshell, Swarm robots and modular robots are similar and distinguished by the ability to interact
with each other and the environment with self-reconfiguring approach to adopt accordingly. Swarm
robots depends upon many small units to perform specific complex task whereas the modular robots
depend on ability to break down into smaller modules taking different shapes and sizes to deliver the
given task.

2. Discuss the usefulness of micro-robots? You may want to take advantage of health care
domain, for an application.

Micro-robots aka Microbots is the term used from the micrometer size particles. Microbot is the special
field of miniature robotics with the characteristic dimension less than 1mm.

After the evolution of microcontroller its earliest research was conducted in intelligence agencies and
applied to rescue the prisoner of war by electronic intercept mission [5]. Magnetic microbots were
CSC592: Adv Robot Programming Assignment #1 [Kastuv M. Tuladhar 7411725]
applied in the outer space of its flexibility and dexterity and similarly micro-bees (microbots) invented
to solve the pollination issues caused by the extinction of the bees.

Figure 3Microbots to inspect gastrointestinal, blood vessels and human body

Microbots in human body is capable of delivering the targeted dose of drugs and radioactive seeds in
the targeted microscopic areas. It can clear the blood clot, perform tissue biopsy and even build base
where new cells could grow [6].

3. Explain how robot (and/or robotic) has been changed over time? Discuss more about robot,
vision and control. Dont forget to mention necessary elements required for robotic vision. Also,
take an example of a few robots used in DARPA.

Timeline of robotics development is intertwined with the history of the science and technology. During
the Greek period they made Sun Dial by mixing the complex gears to calculate the position of the sun.
Leonardo Da Vinci designed first humanoid robot that could sit down and up moving its arm and jaws.

In 1957, the Soviet Union launched Sputnik I which was first autonomous artificial satellite.

The first use of modern robots is industrial robots where they aid in manufacturing tasks and maximize
the production. Since 1960, these robots were controlled digitally and used the artificial intelligence
[7][8]. Intel (Integrated Electronics) produced the first batch of second generation 8080 general purpose
chips in 1974.

Robotic Vision and Control:

CSC592: Adv Robot Programming Assignment #1 [Kastuv M. Tuladhar 7411725]
Robotic Vision involves use of computer and algorithm with camera to process visual data by the
robot. Without vision the robot is basically blind. There are 2D and 3D and 3D stereo camera that can
add more functionality in robot to process heights and depths along with moving.

Image processing and computer vision were misinterpreted earlier. Image processing is related to
improve the image quality and converting into another format like histograms whereas computer vision
is more about extracting information from images.

Figure 4:Robot Vision Family Tree

Computer Vision and Robot vision can be used interchangeably however robot vision incorporate the
aspects of robotics techniques and algorithms like kinematics, reference frame calibration and the
robot's ability to physically affect the environment [9].
Technique Input Output
Signal Processing Electrical signals Electrical signals
Image Processing Images Images
Computer Vision Images Information/features
Pattern Recognition/Machine
Information/features Information
Learning
Machine Vision Images Information
Robot Vision Images Physical Action

Elements of Robot Vision:

CSC592: Adv Robot Programming Assignment #1 [Kastuv M. Tuladhar 7411725]
Smart Cameras- Multi Sensor Systems: Cameras consist of multiple vision sensor that uses image
processing to identify the objects in the surrounding and help robots interact with the environment.

Computer Vision Algorithms: For the interactive communication between robot and the environment
necessary algorithms are required. It processes the input matrix from camera and other sensors and
provides the output in the form that the intelligence can easily interpret.

Localization: Robot need to know its initial position for that a 3D information is constructed of the
robots surrounding using different cameras mounted on the ceiling and the robots itself.

Navigation: The robots maintain need to maintain safe distance between itself and human if they are
related to household purposes. Robotic mapping will help to construct map or floor plan by the
autonomous robot and to localize itself in it else Wireless communication (WiFi, Cellular, GPS,
Satellite, Bluetooth etc) will navigate the robot which can be controlled remotely.

Defense Advanced Research Projects Agency (DARPA) robots for military applications:

XM1219 Armed Robotic Vehicle was an unmanned ground combat vehicle based on
the MULE Platform. It features integrated anti-tank and anti-personnel and reconnaissance,
surveillance, and target acquisition (RSTA) systems remotely operated by network linked soldiers. It
has a four wheeled robot that consists of multiple cameras, radar and firearm. This robot is used to
perform versatile programmed patrols around military base or government installation. [10] [11]

Figure 5:The Armed Robotic Vehicle

CSC592: Adv Robot Programming Assignment #1 [Kastuv M. Tuladhar 7411725]

5. Can the use of GPS solve problem of navigation in robotic vision. Discuss its
limitation If any.

Global positioning system (GPS) uses satellites in order to find locations. This features are mostly used
because it is the most reliable communication. They are mostly used in automation of automobiles for
smart navigation and tracking. But in terms of robotic vision it may not be the answer for all of its
types. Satellite signals are weak in tunnels and underground thus it may not be suitable for the robots
that are dedicated to mining and underground services. The delay incorporated by the satellite signals
are pretty high and it may not be suitable for the robots which need to decide quickly on the basis of its
navigation purposes. Thus GPS can be used in the navigation in robotic vision because of its reliability
but there are many other factors that need to incorporate before concluding that its use solve the
problem in navigation in robotic vision.

References

[1] https://en.wikipedia.org/wiki/Swarm_robotics
[2] https://www.hindawi.com/journals/isrn/2013/608164/
[3] https://en.wikipedia.org/wiki/Self-reconfiguring_modular_robot
[4] http://www.technovelgy.com/ct/Science-Fiction-News.asp?NewsNum=953
[5] https://en.wikipedia.org/wiki/Microbotics
[6] http://spectrum.ieee.org/robotics/medical-robots/medical-microbots-take-a-fantastic-voyage-
into-reality
[7] www.robotshop.com/media/files/PDF/timeline.pdf
[8] https://en.wikipedia.org/wiki/History_of_robots
[9] http://blog.robotiq.com/robot-vision-vs-computer-vision-whats-the-difference
[10] https://en.wikipedia.org/wiki/Military_robot#In_current_use
[11] https://en.wikipedia.org/wiki/XM1219_Armed_Robotic_Vehicle