Tarek M. Sobh

Robotics Middleware: A Comprehensive Literature Survey and Attribute-Based Bibliography

Autonomous robots are complex systems that require the interaction between numerous heterogeneous components (software and hardware). Because of the increase in complexity of robotic applications and the diverse range of hardware, robotic middleware is designed to manage the complexity and heterogeneity of the hardware and applications, promote the integration of new technologies, simplify software design, hide the complexity of low-level communication and the sensor heterogeneity of the sensors, improve software quality, reuse robotic software infrastructure across multiple research efforts, and to reduce production costs. This paper presents a literature survey and attribute-based bibliography of the current state of the art in robotic middleware design. The main aim of the survey is to assist robotic middleware researchers in evaluating the strengths and weaknesses of current approaches and their appropriateness for their applications. Furthermore, we provide a comprehensive set of appropriate bibliographic references that are classified based on middleware attributes.

Manipulator Performance Measures - A Comprehensive Literature Survey

Performance measures are quintessential to the design, synthesis, study and application of robotic manipulators. Numerous performance measures have been defined to study the performance and behavior of manipulators since the early days of robotics; some more widely accepted than others, but their real significance and limitations have not always been well understood. The aimof this survey is to review the definition, classification, scope, and limitations of some of the widely used performance measures. This work provides an extensive bibliography that can be of help to researchers interested in studying and evaluating the performance and behavior of robotic manipulators. Finally, a few recommendations are proposed based on the review so that the most commonly noticed limitations can be avoided when new performance measures are proposed.

Advances in Computer and Information Sciences and Engineering

Advances in Computer and Information Sciences and Engineering includes a set of rigorously reviewed world-class manuscripts addressing and detailing state-of-the-art research projects in the areas of Computer Science, Software Engineering, Computer Engineering, and Systems Engineering and Sciences. Advances in Computer and Information Sciences and Engineering includes selected papers from the conference proceedings of the International Conference on Systems, Computing Sciences and Software Engineering (SCSS 2007) which was part of the International Joint Conferences on Computer, Information and Systems Sciences and Engineering (CISSE 2007).

Innovative Algorithms and Techniques in Automation, Industrial Electronics and Telecommunications

Innovative Algorithms and Techniques in Automation, Industrial Electronics and Telecommunications includes a set of rigorously reviewed world-class manuscripts addressing and detailing state-of-the-art research projects in the areas of Industrial Electronics, Technology & Automation, Telecommunications and Networking. Innovative Algorithms and Techniques in Automation, Industrial Electronics and Telecommunications includes selected papers form the conference proceedings of the International Conference on Industrial Electronics, Technology & Automation (IETA 2006) and International Conference on Telecommunications and Networking (TeNe 06) which were part of the International Joint Conferences on Computer, Information and Systems Sciences and Engineering (CISSE 2006). All aspects of the conference were managed on-line; not only the reviewing, submissions and registration processes; but also the actual conference. Conference participants - authors, presenters and attendees - only needed an internet connection and sound available on their computers in order to be able to contribute and participate in this international ground-breaking conference. The on-line structure of this high-quality event allowed academic professionals and industry participants to contribute work and attend world-class technical presentations based on rigorously refereed submissions, live, without the need for investing significant travel funds or time out of the office. Suffice to say that CISSE received submissions from more than 70 countries, for whose researchers, this opportunity presented a much more affordable, dynamic and well-planned event to attend and submit their work to, versus a classic, on-the-ground conference. The CISSE conference audio room provided superb audio even over low speed internet connections, the ability to display PowerPoint presentations, and cross-platform compatibility (the conferencing software runs on Windows, Mac, and any other operating system that supports Java). In addition, the conferencing system allowed for an unlimited number of participants, which in turn granted CISSE the opportunity to allow all participants to attend all presentations, as opposed to limiting the number of available seats for each session.

A Robotic-Driven Disassembly Sequence Generator for End-Of-Life Electronic Products

In this study, we propose an intelligent automated disassembly cell for online (real time) selective disassembly. The cell is composed of an industrial robotic manipulator, a camera, range sensing and component segmentation visual algorithms. The cell prototype allows for robotic sensory-driven disassembly under uncertainty. An online genetic algorithm model for selective disassembly is also proposed for optimal and near/optimal disassembly sequencing.

Innovations and Advanced Techniques in Computer and Information Sciences and Engineering

Innovations and Advanced Techniques in Computer and Information Sciences and Engineering includes a set of rigorously reviewed world-class manuscripts addressing and detailing state-of-the-art research projects in the areas of Computer Science, Computer Engineering and Information Sciences. Innovations and Advanced Techniques in Computer and Information Sciences and Engineering includes selected papers form the conference proceedings of the International Conference on Systems, Computing Sciences and Software Engineering (SCSS 2006) which was part of the International Joint Conferences on Computer, Information and Systems Sciences and Engineering (CISSE 2006). All aspects of the conference were managed on-line; not only the reviewing, submissions and registration processes; but also the actual conference. Conference participants - authors, presenters and attendees - only needed an internet connection and sound available on their computers in order to be able to contribute and participate in this international ground-breaking conference. The on-line structure of this high-quality event allowed academic professionals and industry participants to contribute work and attend world-class technical presentations based on rigorously refereed submissions, live, without the need for investing significant travel funds or time out of the office. Suffice to say that CISSE received submissions from more than 70 countries, for whose researchers, this opportunity presented a much more affordable, dynamic and well-planned event to attend and submit their work to, versus a classic, on-the-ground conference. The CISSE conference audio room provided superb audio even over low speed internet connections, the ability to display PowerPoint presentations, and cross-platform compatibility (the conferencing software runs on Windows, Mac, and any other operating system that supports Java). In addition, the conferencing system allowed for an unlimited number of participants, which in turn granted CISSE the opportunity to allow all participants to attend all presentations, as opposed to limiting the number of available seats for each session.

Optimizing the tasks at hand [robotic manipulators]

This article addresses the kinematic synthesis of robotic manipulators and presents a simple prototyping software tool. The tool, which runs under the mathematica environment, automatically computes possible optimal parameters of robot arms by applying numerical optimization techniques to the manipulability function, combined with distances to the targets and restrictions on the dimensions of the robot. This work also discusses possible extensions of the proposed method of kinematic synthesis.

Experimental Robot Musicians

This work discusses the development of robot musicians that perform on real instruments through the usage of mechanical devices such as servomotors and solenoids. Construction of the hardware and programming of the software are discussed, as well as the research innovations linking music, robotics and computer science.

Autonomous observation under uncertainty

The authors address the problem of observing a moving agent. They advocate a modeling approach for the visual system and its observer, where a discrete event dynamic system framework is developed and events are defined as ranges on parameter subsets. A system for observing a manipulation process in which a robot hand manipulates an object is proposed. The hand/object interaction is recognized over time, and a stabilizing observer is constructed. Low-level modules are developed for recognizing the events that cause state transitions within the dynamic manipulation system. The work examines closely the possibilities for errors, mistakes, and uncertainties in the manipulation system, observer construction process, and even identification mechanisms. The system utilized different tracking techniques to observe and recognize the task in an active and goal-directed manner.<<ETX>>

Innovations and Advances in Computer Sciences and Engineering

Innovations and Advances in Computer Sciences and Engineering includes a set of rigorously reviewed world-class manuscripts addressing and detailing state-of-the-art research projects in the areas of Computer Science, Software Engineering, Computer Engineering, and Systems Engineering and Sciences. Innovations and Advances in Computer Sciences and Engineering includes selected papers form the conference proceedings of the International Conference on Systems, Computing Sciences and Software Engineering (SCSS 2008) which was part of the International Joint Conferences on Computer, Information and Systems Sciences and Engineering (CISSE 2008).