Магид Евгений Аркадьевич

Comparison of Monocular ROS-Based Visual SLAM Methods

2022 · CHAPTER · en

Human Robot Interaction in Collaborative Manufacturing Scenarios: Prospective Cases

2022 · CHAPTER · en

Nowadays, robots are used extensively in manufacturing sectors because they improve quality and effciency of production processes. Robots can perform various tasks autonomously with optimal working speed and accuracy. Even in a fully autonomous mode, a human operator is still needed to supervise operations and resolve issues, which led to an emergence of the collaborative robotics feld. This paper reviews various potential industrial robots employed for human-robot collaboration and explores solution strategies related to safety during collaborative tasks.

ROS Network Security for a Swing Doors Automation in a Robotized Hospital

2022 · CHAPTER · en

Internet of Medical Things (IoMT) is a rapidly growing branch of IoT (Internet of Things), which requires special treatment to cyber security due to confdentiality of healthcare data and patient health threat. Healthcare data and automated medical devices might become vulnerable targets of malicious cyber-attacks. While a large number of robotic applications, including medical and healthcare, employ robot operating system (ROS) as their backbone, not enough attention is paid for ROS security. The paper discusses a security of ROSbased swing doors automation in the context of a robotic hospital framework, which should be protected from cyber-attacks.

A Review on Collaborative Robots in Industrial and Service Sectors

2022 · CHAPTER · en

Today, a collaborative robotics is a rapidly developing area due to its applications in a broad variety of sectors. Collaborative robots (cobots) are robots, which are designed specifcally to work along with humans in a common workspace. This article discusses modern cobots employed in industrial and service sectors. Research activities associated with cobots used in virtual environments and real world experiments are described. The ISO/TS 15066:2016 technical specifcations followed by cobots for ensuring safety to human operators are emphasized.

Automating pandemic mitigation

2021 · ARTICLE · en

The COVID-19 pandemic keeps spreading across the world and, while national governments concentrate on lockdowns and restrictions to mitigate the disaster, advanced technologies could be employed more widely to fight the pandemic. This paper surveys existing robotic solutions that could be employed for pandemic care and presents a systematized description of desired robot properties based on a particular application area and target users. We propose a new generation infection hospital framework that integrates existing robotic tools toward pandemic mitigation and discuss ethical aspects of their use within the framework.

Automatic Generation of Random Step Environment Models for Gazebo Simulator

2021 · ARTICLE · en

Negotiating rough terrain obstacles is a key task of a mobile terrestrial robot. One of the most popular standards in rough terrain modeling is the NIST Random Step Environment (RSE) or Random Stepfield, which allows constructing a broad variety of debris-like environments. This paper proposes a virtual RSE models’ automatic generator LIRS-RSEGen for the Gazebo simulator. We analyzed typical for RSEs obstacles and structures, determined parameters that are required in order to generate a RSE and implemented a generator, which constructs RSE Gazebo worlds that could be further edited or directly used within the Gazebo. Constructed by our generator worlds were validated in the Gazebo using virtual models of TurtleBot3 wheeled robot and Servosila Engineer crawler robot.

On Motion Planning and Control for Partially Differentially Flat Systems

2021 · ARTICLE · en

This paper deals with motion planning and control problems for a class of partially differentially flat systems. They possess a feature that the derivative of the fiber variable can be represented purely by the base variable and its derivatives. Based on this feature, a Beta function-based motion planning algorithm is proposed with less computational cost compared with the optimal control formulation while providing similar system performance. Then, an adaptive controller is constructed through a function approximation technique-based approach. Finally, the feasibility of the proposed motion planning and control algorithms is verified by simulations.

Architecture of a student training computer program for preparing professional outpatient consulting skills within an electronic medical records system during COVID-19 alertness situation

2021 · CHAPTER · en

Neurointerface implemented with Oscillator Motifs

2021 · CHAPTER · en

Prioritizing Tasks Within a Robotic Transportation System for a Smart Hospital Environment

2021 · CHAPTER · en

This paper describes a design and an implementation of a small-scale robotic transportation system, which operates in a smart hospital environment. Within a proposed framework unmanned ground vehicles (UGV) perform transportation tasks between multiple stations that are located in different rooms. The UGVs navigate in the environment with moving objects in accordance with basic traffic rules, which consider priorities of particular tasks of each UGV. UGVs’ behavior is defined by a state machine and transitions between these states, which allows to make the robots’ behavior more predictable and controllable. Virtual experiments were carried out in a simulation of an entire floor of a small-size hospital building using the Gazebo simulator. The experiments confirmed that using various task priorities shorten a path length of robots with high priorities and thus reduce their task execution time.