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Novelty detection, which is highlighting deviation from the normal condition, is a very useful capability for a surveillance mobile robot. In order to perform novelty detection, a robot must first learn what are normal sensor measurements in the environment. Then, during surveillance the robot can recognized any unusual measurement by comparing to what it has learned before. However, a sensor measurement which is unusual at one location could be normal at another. This paper presents a method by which a normal sensor measurement is associated with the area or region where it is observed. The method reduces the storage required for data from different types of sensors. It also reduces the number of false alarms when performing a surveillance task. This paper provides details of the novelty detection scheme and gives experimental results demonstrating its application.

A new design method to obtain walking parameters for a three-dimensional (3D) biped walking along a slope is proposed in this paper. Most research is focused on the walking directions when climbing up or down a slope only. This paper investigates a strategy to realize biped walking along a slope. In conventional methods, the centre of mass (CoM) is moved up or down during walking in this situation. This is because the height of the pendulum is kept at the same length on the left and right legs. Thus, extra effort is required in order to bring the CoM up to higher ground. In the proposed method, a different height of pendulum is applied on the left and right legs, which is called a dual length linear inverted pendulum method (DLLIPM). When a different height of pendulum is applied, it is quite difficult to obtain symmetrical and smooth pendulum motions. Furthermore, synchronization between sagittal and lateral planes is not confirmed. Therefore, DLLIPM with a Newton Raphson algorithm is proposed to solve these problems. The walking pattern for both planes is designed systematically and synchronization between them is ensured. As a result, the maximum force fluctuation is reduced with the proposed method.

<span>This paper analyzes the effects of the bilateral control parameters variation on the stability, the transparency and the accuracy, and on the operational force that is applied to DC motor and the master system. The bilateral controller is designed for rehabilitation process. PD controller is used to control the position tracking and a force gain controller is used to control the motor torque. DOB eliminate the internal disturbance and RTOB to estimate the joint torque without using sensors. The system consists of two manipulators, each manipulator has 1dof, master and slave teleoperation system, 4 control-architecture channel, DOB and reaction force observer. The master system is attached to human oberator. The slave system is attached to external load. The aim in this paper is to design the controller so that it requires less force to move the master manipulator and at the same time achieve high performance in position tracking.</span>

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Robotic manipulation refers to how robots intelligently interact with the objects in their surroundings, such as grasping and carrying an object from one place to another. Dexterous manipulating skills enable robots to assist humans in accomplishing various tasks that might be too dangerous or difficult to do. This requires robots to intelligently plan and control the actions of their hands and arms. Object manipulation is a vital skill in several robotic tasks. However, it poses a challenge to robotics. The motivation behind this review paper is to review and analyze the most relevant studies on learning-based object manipulation in clutter. Unlike other reviews, this review paper provides valuable insights into the manipulation of objects using deep reinforcement learning (deep RL) in dense clutter. Various studies are examined by surveying existing literature and investigating various aspects, namely, the intended applications, the techniques applied, the challenges faced by researchers, and the recommendations adopted to overcome these obstacles. In this review, we divide deep RL-based robotic manipulation tasks in cluttered environments into three categories, namely, object removal, assembly and rearrangement, and object retrieval and singulation tasks. We then discuss the challenges and potential prospects of object manipulation in clutter. The findings of this review are intended to assist in establishing important guidelines and directions for academics and researchers in the future.

The paper presents the validity of using Central Pattern Generator (CPG) model to develop one leg hopping robot which hops higher and rhythmically. Infrared Ranging (IR) sensor is mounted on a platform to measure the distance of hopping performance. The distances of IR sensor from the platform to the floor in both static and vertical jumping motion are measured. MATLAB & Simulink model including CPG model is designed to evaluate the performance of IR sensor by converting the measurement data from IR sensor from voltage to distance by using function blocks. The result shows that the one leg hopping robot with CPG model is able to achieve maximum hopping height at 4cm.

This paper presents the development of fish length measurement system to obtain the fish length effectively without any contact to the fish. The device which are small and portable, consists of a USB camera that will be connected to a computer for image capturing. A range sensor is combined with the USB camera to detect and fix the image capturing distance. A microcontroller will be the control circuit for the range sensor and LED indication light will be used to allocate the device at the right distance from the fish that it measures. Image processing software, Halcon will be used to analyze and calibrate the fish image for length measurement. Mathematical equations or algorithms are introduced in the image processing software to obtain the actual fish length from the image. The actual fish length from the calculation will be illustrated in the image processing software itself. The experimental results confirms the effectiveness of the proposed system.