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    ROS Based Multiple Service Robots Control and Communication with High Level User Instruction with Ontology
    (IEEE, 2021-08-11) Rajapaksha, S. K
    Human Robot Interaction (HRI) is one of the biggest research field in the Robotics research world. Understanding the semantic meaning of the user instruction is very important to establish the communication between user and robot. When a user instructs to all heterogeneous service Robots with high level instructions who are working at different locations in smart house, all robots need to operate by understanding the semantic of the instruction and complete the task uniformly without considering underline software and hardware implementations. Ontology is used to extract the semantic meaning of the instructions. Each robot is assigned a specific task for specific time period for each day. User can issue commands to all robots at different time slots but the same command can be issued with different sentence by different users. We have used ontology to represents the semantic of the sentence with different commands. We have used three robots (TurtleBot, TiaGo and Husky) for our experiment in Gazebo simulator. Robot Operating System (ROS) is the middleware which is hiding more complex implementation of different functions for different robots and provide the interoperability for heterogeneous robot operations. The ROS nodes and topics can be different for different robots, therefore our implementation can solve this issue by autonomous robot registration algorithm which is working with Robot ontology.
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    Methodology for Coping with Uncertain Information Contained in Natural Language Instructions in a Robotic System
    (2020 2nd International Conference on Advancements in Computing (ICAC), SLIIT, 2020-12-10) Bandara, H.M.Y.L.W.; Wijesekera, D.S.; Bandara Herath, H.M.T.D.; Kodagoda, D.L.; Rajapaksha, S.
    Intelligent service robots are currently being developed to provide services and assistance in different sectors including domestic and household context. Typically, the service tasks of a domestic service robot involve direct interaction with humans. Humans typically express their ideas through voice communication. However, communication through natural language is imprecise because it tends to contain uncertain and unknown information. Therefore, understanding uncertain terms contained in natural language is a crucial capability that an intelligent service robot should possess. Hence, this project which is named as IntelBot is aimed at developing a methodology to cope with uncertain and unknown words contained in a natural language command given to a domestic service robot. In brief, the proposed system can interpret uncertain commands related to speed such as “go very fast” and the uncertain commands related to time such as “go later”. Additionally, if the robot is instructed to identify an object which is regarded to be unknown, as an example “cup" it can interpret and identify that particular object. And for the entire system, a user-friendly interface is developed for the easy control of the robot and the demonstration of the functionalities.
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    Smart Monitoring and Disease Detection for Robotic Harvesting of Tomatoes
    (2021 3rd International Conference on Advancements in Computing (ICAC), SLIIT, 2021-12-09) Pasindu, I.; Viraj, S.; Dilshan, R.; Kalhara, A.; Senaweera, O.; de Silva, R.; Jayawardena, C.
    Tomato is a one of the most popular produced and extensively consumed vegetables in the world. Typical agricultural systems make extensive use of human labor which is more costly and less effective. This research explores the minimization of human labor through automation. The diseases infected by tomato plants are hard to detect. Identifying these diseases in advance would save the cultivation of the disease from spreading, thereby saving the crop.It is also a difficult task to recognize the ripe harvest and experienced labor is required. The efficiency of the harvesting method will be increased by automating the identification process of ripened fruits. Manually picking tomatoes can cause some harm to the fruits during plucking due to inconsistencies in human labor. Such damage will be reduced through a better implemented robotic scheme. This paper presents the development of autonomous system for tomato harvesting and disease detection.
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    Indoor Autonomous Multi-Robot Communication System
    (2021 3rd International Conference on Advancements in Computing (ICAC), SLIIT, 2021-12-09) Gunawardhana, K.D.W.; Kularathana, D.G.D.P.; Welagedara, W.H.; Palihakkara, H.E.; Abeygunawardhana, P.K.W.; Wellalage, S.
    Robotics, and automation systems are a hot issue right now. Controlling multiple robots at the same time has become very popular. On paper, we propose that a wireless robot-to-robot communication infrastructure be implemented to accomplish some specific tasks. The major goal of this proposed project is to showcase communication infrastructure, a dual manipulator system and a mobile charging dock robot have been designed to achieve this. Special topics and services were employed for communication infrastructure. It is more precise than current communication systems. Existing manipulation situations are limited to a single manipulator task; however, in this case, a dual manipulator task has been designed to work corporately. The charging docking stations are the only places where mobile robots may recharge. We presented a Mobile Charging Dock for recharging mobile robots in this project. This proposed project is introducing a secure communication strategy which uses a ROS topic filtering mechanism.
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    ROS Based Multiple Service Robots Control and Communication with High Level User Instruction with Ontology
    (IEEE, 2021-08-11) Rajapaksha, U. U. S; Jayawardena, C; MacDonald, B. A
    Human Robot Interaction (HRI) is one of the biggest research field in the Robotics research world. Understanding the semantic meaning of the user instruction is very important to establish the communication between user and robot. When a user instructs to all heterogeneous service Robots with high level instructions who are working at different locations in smart house, all robots need to operate by understanding the semantic of the instruction and complete the task uniformly without considering underline software and hardware implementations. Ontology is used to extract the semantic meaning of the instructions. Each robot is assigned a specific task for specific time period for each day. User can issue commands to all robots at different time slots but the same command can be issued with different sentence by different users. We have used ontology to represents the semantic of the sentence with different commands. We have used three robots (TurtleBot, TiaGo and Husky) for our experiment in Gazebo simulator. Robot Operating System (ROS) is the middleware which is hiding more complex implementation of different functions for different robots and provide the interoperability for heterogeneous robot operations. The ROS nodes and topics can be different for different robots, therefore our implementation can solve this issue by autonomous robot registration algorithm which is working with Robot ontology.