Öz
In recent years, the adoption of robotic systems has witnessed remarkable growth across diverse industries, revolutionizing various aspects of automation and human-robot interaction. Healthcare is one of the major professions where replacement of human labor with well-functioning service robots would be heavily desired. Mobile service robots in a multi robot system can work collaborately and cooperatively to assist medical personnel by performing work routines as simple or complex tasks. As these robots carry out complex tasks, there arises a crucial need for secure, efficient, and immutable storage mechanisms to manage the vast amount of task-related information generated during their operation. In this study, we propose a simulation where a system of multiple TIAGo++ robots can request and complete simple tasks while using Hyperledger Fabric (HLF) blockchain platform to address the requirements of storing and accessing task information. Communication with the blockchain network and controlling it in Webots environment for a single TIAGo++ robot are integrated into same Java application in this simulation. Experimental results show that HLF and Webots can successfully run concurrently for task allocation and to store data acquired from mobile robots in a multi robot simulation.
Anahtar Kelimeler
Hyperledger Fabric blockchain health robots decentralized management Webots
Destekleyen Kurum
İnönü University Scientific Research Projects (BAP) Unit
Proje Numarası
ID 3136 FBG-2023-3136
Teşekkür
While preparing this study, support was provided from Malatya İnönü University Scientific Research Projects (BAP) fund with the project code ID 3136 FBG-2023-3136.
Kaynakça
- Androulaki, E. et al (2018) Hyperledger Fabric: A Distributed Operating System for Permissioned Blockchains. In Proceedings of the Thirteenth EuroSys Conference (EuroSys '18), Porto, Portugal. https://doi.org/10.1145/3190508.3190538
- Michel O. Cyberbotics Ltd. WebotsTM: Professional Mobile Robot Simulation. International Journal of Advanced Robotic Systems. 2004;1(1). doi:10.5772/5618
- T. M. Hewa, Y. Hu, M. Liyanage, S. S. Kanhare and M. Ylianttila, "Survey on Blockchain-Based Smart Contracts: Technical Aspects and Future Research," in IEEE Access, vol. 9, pp. 87643-87662, 2021, doi: 10.1109/ACCESS.2021.3068178.
- TIAGo++, the bi-manual robot with two arms for your research! (2023) https://blog.pal-robotics.com/tiago-bi-manual-robot-research. Accessed 01 Aug 2023
- Şen M. O, Okumuş F, Kocamaz A. F. (2022) Application of Blockchain Powered Mobile Robots In Healthcare: Use Cases, Research Challenges and Future Trends.
- Okumuş F, Dönmez E, Kocamaz AF. A cloudware architecture for collaboration of multiple agvs in indoor logistics: Case study in fabric manufacturing enterprises. Electronics. 2020;9(12): 2023.
- Dadgar M, Couceiro MS, Hamzeh A. RbRDPSO: Repulsion-Based RDPSO for Robotic Target Searching. Iranian Journal of Science and Technology - Transactions of Electrical Engineering. 2020;44(1): 551–563.
- Trotta A, Montecchiari L, Felice MD, Bononi L. A GPS-Free Flocking Model for Aerial Mesh Deployments in Disaster-Recovery Scenarios. IEEE Access. 2020;8: 91558–91573.
- Kabir AMR, Inoue D, Kakugo A. Molecular swarm robots: recent progress and future challenges. Science and Technology of Advanced Materials. 2020;21(1): 323–332.
- Keya JJ, Kabir AMR, Inoue D, Sada K, Hess H, Kuzuya A, Kakugo A. Control of swarming of molecular robots. Scientific Reports. 2018;8(1): 1–10.
- Holland J, Kingston L, McCarthy C, Armstrong E, O’Dwyer P, Merz F, et al. Service Robots in the Healthcare Sector. Robotics. 2021;10(1): 47.
- Farkh R, Marouani H, Al Jaloud K, Alhuwaimel S, Quasim MT, Fouad Y. Intelligent autonomous-robot control for medical applications. Computers, Materials and Continua. 2021;68(2): 2189-2203.
- Fang B, Mei G, Yuan X, Wang L, Wang Z, Wang J. Visual SLAM for robot navigation in healthcare facility. Pattern Recognition. 2021;113: 107822.
- Alsamhi SH, Lee B. Blockchain-Empowered Multi-Robot Collaboration to Fight COVID-19 and Future Pandemics. IEEE Access. 2021;9: 44173–44197.
- Alsamhi SH, Lee B, Guizani M, Kumar N, Qiao Y, Liu X. Blockchain for decentralized multi-drone to combat COVID-19 and future pandemics: Framework and proposed solutions. Transactions on Emerging Telecommunications Technologies. 2021;32: e4255.
Öz
Son yıllarda robotik sistemlerin benimsenmesi, çeşitli endüstrilerde dikkate değer bir büyümeye tanık olmuş ve otomasyon ve insan-robot etkileşiminin çeşitli yönlerinde devrim niteliğinde gelişmelere yol açmıştır. Sağlık hizmetleri, insan emeğinin iyi işleyen hizmet robotlarıyla değiştirilmesinin yoğun olarak istendiği başlıca mesleklerden biridir. Çoklu robot sistemindeki mobil hizmet robotları, iş rutinlerini basit veya karmaşık görevler olarak gerçekleştirerek tıbbi personele yardımcı olmak için bir arada ve işbirliği içinde çalışabilmektedir. Bu robotlar karmaşık görevleri yerine getirirken, operasyonları sırasında üretilen görevle ilgili büyük miktarda bilgiyi yönetmek için güvenli, verimli ve değişmez depolama mekanizmalarına yönelik hayati bir ihtiyaç ortaya çıkmaktadır. Bu çalışmada, birden fazla TIAGo++ robotundan oluşan bir sistemin, görev bilgilerinin saklanması ve bu bilgilere erişme gereksinimlerini karşılamak için Hyperledger Fabric (HLF) blokzincir platformunu kullanırken basit görevleri isteyebildiği ve tamamlayabildiği bir simülasyon önermekteyiz. Bu simülasyonda, tek bir TIAGo++ robotu için blokzincir ağı ile iletişim ve onu Webots ortamında kontrol etme, aynı Java uygulaması içerisine entegre edilmiştir. Deneysel sonuçlar, çoklu robot simülasyonunda HLF ve Webots' un görev tahsisi ve mobil robotlardan elde edilen verileri depolamak için eş zamanlı olarak başarılı bir şekilde çalışabildiğini göstermektedir.
Anahtar Kelimeler
Hyperledger Fabric Webots TIAGo++ blokzincir sağlık robotları merkeziyetsiz yönetim
Destekleyen Kurum
İnönü Üniversitesi Bilimsel Araştırma Projeleri (BAP) Birimi
Proje Numarası
ID 3136 FBG-2023-3136
Teşekkür
Bu çalışma hazırlanırken Malatya İnönü Üniversitesi Bilimsel Araştırmalar Projeleri (BAP) fonundan ID 3136 FBG-2023-3136 proje kodu ile destek alınmıştır.
Kaynakça
- Androulaki, E. et al (2018) Hyperledger Fabric: A Distributed Operating System for Permissioned Blockchains. In Proceedings of the Thirteenth EuroSys Conference (EuroSys '18), Porto, Portugal. https://doi.org/10.1145/3190508.3190538
- Michel O. Cyberbotics Ltd. WebotsTM: Professional Mobile Robot Simulation. International Journal of Advanced Robotic Systems. 2004;1(1). doi:10.5772/5618
- T. M. Hewa, Y. Hu, M. Liyanage, S. S. Kanhare and M. Ylianttila, "Survey on Blockchain-Based Smart Contracts: Technical Aspects and Future Research," in IEEE Access, vol. 9, pp. 87643-87662, 2021, doi: 10.1109/ACCESS.2021.3068178.
- TIAGo++, the bi-manual robot with two arms for your research! (2023) https://blog.pal-robotics.com/tiago-bi-manual-robot-research. Accessed 01 Aug 2023
- Şen M. O, Okumuş F, Kocamaz A. F. (2022) Application of Blockchain Powered Mobile Robots In Healthcare: Use Cases, Research Challenges and Future Trends.
- Okumuş F, Dönmez E, Kocamaz AF. A cloudware architecture for collaboration of multiple agvs in indoor logistics: Case study in fabric manufacturing enterprises. Electronics. 2020;9(12): 2023.
- Dadgar M, Couceiro MS, Hamzeh A. RbRDPSO: Repulsion-Based RDPSO for Robotic Target Searching. Iranian Journal of Science and Technology - Transactions of Electrical Engineering. 2020;44(1): 551–563.
- Trotta A, Montecchiari L, Felice MD, Bononi L. A GPS-Free Flocking Model for Aerial Mesh Deployments in Disaster-Recovery Scenarios. IEEE Access. 2020;8: 91558–91573.
- Kabir AMR, Inoue D, Kakugo A. Molecular swarm robots: recent progress and future challenges. Science and Technology of Advanced Materials. 2020;21(1): 323–332.
- Keya JJ, Kabir AMR, Inoue D, Sada K, Hess H, Kuzuya A, Kakugo A. Control of swarming of molecular robots. Scientific Reports. 2018;8(1): 1–10.
- Holland J, Kingston L, McCarthy C, Armstrong E, O’Dwyer P, Merz F, et al. Service Robots in the Healthcare Sector. Robotics. 2021;10(1): 47.
- Farkh R, Marouani H, Al Jaloud K, Alhuwaimel S, Quasim MT, Fouad Y. Intelligent autonomous-robot control for medical applications. Computers, Materials and Continua. 2021;68(2): 2189-2203.
- Fang B, Mei G, Yuan X, Wang L, Wang Z, Wang J. Visual SLAM for robot navigation in healthcare facility. Pattern Recognition. 2021;113: 107822.
- Alsamhi SH, Lee B. Blockchain-Empowered Multi-Robot Collaboration to Fight COVID-19 and Future Pandemics. IEEE Access. 2021;9: 44173–44197.
- Alsamhi SH, Lee B, Guizani M, Kumar N, Qiao Y, Liu X. Blockchain for decentralized multi-drone to combat COVID-19 and future pandemics: Framework and proposed solutions. Transactions on Emerging Telecommunications Technologies. 2021;32: e4255.
Ayrıntılar
| Birincil Dil | İngilizce |
|---|---|
| Konular | Akıllı Robotik, Bilgisayar Yazılımı |
| Bölüm | PAPERS |
| Yazarlar | |
| Proje Numarası | ID 3136 FBG-2023-3136 |
| Yayımlanma Tarihi | 18 Ekim 2023 |
| Gönderilme Tarihi | 17 Ekim 2023 |
| Kabul Tarihi | 17 Ekim 2023 |
| Yayımlandığı Sayı | Yıl 2023 Cilt: IDAP-2023 : International Artificial Intelligence and Data Processing Symposium Sayı: IDAP-2023 |
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