Something about Robots Today

Today, robots are increasingly present in the machine building industry, sometimes even in some sections to replace workers altogether, due to the high quality of their work, repetitive, without stopping or pausing, without any manufacturing and assembly scuffs. Additionally, robots do not get sick, do not require medical leave or rest, work faster and better than humans and also support toxic environments from dyers, general assemblies, etc. Generally, robots have increased the quality and productivity of work and have not even created a union to defend their claims, demanding increased wages for them and larger holidays. Interestingly, a robot is working without a break, but without salary, without breaks, without complaining about working conditions in the plant. It has come to the effect that the big car manufacturers and even others, have entire sections in which only robots work. They do not have to worry about each other, do not quarrel, do not complain, do not cry, do not ask for the salary, do not require leave, they do not want free days and can work with high returns and Saturday and Sunday, if necessary on three shifts without a break. The importance of implementing robots can no longer be challenged. They have so increased the quality of work and the production of an enterprise that they can no longer give up their help. Workers have reclassified themselves and work only in more friendly workplaces, or in other workplaces, such as supermarkets, in better conditions, with higher wages, with several days off and they are also pleased and all this is due to production and additional gains from higher sales due to the robot work in large factories. We can clearly state that robots have improved our lives considerably. Thanks to them, a new free day was introduced for almost all working people, Friday, in addition to Saturday and we may soon be able to introduce another free day, but we have to choose whether it is Monday or Thursday. People, in the beginning, were taught by the trade union bosses to chase and sabotage the robots, to ruin them and not to accept them. Today things are clear and the robots work quietly in the big companies and factories for the sake of everyone, so now we can all accept the silence of the automation, the robotics, the electronics, without letting us be fooled by the union leaders, who slowly slow down and they will calm down. Robots can work on three shifts, that is, permanently, but not by shifting them like people did, but always remaining the same robots deployed in operation, nonstop, for days, without breaks, without rest, without problems. If we like it or not like, robots have already stolen all our hard works places.


Introduction
Today, robots are increasingly present in the machine building industry, sometimes even in some sections to replace workers altogether, due to the high quality of their work, repetitive, without stopping or pausing, without any manufacturing and assembly scuffs.
Additionally, robots do not get sick, do not require medical leave or rest, work faster and better than humans and also support toxic environments from dyers, general assemblies, etc.
Generally, robots have increased the quality and productivity of work and have not even created a union to defend their claims, demanding increased wages for them and larger holidays. Interestingly, a robot is working without a break, but without salary, without breaks, without complaining about working conditions in the plant.
Robots can work on three shifts, that is, permanently, but not by shifting them like people did, but always remaining the same robots deployed in operation, nonstop, for days, without breaks, without rest, without problems.
It has come to the effect that the big car manufacturers and even others, have entire sections in which only robots work. They do not have to worry about each other, do not quarrel, do not complain, do not cry, do not ask for the salary, do not require leave, they do not want free days and can work with high returns and Saturday and Sunday, if necessary on three shifts without a break.
The importance of implementing robots can no longer be challenged. They have so increased the quality of work and the production of an enterprise that they can no longer give up their help. Workers have reclassified themselves and work only in more friendly workplaces, or in other workplaces, such as supermarkets, in better conditions, with higher wages, with several days off and they are also pleased and all this is due to production and additional gains from higher sales due to the robot work in large factories.
We can clearly state that robots have improved our lives considerably. Thanks to them, a new free day was introduced for almost all working people, Friday, in addition to Saturday and we may soon be able to introduce another free day, but we have to choose whether it is Monday or Thursday.
People, in the beginning, were taught by the trade union bosses to chase and sabotage the robots, to ruin them and not to accept them. Today things are clear and the robots work quietly in the big companies and factories for the sake of everyone, so now we can all accept the silence of the automation, the robotics, the electronics, without letting us be fooled by the union leaders, who slowly slow down and they will calm down.
If we like it or not like, robots have already stolen all our hard works places.
Anthropomorphic robots are, as I have already said, in most of the most widespread and widely used works worldwide today, due to their ability to adapt quickly to forced work, working without breaks or breaks 24 h a day, without unpaid leave without asking for food, water, air, or salary. Anthropomorphic robots are supple, elegant, easy to configure and adapted to almost any required location, being the most flexible, more useful, more penetrating, easy to deploy and maintain. For the first time, these robots have asserted themselves in the automotive industry and especially in the automotive industry, today they have penetrated almost all industrial fields, being easily adaptable, flexible, dynamic, resilient, cheaper than other models, occupying a volume smaller but with a major working space. They can also work in toxic or dangerous environments, so used in dyeing, chemical cleaners, in chemical or nuclear environments, where they handle explosive objects, or in military missions to land or sea mines, even if they were banned to use, because there are still countries around the globe that use them, such as Afghanistan.
The most used today's industrial robots, is built. The importance of the study of anthropomorphic robots has also been signaled, being today the most widespread robots worldwide, due to its simple design, construction, implementation, operation and maintenance. In addition, anthromomorphic systems are simpler from a technological and cheaper point of view, performing a continuous, demanding, repetitive work without any major maintenance problems. The basic module of these robots was also presented geometrically, cinematically, of the forces, of its total static balancing and of the forces that arise within or after balancing. In the present paper we want to highlight the dynamics of the already statically balanced total module. It has been presented in other works and studied matrix spatially, or more simply in a plan, but in this case, it is necessary to move from the working plane to the real space, or vice versa, passage that we will present in this study. In the basic plan module already presented in other geometric and cinematic works, we want to highlight some dynamic features such as static balancing, total balancing and determination of the strength of the module after balancing. Through a total static balancing, balancing the gravitational forces and moments generated by the forces of gravity is achieved, balancing the forces of inertia and the moments (couples) generated by the presence of inertial forces (not to be confused with the inertial moments of the mechanism, which appear separately from the other forces, being part of the inertial torsion of a mechanism and depending on both the inertial masses of the mechanism and its angular accelerations. Balancing the mechanism can be done through various methods. Partial balancing is achieved almost in all cases where the actuators (electric drive motors) are fitted with a mechanical reduction, a mechanical transmission, a sprocket, spiral gear, spool screw type. This results in a "forced" drive balancing from the transmission, which

Materials and Methods
The Mitsubishi Mechatronic Stand, from the JC104 Mechatronics Room, Theory of Mechanisms and Robots, Engineering Department at the Polytechnic University of Bucharest, can help researchers and students to determine in real time various kinematic and dynamic parameters (Fig. 1).
Mechatronic positioning system consists of: They must provide facilities in making loose and open loops.
The continuous torque -with feedback from the encoder and speeds from 4500 rpm, up to 300% of torque is made from 0 to the maximum speed; High dynamic performance -in applications requiring short duty cycles, eliminating operating problems and increasing output and reducing standby time; Adaptive real-time tuning -automatic settings remove closed-loop system malfunctions, making it fast and easy to install; Other features to include: Simple test operations providing standard functions from the keys to the unit; Ultra-low inertia motors on the HC-PQ range for required cycle demands and fast dynamic response; Extensive protective functions to prevent engine and amplifier damage; Overall standards approved by the EC and the UL; Serial communication interface option with Windows-based software that allows advanced communications and diagnostic tools.
All can be seen and monitored in real-time on the device's large screen (Fig. 3), being completely separate from the main monitor.

Stepper Motor
Transport units, handling devices and variable-stroke processing lines are supported by simple programs for different positioning applications (Fig. 4).
Friendly programming software allows even beginners to perform complicated positioning tasks in an easy way.

Modular Mechatronic System for Didactic Laboratory -(Control System)
The modular concept is ideal for initial training and continuous improvement in mechatronics. Functional modules must be adapted to the various automated Electronic copy available at: https://ssrn.com/abstract=3306851 technologies (Fig. 5). The modules are placed on an expandable mechatronic system, so it can be expanded by creating new projects and making some ideas worthwhile.
The complete station includes conveyor station, processing station, storage station, PLC, pressure source, hardware and interconnection software.
The conveyor station contains the conveyor module, the test unit module with 4 test positions, the separation modules.
The processing station comprises the handling module, the pneumatic pressing module, the operating unit.
The storage station comprises the horizontal axis module, the vertical axis module, the storage module, the maintenance module.
Industrial robots have penetrated all important areas ( Fig. 6 and 7).
The Nao robot (Fig. 8) helps students and researchers create different algorithms capable of developing the robot's robot as diverse as possible, but also the possibility of making previously thought-out programs that enable him to perform a more complex chain of different action movements different, accompanied by work, dancing, talking. Several years ago, when it was conceived, robot Nao enjoyed great success and increased global attractiveness.  Electronic copy available at: https://ssrn.com/abstract=3306851  Electronic copy available at: https://ssrn.com/abstract=3306851 Motoman has introduced a robot capable of moving Lego pieces and even assembling them into a better building than a child (Fig. 9). Figure 10 shows us a robot capable of playing with children and talking to them, socializing without scaring them.
Robots able to play ping pong are no longer a novelty, because they have been made in various constructive variants, having special capabilities in anticipating the position of the ball and in striking it correctly so that it will fall on the table as well (Fig. 11).
Honda's Asimo robot first learned to go and talk, socialize and then be useful by serving clients at a table (Fig. 12).
Honda's Asimo robot has grown up -with its latest upgrade giving it enhanced intelligence, added dexterity and the ability to run 5.6mph (9km/h).
The first Asimo was created in 2000 and is seen as one of the leading attempts at creating a humanoid.
The latest version is able to change its actions depending on what happens around it -such as moving out of a person's way.
The 4ft (130cm)-tall robot is also able to do complex sign language.
Asimo -which stands for Advanced Step in Innovative Mobility -is eventually intended to help people in various situations of need, such as the elderly, or those in disaster zones. It cannot yet be bought in shops. Electronic copy available at: https://ssrn.com/abstract=3306851 Parts of the technology developed by Honda for the Asimo project have been used to help clean-up efforts at the stricken Japanese nuclear plant Fukushima.
But in the humanoid robot, upgrades have focused on making Asimo better understand the world around itself.
Miimo is an autonomous robot produced by Honda that cuts grass in the yard or the lawn. The strongest model can cover an area of 4,000 square meters on a single battery charge (Fig. 13).
The robot can be set up via the dedicated Android, iOS-compliant app. Users can determine the time at which Miimo begins work, breaks, but also the height at which the vegetation cuts. The robot has a special dock that it goes alone to charge the battery after completing the tasks for which it was scheduled.

Results
Actroid is a type of android (humanoid robot) with strong visual human-likeness developed by Osaka University and manufactured by Kokoro Company Ltd. (the animatronics division of Sanrio). It was first unveiled at the 2003 International Robot Exhibition in Tokyo, Japan. Several different versions of the product have been produced since then. In most cases, the robot's appearance has been modeled after an average young woman of Japanese descent.
The Actroid woman is a pioneering example of a real machine similar to imagined machines called by the science fiction terms android or gynoid, so far used only for fictional robots. It can mimic such lifelike functions as blinking, speaking and breathing. The "Repliee" models are interactive robots with the ability to recognize and process speech and respond in kind ( Fig. 14 and 15).
The internal sensors allow Actroid models to react with a natural look by actuating body points. Early forms had 42 joints and the models later were 47 years old. Until now, the lower body movement is limited. Running the robot's sensational system in tandem with its air movements is fast enough to react or stop intrusive movements such as a slap or a beating. Artificial intelligence gives it the ability to react in a different way to milder touches, such as a bed on the arm.
The actress can also mimic human behavior similar to the luminous movements in the positions, head and eye movements and be breathing in the chest. In addition, the robot can be "taught" to mimic human movements by confronting a person who carries reflexive points in the body's key points. By tracking the points with his visual system and calculating the limbs and joints to fit what he sees, this movement can then be "learned" by the robot and repeated. Electronic copy available at: https://ssrn.com/abstract=3306851 The skin is silicone and looks extremely realistic. The compressed air acting on the engines of the robot engines and most of the hardware they operate is out of the machine. This is a contributing factor to the lack of robot locomotion. When displayed, the Actroid has always been seated or standing firmly supported.
Interactive actroid can also communicate rudimentarily with people, speaking. The microphones in these actroids record a man's speech and this sound is then filtered to eliminate background noiseincluding the sounds of the robot's exploitation. Speech recognition technology is then used to convert the audio stream into words and sentences, which can then be processed by A.I. A verbal response is given by an external speaker to the unit.
Future interactivity is achieved through non-verbal methods. When approached, interactive actroids use a combination of "omnidirectional vision sensors and sensors" to maintain visual contact with the loudspeaker. In addition, robots can only respond to body language and tone of voice, changing their own facial expressions, position and vocal influence.
A humanoid robot is a body-shaped robot built to resemble the human body. The design may be for functional purposes, such as interaction with human instruments and media, for experimental purposes such as locomotor study or other purposes. Generally, humanoid robots have a trunk, a head, two arms and two legs, although some forms of humanoid robots can only form a part of the body, for example, from the waist up. Certain humanoid robots also have heads designed to reproduce the features of the human face, such as eyes and mouths. Androids are humanoid robots built to resemble aesthetically with humans.
An important requirement is that he can grasp both a heavy weight and an egg or bulb without breaking the latter. Touch tactile sensors play an extremely important role here (Fig. 16).
Arrays of tactels can be used to provide data on what has been touched. The Shadow Hand uses an array of 34 tactels arranged beneath its polyurethane skin on each fingertip. Tactile sensors also provide information about forces and torques transferred between the robot and other objects.
Vision refers to processing data from any modality which uses the electromagnetic spectrum to produce an image. In humanoid robots, it is used to recognize objects and determine their properties. Vision sensors work most similarly to the eyes of human beings. Most humanoid robots use CCD cameras as vision sensors.
Sound sensors allow humanoid robots to hear speech and environmental sounds and perform as the ears of the human being. Microphones are usually used for this task. In planning and control, the essential difference between humanoids and other types of robots (such as industrial ones) is that robot movement should be similar to human movement, using foot movement, especially walking. Ideal planning for humanoid movements during normal exercise should result in minimal energy consumption, as is the case with the human body. For this reason, studies on the dynamics and control of these types of structures have become increasingly important.
The problem of stabilizing robots on walking streets is very important. Keeping the robot's center of gravity above the center of the support area to ensure a stable position can be chosen as a control lens.
To maintain dynamic balance while driving, a robot needs information about the contact force and the current and desired movement. The solution to this problem is based on a major concept, Zero Moment Point (ZMP).
Electronic copy available at: https://ssrn.com/abstract=3306851 Another feature of humanoid robots is that they move, gather information (using sensors) on the "real world" and interact with them. They do not remain as factory manipulators and other robots working in highly structured environments. To enable humanoids to move into complex environments, planning and control should focus on detecting auto collides, planning the route and avoiding obstacles.
Certain humanoid robots do not yet have the features of the human body. These include structures with the variable flexibility that provide security (robot and people) and redundancy, i.e. multiple degrees of freedom and hence the high availability of tasks. Although these characteristics are desirable for humanoid robots, they will bring more complexity and new planning and control issues. The scope of the body control deals with these issues and addresses the appropriate coordination of multiple degrees of freedom, simultaneously performing multiple control tasks, following a certain order of priority.

Discussion
It started from the robots needed in the machine building industry (Fig. 17) and now any type of robot is manufactured, with various purposes and uses, so we can say that it was robots on our planet has already started successfully. Electronic copy available at: https://ssrn.com/abstract=3306851  They have succeeded in making our lives easier, more comfortable, more enjoyable and have taken up heavy labors, being treated at the beginning as slaves long released, but even without their acceptance, on the basis that they are only useful cars man, for the time being.
It is very important that we slowly but surely determine the robots to help us in various difficult applications to the human, the surgeon in the operating blocks (Fig. 18), then to the fine positioning of the observation satellites, the powerful telescopes that help us find new living planets and soon the robots will be a means of helping man to conquer the cosmic space.
They will be conducting spacecraft, they already do it in our solar system but some of them have gone beyond it, they will explore the Martian soil or other planets and satellites, will help us colonize the cosmic space (Fig. 19) and will be able to defend us from the possible enemies that might occur, which is why many robots will develop to have great combat capabilities (Fig. 20).

Conclusion
It is very important that we slowly but surely determine the robots to help us in various difficult applications to the human, the surgeon in the operating blocks, then to the fine positioning of the observation satellites, the powerful telescopes that help us find new living planets and soon the robots will be a means of helping man to conquer the cosmic space.
They will be conducting spacecraft, they already do it in our solar system but some of them have gone beyond it, they will explore the Martian soil or other planets and satellites, will help us colonize the cosmic space and will be able to defend us from the possible enemies that Electronic copy available at: https://ssrn.com/abstract=3306851 might occur, which is why many robots will develop to have great combat capabilities.

Acknowledgement
This text was acknowledged and appreciated by Dr. Veturia CHIROIU Honorific member of Technical Sciences Academy of Romania (ASTR) PhD supervisor in Mechanical Engineering.

Author's Contributions
This section should state the contributions made by each author in the preparation, development and publication of this manuscript.

Ethics
Authors should address any ethical issues that may arise after the publication of this manuscript. Antonescu, P. and F. Petrescu, 1985. An analytical method of synthesis of cam mechanism and flat stick. Proceedings of the 4th International Symposium on Theory and Practice of Mechanisms, (TPM' 89), Bucharest. Antonescu, P. and F. Petrescu, 1989. Contributions to kinetoplast dynamic analysis of distribution mechanisms. Bucharest.

References
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