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Design and Control of 3-DOF robotic Fish 'ICHTHUS V5.5'

Design and Control of 3-DOF Robotic Fish 'ICHTHUS V5.5'

引用

6th international conference on Intelligent robotics and applications (ICIRA)

作者： Yang, Gi-Hun Kim, Kyung-Sik Lee, Sang-Hyo Cho, Chullhee Ryuh, Youngsun KITECH Biomimet Robot Res Grp Ansan South Korea

ISBN: (纸本)9783642408496;9783642408489

Recently, many kinds of biomimetic fish-like robots are being actively researched worldwide for practical use of them. However, there are still diverse problems about using of the robotic fish in the real environment such as in the river for monitoring water pollution. Therefore, this study mainly describes development of a robotic fish 'Ichthus V5.5' which can be used for water quality sensing system. The robotic fish 'Ichthus V5.5' has a 3-DOF serial link-mechanism for its propulsion, which is developed in KITECH. We added several sensors to navigate autonomously in the real environment like river. To measure the performance of the robotic fish, an experimental setup is developed for measuring the propulsion force of the robot. Also, we installed two kinds of sensor to detect temperature, electric conductivity, pH (hydrogen ion concentration) of water. Therefore, the developed robotic system can be applied to environmental monitoring system for detect pollution or quality of river.

关键词： robotic Fish Environmental monitoring Biomimetic Navigation Dynamic Analysis Propulsion

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Dynamic control of parallel manipulator

Dynamic control of parallel manipulator

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1st international conference on robot intelligence technology and applications, RiTA 2012

作者： Seo, Kap-Ho Park, Yongsik Yun, Sungjo Park, Sungho Jun, Jungsoo Min, Jeongtack Applied Technology Division Korea Institute of Robot and Convergence San 31 Hyoja-dong Nam-gu Pohang Gyeongbuk 790-784 Korea Republic of

ISBN: (纸本)9783642373732

Parallel manipulator with longer legs and heavy load is applied in most of the current high fidelity simulators, which is used to simulate various motions in different environments by exporting varying displacement and orientation. A novel model-based controller for 6-DOF parallel manipulator with gravity compensation is developed, in order to improve the control precision of 6-DOF parallel manipulator with high speed and heavy load. The effectiveness of the proposed algorithm will be discussed based on experiments. © 2013 Springer-Verlag.

关键词： Manipulators

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Interplay between natural and artificial intelligence in training autistic children with robots

Interplay between natural and artificial intelligence in tra...

引用

5th international Work-conference on the Interplay Between Natural and Artificial Computation, IWINAC 2013

作者： Barakova, Emilia Lourens, Tino Eindhoven University of Technology P.O. Box 513 Eindhoven Netherlands TiViPE Kanaaldijk ZW 11 Helmond Netherlands

ISBN: (纸本)9783642386367

The need to understand and model human-like behavior and intelligence has been embraced by a multidisciplinary community for several decades. The success so far has been shown in solutions for a concrete task or a competence, and these solutions are seldom a truly multidisciplinary effort. In this paper we analyze the needs and the opportunities for combining artificial intelligence and bio-inspired computation within an application domain that provides a cluster of solutions instead of searching for a solution to a single task. We analyze applications of training children with autism spectrum disorder (ASD) with a humanoid robot, because it must include multidisciplinary effort and at the same time there is a clear need for better models of human-like behavior which will be tested in real life scenarios through these robots. We designed, implemented, and carried out three applied behavior analysis (ABA) based robot interventions. All interventions aim to promote self initiated social behavior in children with ASD. We found out that the standardization of the robot training scenarios and using unified robot platforms can be an enabler for integrating multiple intelligent and bio-inspired algorithms for creation of tailored, but domain specific robot skills and competencies. This approach might set a new trend to how artificial and bio-inspired robot applications develop. We suggest that social computing techniques are a pragmatic solution to creation of standardized training scenarios and therefore enable the replacement of perceivably intelligent robot behaviors with truly intelligent ones. © 2013 Springer-Verlag.

关键词： Intelligent robots

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robot control on the basis of bio-electrical signals

Robot control on the basis of bio-electrical signals

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1st international conference on robot intelligence technology and applications, RiTA 2012

作者： Ierache, Jorge Salvador Pereira, Gustavo Sattolo, Iris Irribaren, Juan Suiffet, Nicolás Morón Buenos Aires Argentina Morón Buenos Aires Argentina

ISBN: (纸本)9783642373732

This article shows the experiences carried out in the context of human/robot communication, on the basis of brain bio-electrical signals, with the application of the available technologies and interfaces which have facilitated the reading of the user's brain bio-electrical signals and their association to explicit commands that have allowed the control of biped and mobile robots through the adaptation of communication devices. Our work presents an engineering solution, with the application of technological bases, the development of a high- and low-level communication framework, the description of experiments and the discussion of the results achieved in field tests. © 2013 Springer-Verlag.

关键词： robots

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Software platform for the industrial dual-arm robot

Software platform for the industrial dual-arm robot

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1st international conference on robot intelligence technology and applications, RiTA 2012

作者： Choi, Taeyong Do, Hyunmin Park, Chanhun Park, Dongil Lee, Seunghwi Kyung, Jinho Department of Robotics and Mechatronics Korea Institute of Machinery and Materials Daejeon 305-343 Korea Republic of

ISBN: (纸本)9783642373732

Human rights at poor working condition is the severe problem in modern manufacturing system. The industrial dual-arm robot is being developed to meet these social issues fundamentally. The software platform for the industrial dual-arm robot is also being developed, which have many differences compared to the conventional robot software platforms. The software platform for the industrial dual-arm robot which are being developed should have the realtime control capability, the precise motion command interface and the convenience of usage. A special architecture for the mentioned functions is introduced. The proposed architecture consists of the multiple user command input tools, the translator for the unique robot language and the robot control framework with the realtime control property controlled by the unique robot language. © 2013 Springer-Verlag.

关键词： Manufacture

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Scalable building facade recognition and tracking for outdoor augmented reality

Scalable building facade recognition and tracking for outdoo...

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5th FTRA international conference on Information technology Convergence and Services, ITCS 2013 and the 3rd international conference on Intelligent robotics, Automations, Telecommunication Facilities, and applications, IRoA 2013

作者： Lee, Suwon Seo, Yong-Ho Yang, Hyun S. Department of Computer Science Korea Advanced Institute of Science and Techbology Daejeon Korea Republic of Department of Intelligent Robot Engineering Mokwon University Mokwon Gil 21 Seo-Gu Daejeon Korea Republic of

ISBN: (纸本)9789400769953

This paper proposes a scalable building facade recognition and tracking system for outdoor augmented reality enabling real time augmentation of various information onto the facade. The system is composed of three modules: recognition and tracking module, server-client module and GPS module. In the recognition and tracking module, Generic Random Forest was used for real time recognition and three-dimensional pose estimation of facades. For scalable recognition, global region is divided into multiple local regions and then, same regional buildings are trained separately into a forest. In the server-client module, client maintains own travel map in order to choose proper forest by employing GPS sensor, and server transmits a new forest when client detects never visited regions. This makes our system scalable and also expansible to new regions. © 2013 Springer Science+Business Media Dordrecht.

关键词： Augmented reality

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Fuzzy visual navigation using behavior primitives for small humanoid robot

Fuzzy visual navigation using behavior primitives for small ...

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1st international conference on robot intelligence technology and applications, RiTA 2012

作者： Kim, Yong-Tae Noh, Su-Hee Dept. of Electrical Electronic and Control Engineering Hankyong National University 327 Joongang-ro Anseong Gyeonggi-do 456-749 Korea Republic of Kohyoung Technology 345-90 Gasan-dong Seoul 153-802 Korea Republic of

ISBN: (纸本)9783642373732

In this paper, we present a fuzzy visual navigation method that uses behavior primitives for humanoid robots. We define behavior primitives that consist of locomotion and motion primitives. The fuzzy navigation system consists of four control algorithms: autonomous walking, target tracking, obstacle avoidance, and behavior control based on marker recognition. We verify the proposed method through navigation experiments by using a developed small humanoid robot. The experimental results demonstrate that the humanoid robot can navigate efficiently and stably to the target and show improved performance of behavior planning for humanoid navigation. © 2013 Springer-Verlag.

关键词： Anthropomorphic robots

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Semi-autonomous control of robotic multi-agents

Semi-autonomous control of robotic multi-agents

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1st international conference on robot intelligence technology and applications, RiTA 2012

作者： Chung, Jae H. Kim, Chriostopher Department of Mechanical Engineering Stevens Institute of Technology Hoboken NJ 07030 United States Horace Mann School 4440 Tibbett Avenue Bronx NY 10471 United States

ISBN: (纸本)9783642373732

The teleoperation systems involving cooperative multi-robots to cope with different tasks on a single target with a team of homogeneous robots have been developed with (1) modified potential field based leader-follower formation, (2) adaptive multi-robotic impedances, (3) compensation for contact forces. However, most of the homeland security applications, e.g. military reconnaissance, exploration, and etc, need a team of heterogeneous robots to work on the multi-task simultaneously on the multi-target with a robot-task-target pairing. Therefore, the main contribution of this paper is to propose the cooperative teleoperation control method integrating not only (1-3) but also the robot-task-target pairing for a multi-robot multi-task multi-target defensive application. The robot-task-target pairing is derived from the proven auction algorithm for multi-robot multi-task multi-target cases, which optimizes effects-based robot-task-target pairing based on a heuristic algorithm. The pairing method for the robot-task-target pairing is developed to produce a weighted attack guidance table (WAGT), which includes the benefits of assignments of robotic combinations (subteams) to tasks and targets. Therefore, the optimal robot-task-target pairs are computed based on WAGT with the heuristic algorithm. Simulation studies illustrate the efficacy of the teleoperation system with the proposed control method for multi-task multi-target scenarios. © 2013 Springer-Verlag.

关键词： Heuristic algorithms

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Robo-teacher: A computational simulation based educational system to improve cyber security

Robo-teacher: A computational simulation based educational s...

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1st international conference on robot intelligence technology and applications, RiTA 2012

作者： Zhang, Bin Shafi, Kamran Abbass, Hussein A. School of Engineering and Information Technology University of New South Wales Canberra ACT Australia

ISBN: (纸本)9783642373732

Various threats and security issues exist in the cyber environment. For information assurance, we need to fully understand the concept of Cyber intelligence (CI) which includes the identification, tracking, analysis and countering of security threats in cyberspace. In order to achieve this, we focus on educating and training CI for organizations and individuals via effective smart systems design and implementation using artificial intelligence (AI) techniques to build an interactive and adaptive learning environment. Based on investigation of basic theories and CI concepts, a simulation model is proposed. Interaction and adaptation are then integrated or designed upon simulation. Such a learning environment aims to impart a thorough and comprehensive understanding of cyber intelligence and provide enhanced learning experience. © 2013 Springer-Verlag.

关键词： Personnel training

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Improvement in DPCM image compression technique 3

Improvement in DPCM image compression technique

引用

3rd international conference on Computational intelligence and Information technology, CIIT 2013

作者： Kumar, Ashok Kumaran, Rajiv Paul, Sandip Parmar, R.M. Sensor Electronics Group Space Applications Centre Indian Space Research Organization Jodhpur Tekra Ahmedabad380015 India

ISBN: (纸本)9781849198592

Future high resolution instrument planned by ISRO for space remote sensing will lead to higher data rates because of increase in resolution and dynamic range. Hence, image compression becomes mandatory. DPCM is one prediction based image compression technique (10:7) used in Resourcesat-2 mission. Based on received data from this mission, some artifacts are reported at high contrast targets as expected. Hence, an effort is made to analyze and improve the existing DPCM technique with minimum hardware modification by increasing the quantizer dynamic range and maintaining similar radiometric performance at low contrast locations. Newly developed technique provides RMSE of 16 counts compared to 41 counts with very high contrast image. Ringing artifacts are reduced to 7.6% compared to 38.2% with existing technique. Developed technique has low complexity and can be implemented in a low end FPGA without any external memory.

关键词： Image compression

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