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International Conference on Control, Automation and Systems ( ICCAS)

作者： Jae-Han Park Kyung-Wook Park Seung-Ho Baeg Moon-Hong Baeg South Korea Div. of Appl. Robot Technol. KITECH Ansan Korea Institute of Industrial Technology Cheonan KR Division of Applied Robot Technology KITECH Ansan South Korea

Object pose estimation from stereo images with unknown correspondence is a thoroughly studied problem in the computer vision and robot engineering literatures. Especially, it is important to detect the desirable corresponding points from images for object pose estimation. For this, many approaches have been proposed. Among them, the local feature descriptor, which describe the feature points that are robust to image deformations in an object or image, is one of the most promising approaches that has been applied to the stable feature detection problem successfully. Although any descriptors including the SIFT represent superior performance, these are based on luminance information rather than color information thereby resulting in instability to photometric variations such as shadows, highlights, and illumination changes. Therefore, we propose a novel method which extracts the interest points that are insensitive to both geometric and photometric variations in order to estimate more accurate and desirable object pose. In this method, we use photometric quasi-invariant features based on the dichromatic reflection model in order to achieve photometric invariance, and the SIFT is used for geometric invariance as well. The performance of the proposed method is evaluated with other local descriptors. Experimental results show that our method gives similar performance or outperforms them with respect to various imaging conditions. Finally, we estimate object pose by using the features extracted via the proposed method.

关键词： Computer vision Object detection Photometry Stereo vision robot vision systems Reliability engineering Robustness Lighting Data mining Reflection

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A Model-Driven Scrum Process for Service-Oriented Software Reengineering: mScrum4SOSR

A Model-Driven Scrum Process for Service-Oriented Software R...

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International Symposium on Computer Science and its Applications, CSA

作者： Sam Chung Dae Hee Won Seung-Ho Baeg Sangdeok Park Institute of Technology University of Washington Tacoma Tacoma WA USA Division of Applied Robot Technology Korea Institute of Industrial and Technology Ansan Gyeonggi South Korea

ISBN: (纸本)9781424449453;9781424449460

-The purpose of this paper is to propose a new service-oriented software reengineering process that is model-driven and Scrum-oriented, which we call Model-Driven Scrum for Service-Oriented Software Reengineering (mScrum4SOSR). This process is an integration of a popular agile software development process, Scrum, with the concept of UML as a blueprint or executable for. The mScrum4SOSR is applied to three development teams: a reverse engineering team and two forward engineering teams for service consumption and production. To comprehend internal operations of a legacy system, the reverse engineering team represents a high level abstraction of the system in visual models. Scrum is conducted to generate a sharable visual model at this reverse engineering phase. The model is subdivided into two models for service consumer and producer by identifying candidate services from the model of the legacy system. With the models and the product backlog, two Sprints for service consumer and producer start at the next forward software engineering phase in parallel. The development team of each Sprint shares the changes of the models and the Scrum Master maintains the synchronized version of the model for partially shippable target system during a Sprint. The process brings two main benefits to the SOSR teams: 1) we can seamlessly use an agile process, Scrum, for a reverse engineering team and two forward software engineering teams. And 2) the model-driven process complements the project management process Scrum by injecting one of the best software development practices, elevating the level of abstraction, into Scrum.

关键词： Reverse engineering Software engineering Programming Unified modeling language Production Project management Logic Web services Business Service robots

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Service-oriented reverse reengineering: 5W1H model-driven re-documentation and candidate services identification

Service-oriented reverse reengineering: 5W1H model-driven re...

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IEEE International Conference on Service-Oriented Computing and Applications (SOCA)

作者： Sam Chung Daehee Won Seung-Ho Baeg Sangdeok Park Institute of Technology University of Washington Tacoma Tacoma WA USA Division of Applied Robot Technology Korea Institute of Industrial and Technology Ansan Gyeonggi South Korea

The purpose of this paper is to propose a service-oriented reverse reengineering that consists of re-documentation and design recovery. To understand the legacy system, we need to re-document the legacy system in a highlevel abstraction by using UML visual models through an initial reverse engineering. For this re-documentation, we propose a new re-documentation technique called 5W1H (Why, Who, When, Where, What, and How) model-driven re-documentation. Based upon the re-documented software visual model, we attempt to identify the scope of locating the candidate services from a legacy system. To show the feasibility of our approach, two applications using different design methods and architectures are re-documented into visual models. After recovering design methods and architectural patterns from the visual models, which have been injected into source code implicitly or explicitly to bring clear separation of concerns, we locate the scope of candidate services from the legacy system. We can reduce the effort of identifying candidate services by using the visualized model since we can discover highly possible locations for reusable business logic effectively. The service-oriented reverse engineering using 5W1H re-documentation technique will help a service producer to easily discover the candidate services from a legacy system through software re-documentation.

关键词： Unified modeling language Object oriented modeling Reverse engineering Design methodology Programming Application software Computer architecture Logic Software engineering Documentation

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Load distribution algorithms and experimentation for a redundantly actuated, singularity-free 3-DOF parallel haptic device

Load distribution algorithms and experimentation for a redun...

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2004 IEEE/RSJ International Conference on Intelligent robots and Systems (IROS)

作者： Kim, Tae-Ju Yi, Byung-Ju Suh, Il Hong Div. for Applied Robot Technology Korea Inst. of Industrial Technology Chunan and Ansan Korea Republic of Sch. of Elec. Eng. and Comp. Science Hanyang University Ansan Korea Republic of Sch. of Info. and Communication Hanyang University Seoul Korea Republic of

ISBN: (纸本)0780384636

Parallel-type mechanisms provide many advantages over serial-type mechanisms. However, in case of using parallel structures as a haptic device, it is sometimes hard to ensure the performance of the force reflection due to many singular points existing in workspace. In this paper, we propose a redundantly actuated parallel 3-DOF haptic device, which is singularity-free in the workspace and also has an improved force reflection capability. Using two sets of actuators with different size and different force resolution, we propose several useful load distribution algorithms considering force resolution and torque limit. We confirm the performance of the force reflection capability throughout simulation and experimentation.

关键词： Haptic interfaces

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Method to apply virtual spring-damper hypothesis for a redundant hydraulic manipulator

Method to apply virtual spring-damper hypothesis for a redun...

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International Conference on Ubiquitous robots and Ambient Intelligence (URAI)

作者： Jin Tak Kim Jung San Cho Se-Hee Whang Sang Uk Chon Sangdeok Park Korea Institute of Industrial Technology Cheonan KR Division of Applied Robot Technology Korea Institute of Industrial Technology Ansan-si Gyeonggi-do Republic of Korea

ISBN: (纸本)9781479953349

This paper proposes a method to verify the performance of a redundant 4 degree of freedoms (DOF) hydraulic manipulator when Virtual Spring-damper (VSD) algorithm is applied. It is combined with a control based on the VSD algorithm proposed by Ari-moto et al. To verify the applicability of VSD algorithm to the hydraulic robot manipulator of redundancy 4-DOF, we conducted an experiment to tracking repetitive circle motions of 0.2 m radius to the Y-Z plane in 3.5 seconds. To check the control performance to all directions, the experiment was conducted to the repetitive circle motions which are sloped to 30 ° to the X axis. The effectiveness of the proposed control scheme is demonstrated in experimentation with the 4-DOF manipulator.

关键词： Manipulators Joints Torque Jacobian matrices Redundancy Shock absorbers

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Commercialization and Popularization of robotic Intelligent Components

Commercialization and Popularization of Robotic Intelligent ...

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International Conference on Control, Automation and Systems

作者： Young-Ho Choi Jung-Woo Lee Sung-Jo Yun Sung-Ho Hong Jin-Ho Suh Suk-Joong Kim Jin-Ho Park Applied Technology Division Pohang Institute of Intelligent Robotics Department of Intelligent Robot Development ED Co. Ltd

ISBN: (纸本)9781467322478

This paper describes the 4th year research results of our project, [The development of robotic Intelligent S/W Component and its performance test]. In our previous paper, we suggested a unified system integration method to build an intelligent robotic system using robotic intelligent components and introduced the concept of a robotic intelligent component which consists of an embedded hardware module adopting EtherCAT bus and a software module based on Open Software Platform for robotic Services (OPRoS) in the first paper and then we described the easy system integration procedure to develop a mobile manipulator using RIC in the second paper. In this paper, we address the 4th year research results for the commercialization and popularization of RIC through development of EtherCAT Core Modules, construction of the web server for the integrated management of RIC and customization of the OPRoS component editing tool. We expect that RIC is applicable to industrial filed more easily through this commercialization process.

关键词： robotic intelligent component EtherCAT OPRoS Commercialization Popularization

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High gain observer based nonlinear position control for electro-hydraulic servo systems

High gain observer based nonlinear position control for elec...

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作者： Kim, Wonhee Won, Daehee Chung, Chung Choo Department of Electrical Engineering Hanyang University Seoul 133-791 Korea Republic of Division for Applied Robot Technology Korea Institute of Industrial Technology Ansan 426-171 Korea Republic of Division of Electrical and Biomedical Engineering Hanyang University Seoul 133-791 Korea Republic of

ISBN: (纸本)9781424474264

We present a high gain observer-based nonlinear position control for electro-hydraulic servo systems. We design passivity based control for improve tracking performance. The passivity based control needs the full states information. Since the electro-hydraulic servo system has nonlinearities, we designed a modified high gain observer to estimate its states without the transformation for normal form. To reduce the effect of nonlinear terms, we use a high gain technique. We analyze the stability of the closed-loop system using the singular perturbation method. Simulations show that the proposed controller has better position tracking performance than a standard PI controller. © 2010 AACC.

关键词： Closed loop systems

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Three-layered hybrid architecture for emotional reactive system

Three-layered hybrid architecture for emotional reactive sys...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Jun-Young Jung Dong-Wook Lee Hyun-Sub Park Ho-Gil Lee Department of Intelligent Robotics Korea University of Science and Technology Daejeon South Korea Division of Applied Robot Technology Korea Institute of Industrial and Technology Ansan South Korea

In this paper, we present the design of an emotional reactive system based on three-layered hybrid architecture. The purpose of emotional reactive system is to make robot software system that has its autonomous emotion in interaction with human. The three-layered hybrid architecture is composed of Hardware abstraction layer, Reactive Layer and Deliberative Layer and developed for autonomous mobile robots. We applied this architecture to make android EveR-2psilas emotional reactive system. With this architecture, EveR-1 could make robot emotion generated by external stimulus and play its emotional behavior in robot task execution.

关键词： Service robots Intelligent robots Computer architecture Human robot interaction Software systems robotics and automation Hybrid intelligent systems Electronic mail Automatic control Control systems

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Collective robot behavior controller for a security system using open SW platform for a robotic services

Collective robot behavior controller for a security system u...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Jae-Seong Han Sang-Hoon Ji Kyung-Ha Kim Sang-Moo Lee Byung-Wook Choi Department of Intelligence Robotics Engineering University of Science and Technology Ansan South Korea Department of Applied Robot Technology Korea Institute of Industrial and Technology Ansan South Korea

In recent, unmanned or human-robot collaborative systems are spreading in security applications in order to protect humans against sudden attack. Especially, the automated security system has to accomplish its mission even when there are limitations of its sensors in view of range or reliability. For this dependable operation, it is better to build up a security system using collective multi-robots than a single robot. So, we suggest a method how to organize collective robot behaviors for a self-localization algorithm that allows a recursive state estimation process to be collective in a multi-robot coalition team that is guaranteed connected. A leader robot in our method obtains a temporary estimate from at the current time step using information from other robots (follower-robots) and checks out whether it's followers needs to be localized. When the leader robot decides to localize a follower robot, it recovers the centralized-equivalent estimate with the help of its followers near to the follower robot. A practical implementation is finally provided for five robots to emphasize the effectiveness of the proposed collective approach to multi-robot localization problem. Moreover, we implement our robot behavior controller in OPRoS in order to enhance robot behavior SW's portability.

关键词： robot kinematics robot sensing systems Uncertainty Service robots Mobile robots

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High Accurate Two-Dimensional Geo-Location System for Social Safety robot

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IFAC Proceedings Volumes 2008年第2期41卷 1675-1678页

作者： Sujin Kim Gon-Woo Kim Kyung-Tae Nam Sang-Moo Lee Joonhyuk Kang Woong-Hee Shon Jeahwan Kim School of Engineering Information and Communications University Division of Applied Robot Technology Korea Institute of Industrial Technology Advanced u-PAN Research Team Electronics and Telecommunications Research Institute (ETRI)

In this paper, we propose an efficient two-dimensional geo-location system for social safety robot, where its location is obtained by direction of arrival (DOA) and time of arrival (TOA) of the radio signal. The proposed system requires two reference signals while the conventional systems generally deploy more than three reference signals. For estimating TOA and DOA information together, we employ a multiple signal classification (MUSIC) algorithm. The simulation results show that the proposed geo-location system achieves accuracy within 3 meters error in 2 kilo-meters coverage which is constraint for mobile social safety robot.

关键词： MUSIC TOA DOA Location

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