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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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Implementation of graspless handling system for microparticles using AFM probe

Implementation of graspless handling system for microparticl...

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2009 IEEE/RSJ International Conference on Intelligent robots and Systems

作者： Y. S. Ihn Y. C. Kim H. R. Choi S. M. Lee J. C. Koo School of Mechanical Engineering Sungkyunkwan University Suwon South Korea Division of Applied Robot Technology Korea Institute of Industrial and Technology Ansan South Korea

Physical size of semiconductor components has been reduced and device density has become increased especially during for last years. As a result of this the use of various high precision manipulatable robot systems becomes norm in the industry. Normally the high precision robot system consists of precision staging system, small scale end-effector system, and highly sensitive autonomous sensing system. One of the most popular micromanipulation tasks might be handling of micro-scale objects on a surface. Although many functional aspects and constraints should be considered when the system is constructed, a key concern for the system design is level of dexterity of the manipulator especially when size of the objects to be handled and spatial resolution of the manipulator become smaller than micron or nano scale. And stiction effect has appeared since a micro-contact mechanics phenomena affects more primarily than inertial force in the high precision robot system. Thus a theoretical study has to be developed on a micro-contact mechanics phenomena. In this paper, the organized system is equipped with an omnidirectional accessible manipulation system with a new visual feedback system. Thanks to the enhanced dexterity of the system, in this paper, microparticle stiction problems that could happen to most of small object handling also can be resolved.

关键词： Probes robot sensing systems robot kinematics Service robots Manipulators Atomic force microscopy Force feedback Cameras Production systems Lithography

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Development of Flexible Laboratory Automation Platform using Mobile Agents in the Clinical Laboratory

Development of Flexible Laboratory Automation Platform using...

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IEEE International Conference on Automation Science and Engineering

作者： Choi, Byung June Jin, Sung Moon Shin, Seung Hoon Koo, Ja Choon Ryew, Sung Moo Kim, Min Cheol Kim, JinHyun Son, Woong Hee Ahn, Ki Tak Chung, Wankyun Choi, Hyouk Ryeol School of Mechanical Engineering Sungkyunkwan University Suwon South Korea KnR System Inc. Youngin South Korea Robotous Co. Seongnam South Korea Department or Mechanical Engineering Seoul National University of Technology Seoul South Korea Division of Applied Robot Technology Korea Institute of Industrial Technology Cheonan South Korea Pohang Institute of Intelligent Robotics Pohang South Korea Department of Mechanical Engineering Pohang University of Science and Technology Pohang South Korea

ISBN: (纸本)9781424420223

Recently, robotic automation in clinical laboratory becomes of keen interest as a fusion of bio and robotic technology. In this paper, we present a new robotic platform for clinical tests suitable for small or medium sized laboratories using mobile robots. The mobile robot called Mobile Agent is designed as transfer system of blood samples, reagents, microplates, and other instruments. Also, the mobile agent can perform diverse tests simultaneously based on its cooperative and distributed ability. The driving circuits for the mobile agent are embedded in the robot, and each mobile agent communicates with other agents by using Bluctooth communication. The RFID system is used to recognize patient information. The Biorobot platform based on mobile agents can control throughput according to the amount of tests. Also, the operation and maintenance of the system can be improved because its components are easily replaceable. To evaluate feasibility for Biorobot platform, the system was manufactured and validated by preliminary experiments.

关键词： Mobile agents

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Development of a human-like narrator robot system in EXPO

Development of a human-like narrator robot system in EXPO

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IEEE Conference on robotics, Automation and Mechatronics

作者： Ho Seok Ahn Dong-Wook Lee Bruce MacDonald Robotics Research Group The University of Auckland Auckland New Zealand Department of Applied Robot Technology Korea Institute of Industrial Technology Ansan Republic of Korea

This paper introduces a human-like narrator robot system called EveR-4E. EveR-4E is an android robot platform having human-like appearance, and explains exhibitions with facial expression and gestures. She has movable upper body and mannequin legs for standing on the floor. The skin of the head, arms, and hands is made of silicon jelly to give human-like texture. EveR-4E has fifty-nine degrees of freedom in the head, neck, arms, hands, and torso. Her gestures are designed based on captured body motions of human to give human-like movement. She can be controlled by remote systems controlled by human guide. She introduces robots in the robot exhibit hall of the EXPO 2012 Yeosu Korea.

关键词： Androids Humanoid robots Service robots Face Conferences Floors

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A study on traversability of quadruped robot in rough terrain

A study on traversability of quadruped robot in rough terrai...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Vo-Gia Loc Ig Mo Koo Tran Duc Trong Ho Moon Kim Hyungpil Moon Sangdoek Park Hyouk Ryeol Choi School of Mechanical Engineering Sungkyunkwan University Suwon South Korea Division of Applied Robot Technology Korea Institute of Industrial and Technology Ansan South Korea

In this work, a study on improving traversability of a quadruped robot in a 3D rough terrain is presented. The interaction between the robot and the terrain is analyzed. The analysis shows that the traversability of the robot can be significantly improved by carefully considering the position and orientation of the robot's body in each step. The effectiveness of the proposed algorithm is verified in both simulation and experiment.

关键词： Legged locomotion Leg robot kinematics Kinematics Rain Service robots

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Design of a modified binary region median filtering for micro electronic device assembly manipulations

Design of a modified binary region median filtering for micr...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Y. S. Ihn H. S. Ha B. J. Choi H. R. Choi S. M. Lee J. C. Koo Department of Mechanical Engineering Sung Kyun Kwan University Suwon Korea Division of Applied Robot Technology Korea Institute of Industrial Technology Ansan Korea

As the physical sizes of many electrical devices became a miniaturization and a complexity, precise micromanipulation system become one of the major issues in the industry. Machine vision system is used to arrange the electrical components and to analysis the error components. Accordingly it is required the rapid processing time and the precise information. Filter is used to enhance the efficiency and the precision in machine vision system. In this paper, effective filter is designed to apply real-time image processing using the region median filter and thresholding processing.

关键词： Filtering Assembly Filters Machine vision Gaussian noise Intelligent robots Image processing Probes Hybrid intelligent systems Intelligent manufacturing systems

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Observer Based Nonlinear Tension Control for Multi Motor Wire Winding System

Observer Based Nonlinear Tension Control for Multi Motor Wir...

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International Conference on Control, Automation and Systems

作者： Donghoon Shin Wonhee Kim Youngwoo Lee Daehee Won Chung Choo Chung Department of Electrical Engineering Hanyang University Division for Applied Robot Technology Korea Institute of Industrial Technology Division of Electrical and Biomedical Engineering Hanyang University

ISBN: (纸本)9781467322478

In this paper, we present a tension control method for multi motor wire winding systems (MWSs). The objectives of MWS are tracking both the tension and velocity of wire. A velocity controller for rewinding motor is designed. A tension controller, whose inner loop is the velocity controller for unwinding motor, is developed. To filter out the measurement noises of velocities and estimate the load torque of motors, an augmented observer is proposed. The proposed method ensures good performance in the presence of the measurement noises of velocities noise and load torque. Simulation results validate the effectiveness of proposed method.

关键词： Multi motor wire winding systems Tension control

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Flexible Docking Mechanism Using Combination of Magnetic Force with Error-Compensation Capability

Flexible Docking Mechanism Using Combination of Magnetic For...

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2008 IEEE International Conference on Automation Science and Engineering (CASE 2008), vol.2

作者： Se-gon Roh Jae Hoon Park Young Kouk Song KwangWoong Yang Moosung Choi Hong-Seok Kim Hogil Lee Hyouk Ryeol Choi School of Mechanical Engineering Sungkyunkwan University Suwon South Korea Division of Applied Robot Technology Korea Institute of Industrial Technology Ansan South Korea

An auto-recharging system for a mobile robot can help the robot to perform its tasks constantly and without human intervention. For implementing the system, a docking mechanism is required. This paper presents a new docking mechanism with a localization error-compensation capability. The proposed mechanism uses the combination of mechanical structure and magnetic forces between the docking connectors. It is a structure to improve the allowance ranges of lateral and directional docking errors, in which the robot is able to dock into the docking station. Consequently, this mechanism reduces dependency of a robot control and allows easy docking with only mechanical configuration. In this paper, the superiority of the proposed mechanism is verified with experimental results.

关键词： Bridges USA Councils Automation Conferences

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