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International Conference on Ubiquitous robots and Ambient Intelligence (URAI)

作者： Myoung-Su Choi Dong-Hyuk Lee Jae-Han Park Ji-Hun Bae Robotics R&D Group Korea Institute of Industrial Technology Ansan Repulbic of Korea(South) Applied Robot R&D Departmment Korea Institute of Industrial Technology Ansan Repulbic of Korea(South)

ISBN: (数字)9781728157153

ISBN: (纸本)9781728157160

In this study, we present a novel method for `peg-in-hole' assembly using a multi-joint three-fingered gripper. In previous studies, we have conducted peg-in-hole assembly based on spiral search method, not knowing the exact hole position. However, search time varies greatly depending on the error between the peg and the hole, it was difficult to estimate tact time of the assembly task. In this paper, in order to reduce the search time deviation of the hole, we propose a method that estimating the direction of the hole first before conducting the search motion. Direction of the hole is estimated by `kinesthetic sensing' using the fingers grasping the peg. The feasibility of the proposed method has been verified through peg-in-hole assembly experiments using the three-fingered robot gripper.

关键词： robot sensing systems Grippers Navigation Grasping Performance evaluation Estimation

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A Composite Algorithm for Flow Rate Reduction and Stable Body Trajectory Generation in a Hydraulic Actuated Quadruped robot with Kinematic Redundancy

A Composite Algorithm for Flow Rate Reduction and Stable Bod...

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2011 IEEE International Conference Mechatronics and Automation(2011 IEEE机电一体化与自动化国际会议)

作者： Taeju Kim Sangdeok Park Byung-Ju Yi Department of Applied Robot Technology Korea Institute of Industrial Technology 1271-18 Sa-3-dong A School of Electrical Engineering and Science Hanyang University 1271-18 Sa-3-dong Ansan Gyeonggi P

A hydraulic actuator has a various merits. It has a small size and a high power-to-weight ratio. So it is able to generate high torque in small size actuator. These features of hydraulic actuator are very useful for a walking robot. However, the hydraulic actuator needs a hydraulic power-pack which supplies pressure and flow. Usually, a big and heavy power-pack is needed to generate high pressure and large flow rate. Especially this power-pack is a burden to the stand alone type robot Therefore it is very important o minimize the size of the power-pack. In this paper, we propose a redundantly actuated quadruped robot which is driven by hydraulic actuator. Using die kinematic redundancy of each leg mechanism, a flow rate consumption minimization algorithm is proposed, which allows minimizing the size of a power-pack. We demonstrate the reduction of the flow rate of the robot through simulation and experiment.

关键词： Legged robot Redundancy Resolution Hydraulic Actuated robot

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Impedance control of electro hydraulic servo system using input output linearization

Impedance control of electro hydraulic servo system using in...

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International Conference on Control, Automation and Systems ( ICCAS)

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

In this paper, we present an impedance control method for electro hydraulic servo systems (EHSSs). The definition of impedance is a transfer function from external force to velocity error. By the proposed method, the transfer function from external force to velocity error becomes the desired transfer function. And we calculate the steady-state position and velocity error. Simulation results validate the effectiveness of proposed method and the steady-state position and velocity error.

关键词： Impedance Force Transfer functions Steady-state Dynamics Pistons Equations

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Analysis of attention deficit hyperactivity disorder in EEG using wavelet transform and self organizing maps

Analysis of attention deficit hyperactivity disorder in EEG ...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Seung Hyun Lee Berdakh Abibullaev Won-Seok Kang Yunhee Shin Jinung An Pragmatic Applied Robot Institute Daegu-Gyeongbuk Institute of Science and Technology Daegu South Korea Research Institute of Special Education & Rehabilitation Science Daegu University Daegu South Korea

This paper presents our preliminary study EEG brain signals of children with attention deficit hyperactivity disorder (ADHD) in order to support a computer assisted diagnostic system. The EEG signals were recorded from 13 children including normal and children diagnosed with ADHD. We analyzed the signals with multilevel discrete wavelet decompositions in order to extract brain signal power spectrum features. A wavelet thresholding technique was employed to further improve the data quality by denoising the artifacts. In order to discriminate the attention level in electrical brain activity of ADHD children, we used a standard Self-Organizing Map clustering technique with wavelet coefficient input features. Clustering results varied depending on the wavelet feature extraction stage, particularly it was noticed that accuracy was dependent on the type of the used wavelet function. The clustering results demonstrate that `sym7' wavelet function provides better input feature localization to provide the accurate separation of normal and disordered children's brain activity.

关键词： Wavelet transforms Electroencephalography Feature extraction Pediatrics Accuracy Brain

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PIL-EYE: Integrated System for Sustainable Development of Intelligent Visual Surveillance Algorithms

PIL-EYE: Integrated System for Sustainable Development of In...

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Proceedings of the Digital Image Computing: Technqiues and Applications (DICTA)

作者： Hyung Jin Chang Kwang Moo Yi Shimin Yin Soo Wan Kim Young Min Baek Ho Seok Ahn Jin Young Choi Perception and Intelligence Laboratory School of EECS ASRI Seoul National University Seoul South Korea Mitsuishi Sugita Laboratory University of Tokyo Tokyo Japan Department of Applied Robot Technology Korea Institute of Industrial and Technology South Korea

In this paper, we introduce a new platform for integrated development of visual surveillance algorithms, named as PIL-EYE system. In our system, any functional modules and algorithms can be added or removed, not affecting other modules. Also, functional flow can be designed by simply scheduling the order of modules. Algorithm optimization becomes easy by checking computational load in real time. Furthermore, commercialization can be easily achieved by packaging of modules. The effectiveness of the proposed modular architecture is shown through several experiments with the implemented system.

关键词： Engines Surveillance Algorithm design and analysis Computer architecture Visualization Graphical user interfaces Cameras

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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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IEEE International Workshop on Intelligent robots and Systems (IROS)

作者： Tae-Ju Kim Byung-Ju Yi Il Hong Suh Division for Applied Robot Technology (DART) Korea Institute of Industrial and Technology Ansan South Korea School of Electrical and Computer Science Hanyang University Ansan South Korea School of Information and Communication Hanyang University Seoul South Korea

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 Actuators Reflection Torque Payloads Service robots Parallel robots Computer science Communication industry Computer industry

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Collective searching algorithm for multi-robot system with bounded communication range

Collective searching algorithm for multi-robot system with b...

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International Conference on Ubiquitous robots and Ambient Intelligence (URAI)

作者： Sang-Hoon Ji Jae-Seong Han Sang-Moo Lee Yong-Sun Moon Tae-Yong Kuc Department of Applied Robot Technology Korea Institute of Industrial and Technology Ansan South Korea Redone Technologies Company Lt. Korea Gwangjoo South Korea School of Information & Communication Engineering Sungkyunkwan University Suwon South Korea

ISBN: (纸本)9781457707223

It is very difficult to acquire information of all robot states in real applications due to the limited range of wireless communication. Therefore, many researchers have attempted to implement collective robots without communication each other. However, there are two demerits in the collective systems; one is their poor efficiency and the other is that the systems are irresponsible to various events which may be invoked in searching applications. Therefore in this paper we propose a method to improve productivity collective robots and improve response capability to events so that robots are able to communicate with each other within a limited distance. For the purpose, we develop collective robots' behaviors which can complete a searching mission under unknown environment and we propose a rule by which the robots share their local maps and path plans. Finally, efficiency of the proposed method is verified by simulation results.

关键词： Bounded communication range Collective searching algorithm Multi-robot system Sweeping robot multi-robot systems communication range SWEEPS response capability CARRIER SYSTEM robot System

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Can We Teach What Emotions a robot should Express?

Can We Teach What Emotions a Robot should Express?

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IEEE/RSJ International Conference on Intelligent robotics and Systems

作者： Ho Seok Ahn Jin Young Choi School of Electrical Engineering and Computer Science ASRI PIL Seoul National University Seoul Korea and the Department of Applied Robot Technology Korea Institute of Industrial Technology Ansan 426-791 Korea. He is now with the Intelligent Robot Professor in the School of Electrical Engineering and Computer Science ASRI PIL Seoul National University Seoul Korea

ISBN: (纸本)9781467317375

This paper presents a possibility that we can teach what emotions a robot should express. For this, we design an artificial emotion decision system learned by feedbacks of users. The proposed system consists of three parts: a personality space with probability model, an emotion decision process, and an emotion learning process. 1) The personality space is designed based on the Five-Factor Model. In the personality space, we set up probability distributions of emotions. 2) The emotion decision process determines the probability values of emotions using the probability distributions of emotions in the personality space. 3) The emotion learning process updates the probability distributions by the feedbacks that are the teaching information from users;then, different probability values of emotions are determined. By applying to a humanoid robot system, we have verified the validity of the proposed system by being learned from two persons who have different personalities.

关键词： an emotion learning Five-Factor Model using Emotions Probability distribution robot Personality Feedback Five Factor Personality Model statistical distribution decision process

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Meal intention recognition system based on gaze direction estimation using deep learning for the user of meal assistant robot

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Journal of Institute of Control, robotics and Systems 2021年第5期27卷 334-341页

作者： Park, Hyunji Jang, Inhoon Ko, Kwangeun Applied Robot R&D Department Korea Institute of Industrial Technology Korea Republic of Department of Computer Science & Engineering Hanyang University Korea Republic of Industry Academic Cooperation Foundation Hankyong National University Korea Republic of

Care robots that provide dietary supplements to the elderly and the disabled should be able to intelligently interact with the users’ intention to eat in real-time and provide the food they want. To this end, based on deep learning, we have developed a user interface that facilitates the selection of food to be eaten according to six user gaze directions. A single-stage object-detection deep learning model has been implemented as a lightweight, single-stage object-detection deep learning model that can be installed on commercial tablets, and the accuracy of this model was 0.9857. © ICROS 2021.

关键词： Human robot interaction

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Automatic Scheduling Algorithm for Personalized Clinical Test

Automatic Scheduling Algorithm for Personalized Clinical Tes...

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SICE Annual Conference

作者： Jung Woo Kim Byung June Choi Kyu Ho Noh Hyouk Ryeol Choi Ja Choon Koo Sung Moo Ryew Jin Hyun Kim Woong Hee Son School of Mechanical Engineering Sungkyunkwan University Suwon South Korea Division of System Development KnR System Inc. Yongin si South Korea Division of Applied Robot Technology Korea Institute of Industrial and Technology Ansan South Korea

In this paper, we discuss how to arrange the activities of the clinical laboratory tests to minimize the total processing time. The order of each tests is different, but is fixed. Each of which is to be processed one at a time on m or fewer machines. This situation is referred to a job shop problem which consists of n jobs, m machines. The solution of this problem is considered and I simulated some tests

关键词： Scheduling algorithm Automatic testing Job shop scheduling Laboratories System testing Automation Concrete Instruments Assembly robots

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