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IEEE International Workshop on robot and Human Communication (ROMAN)

作者： Gon-Woo Kim Kyung-Tae Nam Sang-Moo Lee Division of Applied Robot Technology Korea Institute of Industrial and Technology Ansan South Korea

We propose an image-based visual servoing algorithm of a wheeled mobile robot utilizing a ceiling mounted camera. The visual navigation of a mobile robot is defined as an unconstrained optimization problem to minimize the image difference between the goal position and the position of a mobile robot in the image plane. Full New ton's method is applied for unconstrained optimization. We also propose a method to find the Hessian term of the image error using a secant approximation method. The performance of visual servoing was evaluated using the simulation.

关键词： Visual servoing Mobile robots robot vision systems Cameras robot kinematics Jacobian matrices Motion planning Service robots Human robot interaction Orbital robotics

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Study of motor arbiter for a human-like robot

Study of motor arbiter for a human-like robot

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Tae-Geun Lee Kwang-Woong Yang Moo-Sung Choi Hong-Seok Kim Intelligent Robot Engineering Korea University of Science and Technology Ansan South Korea Division of Applied Robot Technology Korea Institute of Industrial and Technology Ansan South Korea

In development of a human-like robot, a motor control has to manage many motors simultaneously. This paper proposes the method of motor control which makes the human-like robot have facial expressions and behaviors similar to a human. It applied the behavior-based control and motor arbiter for performing continuous behaviors by synthesizing unit behaviors of an upper body and a facial expression. The behavior-based control selects the proper behavior and facial expression about a sensor input of a robot and an output of a high task. The motor arbiter exists between the behavior and the motor driver, and arbitrates interfered outputs generated from when one or more behaviors are executed concurrently. The behavior and facial expression of the human-like robot are expressive of smooth and continuous behaviors by using the behavior-based control and motor arbiter which synthesize several unit behaviors.

关键词： Humanoid robots Service robots robot sensing systems Intelligent robots Motor drives robotics and automation Human robot interaction robot control Biological control systems Automatic control

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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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Microscopic motion control of a parallel visual alignment stage

Microscopic motion control of a parallel visual alignment st...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： SangJoo Kwon Sang Moo Lee School of Aerospace and Mechanical Engineering Korea Aerospace University Goyang Korea Division of Applied Robot Technology Korea Institute of Industrial Technology Ansan Korea

This paper investigates motion control of a visual alignment stage with four parallel limbs for the planar alignments between mask and panel. The parallel alignment stage has the high load capacity but small moving range. Hence, the control performance much depends on how well the uncertainty at low velocities such as nonlinear friction can be compensated. The perturbation observer based control is so efficient to compensate the frictional uncertainty arising specifically in microscopic movement and as a result enables to achieve fine controlled motion. Experimental results in the visual alignment demonstrate the effectiveness of the suggested control method.

关键词： Microscopy Motion control Control systems Machine vision Aerospace industry Uncertainty Friction robotics and automation Aerospace control Aerospace engineering

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Simulator Implementing Uncertainties in Motion for robots in a Network

Simulator Implementing Uncertainties in Motion for Robots in...

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IEEE International Conference on Mechatronics and Automation

作者： Nak Yong Ko Dong Jin Seo Gwang Jin Kim Youngchul Bae Yongseon Moon Sang-Moo Lee Department Information and Communication Eng. Chosun University Gwangju South Korea School of Information Communication Sunchon National University Suncheon South Korea Division of Electrical Electronic Communication Chonnam National University Yeosu South Korea Division of Applied Robot Technology Korea Institute of Industrial and Technology South Korea

This paper presents a simulator for multiple robot system. The simulator implements the uncertainties in the robot motion. The robots in the simulator are connected using the IPC (Inter Process Communication) which is based on TCP-IP. The simulator consists of the four units: communication, robot control, kinematic design, and driver for real robot operation. The robot control unit uses Gaussian noise to incorporate the uncertainties of robot motion. The real robots and virtual robots can operate in parallel. Also, by providing only the link parameters, a new robot can be added. Some application examples show that the simulator is useful and indispensable for verification of algorithms especially for complicated multiple robot systems. Moreover, it is shown that motion uncertainty of the robot plays an important role to evaluate the robustness performance of an algorithm.

关键词： Uncertainty robot sensing systems robot motion Intelligent robots Service robots Computational modeling Computer networks robotics and automation Paper technology robot control

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Development of multi-axial micro force measurement method for electronic device assembly

Development of multi-axial micro force measurement method fo...

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2006 SICE-ICASE International Joint Conference

作者： Byung, June Choi Sang, Heon Ryu Seung, Hwa Ha Tri, Cong Phung Ja, Choon Koo Sangdeok, Park Sangmoo, Lee Hyouk, Ryeol Choi School of Mechanical Engineering Sungkyunkwan University Suwon Korea Republic of Division of Applied Robot Technology Korea Institute of Industrial Technology Ansan Korea Republic of

ISBN: (纸本)8995003855

A multi-axial micro force measurement system that can detect contact information of micro-scaled object interactions is presented. An accurate measurement of forces in the range of milli or micro newtons becomes an essential tool for the development of high-precision robot systems. The presented force measurement system consists of semiconductor strain gauges and 6-axis force/torque sensor. Implementation of the dual semiconductor strain gauges with a 6-axis force/torque sensor that are installed on a small manipulator system enables the identification of the applied force and contact position. Theoretical consideration of the method followed by an experimental verification is provided. © 2006 ICASE.

关键词： Electronic equipment

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Development of a Real Time Locating System Using PSD under Indoor Environments

Development of a Real Time Locating System Using PSD under I...

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SICE Annual Conference

作者： Jae-han Park Dae-hee Won Ki-young Park Seung-ho Baeg Moon-hong Baeg Division for Applied Robot Technology KITECH Ansan Korea

This paper considers a new positioning sensor using position sensitive detector (PSD) under indoor environments. The system consists of PSD module which is attached on the ceiling and infrared (IR) projector modules attached on the interested object, and all modules are connected by wireless communication. In this system, the PSD module detects and determines location of the IR projector module with its light source, and the IR projector module receives its own location information from the PSD module. In particular, the developed system is implemented on the embedded system and it is small, simple, inexpensive and robust localization system. We applied this system to mobile robot navigation on indoor environment, and the experimental results shows the effectiveness of this system

关键词： Real time systems Indoor environments Position sensitive particle detectors Optical fiber communication Wireless communication Infrared detectors Light sources Embedded system Robustness Mobile robots

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NONLINEAR NETWORK STRUCTURES FOR FEEDBACK CONTROL

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Asian Journal of Control 2008年第4期1卷

作者： F.L. Lewis Dept. of Electical Engineering The University of Texas at Arlington U.S.A. F. L. Lewis was born in Wärzburg. Germany subsequently studyning in Chile and Goruonstoun School in Scotland. He obtained the Bachelor's Degree in Physics/Electrical Engineering and the Master's of Electrical Engineering Degree at Rice University in 1971. He spent six years in the U.S. navy serving as Navigator aboard the frigate USS Trippe (FF-1075) and Executive Officer and Acting Commanding Officer aboard USS Salinan (ATF-161). In 1977 he received the Master's of Science in Aeronautical Engineering from the University of West Florida. In 1981 he obtained the Ph.D. degree at The Georgia Institute of Technology in Atlanta where he was employed as a professor from 1981 to 1990 and is currently an Adjunct Professor. He is a Professor of Electrical Engineering at The University of Texas at Arlington where he was awarded the Moncrief-O'Donnell Endowed Chair in 1990 at the Automation and Robotics Research Institute. Dr. Lewis has studied the geometric analytic and structural properties of dynamical systems and feedback control automation. His current interests include robotics intelligent control neural and fuzzy systes nonlinear systems and manufacturing process control. He is the author/co-author of 2 U.S. patents 124 journal papers 20 chapters and encyclopedia articles 210 refereed conference papers seven books: Optimal Control Optimal Estimation Applied Optimal Control and Estimation Aircraft Control and Simulation Control of Robot Manipulators Neural Network Control High-Level Feedback Control with Neural Networks and the IEEE reprint volume Robot Control. Dr. Lewis is a registered Professional Engineer in the State of Texas and was selected to the Editorial Boards of International Journal of Control Neural Computing and Applications and Int. J. Intelligent Control Systems. He is the recipient of an NSF Research Initiation Grant and has been continuously funded by NSF since 1982. Since 1991 he has received $1.8 m

A framework is given for controller design using Nonlinear Network Structures, which include both neural networks and fuzzy logic systems. These structures possess a universal approximation property that allows them to be used in feedback control of unknown systems without requirements for linearity in the system parameters or finding a regression matrix. Nonlinear nets can be linear or nonlinear in the tunable weight parameters. In the latter case weight tuning algorithms are not straightforward to obtain. Feedback control topologies and weight tuning algorithms are given here that guarantee closed-loop stability and bounded weights. Extensions are discussed to force control, backstepping control, and output feedback control, where dynamic nonlinear nets are required.

关键词： Intelligent feedback control neural networks neural network structures basis function networks fuzzy control fuzzy-neural networks universal approximation adaptive nonparametric control learning control systems

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Intelligent Biorobot platform for integrated clinical test

Intelligent BioRobot platform for integrated clinical test

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2006 SICE-ICASE International Joint Conference

作者： Byung, June Choi Kyuho, Noh Jung, Woo Kim Sung, Moon Jin Ja, Choon Koo Sung, Moo Ryew Jinhyun, Kim Woong, Hee Son Ahn, Ki Tak Wankyun, Chung Hyouk, Ryeol Choi School of Mechanical Engineering Sungkyunkwan University Suwon Korea Republic of Division of System Development KnR System Inc. Youngin Korea Republic of Division of Applied Robot Technology Korea Institute of Industrial Technology Cheonan Korea Republic of Pohang Institute of Intelligent Robotics Pohang Korea Republic of Department of Mechanical Engineering Pohang University of Science and Technology Pohang Korea Republic of

ISBN: (纸本)8995003855

Recently, automation in clinical test is raised as a fusion of bio and robotic technology. Particularly, automation in clinical test becomes a new application area of the robotic technology. In this paper, we present a robot platform for clinical test suitable for small or medium size of hospitals. The platform is designed to minimize the consumption of reagents, and easily integrate various testing equipments since it is functionally modularized. The platform is aimed for accommodating almost 70 kinds of clinical tests, which are the most frequently conducted in the hospitals. The platform consists of several major function blocks such as manipulation, transportation and detection, incubation, reservation, and each of them is designed as a module of the system. Basic ideas of the design are described and each functional block is explained in details. © 2006 ICASE.

关键词： Intelligent robots

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Preliminary thruster control experiments for underwater vehicle positioning

Preliminary thruster control experiments for underwater vehi...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jinhyun Kim Woong Hee Shon Ho-Gil Lee Wan Kyun Chung Division of Applied Robot Technology Korea Institute of Industrial and Technology Ansan South Korea Robotics & Bio-Mechatronics Laboratory Pohang University of Science and Technology Pohang South Korea

To improve the maneuverability of underwater vehicles, accurate thruster control is required based on a precise thrust model. Especially, in real systems, the ambient flow velocity and angle effects on the thrust force are very important, because vehicles are continuously moving and/or hovering with thruster actions. In this paper, we execute preliminary experiments with the model containing ambient flow effects as CAR (critical advance ratio) and CIA (critical incoming angle). The distinguished characteristics of the above model is the three axial flow states classification. The whole thrust map is divided into three states according to the state of ambient flow velocity, angle, and propeller shaft velocity. The several controllers are tested using the three flow states information. The preliminary experimental results show the best performance can be obtained by the open loop control with accurate model, because the thrust force cannot be measured directly, so the force map from the propeller shaft velocity to thrust force plays important roll in control performance. However, the DOB (disturbance observer) with closed loop controller is realistic solution, because it can compensate various unknown disturbances in real systems

关键词： Underwater vehicles Open loop systems Force measurement Propellers Shafts Testing Velocity measurement Force control Velocity control Control systems

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