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检索条件"机构=Applied Robot Technology"

共 197 条记录，以下是71-80 订阅

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Implementation of reactive behaviors for an industrial manipulator based on OPRoS

Implementation of reactive behaviors for an industrial manip...

引用

International Conference on Ubiquitous robots and Ambient Intelligence (URAI)

作者： Sang-Hoon Ji Tae-Dong Park Sang-Moo Lee Eun-Cheol Shin Byung-Wook Choi Department of Applied Robot Technology Korea Institute of Industrial and Technology Ansan South Korea

ISBN: (纸本)9781457707223

It is important that robots in a factory execute its mission exactly in a structured environment and handle many types of events in dynamic real world. The former is related to punctuality and the latter is related to reactivity or dependability. But it is very difficult to prepare robot S/W with dependability and punctuality at the same time for the industrial manipulators because general S/W fails to meet real-time requirements. Therefore, we suggest a method how to make industrial robot software have reactive semantics. For this aim, we use OPRoS (Open software Platform for robotic Services) and application centric language interpreter. In this framework, state machine component connected abstracted sensor model components invoke signal to an interpreter component in order handle various external operation conditions. And the interpreter determines which robot behaviors will executed for the signals and make suitable robot behavior components work. Finally, we implement our robot software on mulit-core system in order to meet real-time needs including low-latency and strict period time.

关键词： Industrial robot OPRoS Reactive behavior S/W Component industrial robots industrial manipulators Punctuality robot interpreters language interpreter robot software

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The development of the modular autonomous underwater navigation system based on OPRoS

The development of the modular autonomous underwater navigat...

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International Conference on Ubiquitous robots and Ambient Intelligence (URAI)

作者： Young-Ho Choi Jung-Woo Lee Sung-Ho Hong Jin-Ho Suh Jong-Geol Kim Applied Technology Division Korea Institute of Robot and Convergence Pohang Korea

ISBN: (纸本)9781479953349

This paper addresses the design method of navigation system for the autonomous underwater vehicle (AUV), which includes overall navigation architecture, hardware and software structure. This paper is focused on how to build the integrated underwater navigation module which is applicable to various types of underwater vehicle rather than the navigation algorithm, itself. The autonomous underwater navigation system consists of many software, hardware components and the systematic integration of these components is very important to build up the efficient navigation system within the given resources. In order to achieve this goal, we introduce the systematic integration manner developing the modular autonomous underwater navigation system based on Open Platform for robotic Service (OPRoS) [1].

关键词： Navigation Software Hardware Underwater vehicles Sensors Software algorithms Computer architecture

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Leg mechanism design for SLIP model of hydraulic quadruped robot

Leg mechanism design for SLIP model of hydraulic quadruped r...

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International Conference on Ubiquitous robots and Ambient Intelligence (URAI)

作者： Jaehong Seo Jungsan Cho Byung-Yun Park Jinhyun Kim Sangdeok Park Department of Applied Robot Technology Korea Institute of Industrial Technology Ansan Korea Department of Intelligent Robot Engineering University of Science & Technology Daejeon Korea

ISBN: (纸本)9781479953349

The Spring Loaded Inverted Pendulum (SLIP) describes the dynamic walking of humans and animals in a simplified manner. However, realizing such movements by means of a combination of typical articulated legs and linear actuators has some limitations. This paper proposes a leg mechanism that accurately reflects the SLIP based on its mechanical constitution. The SLIP design based leg is able to do decoupled swing motion and extension motion. Also this study has focused on improving the straightness of extension motion.

关键词： Legged locomotion Joints Actuators Springs robot sensing systems Hip

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Development of A Glove-Based Input Device

Development of A Glove-Based Input Device

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首届亚洲机械电子学学术会议

作者： Daeheui Won Moosung Choi Kwangwoong Yang Minsung Kang Sensing and Perception Research Team Division for Applied Robot Technology (DART) Korea Institute of Industrial Technology (KITECH) Cheonan & Ansan KOREA Division for Applied Robot Technology (DART) Korea Institute of Industrial Technology (KITECH) Cheonan & Ansan KOREA Division for Applied Robot Technology (DART) Korea Institute of Industrial Technology (KITECH) Cheonan & Ansan KOREA

In this paper,we proposed a new wearable input device by recognizing human hand-motions,so-called a wearable keyglove,which can solve the disadvantages of the conventional input devices and can be adapted to the mobile computing *** system is applied to the touch- typing-input method by means of hands for user's easy understanding and improvement of input speed,and we analyzed hand-motions for touch-typing using QWERTY keyboard because it is most widely used *** the analyzed result,we are able to reduce the model with 21 DOF to one that is approximated by 14 *** we developed the hand-motions capture module using low price sensors for hand-motions recognition(production cost is about $15). Typists using the keyglove system can not exactly determine the key position of desired input letter because of the virtual keyboard without the physical location of a key *** problem caused many typing errors at long typing time. Therefore an algorithm is needed to cope with the problem and needed to reduce typing errors due to personal differences such as hand shapes and typing *** this reason,we proposed the time-variant prediction algorithm for the least typing error and confirmed the possibility of the keyglove system.

关键词： Wearable Input Device Virtual Keyboard Data Glove

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A cooperative multi-camera system for tracking a fast moving object

A cooperative multi-camera system for tracking a fast moving...

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IEEE International Conference on Cyber technology in Automation, Control, and Intelligent Systems

作者： Su Jeong You Phuc H. Truong Sang Hoon Ji Sang Moo Lee Chang Eun Lee Young Jo Cho Department of Applied Robot Technology Korea Institute of Industrial Technology Ansan Korea Department of Advanced Robot Technology Electronic Telecommunication Research Institute Daejeon Korea

This paper presents an economic real-time system for tracking a fast moving object using adjacent inexpensive multiple web cameras. Our experimental system includes three cameras that integrated into three client computers, and an acquisition sever computer that receives information from the clients and estimates the object speed in real-time. In this system, the three client computers play the role of monitor stations that detect the object, calculate the object position and capture the moment of a successful detection. From information of clients, the server estimates the relative positions of the object in each detection event to calculate the instantaneous velocities of the object. Finally, the speed of the object is determined by its average velocity in its all trajectory. The experimental results perform an accurate measurement on the setup environment.

关键词： Conferences Automation Control systems Intelligent systems

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Moving objects detection using freely moving depth sensing camera

Moving objects detection using freely moving depth sensing c...

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International Conference on Pattern Recognition

作者： Yong-Deuk Shin Jae-Han Park Ga-Ram Jang Moon-Hong Baeg Applied Robot technology Research and Development Group Korea Institute of Industrial Technology South Korea

ISBN: (纸本)9781467322164

The detection of moving objects for the surveillance and monitoring has been studied in the computer vision community for many years. Traditionally, the studies assume the use of a stationary camera. When using a 3D point cloud, research is restricted to the fixed laser scanner because of the slow data acquisition time. In this paper, we propose a method for detecting moving objects based on a freely moving sensor that provides two-dimensional-three-dimensional(2D-3D) fused data. Our method is a frame-differencing, which compares two consecutive frames combining visual features and a 3D point cloud. The RANSAC and ICP algorithms are applied for more accurate results. The moving objects can be separated in the 3D point cloud by adopting RANSAC outliers.

关键词： Cameras Object detection robot vision systems Iterative closest point algorithm Euclidean distance Image segmentation

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Sensor fusion localization system for outdoor mobile robot

Sensor fusion localization system for outdoor mobile robot

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SICE Annual Conference

作者： Donghoon Lee Sukyung Son Kwangwoong Yang Jonghwan Park Hogil Lee Intelligent Robot Engineering University of Science and Technology Ansan South Korea Division for Applied Robot Technology Korea Institute of Industrial and Technology Ansan South Korea

The purpose of this study is to develop sensor fusion loclization of autonomous mobile robot for outdoor environment. We merge 2 localization models; a camera sensor with particle filter and two GPS sensors with Kalman filter. The marks on the load such as lane, arrow, cross road and speed hump, etc., are most important information in urban environment. The camera device is useful to detect road landmarks, because the information printed on the road are color-based model. We use Delaunay triangulation method to extract landmark points in the interest region. The robot finds out the position by comparing these landmark points with a map with particle filter algorithm. We also use GPS that provides global position directly. The GPS, however, has large drift position data caused by intentional pseudo noise and slow acquisition time for mobile robot. In this paper, a sensor fusion localization system is proposed to get the robot's reasonable position by fusing these 2 localization models that compensate the weak points each other.

关键词： Sensor fusion Mobile robots Global Positioning System Cameras robot sensing systems Electronic mail robot vision systems Particle filters Roads Magnetic sensors

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Interactive remote robot operation framework for rescue robot

Interactive remote robot operation framework for rescue robo...

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IEEE International Workshop on Safety, Security, and Rescue robotics (SSRR)

作者： Yong-Deuk Shin Jae-Han Park Ga-Ram Jang Jae-Shik Yoon Moon-Hong Baeg Applied Robot Technology R&D Group Korea Institute of Industrial Technology Korea

Situation awareness and its ambiguities are some of the main problems for rescue robotics. In a disaster area, there are many obstacles and confined passages. The operator must perceive the environment and decide the robot motion based on limited sensor data. These make it difficult for the operator to perceive the situation. The operator should be aware of the relative size of the obstacles in comparison with the rescue robot and the direction of the robot to navigate the disaster area and avoid collisions with obstacles. In this paper, we propose a software framework to reduce these ambiguities. A 3D map constructed with a 3D laser scanner and a robot model in this map can reduce the ambiguities. We also estimate future robot paths using the control inputs. Then, we perform collision detection in the expected paths and their neighbors. The collision results are displayed in the reconstructed 3D map using iterative closest points(ICP) algorithm. In this paper, we define interactive remote robot operation(IRRO) by extracting the common properties for reducing the ambiguities and abstracting them. The IRRO is composed of two parts, a simulation and evaluation step for the future robot motion and an interactive user interface system.

关键词： robot sensing systems Three-dimensional displays Irrigation Image reconstruction robot motion robot kinematics

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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' 09

作者： Chung, Sam Won, Daehee Baeg, Seung-Ho Park, Sangdeok Institute of Technology University of Washington Tacoma 1900 Commerce Street Tacoma WA 98402 United States Division of Applied Robot Technology Korea Institute of Industrial Technology 1271-18 Sa 1-Dong Sangrok-Ku Ansan Gyeonggi-Do Korea Republic of

ISBN: (纸本)9781424452996

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 high-level 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. ©2009 IEEE.

关键词： Legacy systems

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Gait pattern generation for gait rehabilitation

Gait pattern generation for gait rehabilitation

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International Conference on Ubiquitous robots and Ambient Intelligence (URAI)

作者： Kap-Ho Seo Yongsik Park Sungjo Yun Sungho Park Jungsoo Jun Kwang-Woo Jeon Applied Technology Division Korea Institute of Robot and Convergence Pohang Gyeongbuk Korea

robotic gait rehabilitation devices enable efficient and convenient gait rehabilitation by mimicking the functions of physical theraphists. In manual gait rehabilitation training, physical theraphists have patients practice and memorize normal gait patterns by applying assistive torque to the patient's joint once the patient's gait deviates from the normal gait. Thus, one of the most important factors in robotic gait rehabilitation devices is to determine the assistive torque to the patient's joint during rehabilitation training. In order to calculate the assistive torque, the desired gait trajectory for affected leg should be determined. This reference trajectory is obtained from his healthy leg. The obtained signal has many noisy factors. Therefore, after conditioning the signal, the suitable pattern is applied to the developed system. This procedure is called “gait pattern generation” in this paper. It is described and discussed in detail.

关键词： Knee Legged locomotion Joints Torque Training Trajectory

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