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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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3d-based Visual Assistance System for Teleoperation

3D-based Visual Assistance System for Teleoperation

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International Conference on Control, Automation and Systems

作者： Ga-ram Jang Yong-deuk Shin Jae-Shik Yoon Ji-Hun Bae Jae-Han Park Moon-Hong Baeg Department of Applied Robot Technology Korea Institute of Industrial Technology (KITECH) Ansan R&D Center

ISBN: (纸本)9781467322478

In this paper, we propose a 3d-based visual assistance system for teleoperation using 3d point cloud data. In a teleoperating system, it is essential to provide the teleoperator with highly realistic information. By using 3d point cloud data, the teleoperator can observe the working environment from different viewpoints and apply various task-solving methods to it.

关键词： Teleoperation 3d point cloud Visual assistance system

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The development of China robotic Industry and Intelligent robot Key Project of the 13th Five-year Plan

The Development of China Robotic Industry and Intelligent Ro...

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2015中国（沈阳）国际机器人大会

作者： Jie Zhao Intelligent Robot in National High Technology R&D Program Expert Group Harbin Institute of Technology

Intelligent robot is a strategic emerging industry which is highly concerned by all countries in the *** is one of the important technical support for the intelligent manufacturing.I will first introduce the development of China robotic *** I will present our investigation on the major problems in robotic r&d *** third part of my talk will demonstrate the target and deployment plan of Intelligent robot Key Project of the 13 Five-Year Plan.

关键词： Project Five-year Plan The development of China robotic Industry and Intelligent robot Key Project of the 13 Key

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Correlation between the bath composition and nanoporosity of dC-electrodeposited Ni-Fe alloy

Correlation between the bath composition and nanoporosity of...

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作者： Maizza, Giovanni Pero, renato Kaciulis, Saulius Bolli, Eleonora Eom, Hyeonjin Lee, Minsu Yim, Tai Hong Department of Applied Science and Technology Politecnico di Torino Torino Italy Department of Industrial Engineering University of Rome "Tor Vergata" Rome Italy Institute for the Study of Nanostructured Materials ISMN — CNR Rome Italy Thermochemical Energy R&D Group Korea Institute of Industrial Technology Cheonan-si Korea Republic of Department of Materials Science and Engineering Hanyang University Seoul Korea Republic of Surface Technology R&D Group Korea Institute of Industrial Technology Incheon Korea Republic of

The outstanding mechanical strength of as-deposited dC-electrodeposited nanocrystalline (nc) Ni-Fe alloys has been the subject of numerous researches in view of their scientific and practical interest. However, recent studies have reported a dramatic drop in ductility upon annealing above 350°C, associated with a concomitant abnormal rapid grain growth. The inherent cause has been ascribed to the presence of a detrimental product or by product in the bath, which affects either the microstructure or causes defects in the concentration and/or distribution of the as-deposited films. The present work has been inspired by the observed abnormal behaviour of annealed electrodeposited nc Ni-Fe alloy, which has here been addressed by considering the relationship between the composition of the bath (iron-chloride, nickel-sulphate solution, saccharin and ascorbic acid) and deposition defects (e.g. grain boundary pores) in the case of an nc Ni-Fe (Fe 48 wt%) alloy. The current investigations have included X-ray photoelectron spectroscopy (XPS), field emission scanning electron microscopy (FESEM) and transmission electron microscopy (TEM) in both as-deposited and post-annealed conditions (300°C–400°C). XPS depth profiling with Ar ion sputtering showed a significant amount of C and O impurities entrapped in the foils during deposition. As such impurities are often overlooked in common analytical techniques, new scenarios may need to be rationalised to explain the observed drop in tensile ductility of the as-deposited Ni-Fe alloys. © 2020 John Wiley & Sons, Ltd.

关键词： X ray photoelectron spectroscopy

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A Novel Control Method to Change Motion of 3dOF Parallel robot Immediately and Flexibly

A Novel Control Method to Change Motion of 3DOF Parallel Rob...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Hyun-Su Kim Kwang-Hee Lee Tae-Yong Kuc Seon-Je Yang Kyung-Tae Nam Sungkyunkwan University Suwon Korea Robot R&D Group Korea Institute of Industrial Technology Ansan Korea

In this paper, we propose a new control method for manipulator that allows changing motion immediately and flexible even in sudden situations. The reason is that in the future production process, human and robots will collaborate, or the robot will recognize an environment by itself. We defined linear motion and curve motion method of a 3dOF parallel robot. This control method can be controlled in real time. We simulated to verify motion and experimented with parallel robots and laser trackers. Using this control method, the adept motion experiment of the robot was performed, and the cycle time was 0.395 secs. The new control method was applied to the factory of a beverage company.

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Lane detection & localization for UGV in urban environment

Lane detection & localization for UGV in urban environment

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International Conference on Intelligent Transportation

作者： Teawon Han Yanghyun Kim Kisung Kim Robot Technology group Samsung Techwin R&D Center Seongnam-si Gyeonggi-do South Korea

ISBN: (纸本)9781479960798

Generally, the main components of autonomous driving system consists of perception (geometry recognition, localization, and objects detection & tracking) and navigation processes (global & local path planning, and controller). In this paper, we focus on finding an accurate position for Unmanned Ground Vehicle (UGV) in urban environments. A GPS sensor is fundamentally used to get a current global position, but its accuracy is susceptible to satellite geometry or receiver's conditions; even though high performance guaranteed GPS such as differential-GPS (dGPS) always return precise position(position error is less than 0.4m) because of problems such as disconnection between base station and vehicle. The position-errors, even few meters, could engender serious accidents when UGV is driving under urban environments. In this paper, we suggest the localization algorithm and novel lane detection algorithm. The detected lane information is implemented to overcome GPS sensor's position-errors. First, our novel lane detection algorithm is described, and then the localization algorithm is discussed. This paper also provides experimental results of the lane-detection and the localization in urban environment by using UGV.

关键词： Global Positioning System robot sensing systems Vehicles Feature extraction Cameras Urban areas roads

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Finite State Machine based Vehicle System for Autonomous driving in Urban Environments

Finite State Machine based Vehicle System for Autonomous Dri...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Sang-Hyeon Bae Sung-Hyeon Joo Jung-Won Pyo Jae-Seong Yoon Kwanghee Lee Tae-Yong Kuc Sungkyunkwan University Suwon Korea Robot R&D Group Korea Institute of Industrial Technology Ansan Korea

ISBN: (数字)9788993215205

ISBN: (纸本)9781728185620

In autonomous driving systems, many approach have been developed based on high-precision sensors, high computing power, development of various networks in academia and industry. The key point of an autonomous car is that it needs to know what is happening in the driving situation and an action corresponding to this situation must be created and operated. In this paper, we propose the system structure and method of a autonomous driving car consisting of three main parts:perception, planning, control. Each main part is designed to recognize the real-time driving environment, make action plan based on finite state machine, and activate kinematic model based control. The proposed vehicle system copes with six major situations of urban environment driving, and we verified system through the simulation.

关键词： Autonomous vehicles Automobiles Sensors Laser radar Wheels Tires Planning

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A New Semantic descriptor for data Association in Semantic SLAM

A New Semantic Descriptor for Data Association in Semantic S...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Hyun-Uk Lee Kwang-Hee Lee Tae-Yong Kuc SungKyunkwan University Suwon Korea Robot R&D Group Korea Institute of Industrial Technology Gyeonggi-do Korea

To successfully implement SLAM based on semantic information, object recognition is essential. In our semantic SLAM approach, the robot should localize itself knowing only the pose of the surrounding objects. The implicit information in TOSM contains conceptual knowledge, in which we stored data that cannot be perceived by sensors only. However, it needs to distinguish not only an object class, but also which specific object instance a given detected object is related to. In many approaches, objects are recognized by detecting feature points and representing them as descriptors. There are several types of descriptors for feature points, such as SIFT and SUrF. There are also descriptors describing a whole object instead of just feature points, like GOOd or HOOd. We suggest a new semantic descriptor, which includes more high-level information, and propose a process to recognize accurately through semantic analysis by semantic descriptors. In this paper, we introduce about our semantic descriptor model while giving some example cases, and then describe the process of data association by using the aforementioned descriptor.

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Instance segmentation based recognition system tracking tomatoes by ripeness in natural light conditions

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Journal of Institute of Control, robotics and Systems 2020年第11期26卷 940-948页

作者： Lee, Woo-Young Ko, Kwang Eun Kang, Jaehyeon Park, Hyun Ji Jang, Inhoon Applied Robot R&D Department Korea Institute of Industrial Technology Korea Republic of Department of computer Science & Engineering Hanyang University Korea Republic of

This paper describes a tomato recognition system to be applied to a harvesting robot used in farms under natural light conditions. The tomato recognition system is composed of a stereo camera, light, deep learning based instance segmentation model and Kalman filter based object tracking algorithm. In order to train the instance segmentation model, a large-scale dataset of the actual smartfarm background is made, and performance verification is performed on the test dataset. The average precision of the deep learning based instance segmentation model achieved 96.8% of performance when the threshold of the prediction score for classifying ripeness is over 0.75 (Table. 3), and the multiple object tracking accuracy of the Kalman filter based tracking method is approximately 74.3%. © ICrOS 2020.

关键词： Kalman filters

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GPU-based collision detection for sampling-based motion planning

GPU-based collision detection for sampling-based motion plan...

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International Conference on Ubiquitous robots and Ambient Intelligence (UrAI)

作者： Jaeshik Yoon Jaehan Park Moonhong Baeg University of science and technology UST Deajeon Korea Robot Convergence R&D Group Korea Institute of Industrial Technology Ansan Korea

This paper presents GPU-based collision detection method that accelerates collision queries for sampling-based motion planning. This approach uses many-core GPUs. To take advantage of a many-core GPU, kinematic and collision detection is calculated by the GPU. The experimental results indicate that this approach can result in a ten-fold faster performance than when using a CPU.

关键词： robots Collision avoidance Graphics processing units Planning Kinematics Joints Instruction sets

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