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On dynamic generation of business protocol in autonomous Web services

Systems and Computers in Japan 2006年第2期37卷 37-45页

作者： Oya, Makoto Kinoshita, Masahiro Kakazu, Yukinori Graduate School of Information Science and Technology Hokkaido University Sapporo 060-0814 Japan Department of Information Design Faculty of Engineering Hokkaido Institute of Technology Sapporo 006-8585 Japan Department of Information Science Shonan Institute of Technology Fujisawa 251-8511 Japan Open System Engineering Laboratory Division of Synergetic Information Science Graduate School of Information Science and Technology Information Processing Society of Japan IEICE Japan Society of Precision Engineering ACM Department of Information Design Hokkaido Institute of Technology Japan Society of Mechanical Engineers Complex System Engineering Laboratory Division of Synergetic Information Science Graduate School of Information Science and Technology Robotics Society of Japan

One of the issues of autonomous Web services is that precise business protocols across systems are not always predefined. A likely solution to this problem is to dynamically generate business protocols by matching external interface definitions and relating information exposed by each system. The current Web services have a feature called a portType that describes an external interface of a system. This paper proposes to add a new concept called "behavior pattern" to the portType, then provides an algorithm to dynamically generate business protocols. The algorithm compares the portTypes of the concerned system and the opposite system, verifies the possibility of their interaction, and automatically reduces the behavior patterns within executable range. The paper also evaluates this algorithm by applying it to some use cases and shows that the method provides useful early results for realization of autonomous Web services. © 2006 Wiley Periodicals, Inc.

关键词： World Wide Web

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Machine Vision System to Induct Binocular Wide-Angle Foveated Information into Both the Human and Computers - Feature Generation Algorithm based on DFT for Binocular Fixation -

Machine Vision System to Induct Binocular Wide-Angle Foveate...

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IEEE International Conference on robotics and Automation (ICRA)

作者： S. Shimizu S. Shimojo Hao Jiang J.W. Burdick Psychophysics Laboratory Division of Biology California Institute of Technology Pasadena CA USA Robotics Laboratory Department of Mechanical Engineering California Institute of Technology Pasadena CA USA

This paper introduces a machine vision system, which is suitable for cooperative works between the human and computer. This system provides images inputted from a stereo camera head not only to the processor but also to the user’s sight as binocular wide-angle foveated (WAF) information, thus it is applicable for Virtual Reality (VR) systems such as tele-existence or training experts. The stereo camera head plays a role to get required input images foveated by special wide-angle optics under camera view direction control and 3D head mount display (HMD) displays fused 3D images to the user. Moreover, an analog video signal processing device much inspired from a structure of the human visual system realizes a unique way to provide WAF information to plural processors and the user. Therefore, this developed vision system is also much expected to be applicable for the human brain and vision research, because the design concept is to mimic the human visual system. Further, an algorithm to generate features using Discrete Fourier Transform (DFT) for binocular fixation in order to provide well-fused 3D images to 3D HMD is proposed. This paper examines influences of applying this algorithm to space variant images such as WAF images, based on experimental results.

关键词： Machine vision Humans Computer vision Signal processing algorithms Discrete Fourier transforms Cameras Magnetic heads Virtual reality Three dimensional displays Visual system

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Development of a new type of integrated reactive joystick and control algorithm for steer-by-wire system

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IFAC Proceedings Volumes 2004年第8期37卷 687-691页

作者： Yongsik Park Wankyun Chung Youngil Youm Robotics & Bio-Mechatronics Laboratory Department of Mechanical Engineering Pohang University of Science and Technology(POSTECH) Pohang 790-784 Republic of KOREA

Drive-by-wire is becoming a new technology in automobile replacing the current mechanically linked systems with electronic ones. Lately, it has attracted considerable attention, because of considerable advantages including safety, cost reduction, flexible interior design, reducing the weight and etc. With the ‘by-wire’ system, drivers could use different types of control devices in shape and function for the existing steering wheel and pedals, or even drive by one control device integrating the brake pedal, accelerator pedal and other functions. In this paper, a new drive-by-wire system is built by using the Electric Power Steering (EPS), Accelerator Pedal Module (APM) and a simple actuating mechanism for brake pedal. Especially, we concentrate on steer-by-wire system. To improve the accuracy and safety in steering, a new type of integrated reactive joystick and control algorithm is developed. The new joystick has larger displacement than general commercial joysticks and can generate the reactive force which promotes safe driving by preventing too fast steering. The new control scheme is one of the bilateral controls that stands on the base of the teleoperation control. Therefore, drivers could get more information about the status of car. The experiment is performed by a field test using a real car and shows the performance of this steer-by-wire system with control algorithm.

关键词： Automobiles Interactive vehicle control Automotive control Steer-by-wire Drive-by-wire

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A new actuation approach for human friendly robot design

A new actuation approach for human friendly robot design

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IEEE International Conference on robotics and Automation (ICRA)

作者： M. Zinn O. Khatib B. Roth Department of Mechanical Engineering Design Division University of Stanford Stanford CA USA Department of Computer Science Robotics Laboratory University of Stanford Stanford CA USA

Many successful robotic manipulator designs have been introduced. However, there remains the challenge of designing a manipulator that possesses the inherent safety characteristics necessary for human-centered robotics. In this paper, we present a new actuation approach that has the requisite characteristics for inherent safety while maintaining the performance expected of modern designs. By drastically reducing the effective impedance of the manipulator while maintaining high frequency torque capability, we show that the competing design requirements of performance and safety can be successfully integrated into a single manipulation system.

关键词： Manipulators Safety Acceleration Impedance Torque Human robot interaction Service robots Brain injuries Robot sensing systems Computer science

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A stable sequential inverse kinematics of flexible robots: explicit and implicit expansion methods

A stable sequential inverse kinematics of flexible robots: e...

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Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)

作者： Joono Cheong Youngil Youm Wan Kyun Chung Robotics Laboratory School of Aerospace 63 Mechanical Engineering Seoul National University South Korea Department of Mechanical Engineering Robotics and Bio-Mechatronics Laboratory South Korea

ISBN: (纸本)0780378601

This paper deals with the sequential inverse kinematics for the high speed tracking of flexible robots. As a continuation of the implicit expansion method in, the explicit version of the sequential inverse kinematics is presented which is easier to be understood conceptually. The accuracy and stability of the two algorithms are compared and proved. Numerical study verifies the validity of the theoretical results.

关键词： Robot kinematics mechanical engineering Manipulator dynamics Aerodynamics Aerospace engineering biomechatronics Stability Tracking Torque Robustness

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Inverse kinematics of multi-link flexible robots for high speed applications

Inverse kinematics of multi-link flexible robots for high sp...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： Joono Cheong Youngil Youm Wan Kyun Chung Robotics & Bio-Mechatronics Laboratory Department of Mechanical Engineering Pohang University of Science and Technology Pohang South Korea

This paper proposes an improved differential inverse kinematics algorithm which works good for high speed motion control. The dynamic constraint as well as the kinematic constraint is utilized for the inverse kinematics. The singular perturbation method helps to reduce inverse kinematics to be solvable. The numerical and experimental results show the performance of the proposed method clearly.

关键词： Kinematics Robots Iterative algorithms Motion control Torque biomechatronics mechanical engineering Perturbation methods Nonlinear dynamical systems

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Determining contact force distribution for enveloping grasps: subspace structure and dynamical balance

Determining contact force distribution for enveloping grasps...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jonghoon Park Robotics and Bio-Mechatronics Laboratory Department of Mechanical Engineering Pohang University of Science and Technology Pohang South Korea

This paper addresses one of standard problems in enveloping grasp analysis, the so-called contact force distribution. First, a subspace structure is analyzed using projection matrices into four subspaces of contact force space. Motivated by an example demonstrating that a careless definition of contact force subspaces leads to completely invalid result, we propose a proper set of projection matrices using a special weighted pseudo-inverse. Next, an example of statical ambiguity is provided in obtaining contact force distribution, which implies that contact forces can not be determined in light of statical viewpoint. To resolve such ambiguity, we propose the notion of dynamical balance. By presenting a tool for identification of dynamically balanced motions and forces, we can have a complete characterization of the force distribution for a general enveloping grasp system.

关键词： Space technology Distributed computing Robots biomechatronics mechanical engineering Friction

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Characterization of instability of dynamic control for kinematically redundant manipulators

Characterization of instability of dynamic control for kinem...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jonghoon Park Wan-Kyun Chung Youngil Youm Robotics and Bio-Mechatronics Laboratory Department of Mechanical Engineering Pohang University of Science and Technology Pohang South Korea

In redundant manipulator research community, the phenomenon called torque instability has not yet been completely characterized using unanimous agreement on its mechanism. This article shows that the behavior is indeed caused by incomplete compensation of null dynamics related with self-motion. This instability can be avoided by proper control with compensation of nonlinear null dynamics, and we propose a method to stabilize conventional redundancy resolution schemes extended to dynamic controls.

关键词： Manipulator dynamics Torque control Acceleration Equations Temperature control Kinematics Control systems Robots biomechatronics mechanical engineering

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PID composite controller and its tuning for flexible link robots

PID composite controller and its tuning for flexible link ro...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Joono Cheong Wan Kyun Chung Youngil Youm Department of Mechanical Engineering Robotics 8 Bio-Mechatronics Laboratory Pohang University of Science and Technology Pohang South Korea

This paper proposes a PID-type composite controller for controlling flexible arms modeled by the singular perturbation approach, and investigates a tuning method based on the proposed controller structure. For the slow sub-controller, a PD plus disturbance observer is used, which eventually takes on PID form, and for the fast sub-controller, modal feedback PID control is utilized. The effects of design parameters of the controller on the closed loop response are investigated. Through simulation and experiments, the adequacy and performance of the proposed method are verified.

关键词： Three-term control Feedback PD control Uncertainty Friction Steady-state Robot kinematics Gravity Bandwidth biomechatronics

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Real-time ZMP compensation method using null motion for mobile manipulators

Real-time ZMP compensation method using null motion for mobi...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jinhyun Kim Wan Kyun Chung Youngil Youm B.H. Lee Robotics & Bio-Mechatronics Laboratory Department of Mechanical Engineering Pohang University of Science and Technology Pohang South Korea Robotics & Intelligent Systems Laboratory School of Electrical Engineering Seoul National University Seoul South Korea

The dynamic stability of a mobile manipulator using ZMP compensation is considered. A unified approach for the two subsystems is formulated using a redundant scheme. First, to conserve the dynamic stability of the system, we define the performance index for the redundant system using the ZMP (zero moment point). This performance index represents the stability of the whole mobile manipulator system. Then, the redundancy resolution problem for optimizing the given performance index is solved using the null motion. Finally, the performance of this method is demonstrated by simulation study.

关键词： Stability Manipulator dynamics Mobile robots Control systems Intelligent robots Performance analysis Motion control Acceleration Real time systems biomechatronics

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