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Annual Conference of Industrial Electronics Society

作者： Raimarius Delgado Sang-Rok Oh Bum-Jae You Byoung Wook Choi Yong Seok Ihn Center for Intelligent & Interactive Robotics Korea Institute of Science and Technology Seoul Republic of Korea Dept. of Electrical and Information Engineering Seoul National University of Science and Technology Seoul Republic of Korea

EtherCAT has been widely adopted in industrial automation and motion control owing to its real-time performance and flexible topology. However, an EtherCAT network with devices from different vendors requires extensive software modification which eventually increases development costs and effort. To address this issue, this paper presents a real-time control architecture focusing on a software-defined approach to easily reconfigure EtherCAT devices with minimal user intervention. This is achieved by simplifying the integration of EtherCAT slaves while exposing required parameters in a configuration interface through an API based on open-source EtherCAT master. We also provide a real-time variation of the POSIX library for a hard real-time multi-tasking environment considering task synchronization. Moreover, the real-time publish-subscribe protocol is also utilized to ensure seamless communication with devices outside of the EtherCAT network. To validate feasibility, practical example involving control of multi-axis robots and real-time performance analysis has been conducted.

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Connecting without Reaching: How Voice-cloned Robot Can Enhance Mental Health of Isolated People During a Pandemic

Connecting without Reaching: How Voice-cloned Robot Can Enha...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Jun San Kim Soyeon Shin Dahyun Kang Yoonseob Lim Sonya S. Kwak KB Research KB Financial Group Inc Seoul Korea Product/UX Evaluation Team LG Electronics Inc Seoul Korea Center for Intelligent and Interactive Robotics Korea Institute of Science and Technology Seoul Korea

Voice cloning techniques using deep neural networks have been used for frauds, such as false financial transactions or fake news, limiting their widespread application. However, when incorporated with communication robots, voice cloning may increase social connectedness for isolated people. Herein, we suggested the concept of a voice-cloned communication robot (VCR), equipped with acquaintances’ voices to allow people in isolation to feel connected with their acquaintances. We developed a prototype VCR, conducted exploratory qualitative and quantitative studies, and verified its potential effectiveness in enhancing the mental health of isolated people.

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Distributed goal assignment strategy for improving leader-following formation control performance

arXiv

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arXiv 2022年

作者： Choi, Yun Ho Kim, Doik Center for Intelligent & Interactive Robotics Research Korea Institute of Science and Technology 5 Hwarang-ro 14-gil Seongbuk-gu Seoul02792 Korea Republic of

This paper investigates a distributed goal assignment problem in leader-following formation control of second-order multi-agent systems. It is assumed that each agent can communicate with nearby agents within the communication range and the leader information is only available to a subset of agents. Compared with existing formation control schemes addressing the goal assignment issue, the main contribution of this paper is to construct a novel distributed assignment strategy allotting appropriate goal positions of agents in the leader-following formation control framework. Based on the rigorous analysis using the Lyapunov stability theory, the enhancement of the control performance is proved via the proposed assignment strategy. To demonstrate the effectiveness of our theoretical results, two examples including multiple quadrotors are simulated. Copyright © 2022, The Authors. All rights reserved.

关键词： Multi agent systems

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The performance of EEG-based auditory attention decoding according to the speech volume in a dichotic listening task: a preliminary study 24

The performance of EEG-based auditory attention decoding acc...

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24th International Congress on Acoustics, ICA 2022

作者： Ha, Jiyeon Lim, Yoonseob Chung, Jae Ho Department of HY-KIST Bio-convergence Hanyang University Seoul04763 Korea Republic of Center for Intelligent & Interactive Robotics Artificial Intelligence and Robot Institute Korea Institute of Science and Technology Seoul02792 Korea Republic of Department of Otolaryngology-Head and Neck Surgery College of Medicine Hanyang University Seoul04763 Korea Republic of

Auditory attention decoding (AAD) has been developed to detect the attended speech using electroencephalography. Recently, a real-time AAD method using linear decoder model has been introduced lead to expand the application of AAD in terms of auditory brain computer interface. However, people focus on sounds of varying volumes in everyday conversation, so the question of whether AAD is possible in various sound stimuli arises. The present study aimed to investigate the effect of the difference in volume between two competing speech in a dichotic listening paradigm for online AAD. Most comfortable level (MCL) and dichotic speech recognition threshold (SRT) were evaluated. And the 'Sound level for Speech intelligibility (SI) of 90%' and 'Sound Level for SI 50%' were also calculated. In online AAD task, four different sound level (MCL, MCL-20dBA, Sound level for SI of 90% and SI 50%) were introduced as attended speech, while the sound level of ignored speeches was fixed at the MCL. There was no difference in AAD performance based on the four sound levels conditions. In addition, volume difference was not significantly correlated with the individual decoder accuracy. This preliminary study identified that lowering attended speech volume to SRT level had no effect on AAD. © ICA *** rights reserved

关键词： dichotic speech recognition threshold Electroencephalography most comfortable level Online auditory attention decoding

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Pose Tracking of Supermicrosurgical Robot Towards Multi-User Teleoperation

Pose Tracking of Supermicrosurgical Robot Towards Multi-User...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： Geonuk Kim Junwon Lee Raimarius Delgado Sang-Rok Oh Yong Seok Ihn Center for Intelligent and Interactive Robotics Korea Institute of Science and Technology Seoul South Korea Department of Mechanical Engineering Korea University Seoul South Korea School of Mechanical Convergence Engineering Hanyang University Seoul South Korea

This paper presents pose tracking experiments using a supermicrosurgical robot designed to consider teleoperation with multiple surgeons. Currently, existing supermicrosurgical robots assist only the primary surgeon. However, both primary and assistant surgeons need a high-precision motion for critical tasks that can easily damage microtissue. To assist multiple surgeons in supermicrosurgery with a surgical robot, dynamic collision avoidance becomes a critical issue due to the operation in a narrow surgical site. As a milestone to overcome this issue, we first developed a pose tracking algorithm by analyzing the inverse kinematics based on null-space control and a weighting matrix. Moreover, we also developed a control framework based on fully open-source software to run the pose tracking algorithm. Finally, we validated the proposed pose tracking algorithm by performing line tracing and rubber ring transferring experiments.

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The Stiffness of 3-PRS PM Across Parasitic and Orientational Workspace

The Stiffness of 3-PRS PM Across Parasitic and Orientational...

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ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR

作者： Hassen Nigatu Li Jihao Keqi Zhu Junhan Zhang Haotian Guo Guodong Lu Doik Kim Robot Perception and Grasp Lab School of Mechanical Engineering Zhejiang University Hangzhou China Robotics Research Center of Yuyao Yuyao Technology Innovation Center Robotics Institute of Zhejiang University Ningbo Shi Zhejiang Province China The State Key Laboratory of Fluid Power and Mechatronic Systems and the Engineering Research Center for Design Engineering and Digital Twin of Zhejiang Province School of Mechanical Engineering School of Mechanical Engineering Zhejiang University Hangzhou China xR Lab Center for Intelligent and Interactive Robotics Artificial Intelligence and Robot Institute Korea Institute of Science and Technology (KIST) South Korea

ISBN: (数字)9798350395969

ISBN: (纸本)9798350395976

This study investigates the stiffness characteristics of the Sprint Z3 head, also known as 3- PRS Parallel Kinematics Machines, which are among the most extensively researched and viably successful manipulators for precision machining applications. Despite the wealth of research on these robotic manipulators, no previous work has demonstrated their stiffness performance within the parasitic motion space. Such an undesired motion influences their stiffness properties, as stiffness is configuration-dependent. Addressing this gap, this paper develops a stiffness model that accounts for both the velocity-level parasitic motion space and the regular workspace. Numerical simulations are provided to illustrate the stiffness characteristics of the manipulator across all considered spaces. The results indicate that the stiffness profile within the parasitic motion space is both shallower and the values are smaller when compared to the stiffness distribution across the orientation workspace. This implies that evaluating a manipulator's performance adequately requires assessing its ability to resist external loads during parasitic motion. Therefore, comprehending this aspect is crucial for redesigning components to enhance overall stiffness.

关键词： Simulation Resists Machining Kinematics Manipulators Numerical simulation Magnetic heads

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Fully Decentralized Design of Initialization-free Distributed Network Size Estimation

arXiv

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arXiv 2024年

作者： Lee, Donggil Kim, Taekyoo Lee, Seungjoon Shim, Hyungbo Center for Intelligent and Interactive Robotics Korea Institute of Science and Technology Seoul02792 Korea Republic of The Train Control and Communication Team Korea Railroad Research Institute Uiwang16105 Korea Republic of NAVER Labs Seongnam13161 Korea Republic of ASRI Department of Electrical and Computer Engineering Seoul National University Seoul08826 Korea Republic of

In this paper, we propose a distributed scheme for estimating the network size, which refers to the total number of agents in a network. By leveraging a synchronization technique for multi-agent systems, we devise an agent dynamics that ensures convergence to an equilibrium point located near the network size regardless of its initial condition. Our approach is based on an assumption that each agent has a unique identifier, and an estimation algorithm for obtaining the largest identifier value. By adopting this approach, we successfully implement the agent dynamics in a fully decentralized manner, ensuring accurate network size estimation even when some agents join or leave the network. © 2024, CC BY-NC-ND.

关键词： Multi agent systems

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Design and Control of Fully Handheld Microsurgical Robot for Active Tremor Cancellation

Design and Control of Fully Handheld Microsurgical Robot for...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Eunchan Kim Ingu Choi Sungwook Yang Hanyang University Seoul Korea Korea University Seoul Korea S. Center for Intelligent and Interactive Robotics Korea Institute of Science & Technology Seoul Korea

This paper presents the design and control of a fully handheld robot for robot-assisted microsurgery. The handheld robot incorporates a miniature 6-PUS parallel micromanipulator that can impose a remote center of motion (RCM) at the incision point of entry during microsurgery. An optimization framework is formulated to determine the geometric parameters of the micromanipulator. The optimization aims to minimize force applied on actuation modules by lateral load at the RCM. The optimization yields a base diameter of 16 mm, a top diameter of 12.6 mm, and a connecting link of 9.4 mm, which offers a cylindrical workspace 4-mm wide and 3-mm high with a 5-mm travel in linear actuation. An order of magnitude higher force capability is attained in the smaller form factor compared to the latest handheld micromanipulator. We built the fully handheld version of the microsurgical robot by incorporating embedded electronics and an EM tracker for sensing the 6-DOF pose of hand motion. The real-time control framework of the handheld robot is also presented, including motion filter for active tremor cancellation. As a result, the handheld robot can tolerate side loads up to 5.0 N for a lateral load applied at the RCM without significant degradation in control. Finally, the robot-aided operation with the active tremor cancellation shows a significant peak-force reduction compared to unaided operation during the task of maintaining contact force.

关键词： Degradation Micromanipulators Tracking Force Microsurgery Robot sensing systems Real-time systems

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Pam:point-wise attention module for 6d object pose estimation

arXiv

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arXiv 2020年

作者： Song, Myoungha Lee, Jeongho Kim, Dong hwan Center for Intelligent & Interactive Robotics Korea Institute of Science and Technology Korea Republic of

6D pose estimation refers to object recognition and estimation of 3D rotation and 3D translation. The key technology for estimating 6D pose is to estimate pose by extracting enough features to find pose in any environment. Previous methods utilized depth information in the refinement process or were designed as a heterogeneous architecture for each data space to extract feature. However, these methods are limited in that they cannot extract sufficient feature. Therefore, this paper proposes a Point Attention Module that can efficiently extract powerful feature from RGB-D. In our Module, attention map is formed through a Geometric Attention Path(GAP) and Channel Attention Path(CAP). In GAP, it is designed to pay attention to important information in geometric information, and CAP is designed to pay attention to important information in Channel information. We show that the attention module efficiently creates feature representations without significantly increasing computational complexity. Experimental results show that the proposed method outperforms the existing methods in benchmarks, YCB Video and LineMod. In addition, the attention module was applied to the classification task, and it was confirmed that the performance significantly improved compared to the existing model. Copyright © 2020, The Authors. All rights reserved.

关键词： Object recognition

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Designing Robotic Cabinets That Assist Users’ Tidying Behaviors

Designing Robotic Cabinets That Assist Users’ Tidying Behav...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Hanbyeol Lee Dahyun Kang Sonya S. Kwak Jongsuk Choi Center for Intelligent and Interactive Robotics Korea Institute of Science and Technology Seoul Korea

ISBN: (数字)9781728160757

ISBN: (纸本)9781728160764

With the development of robotic technology, various types of robotic products have been developed, ranging from robotic objects that support small daily necessities (such as robotic umbrellas and frames) to robotic furniture (such as robotic chairs and drawers). Owing to consumerism, the consumer marketplace now overflows with surplus products, and storage and organizational products have been increasingly necessary. With this social stream, we focused on designing robotic storage furniture in this study. To create such a type of furniture that is acceptable by consumers, a qualitative user study was conducted with 16 subjects by analyzing the users' behaviors when using ordinary storage furniture. From this user study, we found strong user needs in terms of organizing and finding objects. Thus, we developed two types of robotic cabinets: the first one to assist users' organizing behavior and the second one to assist their finding behavior. To examine the effectiveness of the developed prototypes, we executed a 3 (behavior the robotic cabinet assists: baseline vs. organizing vs. finding) within-participants experiment. The result shows that significant effects vary depending on the type of robotic cabinet.

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