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50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011

作者： Kim, Wonhee Shin, Donghoon Won, Daehee Chung, Chung Choo Department of Electrical Engineering Hanyang University Seoul 133-791 Korea Republic of Division for Applied Robot Technology Korea Institute of Industrial Technology Ansan Gyeonggi-Do 426-171 Korea Republic of Division of Electrical and Biomedical Engineering Hanyang University Seoul 133-791 Korea Republic of

ISBN: (纸本)9784907764395

A position tracking and flatness controller with disturbance observer (DOB) is proposed in hydraulic servo systems (HSSs). In this paper, we assume that the disturbance is a biased sinusoidal signal with unknown frequency. DOB is designed in the form of 2nd high pass filter to estimate the disturbance. The nonlinear controller is designed to compensate the estimation error of the disturbance and to track the desired position and load pressure as a near IO linearizing inner-loop load pressure controller and a feedback plus feedforward outer-loop position controller. The desired load pressure is designed using differential flatness property of the HSS mechanical subsystem. The performance of the proposed method is validated via simulations. © 2011 SICE.

关键词： Tracking (position)

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Collective robot behavior controller for a security system using open SW platform for a robotic services

Collective robot behavior controller for a security system u...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Jae-Seong Han Sang-Hoon Ji Kyung-Ha Kim Sang-Moo Lee Byung-Wook Choi Department of Intelligence Robotics Engineering University of Science and Technology Ansan South Korea Department of Applied Robot Technology Korea Institute of Industrial and Technology Ansan South Korea

In recent, unmanned or human-robot collaborative systems are spreading in security applications in order to protect humans against sudden attack. Especially, the automated security system has to accomplish its mission even when there are limitations of its sensors in view of range or reliability. For this dependable operation, it is better to build up a security system using collective multi-robots than a single robot. So, we suggest a method how to organize collective robot behaviors for a self-localization algorithm that allows a recursive state estimation process to be collective in a multi-robot coalition team that is guaranteed connected. A leader robot in our method obtains a temporary estimate from at the current time step using information from other robots (follower-robots) and checks out whether it's followers needs to be localized. When the leader robot decides to localize a follower robot, it recovers the centralized-equivalent estimate with the help of its followers near to the follower robot. A practical implementation is finally provided for five robots to emphasize the effectiveness of the proposed collective approach to multi-robot localization problem. Moreover, we implement our robot behavior controller in OPRoS in order to enhance robot behavior SW's portability.

关键词： robot kinematics robot sensing systems Uncertainty Service robots Mobile robots

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Classification of health grade using bio-check unit and health index

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Journal of Biomechanical Science and Engineering 2011年第3期6卷 148-159页

作者： Yi, Seong-Il So, Byung-Rok Lee, Chong-Sun Lee, Seung-Ju Park, Seon-Kyun Park, Byung-Kang Chung, And In-Wook Division of Applied Robot Technology KITECH 1271-18 Sa-1-dong Sangrok-gu Ansan City Kyungki-do Korea Republic of College of Mechanical and Control Engineering Handong Global University 3 Namsong-ri Heunghae-eub Pohang City Korea Republic of Department of Family Medicine Sunlin Hospital 69-7 Daesin-dong Buk-gu Pohang City Korea Republic of

A bio-check unit and health index were developed to evaluate personal health grade. The bio-check unit conducts health-related surveys and noninvasive measurements of physiological signals. Four health indices were defined such as cardiovascular index, stress index, obesity index, and management index. Programs were developed to evaluate scores of the four health indices from measured physiological signals and answers of survey questions. In order to obtain distributions of the health index scores with age, a clinical study was performed for 362 persons who visited general hospital for annual health inspection. The health index scores showed significant correlations with age. Based on the regression equation with age, five regions were divided in health index scores to classify personal health grade. The health index scores were found to identify specific diseases such as hypertension and diabetes. © 2011 by JSME.

关键词： Surveys

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Universal emotional behavior decision model for applying to various social robots with different specifications and purposes

Universal emotional behavior decision model for applying to ...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Ho Seok Ahn Jin Young Choi Dong-Wook Lee Woong Hee Shon Department of Applied Robot Technology Korea Institute of Industrial and Technology Ansan South Korea School of Electrical Engineering and Computer Science PIRC ASRI Seoul National University Seoul South Korea

Emotional reaction should be different from the purpose of the robot system. The method for emotional reaction is also different from the specification of the robot system. Therefore, emotional behavior decision model, which is applied to social robots regardless of specifications and purposes, is necessary. This paper introduces a universal emotional behavior decision model designed for applying to various social robots that have different specifications and purposes. Multiple emotions, a set of probability value of every emotion, are calculated independently and expressed according to the purpose of the robot system. Then, behavior, for emotional reaction according to the calculated multiple emotions, is decided regarding the specification of the robot system. The decided behavior is a combination of unit behaviors that indicates the smallest expressible behaviors in each expression parts. It is possible to express various undefined behaviors by generating unit behavior combinations according to multiple emotions. The universal emotional behavior decision model is applied to two kinds of social robot systems that have different specifications and purposes.

关键词： robots Three dimensional displays Mathematical model Generators Collision avoidance Mouth

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A Composite Algorithm for Flow Rate Reduction and Stable Body Trajectory Generation in a Hydraulic Actuated Quadruped robot with Kinematic Redundancy

A Composite Algorithm for Flow Rate Reduction and Stable Bod...

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2011 IEEE International Conference Mechatronics and Automation(2011 IEEE机电一体化与自动化国际会议)

作者： Taeju Kim Sangdeok Park Byung-Ju Yi Department of Applied Robot Technology Korea Institute of Industrial Technology 1271-18 Sa-3-dong A School of Electrical Engineering and Science Hanyang University 1271-18 Sa-3-dong Ansan Gyeonggi P

A hydraulic actuator has a various merits. It has a small size and a high power-to-weight ratio. So it is able to generate high torque in small size actuator. These features of hydraulic actuator are very useful for a walking robot. However, the hydraulic actuator needs a hydraulic power-pack which supplies pressure and flow. Usually, a big and heavy power-pack is needed to generate high pressure and large flow rate. Especially this power-pack is a burden to the stand alone type robot Therefore it is very important o minimize the size of the power-pack. In this paper, we propose a redundantly actuated quadruped robot which is driven by hydraulic actuator. Using die kinematic redundancy of each leg mechanism, a flow rate consumption minimization algorithm is proposed, which allows minimizing the size of a power-pack. We demonstrate the reduction of the flow rate of the robot through simulation and experiment.

关键词： Legged robot Redundancy Resolution Hydraulic Actuated robot

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Impedance control of electro hydraulic servo system using input output linearization

Impedance control of electro hydraulic servo system using in...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Donghoon Shin Wonhee Kim Youngwoo Lee Daehee Won Chung Choo Chung Department of Electrical Engineering Hanyang University Seoul South Korea Division for Applied Robot Technology Korea Institute of Industrial and Technology Ansan South Korea Division of Electrical and Biomedical Engineering Hanyang University Seoul South Korea

In this paper, we present an impedance control method for electro hydraulic servo systems (EHSSs). The definition of impedance is a transfer function from external force to velocity error. By the proposed method, the transfer function from external force to velocity error becomes the desired transfer function. And we calculate the steady-state position and velocity error. Simulation results validate the effectiveness of proposed method and the steady-state position and velocity error.

关键词： Impedance Force Transfer functions Steady-state Dynamics Pistons Equations

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PIL-EYE: Integrated System for Sustainable Development of Intelligent Visual Surveillance Algorithms

PIL-EYE: Integrated System for Sustainable Development of In...

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Proceedings of the Digital Image Computing: Technqiues and Applications (DICTA)

作者： Hyung Jin Chang Kwang Moo Yi Shimin Yin Soo Wan Kim Young Min Baek Ho Seok Ahn Jin Young Choi Perception and Intelligence Laboratory School of EECS ASRI Seoul National University Seoul South Korea Mitsuishi Sugita Laboratory University of Tokyo Tokyo Japan Department of Applied Robot Technology Korea Institute of Industrial and Technology South Korea

In this paper, we introduce a new platform for integrated development of visual surveillance algorithms, named as PIL-EYE system. In our system, any functional modules and algorithms can be added or removed, not affecting other modules. Also, functional flow can be designed by simply scheduling the order of modules. Algorithm optimization becomes easy by checking computational load in real time. Furthermore, commercialization can be easily achieved by packaging of modules. The effectiveness of the proposed modular architecture is shown through several experiments with the implemented system.

关键词： Engines Surveillance Algorithm design and analysis Computer architecture Visualization Graphical user interfaces Cameras

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Collective searching algorithm for multi-robot system with bounded communication range

Collective searching algorithm for multi-robot system with b...

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International Conference on Ubiquitous robots and Ambient Intelligence (URAI)

作者： Sang-Hoon Ji Jae-Seong Han Sang-Moo Lee Yong-Sun Moon Tae-Yong Kuc Department of Applied Robot Technology Korea Institute of Industrial and Technology Ansan South Korea Redone Technologies Company Lt. Korea Gwangjoo South Korea School of Information & Communication Engineering Sungkyunkwan University Suwon South Korea

ISBN: (纸本)9781457707223

It is very difficult to acquire information of all robot states in real applications due to the limited range of wireless communication. Therefore, many researchers have attempted to implement collective robots without communication each other. However, there are two demerits in the collective systems; one is their poor efficiency and the other is that the systems are irresponsible to various events which may be invoked in searching applications. Therefore in this paper we propose a method to improve productivity collective robots and improve response capability to events so that robots are able to communicate with each other within a limited distance. For the purpose, we develop collective robots' behaviors which can complete a searching mission under unknown environment and we propose a rule by which the robots share their local maps and path plans. Finally, efficiency of the proposed method is verified by simulation results.

关键词： Bounded communication range Collective searching algorithm Multi-robot system Sweeping robot multi-robot systems communication range SWEEPS response capability CARRIER SYSTEM robot System

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Modeling of a Dual Actuator System and its Control Algorithm Preventing Saturation of Fine Actuator

Modeling of a Dual Actuator System and its Control Algorithm...

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IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

作者： Duckjune Kim Kyung-Tae Nam Sang Hoon Ji Sang Moo Lee Department of Applied Robot Technology Korea Institute of Industrial Technology (KITECH) Ansan 426-791 South Korea

ISBN: (纸本)9781457708381

This paper discusses the design of control structure of dual actuator system, which is considered as DISO system, for high precision manufacturing stage. It proposes that PA tracks error signal between estimated coarse position and output coarse position at control sample to prevent saturation. Estimators are designed for both fine and coarse actuator plants to derive input signal to PA and state-feedback gain is defined by LQR. Dynamic model is defined by Newton's second law and coupling dynamics is considered for control structure. Experimental results demonstrate that unnecessary movement of PA during the transient response is reduced resulting in enhanced overshoot and settling time of the DSA system.

关键词： actuator system Computer algorithms Nylons Control Architecture feedback gain fine fine Modeling setting time input signal TRANSIENT RESPONSE actuators Precision manufacturing ERROR SIGNAL

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Implementation of Smart Floor for multi-robot system

Implementation of Smart Floor for multi-robot system

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International Conference on Autonomous robots and Agents, ICARA

作者： Soo Hyeok Kang Yong Ho Kim Eun Jin Lee Soon-Geul Lee Byung-Cheol Min Jinung An Dong Han Kim Department of Electronics and Radio Engineering Kyung Hee University Yongin South Korea Department of Mechanical Engineering Kyung Hee University Yongin South Korea Department of Computer and Information Technology Purdue University IN USA Pragmatic Applied Robot Institute DGIST Daegu South Korea

In this paper, we suggest a new information space concept called Smart Floor. Smart Floor is the floor storage of specific information intended for route guidance of a mobile robot. A mobile robot can reach its goal position using the information in Smart Floor as well as automatically update information for a changing environment. We constructed Smart Floor using RFID tag packaging and fabricated a mobile robot mounted with a passive RFID tag in ultra high frequency (UHF) bandwidth. The passive RFID tag is inexpensive and does not require a power supply. The primary information saved and stored in Smart Floor is direction-values and Q-values. These values are the result of applying Q-learning in an arbitrary position to the goal position in the Grid world. The research will help from Smart Floor and aid in the development of various applications for multi-robot application.

关键词： Floors Mobile robots Passive RFID tags Navigation Automation

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