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SICE Annual Conference

作者： Byung June Choi Kyuho Noh Jung Woo Kim Sung Moon Jin Ja Choon Koo Sung Moo Ryew Jinhyun Kim Woong Hee Son Ki Tak Ahn Wankyun Chung Hyouk Ryeol Choi School of Mechanical Engineering Sungkyunkwan University Suwon Korea Division of System Development KnR System Inc. Youngin Korea Division of Applied Robot Technology Korea Institute of Industrial Technology Cheonan Korea Pohang Institute of Intelligent Robotics Pohang Korea Department of Mechanical Engineering Pohang University of Science and Technology Pohang Korea

Recently, automation in clinical test is raised as a fusion of bio and robotic technology. Particularly, automation in clinical test becomes a new application area of the robotic technology. In this paper, we present a robot platform for clinical test suitable for small or medium size of hospitals. The platform is designed to minimize the consumption of reagents, and easily integrate various testing equipments since it is functionally modularized. The platform is aimed for accommodating almost 70 kinds of clinical tests, which are the most frequently conducted in the hospitals. The platform consists of several major function blocks such as manipulation, transportation and detection, incubation, reservation, and each of them is designed as a module of the system. Basic ideas of the design are described and each functional block is explained in details

关键词： Laboratories robotics and automation Manufacturing automation Hospitals Automatic testing Intelligent robots System testing Service robots Mechanical engineering Investments

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robotic Arm Control Inspired by Human Muscle Tension Effect under the Gravity

Robotic Arm Control Inspired by Human Muscle Tension Effect ...

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2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Ji-Hun Bae Woosung Yang Sang-Rok Oh Bum-Jae You Doik Kim Yonghwan Oh Department of Applied Robot Technology Korea Institute of Industrial TechnologyAnsan R&D Center127 Human Factors & Devices Research Team Central Advanced Research & Engineering Institute of Hyundai M Cognitive Robotics Center Korea Institute of Science & TechnologyP.O. BOX 131CheongryangSeoul 130

In recent, control approaches for the human-like behavior in the field of service robotics have been attracting considerable attention, since most humans or animals perform various tasks uncomplicatedly. Hence simple control methods based on gaining a physical insight into human reaching movement in redundancy of DOFs have been proposed. In comparison with the conventional approaches, the proposed method tries to control directly robotic systems in task-space with the control signal composed of linear superposition of three terms 1) joint-damping, 2) virtual spring, and 3) virtual damper in task-space. In particular, our work contains a muscle tension effect of a human under the gravity. This give birth to energy efficient natural motions avoiding problems on repeatability of the motion and ill-posedness problems emerged in most of redundant DOF systems. Thus, this paper exhibits expendability of the position control into the orientation control and compliant behavior. It is verified with a real robotic arm that satisfies human-like movements and motion repeatability under kinematic redundancy of joints.

关键词： robot arm control Human-like motion Redundant robots Manipulation

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Simulation based for intelligent control system of multi — Humanoid robots for dynamic load carrying

Simulation based for intelligent control system of multi — ...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Han-Guen Kim Jin-Ung An Jeon-Il Moon Dong-Han Kim Electronic and Information Kyung Hee University Yongin si Gyeonggi South Korea Pragmatic Applied Robot Institute Daegu-Gyeongbuk Institute of Science and Technology Daegu South Korea Department of Robotics Engineering Hoseo University Cheonan Gyeongnam South Korea

This paper proposed method of designing control system for two humanoid robots to transport objects stably in mutual collaboration with the use of PID and Fuzzy control. When a robot transports an object while walking, the transportation of object may not be stable due to vibration or external factors occurred from departure speed error and walking of the robot. Therefore, it is necessary to measure and calibrate the horizontal and vertical locations and speeds of object with PID control with reference to the chest coordinate of robots and then calibrate the difference of departure speed between robots with Fuzzy control. We expect that The results of simulation with two robots indicated that robots can transport objects stably.

关键词： robot kinematics Humanoid robots Legged locomotion Solid modeling Fuzzy control Control systems

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INS/EKF-based stride length, height and direction intent detection for walking assistance robots

INS/EKF-based stride length, height and direction intent det...

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IEEE International Conference on Rehabilitation robotics (ICORR)

作者： Dario Brescianini Jun-Young Jung In-Hun Jang Hyun Sub Park Robert Riener Department of Mechanical and Process Engineering ETH Zurich Zurich Switzerland Department of Intelligent Robotics University of Science and Technology Daejeon South Korea Division of Applied Robot Technology Korea Institute of Industrial and Technology Ansan South Korea Spinal Cord Injury Center University Hospital Balgrist Zurich Switzerland Sensory-Motor Systems Laboratory Institute of Robotics and Intelligent Systems ETH Zurich Zurich Switzerland

We propose an algorithm used to obtain the information on stride length, height difference, and direction based on user's intent during walking. For exoskeleton robots used to assist paraplegic patients' walking, this information is used to generate gait patterns by themselves in on-line. To obtain this information, we attach an inertial measurement unit(IMU) on crutches and apply an extended kalman filter-based error correction method to reduce the phenomena of drift due to bias of the IMU. The proposed method is verifed in real walking scenarios including walking, climbing up-stairs, and changing direction of walking with normal.

关键词： Legged locomotion Trajectory Exoskeletons Navigation Measurement uncertainty robot sensing systems

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Simulator Implementing Uncertainties in Motion for robots in a Network

Simulator Implementing Uncertainties in Motion for Robots in...

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IEEE International Conference on Mechatronics and Automation

作者： Nak Yong Ko Dong Jin Seo Gwang Jin Kim Youngchul Bae Yongseon Moon Sang-Moo Lee Department Information and Communication Eng. Chosun University Gwangju South Korea School of Information Communication Sunchon National University Suncheon South Korea Division of Electrical Electronic Communication Chonnam National University Yeosu South Korea Division of Applied Robot Technology Korea Institute of Industrial and Technology South Korea

This paper presents a simulator for multiple robot system. The simulator implements the uncertainties in the robot motion. The robots in the simulator are connected using the IPC (Inter Process Communication) which is based on TCP-IP. The simulator consists of the four units: communication, robot control, kinematic design, and driver for real robot operation. The robot control unit uses Gaussian noise to incorporate the uncertainties of robot motion. The real robots and virtual robots can operate in parallel. Also, by providing only the link parameters, a new robot can be added. Some application examples show that the simulator is useful and indispensable for verification of algorithms especially for complicated multiple robot systems. Moreover, it is shown that motion uncertainty of the robot plays an important role to evaluate the robustness performance of an algorithm.

关键词： Uncertainty robot sensing systems robot motion Intelligent robots Service robots Computational modeling Computer networks robotics and automation Paper technology robot control

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Development of Flexible Laboratory Automation Platform using Mobile Agents in the Clinical Laboratory

Development of Flexible Laboratory Automation Platform using...

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2008 IEEE International Conference on Automation Science and Engineering (CASE 2008), vol.2

作者： Byung June Choi Sung Moon Jin Seung Hoon Shin Ja Choon Koo Sung Moo Ryew Min Cheol Kim JinHyun Kim Woong Hee Son Ki Tak Ahn Wankyun Chung Hyouk Ryeol Choi Division of Applied Robot Technology Korea Institute of Industrial and Technology Cheonan South Korea School of Mechanical Engineering Sungkyunkwan University Suwon The Republic of Korea Pohang Institute of Intelligent Robotics Pohang South Korea Robotous Company Seongnam South Korea School of Mechanical Engineering Sungkyunkwan University Suwon South Korea KnR System Inc. Youngin The Republic of Korea Robotous Co Seongnam The Republic of Korea Department of Mechanical Engineering Seoul National University of Technology Seoul The Republic of Korea Department of Mechanical Engineering Pohang University of Science and Technology Pohang South Korea Division of Applied Robot Technology Korea Institute of Industrial Technology Cheonan The Republic of Korea KnR System Inc. Yongin si South Korea Pohang Institute of Intelligent Robotics Pohang The Republic of Korea Department of Mechanical Engineering Pohang University of Science and Technology Pohang The Republic of Korea

Recently, robotic automation in clinical laboratory becomes of keen interest as a fusion of bio and robotic technology. In this paper, we present a new robotic platform for clinical tests suitable for small or medium sized laboratories using mobile robots. The mobile robot called Mobile Agent is designed as transfer system of blood samples, reagents, microplates, and other instruments. Also, the mobile agent can perform diverse tests simultaneously based on its cooperative and distributed ability. The driving circuits for the mobile agent are embedded in the robot, and each mobile agent communicates with other agents by using Bluetooth communication. The RFID system is used to recognize patient information. The Biorobot platform based on mobile agents can control throughput according to the amount of tests. Also, the operation and maintenance of the system can be improved because its components are easily replaceable. To evaluate feasibility for Biorobot platform, the system was manufactured and validated by preliminary experiments.

关键词： Bridges USA Councils Automation Conferences

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A New Calibration Method and Experimental Study for Kinematic Parameters of Industrial robot

A New Calibration Method and Experimental Study for Kinemati...

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Artificial Intelligence and Electromechanical Automation (AIEA), International Conference on

作者： Honghua Zhao Jian Zhao Yifei Lin Qifei Han Mianpeng Chen University of Jinan School of Mechanical Engineering Jinan China Shandong University School of Control Science and Engineering Jinan China Shandong Institute of Intelligent Robot & Applied Technology Jining China CNC System R&D Department GSK CNC Equipment Co. Ltd. Guangzhou China

ISBN: (数字)9781728182889

ISBN: (纸本)9781728182896

The accuracy of industrial robot kinematics parameters directly affects its absolute positioning accuracy. Based on Modify Denavit-Hartenberg (MD-H) kinematics theory, a more accurate calibration method for kinematic parameters of industrial robots is proposed in this paper. It takes the kinematics parameters, deceleration ratio and coupling coefficient of the robot as error parameters to establish the error model. The calibration experiment and accuracy verification experiment are designed by laser tracker. After the introduction of the reduction ratio and the coupling coefficient calibration, the absolute positioning error of the robot in all directions has been greatly improved, and the overall average accuracy of the robot is increased by 91.42% compared with the uncalibrated, and is increased by 81.02% compared with the without introducing the deceleration ratio and coupling coefficient.

关键词： component industrial robot Denavit-Hartenberg kinematics error model calibration experiment accuracy verification experiment industrial robots error model CALIBRATION METHODS robot kinematics deceleration rate absolute location laser trackers

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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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Partial labeled gastric tumor segmentation via patch⇂based reiterative learning

arXiv

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arXiv 2017年

作者： Nan, Yang Coppola, Gianmarc Liang, Qiaokang Zou, Kunglin Sun, Wei Zhang, Dan Wang, Yaonan Yu, Guanzhen College of Electrical and Information Engineering Hunan University Changsha410082 China National Engineering Laboratory for Robot Vision Perception and Control Hunan University Changsha Hunan410082 China Hunan Key Laboratory of Intelligent Robot Technology in Electronic Manufacturing Hunan418000 China Faculty of Engineering and Applied Science University of Ontario Institute of Technology OshawaONL1H 7K4 Canada Department of Mechanical Engineering York University TorontoONM3J 1P3 Canada Department of Oncology Longhua Hospital Affiliated to Shanghai University of Traditional Chinese Medicine Shanghai201203 China

Gastric cancer is the second leading cause of cancer‐related deaths worldwide, and the major hurdle in biomedical image analysis is the determination of the cancer extent. This assignment has high clinical relevance and would generally require vast microscopic assessment by pathologists. Recent advances in deep learning have produced inspiring results on biomedical image segmentation, while its outcome is reliant on comprehensive annotation. This requires plenty of labor costs, for the ground truth must be annotated meticulously by pathologists. In this paper, a reiterative learning framework was presented to train our network on partial annotated biomedical images, and superior performance was achieved without any pre‐trained or further manual annotation. We eliminate the boundary error of patch‐based model through our overlapped region forecast algorithm. Through these advisable methods, a mean intersection over union coefficient (IOU) of 0.883 and mean accuracy of 91.09% on the partial labeled dataset was achieved, which made us win the 2017 China Big Data & Artificial Intelligence Innovation and Entrepreneurship Competitions1. Copyright © 2017, The Authors. All rights reserved.

关键词： Diseases

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Faster Optimal Coalition Structure Generation via Offline Coalition Selection and Graph-Based Search

arXiv

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arXiv 2024年

作者： Taguelmimt, Redha Aknine, Samir Boukredera, Djamila Changder, Narayan Sandholm, Tuomas Univ Lyon UCBL CNRS INSA Lyon Centrale Lyon Univ Lyon 2 LIRIS UMR5205 Lyon France Laboratory of Applied Mathematics Faculty of Exact Sciences University of Bejaia Bejaia Algeria TCG Centres for Research and Education in Science and Technology Kolkata India Computer Science Department Carnegie Mellon University Pittsburgh United States Strategy Robot Inc. United States Strategic Machine Inc. United States Optimized Markets Inc. United States

Coalition formation is a key capability in multi-agent systems. An important problem in coalition formation is coalition structure generation: partitioning agents into coalitions to optimize the social welfare. This is a challenging problem that has been the subject of active research for the past three decades. In this paper, we present a novel algorithm, SMART, for the problem based on a hybridization of three innovative techniques. Two of these techniques are based on dynamic programming, where we show a powerful connection between the coalitions selected for evaluation and the performance of the algorithms. These algorithms use offline phases to optimize the choice of coalitions to evaluate. The third one uses branch-and-bound and integer partition graph search to explore the solution space. Our techniques bring a new way of approaching the problem and a new level of precision to the field. In experiments over several common value distributions, we show that the hybridization of these techniques in SMART is faster than the fastest prior algorithms (ODP-IP, BOSS) in generating optimal solutions across all the value distributions. Copyright © 2024, The Authors. All rights reserved.

关键词： Dynamic programming

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