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检索条件"机构=Department of Applied Robot Technology"

共 92 条记录，以下是31-40 订阅

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Development of a robot behavior controller for an r-learning system using OPRoS

Development of a robot behavior controller for an r-learning...

引用

International Conference on Ubiquitous robots and Ambient Intelligence (URAI)

作者： Sang-Hoon Ji Jae-Seong Han Sang-Moo Lee Byung-Wook Choi Department Applied Robot Technology Korea Institute of Industrial and Technology Ansan South Korea

In this paper, we suggest an r-learning (robot-learning) system for children who are unfamiliar with educational tools. Our system is characterized with the following features. Firstly, the system provides children with personalized educational instructions considering their learning ability. In our system, learning contents for them are selected according to their learning history extracted from human-robot interaction data. Secondly, our system helps them learn educational contents easily and joyfully through various behavioral interactions with a robot. Third, r-learning scenarios are modeled with Petri-net to handle exception during learning and robot contents can be composed by use of predefined robot behaviors. Finally, we implement these system S/W using OPRoS which is a software platform for robotic services.

关键词： Manganese

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Implementation of reactive behaviors for an industrial manipulator based on OPRoS

Implementation of reactive behaviors for an industrial manip...

引用

International Conference on Ubiquitous robots and Ambient Intelligence (URAI)

作者： Sang-Hoon Ji Tae-Dong Park Sang-Moo Lee Eun-Cheol Shin Byung-Wook Choi Department of Applied Robot Technology Korea Institute of Industrial and Technology Ansan South Korea

ISBN: (纸本)9781457707223

It is important that robots in a factory execute its mission exactly in a structured environment and handle many types of events in dynamic real world. The former is related to punctuality and the latter is related to reactivity or dependability. But it is very difficult to prepare robot S/W with dependability and punctuality at the same time for the industrial manipulators because general S/W fails to meet real-time requirements. Therefore, we suggest a method how to make industrial robot software have reactive semantics. For this aim, we use OPRoS (Open software Platform for robotic Services) and application centric language interpreter. In this framework, state machine component connected abstracted sensor model components invoke signal to an interpreter component in order handle various external operation conditions. And the interpreter determines which robot behaviors will executed for the signals and make suitable robot behavior components work. Finally, we implement our robot software on mulit-core system in order to meet real-time needs including low-latency and strict period time.

关键词： Industrial robot OPRoS Reactive behavior S/W Component industrial robots industrial manipulators Punctuality robot interpreters language interpreter robot software

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A cooperative multi-camera system for tracking a fast moving object

A cooperative multi-camera system for tracking a fast moving...

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IEEE International Conference on Cyber technology in Automation, Control, and Intelligent Systems

作者： Su Jeong You Phuc H. Truong Sang Hoon Ji Sang Moo Lee Chang Eun Lee Young Jo Cho Department of Applied Robot Technology Korea Institute of Industrial Technology Ansan Korea Department of Advanced Robot Technology Electronic Telecommunication Research Institute Daejeon Korea

This paper presents an economic real-time system for tracking a fast moving object using adjacent inexpensive multiple web cameras. Our experimental system includes three cameras that integrated into three client computers, and an acquisition sever computer that receives information from the clients and estimates the object speed in real-time. In this system, the three client computers play the role of monitor stations that detect the object, calculate the object position and capture the moment of a successful detection. From information of clients, the server estimates the relative positions of the object in each detection event to calculate the instantaneous velocities of the object. Finally, the speed of the object is determined by its average velocity in its all trajectory. The experimental results perform an accurate measurement on the setup environment.

关键词： Conferences Automation Control systems Intelligent systems

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An efficient sweeping strategy for swarm robots

An efficient sweeping strategy for swarm robots

引用

作者： Park, Jeong-Seop Lee, Sang-Moo Shon, Woong-Hee Lim, Myo-Taeg Department of Electrical Engineering Korea University Anam-dong Seongbuk-gu Seoul Korea Republic of Department of Applied Robot Technology Korea Institute of Industrial Technology Sa3-dong Sangnok-gu Ansan Korea Republic of

ISBN: (纸本)9789604742608

This paper focuses on the collaborative swarm robot tasks. It is assumed that a robot cannot communicate with each other but a robot can localize itself accurately. In this paper, the objective of proposed algorithm is perfectly completing the given missions which require collaborative multi-robot tasks and is improving productivity. In addition, the proposed algorithm is applied to the stick-pulling problem which was first studied by A. Martinoli and F. Mondada. Last but not least, the probabilistic completeness is verified by simulation results handling homogeneous multi-robot.

关键词： Multi agent systems

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A behavior combination generating method for reflecting emotional probabilities using simulated annealing algorithm

A behavior combination generating method for reflecting emot...

引用

20th IEEE International Symposium on robot and Human Interactive Communication, RO-MAN 2011

作者： Ahn, Ho Seok Choi, Jin Young Lee, Dong-Wook Shon, Woong Hee Department of Applied Robot Technology Korea Institute of Industrial Technology Ansan 426-791 Korea Republic of School of Electrical Engineering and Computer Science ASRI Seoul National University Seoul Korea Republic of Ansan 426-791 Korea Republic of

ISBN: (纸本)9781457715716

This paper presents a behavior generating method for reflecting emotional probabilities. The proposed method consists of two processes: an emotion-behavior probability generating process and a unit behavior combination generating process. 1) In the emotion-behavior probability generating process, the emotional probabilities of behaviors are determined on the basis of user preferences in terms of the priorities of emotions. 2) In the unit behavior combination generating process, optimal behaviors are found by the simulated annealing algorithm. A final behavior is a set of selected parts of expressions. It is possible to not only reveal an abundance of expressions without one-to-one mapping relations between emotions and behaviors but also apply these expressions in the case of various robots. We have verified the diversity of emotional expression by applying the proposed method to two different robot systems, which are a cyber robot simulator and a real robot system. © 2011 IEEE.

关键词： Probability

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Development of an anthropomorphic robot hand aimed at practical use for wide service robot application

Development of an anthropomorphic robot hand aimed at practi...

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IEEE International Conference on Automation Science and Engineering (CASE)

作者： Sung-Woo Park Ji-Hun Bae Jae-Han Park Moon-Hong Baeg Department of Applied Robot Technology Ansan R&D Center Ansan Korea

This paper describes an anthropomorphic robot hand and its experiments. The robot Hand is a very complicated system composed of a large number of joints. Also, there are limitations of size and weight in the development of the robot hand. Because of these reasons, to manufacture an useful robot hand is a difficult work. Our final goal is a development of a robot hand for practical use in wide service robot application. Firstly, we define several requirements of a robot hand in the sense of structure and function. Although it is difficult to satisfy all of the requirements, we try to develop a robot hand including those. The developed robot hand has 4 full-actuated fingers with total 16 joints. By using of DC motor and spur gears as an actuator unit, the size, weight and cost of the robot hand becomes reasonable. A control of finger is conducted with only geometrical information of fingers without any force sensing. In order to verify performance of the hand, various results of experiments, grasping of unknown rigid and non-rigid object, are presented. In addition, experimental results of grasping under disturbances are also presented.

关键词： robot sensing systems Service robots Manipulators Joints Grasping Humans

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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...

引用

2011 International Conference on Digital Image Computing: Techniques and Applications, DICTA 2011

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

ISBN: (纸本)9780769545882

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. © 2011 IEEE.

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A visual compass based on UKF SLAM

A visual compass based on UKF SLAM

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作者： Han, Jae-Seong Lee, Sang-Moo Ji, Sang-Hoon Department of Intelligence Robotics Engineering University of Science and Technology Sa3-dong Sangrok-gu Ansan Korea Republic of Department of Applied Robot Technology Korea Institute of Industrial Technology Sa3-dong Sangrok-gu Ansan Korea Republic of

ISBN: (纸本)9789604742608

In this paper, we present a visual compass based on the Unscented Kalman Filter Simultaneous Localization and Mapping (UKF SLAM) using a low-cost camera. The Extended Kalman Filter (EKF) based visual compass has been proposed. However, the output of the UKF is more accurate than the EKF for nonlinear systems like the visual compass. In this work, the UKF is applied to the visual compass to improve the accuracy of the output. The experiment results show that the proposed approach successfully performed.

关键词： Extended Kalman filters

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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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2011 8th International Conference on Ubiquitous robots and Ambient Intelligence, URAI 2011

作者： Ji, Sang-Hoon Han, Jae-Seong Lee, Sang-Moo Moon, Yong-Sun Kuc, Tae-Yong Department of Applied Robot Technology Korea Institute of Industrial Technology Ansan 426-791 Korea Republic of Redone Technologies Co. Lt Korea Gwangjoo Korea Republic of School of Information and Communication Engineering Sungkyunkwan University Suwon Korea Republic of

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. © 2011 IEEE.

关键词： Multipurpose robots

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3D-based Visual Assistance System for Teleoperation

3D-based Visual Assistance System for Teleoperation

引用

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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