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International Conference on Control, Automation and Systems

作者： Baehoon Choi Beomseong Kim Euntai Kim KwangWoong Yang Department of Electrical and Electronic Engineering Yonsei University Division for Applied Robot Technology Korea Institute of Industrial Technology

ISBN: (纸本)9781467322478

We propose the modified dynamic window approach for indoor transport robot. The dynamic window approach is the popular collision avoidance algorithm that considers the heading direction of the robot, the distance to the obstacle, and the velocity of the robot. The objective function of the DWA thinks faster speed is better but it is very dangerous when there are many people around. They will feel discomfort with fast vehicle around them. This paper proposes that when the robot is in crowded place which means there are many dynamic obstacles around the robot, the robot move slow down to watch out the collision with them. It is implemented by using several fuzzy rules to determine the possible actions of the robot in DWA. Experiment results are given to validate our proposed method.

关键词： Dynamic window approach DWA Intelligent robot Motion planning

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Rapid Ethnography – The Study of Behavior, Communication, and Context in Cosmetic Surgery Consultations and the Design of a New Medical Device

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Proceedings of the International Symposium on Human Factors and Ergonomics in Health Care 2013年第1期2卷 82 - 89页

作者： Thomas Koester Betina Rangstrup Malene T. Nibe Tille V. Schøler Department of Applied Psychology FORCE Technology Kongens Lyngby Denmark Robot Technology Danish Technological Institute Odense Denmark Department of Communication and Psychology Aalborg University Aalborg Denmark

Ethnographic research methods are increasingly popular within the general field of Human Factors, usability, user experience and design. Through a case story from the development and design of a medical device called 3D Surgery – a decision aid to be used in surgeon-patient consultations for cosmetic breast surgery – the presentation exemplifies the value and efficiency of the use of rapid ethnography used as stand-alone method and in combination with other methods. The case study describes an iterative approach encompassing continuous adjustment of method repertoire as well as continuous adjustment of use of analytical tools through which insights into the specific context of use are built. The case study further illustrates how the pre-surgery consultation and decision making process of the patient can be analyzed, and how the knowledge acquired can be transferred into design criteria for the 3D Surgery System.

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Behavior control algorithm of swarm robots to maintain network connectivity

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Journal of Institute of Control, robotics and Systems 2013年第12期19卷 1132-1137页

作者： Kim, Jong Seon Jeong, June Young Ji, Sang Hoon Joo, Young Hoon Department of Control and Robotics Engineering Kunsan National University Korea Republic of Applied Robot Technology Korea Institute of Industrial Technology Korea Republic of

In swarm robot systems, it is vital to maintain network connectivity to ensure cooperative behavior between robots. This paper deals with the behavior control algorithm of the swarm robots for maintaining network connectivity. To do this, we divide swarm robots into search-robots, base-robots, and relay-robots. Using these robots, we propose behavior control algorithm to maintain network connectivity. The behavior control algorithms to maintain network connectivity are proposed for the local path planning using virtual force and global path planning using the Delaunay triangulation, respectively. Finally, we demonstrate the effectiveness and applicability of the proposed method through some simulations. © ICROS 2013.

关键词： Behavioral research

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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 on Mechatronics and Automation, ICMA 2011

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

ISBN: (纸本)9781424481149

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 the 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. © 2011 IEEE.

关键词： Kinematics

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Concurrent Control of Position/Orientation of a Redundant Manipulator based on Virtual Spring-Damper Hypothesis

Concurrent Control of Position/Orientation of a Redundant Ma...

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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： Sang-Rok Oh Yonghwan Oh Sung-Kyun Kim Ji-Hun Bae Cognitive Robotics Center in Korea Institute of Science and Technology (KIST) Korea Department for Applied Robot Technology in Korea Institute of Industrial Technology Korea

Redundant manipulator control usually brings about a lot of complexity. This paper proposes a quite simple approach for concurrent set-point regulation of position and orientation of a redundant manipulator using the virtual springdamper hypothesis, which offers human-like movements without solving the inverse dynamics. For orientation, quaternion representation is applied to give singularity-free orientation control. Augmenting quaternion feedback to the state vector of the system, the stability is analytically proved, and dynamic simulation is conducted for validation of the method. Competition between position and orientation control is also briefly discussed based on the simulation results.

关键词： Quaternions Position control Stability analysis Joints Manipulator dynamics Jacobian matrices

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Development of motion-maker for an android

Development of motion-maker for an android

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Seulgi Lee Byung-Rok So Ho-Gil Lee Department of Intelligent Robotics University of Science and Technology Daejeon Korea Division of Applied Robot Technology Korea Institute of Industrial Technology Ansan Korea

An android is a robot which resembles human especially appearance and behavior. This robot is usually used for an emcee, a desk clerk, a teacher and so on. Its motion should be accurate and correspond to what it tells because a little difference of motion may bring misunderstanding. Comparing a humanoid, an android should resemble human more strictly because not-quite-high quality of mimicry leads peoplepsilas hatred.

关键词： Humans Humanoid robots Service robots Intelligent robots robot sensing systems robotics and automation Databases Educational robots Joints Tactile sensors

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Output feedback nonlinear control for electro-hydraulic systems

Output feedback nonlinear control for electro-hydraulic syst...

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作者： Kim, Wonhee Won, Daehee Shin, Donghoon Chung, Chung Choo Department of Electrical Engineering Hanyang University Seoul 133-791 Korea Republic of Division of Electrical and Biomedical 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

In this paper we present an output feedback nonlinear control for position tracking of electro-hydraulic systems (EHSs). Although previous nonlinear control methods improved the position tracking performance of EHS, all of the methods require full state feedback. However, due to cost and space limitations, it is not always possible to measure the full state of the EHS. The proposed method consists of a high gain observer and a passivity-based controller. The high gain observer is designed to estimate the full state, and the passivity-based control is implemented for position tracking. In order to design the passivity-based controller with the high gain observer, a defined Lyapunov condition guarantee that the origin of the tacking error dynamics is exponentially stable by selecting the controller gain. The stability of the closed-loop is studied using the singular perturbation theorem. The performance of the proposed method is validated through simulations and experiments. © 2012 Elsevier Ltd. All rights reserved.

关键词： Tracking (position)

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Position tracking and flatness controller with disturbance observer in hydraulic servo systems

Position tracking and flatness controller with disturbance o...

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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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Instance segmentation based recognition system tracking tomatoes by ripeness in natural light conditions

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Journal of Institute of Control, robotics and Systems 2020年第11期26卷 940-948页

作者： Lee, Woo-Young Ko, Kwang Eun Kang, Jaehyeon Park, Hyun Ji Jang, Inhoon Applied Robot R&D Department Korea Institute of Industrial Technology Korea Republic of Department of computer Science & Engineering Hanyang University Korea Republic of

This paper describes a tomato recognition system to be applied to a harvesting robot used in farms under natural light conditions. The tomato recognition system is composed of a stereo camera, light, deep learning based instance segmentation model and Kalman filter based object tracking algorithm. In order to train the instance segmentation model, a large-scale dataset of the actual smartfarm background is made, and performance verification is performed on the test dataset. The average precision of the deep learning based instance segmentation model achieved 96.8% of performance when the threshold of the prediction score for classifying ripeness is over 0.75 (Table. 3), and the multiple object tracking accuracy of the Kalman filter based tracking method is approximately 74.3%. © ICROS 2020.

关键词： Kalman filters

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