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

共 92 条记录，以下是71-80 订阅

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Impedance control of electro hydraulic servo system using input output linearization

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

引用

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...

引用

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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Simulation based for intelligent control system of multi-humanoid robots for dynamic load carrying

Simulation based for intelligent control system of multi-hum...

引用

作者： Kim, Han-Guen An, Jin-Ung Moon, Jeon-Il Kim, Dong-Han Electronic and Information Kyunghee University Seocheon-Dong Yongin-Si Gyeonggi-Do 446-701 Korea Republic of Pragmatic Applied Robot Institute Daegu Gyeongbuk Institute of Science and Technology Daegu TP Venture Plant #1 and 2 Dalseo-Gu Daegu Korea Republic of Department of Robotics Engineering Hoseo University 268 Anseo-Dong Cheonan Chungnam 330-713 Korea Republic of

ISBN: (纸本)9781424474530

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. ©ICROS.

关键词： Fuzzy control

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Can We Teach What Emotions a robot should Express?

Can We Teach What Emotions a Robot should Express?

引用

IEEE/RSJ International Conference on Intelligent robotics and Systems

作者： Ho Seok Ahn Jin Young Choi School of Electrical Engineering and Computer Science ASRI PIL Seoul National University Seoul Korea and the Department of Applied Robot Technology Korea Institute of Industrial Technology Ansan 426-791 Korea. He is now with the Intelligent Robot Professor in the School of Electrical Engineering and Computer Science ASRI PIL Seoul National University Seoul Korea

ISBN: (纸本)9781467317375

This paper presents a possibility that we can teach what emotions a robot should express. For this, we design an artificial emotion decision system learned by feedbacks of users. The proposed system consists of three parts: a personality space with probability model, an emotion decision process, and an emotion learning process. 1) The personality space is designed based on the Five-Factor Model. In the personality space, we set up probability distributions of emotions. 2) The emotion decision process determines the probability values of emotions using the probability distributions of emotions in the personality space. 3) The emotion learning process updates the probability distributions by the feedbacks that are the teaching information from users;then, different probability values of emotions are determined. By applying to a humanoid robot system, we have verified the validity of the proposed system by being learned from two persons who have different personalities.

关键词： an emotion learning Five-Factor Model using Emotions Probability distribution robot Personality Feedback Five Factor Personality Model statistical distribution decision process

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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...

引用

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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Fast Correction and Stitching Algorithm for Fisheye Images

Fast Correction and Stitching Algorithm for Fisheye Images

引用

Image Processing, Computer Vision and Machine Learning (ICICML), International Conference on

作者： Qian Li Shantao Song Ruixue Liu Eugene Levin Shandong Provincial Key Laboratory of Robot and Manufacturing Automation Technology Institute of Automation Qilu University of Technology (Shandong Academy of Sciences) Jinan China Department of Biomedical Data Science School of Applied Computational Sciences Meharry Medical College Nashville Tenn USA

ISBN: (数字)9798350355413

ISBN: (纸本)9798350355420

Fisheye cameras, with their ultra-wide-angle field of view, can capture a larger scene in a single shot compared to traditional lenses. This capability makes them highly valuable in areas such as security surveillance, panoramic photography, autonomous driving, and robot navigation. However, building an efficient and accurate visual system is crucial for realizing these applications. This paper proposes an improved algorithm based on fisheye image correction and stitching. First, a fast fisheye image distortion correction method is introduced to eliminate the severe distortion caused by the fisheye lens. Then, the o-FAST algorithm is used for feature point detection, ensuring rotational invariance of the feature points, and the KNN algorithm is employed for initial matching. On this basis, the PROSAC algorithm is applied to remove incorrect matches and compute the homography matrix between images. Finally, seamless image stitching is achieved using a gradual weighted fusion method. The research results demonstrate that this method significantly improves both image quality and computational efficiency, making it effective for generating and processing panoramic images. Experimental results further confirm that the method enhances stitching accuracy while also increasing processing speed, showcasing its high practical value.

关键词： Accuracy Surveillance robot vision systems Visual systems Distortion Feature extraction Cameras Security Image stitching Lenses

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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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Modeling and Analysis of an Enhanced Compliant Parallel Mechanism for High Accuracy Micro Motion

Modeling and Analysis of an Enhanced Compliant Parallel Mech...

引用

7th World Congress on Intelligent Control and Automation (WCICA 2008), vol.6

作者： Dan Zhang Kayla Viegas Zhen Gao Yunjian Ge Faculty of Engineering and Applied Sciences University of Ontario Institute of Technology (UOIT) Oshawa ONT Canada Department of Automation University of Science and Technology Hefei Anhui China State Key laboratory of Robot Sensing Systems Institute of Intelligent Machines Chinese Academy and Sciences Hefei Anhui China

There is an increasing requirement, in a variety of fields, for the ability to make microscopic movements or to position items with high degree of accuracy. In this paper, a parallel mechanism with prismatic actuators which encompasses three degrees of freedom and can produce motion on a microscopic level is proposed and developed. In order to produce such motion, the mechanism is composed of compliant joints and links and flexure hinges, so it may also be referred to as a compliant mechanism. First, the detailed design of motion systems for the machine structure is introduced, followed by the mathematical analysis based on kinematics model of the presented mechanism. Finally, a comprehensive Finite Element Method analysis is carried out for the device optimization.

关键词： Parallel mechanism Compliant mechanism Micro motion Finite Element Method

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Intelligent Biorobot Platform for Integrated Clinical Test

Intelligent BioRobot Platform for Integrated Clinical Test

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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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