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

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

Development of Flexible Laboratory Automation Platform using...

引用

IEEE International Conference on Automation Science and Engineering

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

ISBN: (纸本)9781424420223

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 Bluctooth 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： Mobile agents

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Three-layered hybrid architecture for emotional reactive system

Three-layered hybrid architecture for emotional reactive sys...

引用

International Conference on Control, Automation and Systems ( ICCAS)

作者： Jun-Young Jung Dong-Wook Lee Hyun-Sub Park Ho-Gil Lee Department of Intelligent Robotics Korea University of Science and Technology Daejeon South Korea Division of Applied Robot Technology Korea Institute of Industrial and Technology Ansan South Korea

In this paper, we present the design of an emotional reactive system based on three-layered hybrid architecture. The purpose of emotional reactive system is to make robot software system that has its autonomous emotion in interaction with human. The three-layered hybrid architecture is composed of Hardware abstraction layer, Reactive Layer and Deliberative Layer and developed for autonomous mobile robots. We applied this architecture to make android EveR-2psilas emotional reactive system. With this architecture, EveR-1 could make robot emotion generated by external stimulus and play its emotional behavior in robot task execution.

关键词： Service robots Intelligent robots Computer architecture Human robot interaction Software systems robotics and automation Hybrid intelligent systems Electronic mail Automatic control Control systems

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

Development of Flexible Laboratory Automation Platform using...

引用

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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An enhanced vision processing algorithm for a micro-manipulation system

An enhanced vision processing algorithm for a micro-manipula...

引用

2007 IEEE International Workshop on robotic and Sensor Environments, ROSE 2007

作者： Ihn, Y.S. Ryu, S.H. Choi, B.J. Ha, S.H. Choi, H.R. Lee, S.M. Koo, J.C. Department of Mechanical Engineering Sung Kyun Kwan University Suwon Korea Republic of Division of Applied Robot Technology Korea Institute of Industrial Technology Ansan Korea Republic of

ISBN: (纸本)1424415276

As the physical sizes of many electrical devices and their components shrink to sometimes only a few microns, expanding dextrousness and obtaining rapidity of a precise micro-manipulation system become one of the major issues in the industry. Especially for an assembly process that handles complicated mechanical alignments of many tiny objects in the three-dimensional space, a proper identification of the alignment errors and a fast decision of manipulation plan should be guaranteed in order to keep the manufacturing costs in an affordable range. In most of the current precise manufacturing processes, identification of the misalignment is normally carried out by machine vision systems. And the limited data process speed of the vision system usually hampers enhancement of overall system performance. In the present work, a modified binary region median filter combined with a labeling based segmentation scheme for the enhancement of a machine vision system is introduced. The suggested algorithm shows not only shows improved data processing speed but provides a better accuracy on the identification of a target object. © 2007 IEEE.

关键词： Computer vision

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Design of a modified binary region median filtering for micro electronic device assembly manipulations

Design of a modified binary region median filtering for micr...

引用

International Conference on Control, Automation and Systems ( ICCAS)

作者： Y. S. Ihn H. S. Ha B. J. Choi H. R. Choi S. M. Lee J. C. Koo Department of Mechanical Engineering Sung Kyun Kwan University Suwon Korea Division of Applied Robot Technology Korea Institute of Industrial Technology Ansan Korea

As the physical sizes of many electrical devices became a miniaturization and a complexity, precise micromanipulation system become one of the major issues in the industry. Machine vision system is used to arrange the electrical components and to analysis the error components. Accordingly it is required the rapid processing time and the precise information. Filter is used to enhance the efficiency and the precision in machine vision system. In this paper, effective filter is designed to apply real-time image processing using the region median filter and thresholding processing.

关键词： Filtering Assembly Filters Machine vision Gaussian noise Intelligent robots Image processing Probes Hybrid intelligent systems Intelligent manufacturing systems

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Simulator Implementing Uncertainties in Motion for robots in a Network

Simulator Implementing Uncertainties in Motion for Robots in...

引用

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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Intelligent Biorobot platform for integrated clinical test

Intelligent BioRobot platform for integrated clinical test

引用

2006 SICE-ICASE International Joint 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 Ahn, Ki Tak Wankyun, Chung Hyouk, Ryeol Choi School of Mechanical Engineering Sungkyunkwan University Suwon Korea Republic of Division of System Development KnR System Inc. Youngin Korea Republic of Division of Applied Robot Technology Korea Institute of Industrial Technology Cheonan Korea Republic of Pohang Institute of Intelligent Robotics Pohang Korea Republic of Department of Mechanical Engineering Pohang University of Science and Technology Pohang Korea Republic of

ISBN: (纸本)8995003855

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. © 2006 ICASE.

关键词： Intelligent robots

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Design and control of a dexterous micro manipulator for the accurate miniature electro device assembly

Design and control of a dexterous micro manipulator for the ...

引用

SICE Annual Conference

作者： S. H. Ryu B. J. Choi T. C. Phung J. C. Koo S. D. Park S. M. Lee H. R. Choi Department of Mechanical Engineering Sung Kyun Kwan University Suwon South Korea Division of Applied Robot Technology Korea Institute of Industrial and Technology Ansan South Korea

For the assemblies of miniature electronic or optic devices, precision micro manipulation for the accurate alignment is one of the principal challenges. Noting the mechanical misalignment of those precision devices normally results in failure of device functionality, it is necessary to develop an efficient tool for the identification and correction of the problem. Since the corrective activity of those devices usually accompanies some level of plastic deformation, a proper identification of force and deformation during the operation might be essential. Besides, since most of the devices have very dense population of tiny parts spread and arranged in a two-dimensional surface, during the corrective operation maintaining accessibility with a clear path would not be straightforward. Designing process of a manipulating system that accommodates these specific requirements is presented in the present article

关键词： robotic assembly Manipulator dynamics Strain measurement Force sensors Optical devices Plastics robots Control systems Actuators Design optimization

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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

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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