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Development of P-SURO II Hybrid Autonomous Underwater Vehicle and its Experimental Studies

Journal of Institute of Control, robotics and Systems 2013年第9期19卷 813-821页

作者： Li, Ji-Hong Lee, Mun-Jik Park, Sang-Heon Kim, Jung-Tae Kim, Jong-Geol Suh, Jin-Ho Applied Technology Division Korea Institute of Robot and Convergence Korea Republic of

In this paper, we present the development of P-SURO II hybrid AUV (Autonomous Underwater Vehicle) which can be operated in both of AUV and ROV (Remotely Operated Vehicle) modes. In its AUV mode, the vehicle is supposed to carry out some of underwater missions which are difficult to be achieved in ROV mode due to the tether cable. To accomplish its missions such as inspection and maintenance of complex underwater structures in AUV mode, the vehicle is required to have high level of autonomy including environmental recognition, obstacle avoidance, autonomous navigation, and so on. In addition to its systematic development issues, some of algorithmic issues are also discussed in this paper. Various experimental studies are also presented to demonstrate these developed autonomy algorithms. © ICROS 2013.

关键词： Hybrid systems

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A vision system for UAV position control

A vision system for UAV position control

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IEEE Conference on Aerospace

作者： Baik, Kyeonghoon Shin, Jinok Ji, Sanki Shon, Woonghee Park, Sangdeok Division for Applied Robot Technology Korea Institute of Industrial Technology Korea Republic of

ISBN: (纸本)9781424473502

In this paper, we propose a vision-based control system for the localization of an unmanned aerial vehicle (UAV) which equips on-board cameras. The proposed approach is combined a visual odometer with inertial measurement from IMU and pressure signal which compensate attitude and altitude, respectively. For the autonomous control of a UAV, we consider only natural landmarks provided by a feature tracking algorithm without the help of visual beacons or landmarks at known positions. The displacement of the UAV is estimated by the homography, the relationship between a pair of points. The experimental results show that it is possible to extract useful position information from the proposed vision system even when the UAV flies high, and the information can be used temporary position control of UAVs during GPS failure. © 2011 IEEE.

关键词： Position control

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Extracting extrinsic parameters of a laser scanner and a camera using EM

Extracting extrinsic parameters of a laser scanner and a cam...

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ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009

作者： Park, Jae-Han Shin, Yong-Deuk Park, Kyung-Wook Baeg, Seung-Ho Baeg, Moon-Hong Division of Applied Robot Technology Korea Institute of Industrial Technology Seoul Korea Republic of

ISBN: (纸本)9784907764296

The robot's ability of perceiving their environments is primary functionality for a number of applications such as the rescue, navigation and manipulation. In these applications, the 3D colored map image is very useful information because it provides not only scene data but spatial data. For acquiring reliable 3D colored maps from the camera and the 3D laser scan system, one of the fundamental issues is the extrinsic calibration that calculates the rigid transformation (i.e., rotation and translation) between camera and laser coordinate system. In this paper we propose a novel method of getting extrinsic parameters which is insensitive to the noise of laser scanner measurements. Our approach introduces Expectation-Maximization(EM) algorithm to robust estimation of the relations between the camera and the laser scanner coordinate system in noisy environments. Simulations at various conditions with adding the laser measurement noise are performed to verify the effectiveness of our approach, and they show improved performances in estimating the extrinsic calibration parameters. © 2009 SICE.

关键词： Cameras

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Development of task planner for u-intelligent educational robots

Development of task planner for u-intelligent educational ro...

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ICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009

作者： Ko, Woohyun Han, Jaeseong Ji, Sanghoon Nam, Kyungtae Lee, Sangmoo Shon, Woonghee Division of Applied Robot Technology Korea Institute of Industrial Technology Ansan Korea Republic of

ISBN: (纸本)9784907764333

Recently, robots have penetrated the education market. But the power train for commercializing the robots has not been prepared yet due to chasm between developers and customers. Thus, we present a tool for u-intelligent educational robots to help customers design robot contents easily. To do so, our tool has several features. First, the tool is based on a behavior-based control architecture for human-robot-interaction. Second, the tool has behavior categories for convenience. Finally, robot contents are based on commercial multi-media for compatibility with established educational contents. Effectiveness and practicality of our tools are verified by physical implementation for commercial educational robots. © 2009 SICE.

关键词： Human robot interaction

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Sensor fusion localization system for outdoor mobile robot

Sensor fusion localization system for outdoor mobile robot

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ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009

作者： Lee, Donghoon Son, Sukyung Yang, Kwangwoong Park, Jonghwan Lee, Hogil Intelligent Robot Engineering University of Science and Technology Ansan Korea Republic of Division for Applied Robot Techonology Korea Institute of Industrial Technology Ansan Korea Republic of

ISBN: (纸本)9784907764296

The purpose of this study is to develop sensor fusion loclization of autonomous mobile robot for outdoor environment. We merge 2 localization models;a Camera sensor with Particle filter and two GPS sensors with Kalman filter. The marks on the load such as lane, arrow, cross road and speed hump, etc., are most important information in urban environment. The camera device is useful to detect road landmarks, because the information printed on the road are color-based model. We use Delaunay triangulation method to extract landmark points in the interest region. The robot finds out the position by comparing these landmark points with a map with Particle filter algorithm. We also use GPS that provides global position directly. The GPS, however, has large drift position data caused by intentional pseudo noise and slow acquisition time for mobile robot. In this paper, a sensor fusion localization system is proposed to get the robot's reasonable position by fusing these 2 localization models that compensate the weak points each other. © 2009 SICE.

关键词： Mobile robots

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Software architecture of human-like robot

Software architecture of human-like robot

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ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009

作者： Lee, Tae-Geun Yang, Kwang-Woong Choi, Moo-Sung Shin, Un-Chol Intelligent Robot Platform Research Team SoluBot Inc. Ansan Korea Republic of Division for Applied Robot Technology Korea Institute of Industrial Technology Ansan Korea Republic of

ISBN: (纸本)9784907764296

Software architectures have been suggested for a non-industrial robot up to the present, however a few developer who working in the robot field are applying those to manufactured products. Such software architecture of the robot is not using with several reasons in the field of a robot in spite of excellent advantages. This paper proposes using a device management of the software architecture, which has a hierarchical structure, in a human-like robot. Especially, we applied to the rent business of the android platform, EveR1;the compound word of Eve and robot [1]. The device may be real mechanical parts like a sensor, motor, and camera or virtual parts like a motor arbiter, motion generator, and priority maker. The virtual parts are software components which are used in operating the android platform. The device management exists between hardware and software of a robot, and makes the hardware compatibility for applied to applications in the high layer of software. It is compatible due to separating similar functions of each device which is managed in the device management, and providing same abstract interfaces. For instance, an application developed by using a motor driver of one corporation is exchanged for a motor drive of the other corporation with minimal code modification. © 2009 SICE.

关键词： Application programs

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3D localization system for indoor flying robot using ultrasonic and RF

3D localization system for indoor flying robot using ultraso...

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ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009

作者： Cho, Kuk Shin, JinOk Shon, WoongHee Park, SangDeok Department of Robot Intelligent Engineering University of Science and Technology Deajeon Korea Republic of Division of Applied Robot Technology KITECH Ansan Korea Republic of

ISBN: (纸本)9784907764296

This paper describes the development of our 3D indoor positioning system, UPS(Ultrasonic Positioning System), for a flying robot. The system consists of three parts of nodes: a transmitter, several receivers, and a server. The transmitter is on the flying robot, the receiver are around circumference, and the server is on the user. Each of the transmitter and receiver node has an ultrasonic sensor module and an RF device module, and the server node has only a RF device module. It sequentially estimates the distance between a transmitter and a receiver node by TDOA(Time Difference of Arrival) with an ultrasonic signal and a RF signal. With these distances, we estimate a flying robot's position using the multi-dimensional Newton Rapshon. Sigma-cutting and extrapolation methods are applied to the system for improving performance. We focus on small size, light weight, non-wire, portable, reasonable accuracy and high response time. Finally, our method was evaluated by experimenting on a flying robot with the 3D indoor positioning system and a motion capture device. © 2009 SICE.

关键词： Transmitters

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Development of indoor localization system using ultrasonic sensors

Development of indoor localization system using ultrasonic s...

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39th International Symposium on robotics, ISR 2008

作者： Cho, Kuk Kang, Min-Sung Park, Sangdeok Shon, WoongHee Division of Applied Robot Technology Korea Institute of Industrial of Technology 1271-18 Sa-3-dong Ansan 426-791 Korea Republic of

This paper describes the development of an indoor positioning system, presents the system performance and shows experimental results. The system consists of a transmitter node and several receive nodes, and each node has an ultrasonic sensor and a RF device. The transmitter node is attached to a robot and the receiver nodes are fixed on a ceiling and a floor according to application. It estimates distance between the transmitter node and the receiver nodes. From these distance, we can find the robot's position in indoor environment. The data are applied to the kalman filter for robustness. We focus on small size, light weight, non-wire, portable, reasonable accuracy and high response time. To make robust localization system, high response time and accuracy is important than any other things, and there is tradeoff between the response time and accuracy. We find adjustable response time and accuracy to tracking and control robots. So, we apply for tracking and control system as a mobile and an aerial vehicle. Finally, the experimental results for the tracking of a mobile robot and an aerial vehicle robot will be shown.

关键词： Transmitters

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Design and control of robot head for emotional communication

Design and control of robot head for emotional communication

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39th International Symposium on robotics, ISR 2008

作者： Lee, Seulgi Jung, Jun-Young Lee, TaeGeun Lee, Dong-Wook Park, HyunSub Lee, Ho-Gil Department of Intelligent Robotics University of Science and Technology Daejeon Korea Republic of Division for Applied Robot Technology Korea Institute of Industrial Technology Ansan Korea Republic of

We have developed robot head for human-robot emotional communication. Main factors of head for the communication are eye contact, facial expression and lip synchronization, which are designed based on the anatomy and behavior of human to get natural motion. To have a natural motion, we have investigated human behavior and designed control system and algorithm. After assessment of the system designed, we are going to have a robot head for emotional communication. It may be applied to the robot to come into our life in the future.

关键词： Machine design

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Development of multi-axial micro force measurement method for electronic device assembly

Development of multi-axial micro force measurement method fo...

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2006 SICE-ICASE International Joint Conference

作者： Byung, June Choi Sang, Heon Ryu Seung, Hwa Ha Tri, Cong Phung Ja, Choon Koo Sangdeok, Park Sangmoo, Lee Hyouk, Ryeol Choi School of Mechanical Engineering Sungkyunkwan University Suwon Korea Republic of Division of Applied Robot Technology Korea Institute of Industrial Technology Ansan Korea Republic of

ISBN: (纸本)8995003855

A multi-axial micro force measurement system that can detect contact information of micro-scaled object interactions is presented. An accurate measurement of forces in the range of milli or micro newtons becomes an essential tool for the development of high-precision robot systems. The presented force measurement system consists of semiconductor strain gauges and 6-axis force/torque sensor. Implementation of the dual semiconductor strain gauges with a 6-axis force/torque sensor that are installed on a small manipulator system enables the identification of the applied force and contact position. Theoretical consideration of the method followed by an experimental verification is provided. © 2006 ICASE.

关键词： Electronic equipment

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