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

共 96 条记录，以下是31-40 订阅

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The development of the modular autonomous underwater navigation system based on OPRoS

The development of the modular autonomous underwater navigat...

引用

International Conference on Ubiquitous robots and Ambient Intelligence (URAI)

作者： Young-Ho Choi Jung-Woo Lee Sung-Ho Hong Jin-Ho Suh Jong-Geol Kim Applied Technology Division Korea Institute of Robot and Convergence Pohang Korea

ISBN: (纸本)9781479953349

This paper addresses the design method of navigation system for the autonomous underwater vehicle (AUV), which includes overall navigation architecture, hardware and software structure. This paper is focused on how to build the integrated underwater navigation module which is applicable to various types of underwater vehicle rather than the navigation algorithm, itself. The autonomous underwater navigation system consists of many software, hardware components and the systematic integration of these components is very important to build up the efficient navigation system within the given resources. In order to achieve this goal, we introduce the systematic integration manner developing the modular autonomous underwater navigation system based on Open Platform for robotic Service (OPRoS) [1].

关键词： Navigation Software Hardware Underwater vehicles Sensors Software algorithms Computer architecture

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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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SICE Annual Conference

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

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.

关键词： Cameras Laser noise Working environment noise Calibration Noise measurement Performance evaluation Data mining robot vision systems robot kinematics Navigation

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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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SICE Annual Conference

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

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.

关键词： Educational robots Service robots Orbital robotics Educational programs Human robot interaction Educational technology Hardware Intelligent robots Communications technology Programming profession

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Visual Servoing of a Wheeled Mobile robot using Unconstrained Optimization with a Ceiling Mounted Camera

Visual Servoing of a Wheeled Mobile Robot using Unconstraine...

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IEEE International Workshop on robot and Human Communication (ROMAN)

作者： Gon-Woo Kim Kyung-Tae Nam Sang-Moo Lee Division of Applied Robot Technology Korea Institute of Industrial and Technology Ansan South Korea

We propose an image-based visual servoing algorithm of a wheeled mobile robot utilizing a ceiling mounted camera. The visual navigation of a mobile robot is defined as an unconstrained optimization problem to minimize the image difference between the goal position and the position of a mobile robot in the image plane. Full New ton's method is applied for unconstrained optimization. We also propose a method to find the Hessian term of the image error using a secant approximation method. The performance of visual servoing was evaluated using the simulation.

关键词： Visual servoing Mobile robots robot vision systems Cameras robot kinematics Jacobian matrices Motion planning Service robots Human robot interaction Orbital robotics

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Growth Engines and Key Technologies for Manufacturing Innovation: An IMS Perspective

Growth Engines and Key Technologies for Manufacturing Innova...

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2008 International Conference on Smart Manufacturing Application (ICSMA 2008)

作者： Byung-Wook Choi Division of Applied Robot Technology Korea Institute of Industrial and Technology Ansan South Korea

Based on the recent IMS Vision Forum held by the International IMS Program (Scheme), the growth engines that would help manufacturing sector economically grow in the future are explored in this paper. Key technologies for manufacturing innovation and environmental sustainability that will be needed to support the growth engines are then sought, along with education for future manufacturing.

关键词： Growth Engine IMS Program (Scheme) Manufacturing Innovation Manufacturing Technologies

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Development of A Glove-Based Input Device

Development of A Glove-Based Input Device

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首届亚洲机械电子学学术会议

作者： Daeheui Won Moosung Choi Kwangwoong Yang Minsung Kang Sensing and Perception Research Team Division for Applied Robot Technology (DART) Korea Institute of Industrial Technology (KITECH) Cheonan & Ansan KOREA Division for Applied Robot Technology (DART) Korea Institute of Industrial Technology (KITECH) Cheonan & Ansan KOREA Division for Applied Robot Technology (DART) Korea Institute of Industrial Technology (KITECH) Cheonan & Ansan KOREA

In this paper,we proposed a new wearable input device by recognizing human hand-motions,so-called a wearable keyglove,which can solve the disadvantages of the conventional input devices and can be adapted to the mobile computing *** system is applied to the touch- typing-input method by means of hands for user's easy understanding and improvement of input speed,and we analyzed hand-motions for touch-typing using QWERTY keyboard because it is most widely used *** the analyzed result,we are able to reduce the model with 21 DOF to one that is approximated by 14 *** we developed the hand-motions capture module using low price sensors for hand-motions recognition(production cost is about $15). Typists using the keyglove system can not exactly determine the key position of desired input letter because of the virtual keyboard without the physical location of a key *** problem caused many typing errors at long typing time. Therefore an algorithm is needed to cope with the problem and needed to reduce typing errors due to personal differences such as hand shapes and typing *** this reason,we proposed the time-variant prediction algorithm for the least typing error and confirmed the possibility of the keyglove system.

关键词： Wearable Input Device Virtual Keyboard Data Glove

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Gait pattern generation for gait rehabilitation

Gait pattern generation for gait rehabilitation

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International Conference on Ubiquitous robots and Ambient Intelligence (URAI)

作者： Kap-Ho Seo Yongsik Park Sungjo Yun Sungho Park Jungsoo Jun Kwang-Woo Jeon Applied Technology Division Korea Institute of Robot and Convergence Pohang Gyeongbuk Korea

robotic gait rehabilitation devices enable efficient and convenient gait rehabilitation by mimicking the functions of physical theraphists. In manual gait rehabilitation training, physical theraphists have patients practice and memorize normal gait patterns by applying assistive torque to the patient's joint once the patient's gait deviates from the normal gait. Thus, one of the most important factors in robotic gait rehabilitation devices is to determine the assistive torque to the patient's joint during rehabilitation training. In order to calculate the assistive torque, the desired gait trajectory for affected leg should be determined. This reference trajectory is obtained from his healthy leg. The obtained signal has many noisy factors. Therefore, after conditioning the signal, the suitable pattern is applied to the developed system. This procedure is called “gait pattern generation” in this paper. It is described and discussed in detail.

关键词： Knee Legged locomotion Joints Torque Training Trajectory

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Tactile display device for visually impaired persons

Tactile display device for visually impaired persons

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International Conference on Ubiquitous robots and Ambient Intelligence (URAI)

作者： Kap-Ho Seo Yongsik Park Sungjo Yun Sungho Park Jungsoo Jun Kwang-Woo Jeon Applied Technology Division Korea Institute of Robot and Convergence Pohang Gyeongbuk Korea

Tactile display device that can present tactile information for visually impaired persons has been developed. Users can get certain information by pressure from the pins raised at varying heights on arms. The effectiv... 详细信息

关键词： Visualization Force Skin Manifolds Mathematical model Equations Shape

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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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Service-oriented reverse reengineering: 5W1H model-driven re-documentation and candidate services identification

Service-oriented reverse reengineering: 5W1H model-driven re...

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IEEE International Conference on Service-Oriented Computing and Applications, SOCA' 09

作者： Chung, Sam Won, Daehee Baeg, Seung-Ho Park, Sangdeok Institute of Technology University of Washington Tacoma 1900 Commerce Street Tacoma WA 98402 United States Division of Applied Robot Technology Korea Institute of Industrial Technology 1271-18 Sa 1-Dong Sangrok-Ku Ansan Gyeonggi-Do Korea Republic of

ISBN: (纸本)9781424452996

The purpose of this paper is to propose a service-oriented reverse reengineering that consists of re-documentation and design recovery. To understand the legacy system, we need to re-document the legacy system in a high-level abstraction by using UML visual models through an initial reverse engineering. For this re-documentation, we propose a new re-documentation technique called 5W1H (Why, Who, When, Where, What, and How) model-driven re-documentation. Based upon the re-documented software visual model, we attempt to identify the scope of locating the candidate services from a legacy system. To show the feasibility of our approach, two applications using different design methods and architectures are re-documented into visual models. After recovering design methods and architectural patterns from the visual models, which have been injected into source code implicitly or explicitly to bring clear separation of concerns, we locate the scope of candidate services from the legacy system. We can reduce the effort of identifying candidate services by using the visualized model since we can discover highly possible locations for reusable business logic effectively. The service-oriented reverse engineering using 5W1H re-documentation technique will help a service producer to easily discover the candidate services from a legacy system through software re-documentation. ©2009 IEEE.

关键词： Legacy systems

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