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

共 97 条记录，以下是51-60 订阅

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Observer Based Nonlinear Tension Control for Multi Motor Wire Winding System

Observer Based Nonlinear Tension Control for Multi Motor Wir...

引用

International Conference on Control, Automation and Systems

作者： Donghoon Shin Wonhee Kim Youngwoo Lee Daehee Won Chung Choo Chung Department of Electrical Engineering Hanyang University Division for Applied Robot Technology Korea Institute of Industrial Technology Division of Electrical and Biomedical Engineering Hanyang University

ISBN: (纸本)9781467322478

In this paper, we present a tension control method for multi motor wire winding systems (MWSs). The objectives of MWS are tracking both the tension and velocity of wire. A velocity controller for rewinding motor is designed. A tension controller, whose inner loop is the velocity controller for unwinding motor, is developed. To filter out the measurement noises of velocities and estimate the load torque of motors, an augmented observer is proposed. The proposed method ensures good performance in the presence of the measurement noises of velocities noise and load torque. Simulation results validate the effectiveness of proposed method.

关键词： Multi motor wire winding systems Tension control

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Development of a wearable input device based on human hand-motions recognition

Development of a wearable input device based on human hand-m...

引用

IEEE International Workshop on Intelligent robots and Systems (IROS)

作者： Daeheui Won Ho-Gil Lee Jin-Young Kim Moosung Choi Min-Sung Kang Control and Intelligence Research Group Division for Applied Robot Technology (DART) Korea Institute of Industrial and Technology Ansan South Korea

In this paper, a new wearable input device recognizing human hand-motion, a keyglove, is proposed. The glove can resolve the disadvantages of the conventional input devices and can be adapted to the mobile computing environment The device is applicable as the touch-typing input method for users' easy understanding and improvement of input speed. The hand-motion for touch-typewriting using QWERTY keyboard, which is most widely being used currently, is analyzed. The analyzed results show that the model with 21 DOF can be reduced to one with approximately 14 DOF. The hand-motion capture module using low price sensors is also developed for hand-motion recognition. In general, however, typists using the keyglove system can not exactly determine the key position of desired input letter because the virtual keyboard does not have the physical location of key layouts, and that causes many typewriting errors at a long typewriting time. Therefore, an algorithm is needed to cope with the problem and to reduce typewriting errors due to personal disparities such as hand shapes and typewriting habits. For this reason, the time-variant prediction algorithm is proposed to minimize typewriting errors, and the possibility of the developed keyglove system is also verified.

关键词： Humans Mobile computing Keyboards Computer interfaces Wearable computers Handwriting recognition Intelligent robots Speech recognition Intelligent control Service robots

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Intelligent Biorobot platform for integrated clinical test

Intelligent BioRobot platform for integrated clinical test

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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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Software architecture of human-like robot

Software architecture of human-like robot

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SICE Annual Conference

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

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. 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.

关键词： Software architecture Humanoid robots robot sensing systems Hardware Application software Manufactured products Mechanical sensors robot vision systems Cameras Motor drives

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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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Implementation of Force Sensor with Multi Strain Gauges for Enhancing Accuracy and Precision

Implementation of Force Sensor with Multi Strain Gauges for ...

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2010 IEEE/ASME International Conference on Mechatronic and Embedded System and Applications(2010 IEEE 机电一体化和嵌入式系统与应用国际会议)

作者： J. C. Koo Y. S. Ihn Y. C. Kim H. R. Choi S. M. Lee School of Mechanical Engineering Sungkyunkwan University Suwon Korea Division of Applied Robot Technology Korea Institute of Industrial Technology Ansan Korea

A force sensor using strain gauges is widely used in many mechanical measuring systems. A method of measuring force and contact point using two gauges is available although it rather limited to extension of micro scale measurement. In order to overcome this limitation and to maximize a precision of the strain gauge sensor, sensor structure was optimized. Also, we used Kalman filtering for increasing an accuracy. It significantly increase the signal to noise ratio and stability of the sensor. This force sensor using strain gauges will be applied to diverse fields such as inspecting a micro system or manipulating small devices.

关键词： Optical filters Sun Actuators Torque Optical sensors

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Commercialization and Popularization of robotic Intelligent Components

Commercialization and Popularization of Robotic Intelligent ...

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International Conference on Control, Automation and Systems

作者： Young-Ho Choi Jung-Woo Lee Sung-Jo Yun Sung-Ho Hong Jin-Ho Suh Suk-Joong Kim Jin-Ho Park Applied Technology Division Pohang Institute of Intelligent Robotics Department of Intelligent Robot Development ED Co. Ltd

ISBN: (纸本)9781467322478

This paper describes the 4th year research results of our project, [The development of robotic Intelligent S/W Component and its performance test]. In our previous paper, we suggested a unified system integration method to build an intelligent robotic system using robotic intelligent components and introduced the concept of a robotic intelligent component which consists of an embedded hardware module adopting EtherCAT bus and a software module based on Open Software Platform for robotic Services (OPRoS) in the first paper and then we described the easy system integration procedure to develop a mobile manipulator using RIC in the second paper. In this paper, we address the 4th year research results for the commercialization and popularization of RIC through development of EtherCAT Core Modules, construction of the web server for the integrated management of RIC and customization of the OPRoS component editing tool. We expect that RIC is applicable to industrial filed more easily through this commercialization process.

关键词： robotic intelligent component EtherCAT OPRoS Commercialization Popularization

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A Model-Driven Scrum Process for Service-Oriented Software Reengineering: mScrum4SOSR

A Model-Driven Scrum Process for Service-Oriented Software R...

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International Symposium on Computer Science and its Applications, CSA

作者： Sam Chung Dae Hee Won Seung-Ho Baeg Sangdeok Park Institute of Technology University of Washington Tacoma Tacoma WA USA Division of Applied Robot Technology Korea Institute of Industrial and Technology Ansan Gyeonggi South Korea

ISBN: (纸本)9781424449453;9781424449460

-The purpose of this paper is to propose a new service-oriented software reengineering process that is model-driven and Scrum-oriented, which we call Model-Driven Scrum for Service-Oriented Software Reengineering (mScrum4SOSR). This process is an integration of a popular agile software development process, Scrum, with the concept of UML as a blueprint or executable for. The mScrum4SOSR is applied to three development teams: a reverse engineering team and two forward engineering teams for service consumption and production. To comprehend internal operations of a legacy system, the reverse engineering team represents a high level abstraction of the system in visual models. Scrum is conducted to generate a sharable visual model at this reverse engineering phase. The model is subdivided into two models for service consumer and producer by identifying candidate services from the model of the legacy system. With the models and the product backlog, two Sprints for service consumer and producer start at the next forward software engineering phase in parallel. The development team of each Sprint shares the changes of the models and the Scrum Master maintains the synchronized version of the model for partially shippable target system during a Sprint. The process brings two main benefits to the SOSR teams: 1) we can seamlessly use an agile process, Scrum, for a reverse engineering team and two forward software engineering teams. And 2) the model-driven process complements the project management process Scrum by injecting one of the best software development practices, elevating the level of abstraction, into Scrum.

关键词： Reverse engineering Software engineering Programming Unified modeling language Production Project management Logic Web services Business Service robots

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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)

作者： Sam Chung Daehee Won Seung-Ho Baeg Sangdeok Park Institute of Technology University of Washington Tacoma Tacoma WA USA Division of Applied Robot Technology Korea Institute of Industrial and Technology Ansan Gyeonggi South Korea

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 highlevel 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.

关键词： Unified modeling language Object oriented modeling Reverse engineering Design methodology Programming Application software Computer architecture Logic Software engineering Documentation

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Method to apply virtual spring-damper hypothesis for a redundant hydraulic manipulator

Method to apply virtual spring-damper hypothesis for a redun...

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International Conference on Ubiquitous robots and Ambient Intelligence (URAI)

作者： Jin Tak Kim Jung San Cho Se-Hee Whang Sang Uk Chon Sangdeok Park Korea Institute of Industrial Technology Cheonan KR Division of Applied Robot Technology Korea Institute of Industrial Technology Ansan-si Gyeonggi-do Republic of Korea

ISBN: (纸本)9781479953349

This paper proposes a method to verify the performance of a redundant 4 degree of freedoms (DOF) hydraulic manipulator when Virtual Spring-damper (VSD) algorithm is applied. It is combined with a control based on the VSD algorithm proposed by Ari-moto et al. To verify the applicability of VSD algorithm to the hydraulic robot manipulator of redundancy 4-DOF, we conducted an experiment to tracking repetitive circle motions of 0.2 m radius to the Y-Z plane in 3.5 seconds. To check the control performance to all directions, the experiment was conducted to the repetitive circle motions which are sloped to 30 ° to the X axis. The effectiveness of the proposed control scheme is demonstrated in experimentation with the 4-DOF manipulator.

关键词： Manipulators Joints Torque Jacobian matrices Redundancy Shock absorbers

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