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International Conference on Control, Automation and Systems ( ICCAS)

作者： Jae-Han Park Kyung-Wook Park Seung-Ho Baeg Moon-Hong Baeg South Korea Div. of Appl. Robot Technol. KITECH Ansan Korea Institute of Industrial Technology Cheonan KR Division of Applied Robot Technology KITECH Ansan South Korea

Object pose estimation from stereo images with unknown correspondence is a thoroughly studied problem in the computer vision and robot engineering literatures. Especially, it is important to detect the desirable corresponding points from images for object pose estimation. For this, many approaches have been proposed. Among them, the local feature descriptor, which describe the feature points that are robust to image deformations in an object or image, is one of the most promising approaches that has been applied to the stable feature detection problem successfully. Although any descriptors including the SIFT represent superior performance, these are based on luminance information rather than color information thereby resulting in instability to photometric variations such as shadows, highlights, and illumination changes. Therefore, we propose a novel method which extracts the interest points that are insensitive to both geometric and photometric variations in order to estimate more accurate and desirable object pose. In this method, we use photometric quasi-invariant features based on the dichromatic reflection model in order to achieve photometric invariance, and the SIFT is used for geometric invariance as well. The performance of the proposed method is evaluated with other local descriptors. Experimental results show that our method gives similar performance or outperforms them with respect to various imaging conditions. Finally, we estimate object pose by using the features extracted via the proposed method.

关键词： Computer vision Object detection Photometry Stereo vision robot vision systems Reliability engineering Robustness Lighting Data mining Reflection

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Implementation of graspless handling system for microparticles using AFM probe

Implementation of graspless handling system for microparticl...

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2009 IEEE/RSJ International Conference on Intelligent robots and Systems

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

Physical size of semiconductor components has been reduced and device density has become increased especially during for last years. As a result of this the use of various high precision manipulatable robot systems becomes norm in the industry. Normally the high precision robot system consists of precision staging system, small scale end-effector system, and highly sensitive autonomous sensing system. One of the most popular micromanipulation tasks might be handling of micro-scale objects on a surface. Although many functional aspects and constraints should be considered when the system is constructed, a key concern for the system design is level of dexterity of the manipulator especially when size of the objects to be handled and spatial resolution of the manipulator become smaller than micron or nano scale. And stiction effect has appeared since a micro-contact mechanics phenomena affects more primarily than inertial force in the high precision robot system. Thus a theoretical study has to be developed on a micro-contact mechanics phenomena. In this paper, the organized system is equipped with an omnidirectional accessible manipulation system with a new visual feedback system. Thanks to the enhanced dexterity of the system, in this paper, microparticle stiction problems that could happen to most of small object handling also can be resolved.

关键词： Probes robot sensing systems robot kinematics Service robots Manipulators Atomic force microscopy Force feedback Cameras Production systems Lithography

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High Accurate Two-Dimensional Geo-Location System for Social Safety robot

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IFAC Proceedings Volumes 2008年第2期41卷 1675-1678页

作者： Sujin Kim Gon-Woo Kim Kyung-Tae Nam Sang-Moo Lee Joonhyuk Kang Woong-Hee Shon Jeahwan Kim School of Engineering Information and Communications University Division of Applied Robot Technology Korea Institute of Industrial Technology Advanced u-PAN Research Team Electronics and Telecommunications Research Institute (ETRI)

In this paper, we propose an efficient two-dimensional geo-location system for social safety robot, where its location is obtained by direction of arrival (DOA) and time of arrival (TOA) of the radio signal. The proposed system requires two reference signals while the conventional systems generally deploy more than three reference signals. For estimating TOA and DOA information together, we employ a multiple signal classification (MUSIC) algorithm. The simulation results show that the proposed geo-location system achieves accuracy within 3 meters error in 2 kilo-meters coverage which is constraint for mobile social safety robot.

关键词： MUSIC TOA DOA Location

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A study on traversability of quadruped robot in rough terrain

A study on traversability of quadruped robot in rough terrai...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Vo-Gia Loc Ig Mo Koo Tran Duc Trong Ho Moon Kim Hyungpil Moon Sangdoek Park Hyouk Ryeol Choi School of Mechanical Engineering Sungkyunkwan University Suwon South Korea Division of Applied Robot Technology Korea Institute of Industrial and Technology Ansan South Korea

In this work, a study on improving traversability of a quadruped robot in a 3D rough terrain is presented. The interaction between the robot and the terrain is analyzed. The analysis shows that the traversability of the robot can be significantly improved by carefully considering the position and orientation of the robot's body in each step. The effectiveness of the proposed algorithm is verified in both simulation and experiment.

关键词： Legged locomotion Leg robot kinematics Kinematics Rain Service robots

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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...

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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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Flexible Docking Mechanism Using Combination of Magnetic Force with Error-Compensation Capability

Flexible Docking Mechanism Using Combination of Magnetic For...

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2008 IEEE International Conference on Automation Science and Engineering (CASE 2008), vol.2

作者： Se-gon Roh Jae Hoon Park Young Kouk Song KwangWoong Yang Moosung Choi Hong-Seok Kim Hogil Lee Hyouk Ryeol Choi School of Mechanical Engineering Sungkyunkwan University Suwon South Korea Division of Applied Robot Technology Korea Institute of Industrial Technology Ansan South Korea

An auto-recharging system for a mobile robot can help the robot to perform its tasks constantly and without human intervention. For implementing the system, a docking mechanism is required. This paper presents a new docking mechanism with a localization error-compensation capability. The proposed mechanism uses the combination of mechanical structure and magnetic forces between the docking connectors. It is a structure to improve the allowance ranges of lateral and directional docking errors, in which the robot is able to dock into the docking station. Consequently, this mechanism reduces dependency of a robot control and allows easy docking with only mechanical configuration. In this paper, the superiority of the proposed mechanism is verified with experimental results.

关键词： Bridges USA Councils Automation Conferences

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Classification of health grade using bio-check unit and health index

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Journal of Biomechanical Science and Engineering 2011年第3期6卷 148-159页

作者： Yi, Seong-Il So, Byung-Rok Lee, Chong-Sun Lee, Seung-Ju Park, Seon-Kyun Park, Byung-Kang Chung, And In-Wook Division of Applied Robot Technology KITECH 1271-18 Sa-1-dong Sangrok-gu Ansan City Kyungki-do Korea Republic of College of Mechanical and Control Engineering Handong Global University 3 Namsong-ri Heunghae-eub Pohang City Korea Republic of Department of Family Medicine Sunlin Hospital 69-7 Daesin-dong Buk-gu Pohang City Korea Republic of

A bio-check unit and health index were developed to evaluate personal health grade. The bio-check unit conducts health-related surveys and noninvasive measurements of physiological signals. Four health indices were defined such as cardiovascular index, stress index, obesity index, and management index. Programs were developed to evaluate scores of the four health indices from measured physiological signals and answers of survey questions. In order to obtain distributions of the health index scores with age, a clinical study was performed for 362 persons who visited general hospital for annual health inspection. The health index scores showed significant correlations with age. Based on the regression equation with age, five regions were divided in health index scores to classify personal health grade. The health index scores were found to identify specific diseases such as hypertension and diabetes. © 2011 by JSME.

关键词： Surveys

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Three-layered hybrid architecture for emotional reactive system

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

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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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Microscopic motion control of a parallel visual alignment stage

Microscopic motion control of a parallel visual alignment st...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： SangJoo Kwon Sang Moo Lee School of Aerospace and Mechanical Engineering Korea Aerospace University Goyang Korea Division of Applied Robot Technology Korea Institute of Industrial Technology Ansan Korea

This paper investigates motion control of a visual alignment stage with four parallel limbs for the planar alignments between mask and panel. The parallel alignment stage has the high load capacity but small moving range. Hence, the control performance much depends on how well the uncertainty at low velocities such as nonlinear friction can be compensated. The perturbation observer based control is so efficient to compensate the frictional uncertainty arising specifically in microscopic movement and as a result enables to achieve fine controlled motion. Experimental results in the visual alignment demonstrate the effectiveness of the suggested control method.

关键词： Microscopy Motion control Control systems Machine vision Aerospace industry Uncertainty Friction robotics and automation Aerospace control Aerospace engineering

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6DOF Pose Estimation using 2D-3D Sensor Fusion

6DOF Pose Estimation using 2D-3D Sensor Fusion

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IEEE International Conference on Automation Science and Engineering

作者： Yong-Deuk Shin Jae-Han Park Moon-Hong Baeg Applied Robot Technology Division KITECH

ISBN: (纸本)9781467304290

Object pose estimation is a fundamental problem for a robot when manipulating an object. In this paper, we propose a method for estimating the pose of an object using a 2D image and a 3D point cloud. The Speeded Up Robust Feature (SURF) descriptors between the model image and input image were used to match the keypoints. The pose of an object was estimated using the 3D points corresponding to these matches. To produce more accurate results, the outliers were removed from these matches using Random Sample Consensus (RANSAC) and the result was refined using the Iterative Closest Point (ICP) algorithm. The experimental result demonstrated the high efficiency of our method.

关键词： six degrees of freedom two dimentional images pose estimation Sensor fusion outliers robot

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