检索结果-内蒙古大学图书馆

39th International Symposium on robotics, ISR 2008

作者： Kang, Tae Hun Bae, Ji-Hun Kim, Sung Hoon Choi, Hyouk Ryeol Park, Sangdeok Pohang Institute of Intelligent Robotics San 31 Hyoja-Dong Nam-Gu Pohang Gyeongbuk Korea Republic of School of Mechanical Engineering Sung Kyun Kwan University 300 Ch'onch'on-dong Jangan-gu Suwon Kyonggi-do Korea Republic of Division of Applied Robot Technology Korea Institute of Industrial Technology 1271-18 Sa 1-Dong Sangrok-Ku Ansan Korea Republic of

In this research, a comprehensive study is performed on the design of a quadruped walking robot. In advance, the walking posture and skeletal configuration of the vertebrate are analyzed to understand quadrupedal locomotion, and the roles of limbs during walking are investigated. In addition, with the study of the stances on walking and energy efficiency, design criteria and control method for a quadruped walking robot are derived. The proposed controller based on the ground reaction force control provides a useful framework for controlling a quadruped walking robot. Finally, the proposed method is validated via dynamic simulations.

关键词： Energy efficiency

来源：评论

学校读者我要写书评

暂无评论

A UML model-driven business process development methodology for a Virtual Enterprise using SOA & ESB

A UML model-driven business process development methodology ...

引用

IEEE Asia-Pacific Conference on Services Computing (APSCC)

作者： Sam Chung Sergio Davalos Craig Niiyama Daehee Won Seung-Ho Baeg Sangdeok Park Institute of Technology University of Washington Tacoma Tacoma WA USA Milgard School of Business 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 demonstrate how a Virtual Enterprise Integration (VEI) project using Service-Oriented Architecture (SOA) and Enterprise Service Bus (ESB) can be effectively conducted by a virtual team of service brokers. Currently, VEI is accomplished through SOA and ESB using web services and business process engines that execute WSDL and WS-BPEL. To reengineer a Virtual Enterprise (VE) based on one or more legacy components, referred to as a legacy VE, the abstract and concrete parts of the relevant business processes of the VE need to be reverse engineered to a high level of abstraction. To develop new business processes, business process requirements need to be forward engineered into business processes in BPEL. However, service brokers need guidelines for comprehending the operations of the legacy VEs or for understanding the business process requirement. In order to provide clear communication of this information, we propose a UML model driven Business Process Development Methodology (BPDM) called mBPDM. We demonstrate its applicability and capabilities by applying it to two case studies: a loan application process system which involves reverse engineering and Washington State Patrol's Drug Recognition Evaluation system which involves forward engineering. Based upon the results of reverse and forward engineering of two virtual enterprise cases, the guidelines, which use UML as a blueprint with multi-architectural views, help service brokers understand the underlying process architecture and organization of a virtual enterprise that has been built using the SOA concept and the contemporary ESB.

关键词： Unified modeling language Virtual enterprises Semiconductor optical amplifiers Service oriented architecture Business process re-engineering Reverse engineering Guidelines Virtual groups Web services Engines

来源：评论

学校读者我要写书评

暂无评论

Load distribution algorithms and experimentation for a redundantly actuated, singularity-free 3-DOF parallel haptic device

Load distribution algorithms and experimentation for a redun...

引用

IEEE International Workshop on Intelligent robots and Systems (IROS)

作者： Tae-Ju Kim Byung-Ju Yi Il Hong Suh Division for Applied Robot Technology (DART) Korea Institute of Industrial and Technology Ansan South Korea School of Electrical and Computer Science Hanyang University Ansan South Korea School of Information and Communication Hanyang University Seoul South Korea

Parallel-type mechanisms provide many advantages over serial-type mechanisms. However, in case of using parallel structures as a haptic device, it is sometimes hard to ensure the performance of the force reflection due to many singular points existing in workspace. In this paper, we propose a redundantly actuated parallel 3-DOF haptic device, which is singularity-free in the workspace and also has an improved force reflection capability. Using two sets of actuators with different size and different force resolution, we propose several useful load distribution algorithms considering force resolution and torque limit. We confirm the performance of the force reflection capability throughout simulation and experimentation.

关键词： Haptic interfaces Actuators Reflection Torque Payloads Service robots Parallel robots Computer science Communication industry Computer industry

来源：评论

学校读者我要写书评

暂无评论

A new target recognition scheme using 24GHz microwave RADAR

A new target recognition scheme using 24GHz microwave RADAR

引用

International Conference on Fuzzy Theory and it's Applications (iFUZZY)

作者： Baehoon Choi Beomseong Kim Euntai Kim Heejin Lee KwangWoong Yang School of Electrical & Electronic Engineering Yonsei University Seoul Korea Dept. of Electrical Electronic and Control Engineering Hankyong National University Kyonggi-do Korea Division for Applied Robot Technology Korea Institute of Industrial Technology Ansan Korea

In this paper, the target recognition system using 24GHz radar for intelligent vehicle is represented. Several kind of radar measurement features are included to get performance. The proposed method is verified by experiments. The support vector machine based classification system is implemented. The result of the system is compared with other previous methods.

关键词： Radar Intelligent vehicles Microwave theory and techniques Vehicles Sensors Position measurement Educational institutions

来源：评论

学校读者我要写书评

暂无评论

Intelligent Biorobot Platform for Integrated Clinical Test

Intelligent BioRobot Platform for Integrated Clinical Test

引用

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

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

关键词： Laboratories robotics and automation Manufacturing automation Hospitals Automatic testing Intelligent robots System testing Service robots Mechanical engineering Investments

来源：评论

学校读者我要写书评

暂无评论

Indoor Localization using Laser Scanner and Vision Marker for Intelligent robot

Indoor Localization using Laser Scanner and Vision Marker fo...

引用

International Conference on Control, Automation and Systems

作者： Beomseong Kim Baehoon Choi Euntai Kim KwangWoong Yang School of Electrical & Electronic Engineering Yonsei University Division for Applied Robot Technology Korea Institute of Industrial Technology

ISBN: (纸本)9781467322478

Indoor localization is essential technology in service robot market. To localize the position of robot, laser scanner is widely used. But it has limit that laser scanner has probability return unexpected data when the space that the robot operate is too crowded. In this dynamic environment, the robot needs another sensor to complement weakness of laser scanner. This paper proposes vision sensor for complement sensor. But previous works that use vision sensor need many computational tasks. So this paper proposes the way to uses vision marker. This method makes the robot executing localization with efficiency. This algorithm applied on the robot platform and experiment show this algorithm is valid in dynamic and static environment.

关键词： Indoor Localization Laser Scanner Vision Marker

来源：评论

学校读者我要写书评

暂无评论

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

来源：评论

学校读者我要写书评

暂无评论

Control of a quadruped robot with enhanced adaptability over unstructured terrain

Control of a quadruped robot with enhanced adaptability over...

引用

2009 IEEE/RSJ International Conference on Intelligent robots and Systems

作者： Vo-Gia Loc Se-gon Roh Ig Mo Koo Duc Trong Tran Ho Moon Kim Hyungpil Moon Hyouk Ryeol Choi Sangdoek Park School of Mechanical Engineering Sungkyunkwan University Suwon Gyeonggi-do Korea School of Mechanical Engineering Sungkyunkwan University Cheoncheon-dong Jangan-gu Suwon Gyeonggi-do Korea Division of Applied Robot Technology Korea Institute of Industrial Technology Ansan Gyeonggi-do Korea

Improvement of the adaptability of a quadruped robot in rough terrain is studied in this paper. First, the position and posture of the body of the robot are adjusted to maximize the number of choices for foot placement of the next swing leg. The more choices the robot has to select the next suitable foothold, the better it will be to cope with rough terrain. Second, an effective foothold search algorithm is developed. The foothold search algorithm not only tries to find a valid foothold but also tries to maintain high adaptability of the robot. For implementing the algorithm, some new concepts such as potential swing direction, complementary kinematic margin and elliptical set of candidate footholds are also proposed. The effectiveness of this procedure in improving the adaptability of a quadruped robot moving in challenging terrain is verified in both simulation and experiment.

关键词： Legged locomotion Leg Intelligent robots Mobile robots Foot Moon Service robots USA Councils Control systems Lab-on-a-chip

来源：评论

学校读者我要写书评

暂无评论

Analysis of the signal for high resolution digital X-ray detector under radiotherapy irradiation condition

Analysis of the signal for high resolution digital X-ray det...

引用

IEEE Symposium on Nuclear Science (NSS/MIC)

作者： Jong eon Kim Min woo Kim Yoon suk Kim Kyung min Oh Min seok Yun Choul Kwon Kyung tae Nam Sang hee Nam Radiological Science Kaya Univ. Gimhae Korea Medical Image and Science Inje Univ. Gimhae Korea Biomedical Engineering Inje Univ. Gimhae Korea Division for Applied Robot Technology Korea Institute of Industrial Technology Cheonan-Si Chungnam Korea

In order to get a higher resolution of the image for a patient, the direct conversion mode which X-ray converts to electric charge are better than the indirect conversion mode which X-ray converts to light. But, the flat panel X-ray image detectors for direct conversion mode are not yet commercially available. In this study, we fabricated the samples for X-ray image film by using polycrystalline mercury iodide and carried out a feasibility study on the radiotherapy application. A sheet of copper (1 mm thickness) was attached onto the radiotherapy X-ray image film detector by insulating tape. The characteristics of the samples such as X-ray sensitivity, reproducibility, X-ray response on dose and dose rate for 6 MV beam was investigated. Dark currents were measured as a function of applied electric fields. The attenuated fraction of samples exposed with 6 and 10 MV beams was also measured as a function its thicknesses. By data analysis, the reproducibility of electric current measurements was 1.75% in the coefficient of variation. The measured values of electric charge revealed linearity with respect to the dose and dose rate, respectively. On the other hand, as the dose increases, the X-ray sensitivity decreased due to polarization effect. And the attenuated fraction for a 6 MV beam was 0.75% at the sample with the thickness of 380 ¿m. Therefore, the fabricated samples for X-ray image film provides the feasibility of radiotherapy imaging application. Moreover, it is found that the thickness of polycrystalline mercury iodide is very important factor for radiotherapy imaging, and a proper thickness having the attenuated fraction of about 1% should be greater than about 400 yW.

关键词： Signal analysis Signal resolution X-ray detectors X-ray imaging Image converters Current measurement Electric variables measurement X-ray detection Reproducibility of results Optical imaging

来源：评论

学校读者我要写书评

暂无评论

Seabed Terrain 3D Reconstruction Using 2D Forward-Looking Sonar: A Sea-Trial Report From The Pipeline Burying Project ⋆

引用

IFAC-PapersOnLine 2019年第21期52卷 175-180页

作者： Sanming Song Yan Li Zhigang Li Zhiqiang Hu Shuo Li Gun Rae Cho Ji-Hong Li State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China Applied Technology Division Korea Institute of Robot and Convergence 39 Jigok-ro Nam-gu Pohang 709-784 Republic of Korea

In this short paper, we report some preliminary results on the seabed terrain reconstruction using the two-dimensional (2D) forward-looking sonar. In the underwater pipeline burying project, when the burying machine excavating the trench using the jetting device, the stirred turbid water sharply shorten the visual distance of optical camera. Researchers from Shenyang Institute of Automation, Chinese Academy of Sciences (SIA, CAS) and Korea Institute of robot and Convergence (KIRO) work together to reconstruct the 3D environment using the acoustic camera. The proposed reconstruction procedure mainly includes two parts: 3D point-cloud extraction for each sonar frame and point-cloud registration. With the former step, the elevation information, which is irreversely lost in the acoustic imaging process, is recovered by the shape-from-shading technology under the Lambert surface assumption. With the latter, a registration method based on symmetrical Kullback-Leibler divergence has been proposed to stitch the point clouds from each sonar image into a panoramic terrain map. The initial experiment results with the sea-trial datasets demonstrate that the proposed method is feasible for the practical underwater engineering.

关键词： Seabed terrain 3D reconstruction forward-looking sonar pipeline burying shape-from-shading point-cloud registration

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：