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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

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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...

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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

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Control of a quadruped robot with enhanced adaptability over unstructured terrain

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

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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

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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 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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Constructing the performance evaluation system to measure the actual cleaning coverage area of vacuum cleaning robot

Constructing the performance evaluation system to measure th...

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39th International Symposium on robotics, ISR 2008

作者： Park, Jae-Han Park, Kyung-Wook Baeg, Seung-Ho Choi, Byung-Wook Baeg, Moon-Hong Division of Applied Robot Technology Korea Institute of Industrial Technology 1271-18 Sa1-dong Ansan 426-791 Korea Republic of

In recent years, robot industries have developed many vacuuming cleaning robots employing coverage methods based on various algorithms such as genetic algorithm, neural networks, and spiral filling paths. However, there is not enough fair system to determine the excellence of different cleaning robots because most of the commercially available cleaning robots are separately evaluated by each observer in different experimental environments. Therefore, it is important to measure and compare the performances of different vacuuming cleaning robots under the same conditions (e.g., the same room size and operating time). This paper present a novel system for measuring the quantities such as the cleaning coverage areas of vacuum cleaning robots and the overall operating time until the cleaning coverage percentage is 90%. For this purpose, we build a test environment with IGPS and camera sensors. Also, in contrast with existing coverage evaluation methods, we employ the suction coverage models corresponding to suctions of specific cleaning robots for measuring the more accurate coverage area. As a consequence, we evaluate the performances of vacuum cleaning robots via our performance evaluation system.

关键词： Genetic algorithms

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Development of quadruped walking robot using a hydraulic rotary actuator

Development of quadruped walking robot using a hydraulic rot...

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39th International Symposium on robotics, ISR 2008

作者： So, Byungrok Kim, Tae-Ju Won, Daehee Kwon, Ohung Park, Sangdoek Son, Woong-Hee Division of Applied Robot Technology Korea Institute of Industrial Technology 1271-18 Sa-1-dong Sangrok-gu Ansan Kyunggi 426-791 Korea Republic of

This paper is introduced a quadruped walking robot for transportation, developed by KITECH (korea institute of Industrial technology). This robot is composed of four legs, engine, power package and hydraulic rotary actuators. It is installed an engine and small-size/high-power hydraulic rotary actuators for a quadruped robot to carry heavy loads and to move fast on uneven terrain. The size of this robot is 1.2m x 1m x 0.4m (height, length and width, respectively) and the degree of freedom is fifteen. Also it can carry over 100 kg totally including 60 kg payload. For this, it is developed a hydraulic rotary actuator that is light weight and compact size. The total control system comprises a main controller system, a hydraulic servo system and an engine/hydraulic power control system. And, in order to control balance, the kinematic model of quadruped robot is analyzed and the pattern generation method using the virtual model is applied.

关键词： Control systems

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Foot Trajectory Generation of Hydraulic Quadruped robots on Uneven Terrain

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IFAC Proceedings Volumes 2008年第2期41卷 3021-3026页

作者： HyoungKwon Kim Daehee Won Ohung Kwon Tae-Ju Kim Sang-Seok Kim Sangdeok Park Division for Applied Robot Technology Korea Institute of Industrial Technology Ansan Korea (Tel:+82-31-8040-6293

This paper proposes trot pattern generation and online control methods for a legged robot to carry heavy-loads and move fast on the uneven terrain. The trot pattern is generated from the frequency modulated pattern generation method based on the frequency modulated oscillator in order for the legged robots to operate outdoors with the static and dynamic mobility. The efficiency and performance of the proposed are verified through the computer simulation and experiments using qRT-1/-2. In experiments, qRT which is a 2-legged and 2-wheeled robot and a front drive system vehicle with hydraulic linear actuators is used. The robot has trotted gaits at speeds up to 1.3 m/s on the even surface, walked up and down the 20 degree inclines, and walked at 0.7 m/s on the uneven surface. Also it has carried over 100 kg of the total weights including over 40 kg of the payload.

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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 Flexible Laboratory Automation Platform using Mobile Agents in the Clinical Laboratory

Development of Flexible Laboratory Automation Platform using...

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IEEE International Conference on Automation Science and Engineering

作者： Choi, Byung June Jin, Sung Moon Shin, Seung Hoon Koo, Ja Choon Ryew, Sung Moo Kim, Min Cheol Kim, JinHyun Son, Woong Hee Ahn, Ki Tak Chung, Wankyun Choi, Hyouk Ryeol School of Mechanical Engineering Sungkyunkwan University Suwon South Korea KnR System Inc. Youngin South Korea Robotous Co. Seongnam South Korea Department or Mechanical Engineering Seoul National University of Technology Seoul South Korea Division of Applied Robot Technology Korea Institute of Industrial Technology Cheonan South Korea Pohang Institute of Intelligent Robotics Pohang South Korea Department of Mechanical Engineering Pohang University of Science and Technology Pohang South Korea

ISBN: (纸本)9781424420223

Recently, robotic automation in clinical laboratory becomes of keen interest as a fusion of bio and robotic technology. In this paper, we present a new robotic platform for clinical tests suitable for small or medium sized laboratories using mobile robots. The mobile robot called Mobile Agent is designed as transfer system of blood samples, reagents, microplates, and other instruments. Also, the mobile agent can perform diverse tests simultaneously based on its cooperative and distributed ability. The driving circuits for the mobile agent are embedded in the robot, and each mobile agent communicates with other agents by using Bluctooth communication. The RFID system is used to recognize patient information. The Biorobot platform based on mobile agents can control throughput according to the amount of tests. Also, the operation and maintenance of the system can be improved because its components are easily replaceable. To evaluate feasibility for Biorobot platform, the system was manufactured and validated by preliminary experiments.

关键词： Mobile agents

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