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2015 International Conference on Modeling, Simulation and applied Mathematics（MSAM 2015）

作者： Youngho Choi Jungwoo Lee Jinho Suh Jongdeuk Lee Korea Institute of Robot and Convergence Applied Technology Division

ISBN: (纸本)9781510811980

This paper introduces how to easily integrate the modular navigation system for the autonomous underwater vehicle(AUV),which consists of the various hardware and software *** paper is focused on how to build the integrated underwater navigation module which is applicable to various types of underwater vehicle rather than the core algorithm for the autonomous underwater *** 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 *** 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： autonomous underwater navigation modular OPRo S

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Software architecture of human-like robot

Software architecture of human-like robot

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ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009

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

ISBN: (纸本)9784907764296

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 [1]. 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. © 2009 SICE.

关键词： Application programs

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Guidance and Control of P-SURO II Hybrid AUV

Guidance and Control of P-SURO II Hybrid AUV

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OCEANS MTS/IEEE Yeosu

作者： J. H. Li M. J. Lee J. G. Kim S. K. Park S. H. Park J. H. Suh Applied Technology Division Korea Institute of Robot and Convergence (KIRO)

ISBN: (纸本)9781457720895

P-SURO II AUV is a hybrid vehicle which has been developing in KIRO since June in last year. In this paper, we propose a doppler velocity log (DVL) aiding inertial navigation system for this hybrid AUV. So far, DVL has been one of most common aiding device for underwater strap down inertial navigation system (SDINS) [1]. However, in practice, DVL may briefly dropout due to noise, uneven surfaces, and loss of lock when too close to a surface [2]. This kind of DVL dropout effect on the proposed INS is investigated through post-processing of navigation sensor raw measurement data acquired in the field test in a river. On the other hand, four vectored thrusters are mounted on the vehicle's horizontal plane, and their thrust vector control (TVC) problem is also discussed in the paper.

关键词： Hybrid AUV Guidance and control Strap down inertial navigation system (SDINS) DVL-aiding Thrust vector control (TVC)

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Consumer technology in Task Offloading and Edge Resource Allocation: AIoT and Edge Computing for Next-Generation Communication

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IEEE Transactions on Consumer Electronics 2025年

作者： Byeon, Haewon Alsaadi, Mahmood Quraishi, Aadam Alghamdi, Azzah Ahanger, Tariq Ahamed Keshta, Ismail Xalikovich, Pardayev Abdunabi Soni, Mukesh Bhatt, Mohammed Wasim Convergence Department Korea University of Technology and Education Cheonan Korea Republic of Department of Computer Sciences College of Science University of Al Maarif Al Anbar31001 Iraq M.D. Research Intervention Treatment Institute HoustonTX United States Computer Information Systems Department College of Computer Science and Information Technology Imam Abdalrhman Bin Faisal University Khobar Saudi Arabia Department of Management Information Systems CoBA Prince Sattam Bin Abdulaziz University Saudi Arabia Computer Science and Information Systems Department College of Applied Sciences AlMaarefa University Riyadh Saudi Arabia The Department of Accounting and Reporting Tashkent State University of Economics Tashkent Uzbekistan Division of Research and Development Lovely Professional University Phagwara India Dr. D. Y. Patil Vidyapeeth Dr. D. Y. Patil School of Science & Technology Pune Tathawade Pune India Model Institute of Engineering and Technology J&K Jammu India

Artificial Intelligence of Things (AIoT) edge computing has emerged as a critical enabler for consumer technology, easing the load on distribution grid networks through enhanced data transmission and processing capabilities. The Internet of Things (IoT), a modern network paradigm, connects devices using sensors and communication mediums to enable seamless information exchange. However, the limited computational capacity of edge nodes poses challenges in optimizing AIoT edge resources compared to cloud computing. To address this, a cloud-edge three-layer framework for task offloading and edge resource allocation is proposed in the context of consumer technology and distribution grids. This model incorporates random tasks, limited resources, unequal processing power, and high latency requirements. It features two key phases: a resource auction using a multi-round iterative process and compute offloading managed by a Deep Reinforcement Learning (DRL) approach. Enhanced algorithms such as Double DQN and Dueling DQN are integrated into the job offloading process to improve performance. Simulations validate the convergence of the task offloading algorithm and demonstrate that the proposed methods significantly enhance computational efficiency and resource utilization for edge nodes. These advancements offer promising solutions for the dynamic needs of consumer technology and future communication networks. © 2025 IEEE.

关键词： Computation offloading

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

The development of the modular autonomous underwater navigat...

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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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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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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 Systems and Applications, MESA 2010

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

ISBN: (纸本)9781424471010

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. © 2010 IEEE.

关键词： Strain gages

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Development of multi-axial micro force measurement method for electronic device assembly

Development of multi-axial micro force measurement method fo...

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2006 SICE-ICASE International Joint Conference

作者： Byung, June Choi Sang, Heon Ryu Seung, Hwa Ha Tri, Cong Phung Ja, Choon Koo Sangdeok, Park Sangmoo, Lee Hyouk, Ryeol Choi School of Mechanical Engineering Sungkyunkwan University Suwon Korea Republic of Division of Applied Robot Technology Korea Institute of Industrial Technology Ansan Korea Republic of

ISBN: (纸本)8995003855

A multi-axial micro force measurement system that can detect contact information of micro-scaled object interactions is presented. An accurate measurement of forces in the range of milli or micro newtons becomes an essential tool for the development of high-precision robot systems. The presented force measurement system consists of semiconductor strain gauges and 6-axis force/torque sensor. Implementation of the dual semiconductor strain gauges with a 6-axis force/torque sensor that are installed on a small manipulator system enables the identification of the applied force and contact position. Theoretical consideration of the method followed by an experimental verification is provided. © 2006 ICASE.

关键词： Electronic equipment

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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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