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Three-layered hybrid architecture for emotional reactive system

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

引用

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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Implementation of graspless handling system for microparticles using AFM probe

Implementation of graspless handling system for microparticl...

引用

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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A study on traversability of quadruped robot in rough terrain

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

引用

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...

引用

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...

引用

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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Inverse kinematics for control of JINPOONG

Inverse kinematics for control of JINPOONG

引用

International Conference on Ubiquitous robots and Ambient Intelligence (URAI)

作者： Jin Tak Kim Jung San Cho Byung Yun Park Sangdeok Park Korea Institute of Industrial Technology Ansan-si Gyeonggi-do Republic of Korea Division of Applied Robot Technology Korea Institute of Industrial Technology Ansan-si Gyeonggi-do Republic of Korea

JINPOONG is a platform that has been developed in order to move an uneven terrain as quadrupeds. Each leg was designed to have 4 degrees of freedom to utilize a broad workspace. A solution of inverse kinematics of this system was found out using the closed form solution, considering motion control of JINPOONG. Therefore, this paper explains the calculation method of the inverse kinematics for the motion control of JINPOONG. The performance of the calculation method was demonstrated in simulation using MATLAB.

关键词： Joints Kinematics Legged locomotion Trajectory Closed-form solutions

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Gait planning of a quadruped walking robot based on the operational space control

Gait planning of a quadruped walking robot based on the oper...

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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

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Reliable feature point detection and object pose estimation using photometric quasi-invariant SIFT

Reliable feature point detection and object pose estimation ...

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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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Observer Based Nonlinear Tension Control for Multi Motor Wire Winding System

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

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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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Preliminary thruster control experiments for underwater vehicle positioning

Preliminary thruster control experiments for underwater vehi...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jinhyun Kim Woong Hee Shon Ho-Gil Lee Wan Kyun Chung Division of Applied Robot Technology Korea Institute of Industrial and Technology Ansan South Korea Robotics & Bio-Mechatronics Laboratory Pohang University of Science and Technology Pohang South Korea

To improve the maneuverability of underwater vehicles, accurate thruster control is required based on a precise thrust model. Especially, in real systems, the ambient flow velocity and angle effects on the thrust force are very important, because vehicles are continuously moving and/or hovering with thruster actions. In this paper, we execute preliminary experiments with the model containing ambient flow effects as CAR (critical advance ratio) and CIA (critical incoming angle). The distinguished characteristics of the above model is the three axial flow states classification. The whole thrust map is divided into three states according to the state of ambient flow velocity, angle, and propeller shaft velocity. The several controllers are tested using the three flow states information. The preliminary experimental results show the best performance can be obtained by the open loop control with accurate model, because the thrust force cannot be measured directly, so the force map from the propeller shaft velocity to thrust force plays important roll in control performance. However, the DOB (disturbance observer) with closed loop controller is realistic solution, because it can compensate various unknown disturbances in real systems

关键词： Underwater vehicles Open loop systems Force measurement Propellers Shafts Testing Velocity measurement Force control Velocity control Control systems

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