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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

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A vision system for UAV position control

A vision system for UAV position control

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IEEE Conference on Aerospace

作者： Baik, Kyeonghoon Shin, Jinok Ji, Sanki Shon, Woonghee Park, Sangdeok Division for Applied Robot Technology Korea Institute of Industrial Technology Korea Republic of

ISBN: (纸本)9781424473502

In this paper, we propose a vision-based control system for the localization of an unmanned aerial vehicle (UAV) which equips on-board cameras. The proposed approach is combined a visual odometer with inertial measurement from IMU and pressure signal which compensate attitude and altitude, respectively. For the autonomous control of a UAV, we consider only natural landmarks provided by a feature tracking algorithm without the help of visual beacons or landmarks at known positions. The displacement of the UAV is estimated by the homography, the relationship between a pair of points. The experimental results show that it is possible to extract useful position information from the proposed vision system even when the UAV flies high, and the information can be used temporary position control of UAVs during GPS failure. © 2011 IEEE.

关键词： Position control

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Natural changing of emotional expression by considering correlation of behavior history

Natural changing of emotional expression by considering corr...

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IEEE International Symposium on Consumer Electronics

作者： Ahn, Ho Seok Choi, Jin Young Lee, Dong-Wook Shon, Woong Hee Department of Applied Robot Technology Convergent Technology R and D Division Korea Institute of Industrial Technology 1271-18 Sa-3-dong Sangrok-gu Ansan 426-910 Korea Republic of

ISBN: (纸本)9781612848433

This paper presents a novel method for natural changing of emotional expression. Although formal behavior generation method using the simulated annealing algorithm selects various behaviors, there are weak correlations among behavior history. To make strong correlations, we restrict the randomness of the simulated annealing algorithm. This method sifts unapt candidate behavior combinations out by considering the previous behavior combinations and makes adequate range of candidate behavior combinations. We have verified the continuity of the proposed method using a cyber robot simulator. © 2011 IEEE.

关键词： Simulated annealing

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Position tracking and flatness controller with disturbance observer in hydraulic servo systems

Position tracking and flatness controller with disturbance o...

引用

50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011

作者： Kim, Wonhee Shin, Donghoon Won, Daehee Chung, Chung Choo Department of Electrical Engineering Hanyang University Seoul 133-791 Korea Republic of Division for Applied Robot Technology Korea Institute of Industrial Technology Ansan Gyeonggi-Do 426-171 Korea Republic of Division of Electrical and Biomedical Engineering Hanyang University Seoul 133-791 Korea Republic of

ISBN: (纸本)9784907764395

A position tracking and flatness controller with disturbance observer (DOB) is proposed in hydraulic servo systems (HSSs). In this paper, we assume that the disturbance is a biased sinusoidal signal with unknown frequency. DOB is designed in the form of 2nd high pass filter to estimate the disturbance. The nonlinear controller is designed to compensate the estimation error of the disturbance and to track the desired position and load pressure as a near IO linearizing inner-loop load pressure controller and a feedback plus feedforward outer-loop position controller. The desired load pressure is designed using differential flatness property of the HSS mechanical subsystem. The performance of the proposed method is validated via simulations. © 2011 SICE.

关键词： Tracking (position)

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A method of mother wavelet function learning for DWT-based analysis using EEG signals

A method of mother wavelet function learning for DWT-based a...

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IEEE SENSORS

作者： Won-Seok Kang Kookrae Cho Seung-Hyun Lee Division of IT Convergence Daegu-Gyeongbuk Institute of Science and Technology Daegu South Korea Division of Robot System Daegu-Gyeongbuk Institute of Science and Technology Daegu South Korea

ISBN: (纸本)9781424492909

In brain signals analysis, there are the supplementary devices such as EEG, fNIRS, MEG, fMRI, PET, etc. EEG is a popular secondary device due to the advantages of easy usability, mobility and low-cost. Many researchers have employed a Discrete Wavelet Transform (DWT) to classify EEG signals and make a clustering of the signal in brain-computer interface and medicine diagnosis. The precision of classification and clustering for EEG analysis depend on a mother wavelet. In order to improve the precision, the previous works has taken a hand-selection method to find out the best mother wavelet after simulation. It is necessary to improve the tested precision because the best mother wavelets for the acquired EEG signals are different depending on the subjects. In this paper, we suggest a novel approach which can select the best mother wavelets for DWT-based analysis in time-series sequences of EEG signals. To show the efficiency of the proposed method, we utilized a clustering method which can separate unsupervised EEG signals into the groups such as the ADHD (Attention Deficit Hyper-activity Disorder), the normal children, and the children in the boundary between ADHD and Normal children. As a result of simulation, we confirmed that the novel method improved the precision about 15% more than the previous.

关键词： Electroencephalography Discrete wavelet transforms Pediatrics Artificial neural networks Wavelet analysis

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Impedance control of electro hydraulic servo system using input output linearization

Impedance control of electro hydraulic servo system using in...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Donghoon Shin Wonhee Kim Youngwoo Lee Daehee Won Chung Choo Chung Department of Electrical Engineering Hanyang University Seoul South Korea Division for Applied Robot Technology Korea Institute of Industrial and Technology Ansan South Korea Division of Electrical and Biomedical Engineering Hanyang University Seoul South Korea

In this paper, we present an impedance control method for electro hydraulic servo systems (EHSSs). The definition of impedance is a transfer function from external force to velocity error. By the proposed method, the transfer function from external force to velocity error becomes the desired transfer function. And we calculate the steady-state position and velocity error. Simulation results validate the effectiveness of proposed method and the steady-state position and velocity error.

关键词： Impedance Force Transfer functions Steady-state Dynamics Pistons Equations

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INS/EKF-based stride length, height and direction intent detection for walking assistance robots

INS/EKF-based stride length, height and direction intent det...

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IEEE International Conference on Rehabilitation robotics (ICORR)

作者： Dario Brescianini Jun-Young Jung In-Hun Jang Hyun Sub Park Robert Riener Department of Mechanical and Process Engineering ETH Zurich Zurich Switzerland Department of Intelligent Robotics University of Science and Technology Daejeon South Korea Division of Applied Robot Technology Korea Institute of Industrial and Technology Ansan South Korea Spinal Cord Injury Center University Hospital Balgrist Zurich Switzerland Sensory-Motor Systems Laboratory Institute of Robotics and Intelligent Systems ETH Zurich Zurich Switzerland

We propose an algorithm used to obtain the information on stride length, height difference, and direction based on user's intent during walking. For exoskeleton robots used to assist paraplegic patients' walking, this information is used to generate gait patterns by themselves in on-line. To obtain this information, we attach an inertial measurement unit(IMU) on crutches and apply an extended kalman filter-based error correction method to reduce the phenomena of drift due to bias of the IMU. The proposed method is verifed in real walking scenarios including walking, climbing up-stairs, and changing direction of walking with normal.

关键词： Legged locomotion Trajectory Exoskeletons Navigation Measurement uncertainty robot sensing systems

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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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A study on traversability of quadruped robot in rough terrain

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

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作者： Loc, Vo-Gia Koo, Ig Mo Trong, Tran Duc Kim, Ho Moon Moon, Hyungpil Park, Sangdoek Choi, Hyouk Ryeol 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)9781424474530

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. ©ICROS.

关键词： Landforms

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High gain observer based nonlinear position control for electro-hydraulic servo systems

High gain observer based nonlinear position control for elec...

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作者： Kim, Wonhee Won, Daehee Chung, Chung Choo Department of Electrical Engineering Hanyang University Seoul 133-791 Korea Republic of Division for Applied Robot Technology Korea Institute of Industrial Technology Ansan 426-171 Korea Republic of Division of Electrical and Biomedical Engineering Hanyang University Seoul 133-791 Korea Republic of

ISBN: (纸本)9781424474264

We present a high gain observer-based nonlinear position control for electro-hydraulic servo systems. We design passivity based control for improve tracking performance. The passivity based control needs the full states information. Since the electro-hydraulic servo system has nonlinearities, we designed a modified high gain observer to estimate its states without the transformation for normal form. To reduce the effect of nonlinear terms, we use a high gain technique. We analyze the stability of the closed-loop system using the singular perturbation method. Simulations show that the proposed controller has better position tracking performance than a standard PI controller. © 2010 AACC.

关键词： Closed loop systems

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