Cooperative robots are more efficient than a robot when the assigned task is complex and the workspace is large. To meet with the task efficiency and successful control of Cooperative robots, sensing and networking of...
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This paper is based on our extensive surveys on human-robot interaction function methodologies and implementations, which are currently used in robotic products and research project in Japan and Korea. This specificat...
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As manufacturing systems become increasingly more automated and complicated, there is a need for supervision systems to operate and control production. In complex manufacturing environments, robots can make errors tha...
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Alternative radio-navigation technologies aim at providing continuous navigation solution even if one cannot use GNSS (Global Navigation Satellite system). In shadowing region such as indoor environment, GNSS signal i...
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Component-based robot development has been a vibrant research topic in robotics due to its reusability and interoperability benefits. However, robot application developers using robot components must invest non-trivia...
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This paper is based on our extensive surveys on human-robot interaction function methodologies and implementations, which are currently used in robotic products and research project in Japan and Korea. This specificat...
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This paper is based on our extensive surveys on human-robot interaction function methodologies and implementations, which are currently used in robotic products and research project in Japan and Korea. This specification defines a framework that can handle messages and data exchanged between human-robot interaction service components and service applications.
As manufacturing systems become increasingly more automated and complicated, there is a need for supervision systems to operate and control production. In complex manufacturing environments, robots can make errors tha...
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As manufacturing systems become increasingly more automated and complicated, there is a need for supervision systems to operate and control production. In complex manufacturing environments, robots can make errors that can cause serious product damages. This paper focuses on the efficient supervision systems, called the sequential task-oriented supervision, using multiple sensors for achieving task status monitoring, automated error analysis in robotic manufacturing process. As with the designed task sequence, a status monitoring system runs synchronously to detect errors in the current robot task. In order to continue performing tasks without human intervention, task status monitoring systems use multiple sensors including a vision sensor, a force-torque(F/T) sensor and a tactile sensor is developed. Detailed structure and working principle of the monitoring system are addressed in this paper.
This paper provides stability conditions of an uncertain networked controlsystem with both forward control signal loss and feedback output signal loss. It is assumed that both the forward control signal and the outpu...
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This paper provides stability conditions of an uncertain networked controlsystem with both forward control signal loss and feedback output signal loss. It is assumed that both the forward control signal and the output measurement signal are intermittent independently, and the remote plant has a model uncertainty. Also, in this paper, an observer-based controller is used in the remote place because the full states are not accessible. Thus, the main research goal is to analyze the overall stability of this uncertain intermittent networked system. In the second part of this paper, we consider delay effects of both forward signal and feedback signal during the network transfer
Component-based robot development has been a vibrant research topic in robotics due to its reusability and interoperability benefits. However, robot application developers using robot components must invest non-trivia...
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Component-based robot development has been a vibrant research topic in robotics due to its reusability and interoperability benefits. However, robot application developers using robot components must invest non-trivial amount of time and effort applying fault tolerance techniques into their robot applications. Despite the need for a common, framework-level fault management, the majority of existing robot software frameworks has failed to provide systematic fault management features. In this paper, we propose a fault management method to detect, diagnose, isolate and recover faults based on the OPRoS software framework. The proposed method provides a collective, framework-level management for commonly encountered robot software faults, thereby reducing the application developers' efforts while enhancing the robotsystem reliability. To verify the effectiveness of the proposed approach, we have implemented a prototype reconnaissance robot using OPRoS components and injected different types of faults. The results of the experiments have shown that our approach effectively detects, diagnoses, and recovers component faults using the software framework.
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