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Analysis of error propagation in two-way-ranging-based cooperative positioning system

Journal of Institute of control, robotics and systems 2015年第9期21卷 898-902页

作者： Lim, Jeong-Min Lee, Chang-Eun Sung, Tae-Kyung Department of Information and Communication Engineering Chungnam National University Korea Republic of Robot/Cognitive System Research Department Intelligent Robot Control Research Team Electronics and Telecommunications Research Institute Korea Republic of

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 is no longer available and the alternative navigation system should be used together with GNSS to provide seamless positioning. For soldiers in battlefield where GNSS signal is jammed or in street battle, the alternative navigation system should work without positioning infrastructure. Moreover, the radio-navigation system should have scalability as well as high accuracy performance. This paper presents a TWR (Two-Way-Ranging)-based cooperative positioning system (CPS) that does not require location infrastructure. It is assumed that some members of CPS can obtain GNSS-based position and they are called mobile anchors. Other members unable to receive GNSS signal compute their position using TWR measurements with mobile anchors and neighboring members. Error propagation in CPS is analytically studied in this paper. Error budget for TWR measurements is modeled first. Next, location error propagation in CPS is derived in terms of range errors. To represent the location error propagation in the CPS, Location Error Propagation Indicator (LEPI) is proposed in this paper. Simulation results show that location error of tags in CPS is mainly influenced by the number of hops from anchors to the tag to be positioned as well as the network geometry of CPS. © ICROS 2015.

关键词： Radio navigation

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Implementation of cooperative routing robot system for long distance teleoperation 1

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22nd conference on Autonomous Mobile systems, AMS 2012

作者： Im, Hyun-Ja Lee, Chang-Eun Jang, Minsu Cho, Young-Jo Kim, Sunghoon Robot/Cognitive System Research Department Intelligent Robot Control Research Team Electronics and Telecommunications Research Institute Daejeon Korea Republic of Robot/Cognitive System Research Department Electronics and Telecommunications Research Institute Daejeon Korea Republic of

ISBN: (数字)9783642322174

ISBN: (纸本)9783642322167

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 the robot are necessities. To ensure stable communication, the cooperative routing robot system is implemented. Our system is an autonomous reactive router that responds to change in strength of a signal and a quality of link among cooperative robots. The routing robot is driven toward a safety region of network using virtual force model or change into a router. A result of our approach was shown as an experiment. A tank robot was continuously teleoperated from ROC (remote operate center);thereby condition of network was proven to be stable. In addition, the ROC continuously acquired a remote video and positions. As a result, the cooperative routing robot system help you teleoperate a robot about long distance. © 2012 Springer-Verlag Berlin Heidelberg.

关键词： robots

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Task-oriented synchronous error monitoring framework in robotic manufacturing process

Task-oriented synchronous error monitoring framework in robo...

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2012 IEEE International Conference on Automation Science and Engineering: Green Automation Toward a Sustainable Society, CASE 2012

作者： Kim, Hyungsik Cheong, Joono Lee, Seungik Kim, Joongbae Department of Control and Instrumentation Engineering Korea University Jochiwon Korea Republic of Intelligent Robot Control Research Team Electronics and Telecommunications Research Institute Daejeon Korea Republic of

ISBN: (纸本)9781467304283

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. © 2012 IEEE.

关键词： Manufacture

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Task-oriented synchronous error monitoring framework in robotic manufacturing process

Task-oriented synchronous error monitoring framework in robo...

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IEEE International Conference on Automation Science and Engineering (CASE)

作者： Hyungsik Kim Joono Cheong Seungik Lee Joongbae Kim Department of Control and Instrumentation Engineering Korea University South Korea Intelligent Robot Control Research Team Electronics and Telecommunications Research Institute Daejeon South Korea

关键词： Monitoring Sensor fusion robot sensing systems Sensor systems Manufacturing processes

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Revised robotic interaction service (RoIS) framework

Revised robotic interaction service (RoIS) framework

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2011 8th International Conference on Ubiquitous robots and Ambient Intelligence, URAI 2011

作者： Chi, Su-Young Cho, Young-Jo Lee, Jae-Yeon Yoon, Ho-Sub Kim, Do-Hyung Kim, Jae-Hong Hori, Toshio Sato, Miki ETRI Robot/Cognitive System Research Department Cognition Technology Research Team Daejeon 305-700 Korea Republic of Japan Robot Association Tokyo 105-0011 Japan

ISBN: (纸本)9781457707223

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. © 2011 IEEE.

关键词： Human robot interaction

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Fault management of robot software components based on OPRoS

Fault management of robot software components based on OPRoS

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IEEE International Symposium on Object, Component, Service-Oriented Real-Time Distributed Computing

作者： Kim, JongYoung Yoon, Heebyung Kim, SungHoon Son, Sang Hyuk Department of Computer Science Korea National Defense University Seoul Korea Republic of Intelligent Robot Control Research Team ETRI Daejeon Korea Republic of Department of Computer Science University of Virginia Charlottesville VA United States

ISBN: (纸本)9780769543680

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 robot system 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. © 2011 IEEE.

关键词： Reusability

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Revised robotic interaction service (RoIS) framework

Revised robotic interaction service (RoIS) framework

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International Conference on Ubiquitous robots and Ambient Intelligence (URAI)

作者： Su-Young Chi Young-Jo Cho Jae-Yeon Lee Ho-Sub Yoon Do-Hyung Kim Jae-Hong Kim Toshio Hori Miki Sato Robot Cognitive System Research Department Cognition Technology Research Team Electronics and Telecommunications Research Institute Daejeon South Korea Electronics and Telecommunications Research Institute Daejeon Daejeon KR Japan Robot Association Tokyo Japan

关键词： Engines

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Fault Management of robot Software Components Based on OPRoS

Fault Management of Robot Software Components Based on OPRoS

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International Symposium on Object-Oriented Real-Time Distributed Computing

作者： JongYoung Kim Heebyung Yoon SungHoon Kim Sang Hyuk Son Department of Computer Science Korea National Defense University Seoul South Korea Intelligent Robot Control Research Team Electronics and Telecommunications Research Institute Daejeon South Korea Department of Computer Science University of Virginia Charlottesville VA USA

关键词： Monitoring robots Software Engines Fault tolerance Fault tolerant systems History

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Robust stability condition of an uncertain networked system with delayed data dropout in both forward and feedback channels

Robust stability condition of an uncertain networked system ...

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SICE Annual Conference

作者： Hyo-sung Ahn Yangquan Chen Wonpil Yu Intelligent Task Control Research Team Intelligent Robot Research Division Electronics and Telecommunications Research Institute Daejeon South Korea Department of Electrical and Computer Engineering Center of Self-Organizing and Intelligent Systems Utah State University Logan UT USA

This paper provides stability conditions of an uncertain networked control system 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

关键词： Robust stability Delay systems Output feedback control systems intelligent networks intelligent robots Networked control systems Stability analysis Delay effects Electrical equipment industry

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