Pub Date : 2011-12-01DOI: 10.1109/URAI.2011.6145872
Hiroki Ueda, Jae Hoon Lee, S. Okamoto, B. Yi, S. Yuta
This paper presents a recognition method for a mobile robot to track running people in outdoor environment. Generally, after the cluttered state that a human is hidden by others and cannot be detected, it is difficult to recover only by position information with laser scanner. The problem causes an association error missing the past motion trajectory of human objects. Therefore, we investigated a method to solve the problem using the color information by an omni directional camera as an additional sensor to laser scanner. The proposed method was tested by some experiments with the developed robot.
{"title":"People tracking method for a mobile robot with laser scanner and omni directional camera","authors":"Hiroki Ueda, Jae Hoon Lee, S. Okamoto, B. Yi, S. Yuta","doi":"10.1109/URAI.2011.6145872","DOIUrl":"https://doi.org/10.1109/URAI.2011.6145872","url":null,"abstract":"This paper presents a recognition method for a mobile robot to track running people in outdoor environment. Generally, after the cluttered state that a human is hidden by others and cannot be detected, it is difficult to recover only by position information with laser scanner. The problem causes an association error missing the past motion trajectory of human objects. Therefore, we investigated a method to solve the problem using the color information by an omni directional camera as an additional sensor to laser scanner. The proposed method was tested by some experiments with the developed robot.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125697016","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-11-26DOI: 10.1109/URAI.2011.6145897
Hyuk Tae Kwon, W. Yoon, Rockwon Kim, Sunghoon Kim
To make better use of a service robot, which interacts with users during the task performance in everyday life, developers and/or users may frequently want to change action sequences so that a robot behaves in a natural manner. Emphasizing the procedural aspects of human task knowledge, we propose a method to generate a FSM-based robot task model from task procedures in possible scenarios. Proposed method consists of description of task procedures, conceptual definition of actions and states, and transformation from task procedures to a robot task language based on hierarchical finite-state machine. A simple illustrative example was described to show the application of the method.
{"title":"Building a hierarchical robot task from multiple task procedures","authors":"Hyuk Tae Kwon, W. Yoon, Rockwon Kim, Sunghoon Kim","doi":"10.1109/URAI.2011.6145897","DOIUrl":"https://doi.org/10.1109/URAI.2011.6145897","url":null,"abstract":"To make better use of a service robot, which interacts with users during the task performance in everyday life, developers and/or users may frequently want to change action sequences so that a robot behaves in a natural manner. Emphasizing the procedural aspects of human task knowledge, we propose a method to generate a FSM-based robot task model from task procedures in possible scenarios. Proposed method consists of description of task procedures, conceptual definition of actions and states, and transformation from task procedures to a robot task language based on hierarchical finite-state machine. A simple illustrative example was described to show the application of the method.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131227386","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-11-01DOI: 10.1109/URAI.2011.6145876
P. K. Kim, Yisoo Lee, Jaeheung Park
The paper presents a door opening strategy, a twisting door handle strategy, with a manipulator under uncertainty. The door opening is one of the basic yet important functions of mobile manipulators in operating in human environment. However, it can be a difficult task when the information about the door handle is not complete. In this paper, it is proposed to use compliant motion control and the motion constraint of the door handle to overcome the limitation of uncertain information. Specifically, the center of rotation point of the door handle is estimated while compliant motion control is applied in order to complete the door handle's twisting action. The performance of the proposed strategy is demonstrated by the experimental results.
{"title":"Twisting door handle with manipulator under uncertainty","authors":"P. K. Kim, Yisoo Lee, Jaeheung Park","doi":"10.1109/URAI.2011.6145876","DOIUrl":"https://doi.org/10.1109/URAI.2011.6145876","url":null,"abstract":"The paper presents a door opening strategy, a twisting door handle strategy, with a manipulator under uncertainty. The door opening is one of the basic yet important functions of mobile manipulators in operating in human environment. However, it can be a difficult task when the information about the door handle is not complete. In this paper, it is proposed to use compliant motion control and the motion constraint of the door handle to overcome the limitation of uncertain information. Specifically, the center of rotation point of the door handle is estimated while compliant motion control is applied in order to complete the door handle's twisting action. The performance of the proposed strategy is demonstrated by the experimental results.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127080313","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-11-01DOI: 10.1109/URAI.2011.6145851
Eiji Hayashi, Kei Ueyama, Motoki Yoshida
We have attempted to give a robot “consciousness” and “emotion” such as that identified in humans and animals in order to enhance the affinity between humans and robots. A hierarchical structure model for such a robot has been developed to connect the robot's consciousness with the robot's behavior. However, it is difficult to autonomously control the timing and the motion that changes the consciousness and behavior of the robot. Therefore, a motivation model has been developed, and was combined with the hierarchical structure model, in order to induce and autonomously change consciousness and behavior. Then, the action of dopamine in neurotransmitters was incorporated in the motivation model to add activity to the robot in conjunction with the incentive to perform a behavior. In this paper the expression of emotion by a Conscious Behavior Robot (Conbe-I) that incorporated this motivation model, and the emotional behaviors that the humans can feel some emotional; a lovely and a pitiful etc., were studied.
{"title":"Autonomous motion selection via consciousness-based architecture","authors":"Eiji Hayashi, Kei Ueyama, Motoki Yoshida","doi":"10.1109/URAI.2011.6145851","DOIUrl":"https://doi.org/10.1109/URAI.2011.6145851","url":null,"abstract":"We have attempted to give a robot “consciousness” and “emotion” such as that identified in humans and animals in order to enhance the affinity between humans and robots. A hierarchical structure model for such a robot has been developed to connect the robot's consciousness with the robot's behavior. However, it is difficult to autonomously control the timing and the motion that changes the consciousness and behavior of the robot. Therefore, a motivation model has been developed, and was combined with the hierarchical structure model, in order to induce and autonomously change consciousness and behavior. Then, the action of dopamine in neurotransmitters was incorporated in the motivation model to add activity to the robot in conjunction with the incentive to perform a behavior. In this paper the expression of emotion by a Conscious Behavior Robot (Conbe-I) that incorporated this motivation model, and the emotional behaviors that the humans can feel some emotional; a lovely and a pitiful etc., were studied.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125921054","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-11-01DOI: 10.1109/URAI.2011.6146027
RockHun Do, In-So Kweon
Motion estimation plays an important role in scene matching, SLAM (Simultaneously Localization And Mapping) in computer vision field. In BMA (Block Matching Algorithm) for the video compression, motion estimation is also considerable. Motion prior which could be an initial guess for the next motion has an effect on how well motion is estimated. In many applications, motion model is assumed to be Gaussian model with constant velocity. In this paper, we propose a new motion model based on general motion statistics and demonstrate proposed motion model helps motion estimation become more accurate.
{"title":"Motion prior based on general motion statistics","authors":"RockHun Do, In-So Kweon","doi":"10.1109/URAI.2011.6146027","DOIUrl":"https://doi.org/10.1109/URAI.2011.6146027","url":null,"abstract":"Motion estimation plays an important role in scene matching, SLAM (Simultaneously Localization And Mapping) in computer vision field. In BMA (Block Matching Algorithm) for the video compression, motion estimation is also considerable. Motion prior which could be an initial guess for the next motion has an effect on how well motion is estimated. In many applications, motion model is assumed to be Gaussian model with constant velocity. In this paper, we propose a new motion model based on general motion statistics and demonstrate proposed motion model helps motion estimation become more accurate.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"222 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115532005","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-11-01DOI: 10.1109/URAI.2011.6146010
Yoon-Gu Kim, Dong-Hwan Shin, J. Moon, J. An
This study focuses on the design and implementation of an optimal pipe navigation mechanism and a driving unit to overcome the variable situations inside steel pipes. It also offers adaptability to different pipe diameters. The important problems considered in the design and implementation are a self-sustaining property when in the center of a pipe, optimal navigation ability to adapt to in-pipe unevenness, the capability to remain stable without slipping in pipes, and the efficient operation of cleaning equipment. The robot developed here based, on carefully determined design specifications, was tested to verify the performance of its navigation mechanism and driving ability. In addition, a control system was developed for the test. The ultimate goal is the application of the verified in-pipe cleaning robot to industrial and practical applications.
{"title":"Design and implementation of an optimal in-pipe navigation mechanism for a steel pipe cleaning robot","authors":"Yoon-Gu Kim, Dong-Hwan Shin, J. Moon, J. An","doi":"10.1109/URAI.2011.6146010","DOIUrl":"https://doi.org/10.1109/URAI.2011.6146010","url":null,"abstract":"This study focuses on the design and implementation of an optimal pipe navigation mechanism and a driving unit to overcome the variable situations inside steel pipes. It also offers adaptability to different pipe diameters. The important problems considered in the design and implementation are a self-sustaining property when in the center of a pipe, optimal navigation ability to adapt to in-pipe unevenness, the capability to remain stable without slipping in pipes, and the efficient operation of cleaning equipment. The robot developed here based, on carefully determined design specifications, was tested to verify the performance of its navigation mechanism and driving ability. In addition, a control system was developed for the test. The ultimate goal is the application of the verified in-pipe cleaning robot to industrial and practical applications.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"179 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123028348","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-11-01DOI: 10.1109/URAI.2011.6146026
Yu-Bin Yoon, Se-Young Oh
This paper proposes an algorithm for an autonomous driving system which detects a pavement mark in an image of the road in front of a vehicle and identifies the mark. The algorithm uses edge pairing to find a pavement mark then identifies the type using a neural network which uses the horizontal and vertical projection of the founded mark as input. The network successfully classified 1073 of 1088 images. The result can be used to provide the accurate position of the vehicle in in-vehicle navigation systems.
{"title":"Vision-based detection and classification of pavement mark using neural network for autonomous driving system","authors":"Yu-Bin Yoon, Se-Young Oh","doi":"10.1109/URAI.2011.6146026","DOIUrl":"https://doi.org/10.1109/URAI.2011.6146026","url":null,"abstract":"This paper proposes an algorithm for an autonomous driving system which detects a pavement mark in an image of the road in front of a vehicle and identifies the mark. The algorithm uses edge pairing to find a pavement mark then identifies the type using a neural network which uses the horizontal and vertical projection of the founded mark as input. The network successfully classified 1073 of 1088 images. The result can be used to provide the accurate position of the vehicle in in-vehicle navigation systems.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"135 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114417128","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-11-01DOI: 10.1109/URAI.2011.6146036
Su-Gil Lee
The main transformer of the train is the equipment that receives the AC 25KV power from the trolley wire and transforms it to an adequate voltage that can be used by the traction control system of the train. The primary winding side is the trolley wire voltage; the secondary winding side is the load side that supplies power to the main motor through the traction control system (Converter/ Inverter); the third winding side is the load side that supplies power to SIV that provides the service units of the train with power, which includes loads such as train air conditioning and ventilators, composed of multiple winding transformer. The main circuit system of the secondary winding is 2 parallel and 1 serial. Mcp 1 car and M cars have one traction control system which has 2 sets of converter/inverter to which the main transformer supplies power.
{"title":"A study on train network and control in Korea tilting train","authors":"Su-Gil Lee","doi":"10.1109/URAI.2011.6146036","DOIUrl":"https://doi.org/10.1109/URAI.2011.6146036","url":null,"abstract":"The main transformer of the train is the equipment that receives the AC 25KV power from the trolley wire and transforms it to an adequate voltage that can be used by the traction control system of the train. The primary winding side is the trolley wire voltage; the secondary winding side is the load side that supplies power to the main motor through the traction control system (Converter/ Inverter); the third winding side is the load side that supplies power to SIV that provides the service units of the train with power, which includes loads such as train air conditioning and ventilators, composed of multiple winding transformer. The main circuit system of the secondary winding is 2 parallel and 1 serial. Mcp 1 car and M cars have one traction control system which has 2 sets of converter/inverter to which the main transformer supplies power.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124594155","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-11-01DOI: 10.1109/URAI.2011.6146008
M. Ha
The paper presents a research on storing and utilizing energy collected from the movement of vehicles on road. This energy can be collected by a series of friction plates which are positioned on the road surface. Capacity of this potential energy is then recycled for public usage such as traffic signals, street lights, advertisement broads, etc. Energy balance of the system is also calculated to show the efficiency of the system which is important to develop such a practical system.
{"title":"Research on a system for collecting, storing and utilizing potential energy from mobile vehicle for public devices","authors":"M. Ha","doi":"10.1109/URAI.2011.6146008","DOIUrl":"https://doi.org/10.1109/URAI.2011.6146008","url":null,"abstract":"The paper presents a research on storing and utilizing energy collected from the movement of vehicles on road. This energy can be collected by a series of friction plates which are positioned on the road surface. Capacity of this potential energy is then recycled for public usage such as traffic signals, street lights, advertisement broads, etc. Energy balance of the system is also calculated to show the efficiency of the system which is important to develop such a practical system.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126792064","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-11-01DOI: 10.1109/URAI.2011.6145942
Tao Liu, Y. Inoue, K. Shibata, Kouzou Shiojima
To overcome limitations of a traditional gait analysis laboratory, in which stationary force plates and camera system can not measure more than one stride, in this paper, we propose a three-dimensional gait analysis system (M3D) composed of mobile force plates and motion sensors. Coordinate transformation from local coordinate system of M3D to global coordinate system is implemented by using measurements of the mobile force plate. A stick-chain model was built to visually analyze three-dimensional human gait and joint trajectories, and triaxial joint moments during gait can be calculated.
{"title":"Three-dimensional gait analysis system with mobile force plates and motion sensors","authors":"Tao Liu, Y. Inoue, K. Shibata, Kouzou Shiojima","doi":"10.1109/URAI.2011.6145942","DOIUrl":"https://doi.org/10.1109/URAI.2011.6145942","url":null,"abstract":"To overcome limitations of a traditional gait analysis laboratory, in which stationary force plates and camera system can not measure more than one stride, in this paper, we propose a three-dimensional gait analysis system (M3D) composed of mobile force plates and motion sensors. Coordinate transformation from local coordinate system of M3D to global coordinate system is implemented by using measurements of the mobile force plate. A stick-chain model was built to visually analyze three-dimensional human gait and joint trajectories, and triaxial joint moments during gait can be calculated.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129107880","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：