Pub Date : 2011-11-01DOI: 10.1109/URAI.2011.6146022
S. Park, W. Chung
This paper proposes the combined method of weighted least norm (WLN) and gradient projection (GP) for avoiding joint limit. WLN has the limitation of lower manipulability. Also GP has lack of reliability. Taking the advantages of both methods, we combined two methods and also performed numerical simulation. The simulation result shows the advantages of both methods.
{"title":"Combined method of weighted least norm and gradient projection for avoiding joint limit","authors":"S. Park, W. Chung","doi":"10.1109/URAI.2011.6146022","DOIUrl":"https://doi.org/10.1109/URAI.2011.6146022","url":null,"abstract":"This paper proposes the combined method of weighted least norm (WLN) and gradient projection (GP) for avoiding joint limit. WLN has the limitation of lower manipulability. Also GP has lack of reliability. Taking the advantages of both methods, we combined two methods and also performed numerical simulation. The simulation result shows the advantages of both methods.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"134 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":"134535086","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.2011.6145974
Hwi-Young Lee, Kyung Kim, Jongbae Kim, Won-Kyung Song
A novel lower-extremity robotic exercise system with weight bearing and locomotion abilities has been developed for the severely disabled. The purpose of this study was to investigate the needs of users and clinical experts when using this robotic exercise system. The system consists of an exoskeleton, weight-bearing system, interface, and system platform. The results of this research are based on the opinions of focus groups and clinical experts who were interviewed after applying the robotic system. Comfort, safety, and natural appearance while wearing the system were considered. User feedback, received from the initial design and development of our system, has contributed to the implementation of our rehabilitation robot.
{"title":"Requirements of lower-extremity robotic exercise system for severely disabled","authors":"Hwi-Young Lee, Kyung Kim, Jongbae Kim, Won-Kyung Song","doi":"10.1109/URAI.2011.6145974","DOIUrl":"https://doi.org/10.1109/URAI.2011.6145974","url":null,"abstract":"A novel lower-extremity robotic exercise system with weight bearing and locomotion abilities has been developed for the severely disabled. The purpose of this study was to investigate the needs of users and clinical experts when using this robotic exercise system. The system consists of an exoskeleton, weight-bearing system, interface, and system platform. The results of this research are based on the opinions of focus groups and clinical experts who were interviewed after applying the robotic system. Comfort, safety, and natural appearance while wearing the system were considered. User feedback, received from the initial design and development of our system, has contributed to the implementation of our rehabilitation robot.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"103 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":"134002013","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.2011.6146042
Hyunwook Kim, Seul Jung
This paper presents the design and analysis of a robotic vehicle to carry human beings for entertainment in amusement park. The robotic vehicle called AmusTransBot has two wheels to maintain balance and navigate on the ground. The design of AmusTransBot is carried out to provide the excitement of the driver using balancing mechanism. Simulation studies are carried out to confirm the design concept.
{"title":"Design and analysis of a robotic vehicle for entertainment using balancing mechanism","authors":"Hyunwook Kim, Seul Jung","doi":"10.1109/URAI.2011.6146042","DOIUrl":"https://doi.org/10.1109/URAI.2011.6146042","url":null,"abstract":"This paper presents the design and analysis of a robotic vehicle to carry human beings for entertainment in amusement park. The robotic vehicle called AmusTransBot has two wheels to maintain balance and navigate on the ground. The design of AmusTransBot is carried out to provide the excitement of the driver using balancing mechanism. Simulation studies are carried out to confirm the design concept.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"23 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":"134310089","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.2011.6145915
Bo-kyung Cho, Sunghee Lee, Jeongsun Park, Y. Go
The purpose of this study was to explore the directions of content development for R-Learning which is based on intelligent robots distributed to Kindergartens. For this, the researchers examined and analyzed studies about R-Learning content, teachers' expectations, distribution of current R-Learning content, and the details. The findings of this study showed that it is inevitable to develop the contents matching with kindergartens' curricula, ensuring the mobility, emotional exchange, and interaction of a robot. To be more specific, it is proposed that interaction between robots and kindergarteners should be augmented, robots' functions should be used to the maximum, and teachers should be able to improve the ability to use robots.
{"title":"The directions of the universal contents development for R-Learning at kindergarten","authors":"Bo-kyung Cho, Sunghee Lee, Jeongsun Park, Y. Go","doi":"10.1109/URAI.2011.6145915","DOIUrl":"https://doi.org/10.1109/URAI.2011.6145915","url":null,"abstract":"The purpose of this study was to explore the directions of content development for R-Learning which is based on intelligent robots distributed to Kindergartens. For this, the researchers examined and analyzed studies about R-Learning content, teachers' expectations, distribution of current R-Learning content, and the details. The findings of this study showed that it is inevitable to develop the contents matching with kindergartens' curricula, ensuring the mobility, emotional exchange, and interaction of a robot. To be more specific, it is proposed that interaction between robots and kindergarteners should be augmented, robots' functions should be used to the maximum, and teachers should be able to improve the ability to use robots.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"6 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":"131824153","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.2011.6145960
J. Oh, Seung-bok Choi, Han-Jun Cho
This study presents the configuration and modeling of ER haptic mater for minimally invasive surgery (MIS) robot. The ER haptic master device that consists of spherical joint as an inner electrode and sphere housing as an outer electrode has 3-DOF rotational motion. Using ER fluid, the proposed haptic master generates a repulsive torque and provides a stimulus information to operator. The rotational motion of the haptic master is realized by slave surgery robot in MIS. To follow the motion of the haptic master, the mechanism of slave surgery robot is devised and kinematic analysis is conducted.
{"title":"Design and modeling of spherical joint haptic master for MIS robot using electrorheological fluid","authors":"J. Oh, Seung-bok Choi, Han-Jun Cho","doi":"10.1109/URAI.2011.6145960","DOIUrl":"https://doi.org/10.1109/URAI.2011.6145960","url":null,"abstract":"This study presents the configuration and modeling of ER haptic mater for minimally invasive surgery (MIS) robot. The ER haptic master device that consists of spherical joint as an inner electrode and sphere housing as an outer electrode has 3-DOF rotational motion. Using ER fluid, the proposed haptic master generates a repulsive torque and provides a stimulus information to operator. The rotational motion of the haptic master is realized by slave surgery robot in MIS. To follow the motion of the haptic master, the mechanism of slave surgery robot is devised and kinematic analysis is conducted.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"23 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":"133342917","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.2011.6145850
H. El-Alfy, Amr Kabardy
We study the problem of maintaining an unobstructed view of an agent moving amongst obstacles by a moving camera fixed to a pursuing robot. This is known as a two-player pursuit evasion game. Using a mesh discretization of the environment, we develop an algorithm that determines, given initial positions of both pursuer and evader, if the evader can take any moving strategy to go out of sight of the pursuer, and thus win the game. If it is decided that there is no winning strategy for the evader, we also compute a pursuer's trajectory that keeps the evader within sight, for every trajectory that the evader can take.
{"title":"A new approach for the two-player pursuit-evasion game","authors":"H. El-Alfy, Amr Kabardy","doi":"10.1109/URAI.2011.6145850","DOIUrl":"https://doi.org/10.1109/URAI.2011.6145850","url":null,"abstract":"We study the problem of maintaining an unobstructed view of an agent moving amongst obstacles by a moving camera fixed to a pursuing robot. This is known as a two-player pursuit evasion game. Using a mesh discretization of the environment, we develop an algorithm that determines, given initial positions of both pursuer and evader, if the evader can take any moving strategy to go out of sight of the pursuer, and thus win the game. If it is decided that there is no winning strategy for the evader, we also compute a pursuer's trajectory that keeps the evader within sight, for every trajectory that the evader can take.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"18 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":"133097478","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.2011.6145938
Yanjie Liu, M. Wu, G. Xu, Lining Sun
The rapid development of the Integrated Circuit (IC) manufacturing equipment industry requires greater efficiency for wafer transfer. However, the faster wafer transfer robot moves, the bigger the force applied on its support frame is, and also the bigger vibration aroused on the frame because of the low stiffness of the support frame. Meanwhile, some IC equipment are ultra-high sensitive to the vibration. So the speed of the wafer transfer robot is limited by the vibration of the frame‥ In order to improve wafer transmission efficiency and synchronously reduce the vibration to the frame, in this paper, the rigid-flexible coupled dynamic model of wafer transfer robot was built, and then the vibration analysis of the robot on its support frame was discussed. After that the trajectory planning was used to suppress the force applied on the frame to reduce the vibration of the frame. Finally, the experiment system was built. The result shows that the vibration of the frame, while keeping the robot transmission efficiency, was clearly suppressed by using the bi-axis interpolation trajectory control.
{"title":"Frame vibration suppression for wafer transfer system","authors":"Yanjie Liu, M. Wu, G. Xu, Lining Sun","doi":"10.1109/URAI.2011.6145938","DOIUrl":"https://doi.org/10.1109/URAI.2011.6145938","url":null,"abstract":"The rapid development of the Integrated Circuit (IC) manufacturing equipment industry requires greater efficiency for wafer transfer. However, the faster wafer transfer robot moves, the bigger the force applied on its support frame is, and also the bigger vibration aroused on the frame because of the low stiffness of the support frame. Meanwhile, some IC equipment are ultra-high sensitive to the vibration. So the speed of the wafer transfer robot is limited by the vibration of the frame‥ In order to improve wafer transmission efficiency and synchronously reduce the vibration to the frame, in this paper, the rigid-flexible coupled dynamic model of wafer transfer robot was built, and then the vibration analysis of the robot on its support frame was discussed. After that the trajectory planning was used to suppress the force applied on the frame to reduce the vibration of the frame. Finally, the experiment system was built. The result shows that the vibration of the frame, while keeping the robot transmission efficiency, was clearly suppressed by using the bi-axis interpolation trajectory control.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131417274","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.2011.6146014
Taeyong Choi, Chanhun Park, J. Kyung
Direct teaching in the industrial robot are the novel technique to teach manipulator with easy usage. However, teaching data by human hand cannot help having large noise error ranged low and high frequency. To use teaching data, post processing to correct teaching trajectory are required. Here, the intuitive feature point recognition method to rebuild teaching data with curvature information is proposed.
{"title":"Feature point recognition for the direct teaching data in industrial robot","authors":"Taeyong Choi, Chanhun Park, J. Kyung","doi":"10.1109/URAI.2011.6146014","DOIUrl":"https://doi.org/10.1109/URAI.2011.6146014","url":null,"abstract":"Direct teaching in the industrial robot are the novel technique to teach manipulator with easy usage. However, teaching data by human hand cannot help having large noise error ranged low and high frequency. To use teaching data, post processing to correct teaching trajectory are required. Here, the intuitive feature point recognition method to rebuild teaching data with curvature information is proposed.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"23 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":"127385522","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.2011.6145981
Seung-Youn Lee, Dong-Min Kwak
The ability to navigate autonomously in off-road terrain is critical technology needed for unmanned ground vehicle (UGV). This paper presents a vision-based off-road terrain classification method that is robust despite environmental variation caused by weather changes. In order to cope with an overall image brightness variation, we use speeded-up robust features (SURF), and neural network classifier. Experimental results for real off-road images show that proposed method has a better performance than wavelet based one especially in case of large brightness variation.
{"title":"A terrain classification method for UGV autonomous navigation based on SURF","authors":"Seung-Youn Lee, Dong-Min Kwak","doi":"10.1109/URAI.2011.6145981","DOIUrl":"https://doi.org/10.1109/URAI.2011.6145981","url":null,"abstract":"The ability to navigate autonomously in off-road terrain is critical technology needed for unmanned ground vehicle (UGV). This paper presents a vision-based off-road terrain classification method that is robust despite environmental variation caused by weather changes. In order to cope with an overall image brightness variation, we use speeded-up robust features (SURF), and neural network classifier. Experimental results for real off-road images show that proposed method has a better performance than wavelet based one especially in case of large brightness variation.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"2 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":"114868422","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.2011.6145963
S. Moon, Young Jin Kim, H. Myeong, Chang Soo Kim, Nam Ju Cha, Dong Hwan Kim
In this work, Android operating system based robot platform and smart phone operated control and monitoring system are introduced. To implement this work, Cortex-A8 series S5PV210 embedded processor and Android operating system are correlated. The robot has an autonomous and manual travel and is controlled by only smart phone. In the Android OS (Operating System), the camera image is compressed to JPEG format and the image file is delivered to a smart phone through 802.11x wireless LAN communication which utilizes TCP/IP communication socket programming. Later, the transferred image data are converted into BMP format, which enables a real time image display.
本文介绍了基于Android操作系统的机器人平台和智能手机操作的控制与监控系统。为了实现这项工作，我们将Cortex-A8系列S5PV210嵌入式处理器与Android操作系统相关联。该机器人具有自主和手动两种行走方式，仅由智能手机控制。在Android OS (Operating System)中，将相机图像压缩为JPEG格式，并利用TCP/IP通信套接字编程，通过802.11x无线局域网通信将图像文件传送到智能手机上。然后将传输的图像数据转换成BMP格式，实现图像的实时显示。
{"title":"Implementation of smartphone environment remote control and monitoring system for Android operating system-based robot platform","authors":"S. Moon, Young Jin Kim, H. Myeong, Chang Soo Kim, Nam Ju Cha, Dong Hwan Kim","doi":"10.1109/URAI.2011.6145963","DOIUrl":"https://doi.org/10.1109/URAI.2011.6145963","url":null,"abstract":"In this work, Android operating system based robot platform and smart phone operated control and monitoring system are introduced. To implement this work, Cortex-A8 series S5PV210 embedded processor and Android operating system are correlated. The robot has an autonomous and manual travel and is controlled by only smart phone. In the Android OS (Operating System), the camera image is compressed to JPEG format and the image file is delivered to a smart phone through 802.11x wireless LAN communication which utilizes TCP/IP communication socket programming. Later, the transferred image data are converted into BMP format, which enables a real time image display.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"38 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":"114382678","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}
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