Pub Date : 2013-12-02DOI: 10.1109/URAI.2013.6677451
G. Kato, Diego Onchi, Monica Abarca
The present study reports a novel concept for flexible robot manipulators focusing in low cost construction. The proposed flexible robot arm was designed for pick and place applications of light weight products. The robot arm is actuated by the use of two DC motors and one stepping motor. And a wire connected to the stepping motor is used for controlling the bending position of the flexible link. The vibration of the end tip of the flexible link is reduced by the action of the pulling wire. Preliminary experimental results regarding the flexible link are presented.
{"title":"Low cost flexible robot manipulator for pick and place tasks","authors":"G. Kato, Diego Onchi, Monica Abarca","doi":"10.1109/URAI.2013.6677451","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677451","url":null,"abstract":"The present study reports a novel concept for flexible robot manipulators focusing in low cost construction. The proposed flexible robot arm was designed for pick and place applications of light weight products. The robot arm is actuated by the use of two DC motors and one stepping motor. And a wire connected to the stepping motor is used for controlling the bending position of the flexible link. The vibration of the end tip of the flexible link is reduced by the action of the pulling wire. Preliminary experimental results regarding the flexible link are presented.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121827310","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 : 2013-12-02DOI: 10.1109/URAI.2013.6677295
John Stalbaum, Jae-Bok Song
Using stereo cameras to perform Simultaneous Localization and Mapping (SLAM) is an active area of mobile robotics research with many applications. Regardless of which SLAM algorithm is used for an application, the quality of the results depends heavily on the quality and consistency of the data going into the algorithm. In this study, a novel algorithm for inlier and keyframe selection is used to produce sets of observations that can be used to perform SLAM. Several simulations are performed using data sets captured in large outdoor environments, and the results are evaluated in terms of physical consistency, covisibility between frames, and SLAM results. The results obtained from these simulations suggest that the algorithm can be useful in the implementation of SLAM.
{"title":"Keyframe and inlier selection for visual SLAM","authors":"John Stalbaum, Jae-Bok Song","doi":"10.1109/URAI.2013.6677295","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677295","url":null,"abstract":"Using stereo cameras to perform Simultaneous Localization and Mapping (SLAM) is an active area of mobile robotics research with many applications. Regardless of which SLAM algorithm is used for an application, the quality of the results depends heavily on the quality and consistency of the data going into the algorithm. In this study, a novel algorithm for inlier and keyframe selection is used to produce sets of observations that can be used to perform SLAM. Several simulations are performed using data sets captured in large outdoor environments, and the results are evaluated in terms of physical consistency, covisibility between frames, and SLAM results. The results obtained from these simulations suggest that the algorithm can be useful in the implementation of SLAM.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"142 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127314157","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 : 2013-12-02DOI: 10.1109/URAI.2013.6677413
Ester Martínez-Martín, A. P. Pobil
On the way to autonomous robotic systems, key issues are object detection and recognition. In this paper, we aim at robustly detecting and recognizing different objects in real-life scenarios from a visual input when robot manipulation is the goal task. For that, and based on the human vision system performance, the system computes object's colour, motion and shape cues and combines them in a probabilistic manner to accurately achieve object identification and recognition task. More-over, a Graphical Processing Unit (GPU) is used to fulfill the requirement for real-time visual data processing. In addition, it has been implemented and tested on a robotic platform.
{"title":"Visual object recognition for robot tasks in real-life scenarios","authors":"Ester Martínez-Martín, A. P. Pobil","doi":"10.1109/URAI.2013.6677413","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677413","url":null,"abstract":"On the way to autonomous robotic systems, key issues are object detection and recognition. In this paper, we aim at robustly detecting and recognizing different objects in real-life scenarios from a visual input when robot manipulation is the goal task. For that, and based on the human vision system performance, the system computes object's colour, motion and shape cues and combines them in a probabilistic manner to accurately achieve object identification and recognition task. More-over, a Graphical Processing Unit (GPU) is used to fulfill the requirement for real-time visual data processing. In addition, it has been implemented and tested on a robotic platform.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127343783","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 : 2013-12-02DOI: 10.1109/URAI.2013.6677330
Kyungmin Kwak, Daegil Park, W. Chung, Jinhyun Kim
There is a fact that EM waves could not be used in the underwater environment because the signal is highly attenuated by the water medium according to the distance. However, the reducing tendency is very clear and uniform. Thus, EM waves may be applied as underwater distance sensors. In this paper, on the basis of theory verification and several experiments carried out, calibration methods are developed in case of linear and planar environment. For three-dimensional localization in the underwater environment, it must consider antenna's radiation properties in an electric field plane which is called E-plane. It is shown that the proposed experimental methods might verify attenuation tendency with z axis movement, PLF (Polarization Loss Factor) and ILF (Inclination Loss Factor) with its theoretical approach.
{"title":"Development of three-dimensional underwater localization method using electromagnetic wave e-plane attenuation pattern","authors":"Kyungmin Kwak, Daegil Park, W. Chung, Jinhyun Kim","doi":"10.1109/URAI.2013.6677330","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677330","url":null,"abstract":"There is a fact that EM waves could not be used in the underwater environment because the signal is highly attenuated by the water medium according to the distance. However, the reducing tendency is very clear and uniform. Thus, EM waves may be applied as underwater distance sensors. In this paper, on the basis of theory verification and several experiments carried out, calibration methods are developed in case of linear and planar environment. For three-dimensional localization in the underwater environment, it must consider antenna's radiation properties in an electric field plane which is called E-plane. It is shown that the proposed experimental methods might verify attenuation tendency with z axis movement, PLF (Polarization Loss Factor) and ILF (Inclination Loss Factor) with its theoretical approach.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127481128","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 : 2013-12-02DOI: 10.1109/URAI.2013.6677471
Jae-Ha Park, H. Kim, Sung-Jin Song, J. Park, H. Yoo, Y. Rho, Sung-Ho Cho, Dong-Kyu Kim
Inspection of unpiggable pipeline becomes one of major issues in the gas pipelines industry. Remote field eddy current testing (RFECT) has strong potential for inspecting unpiggable pipelines among the various NDE methods. Thus, in this study, design of RFECT system including driving coil, sensing coil and passive scanning module and intial experimental results obtained from fabricated one-bed testing system isdicussed.
{"title":"One-bed RFECT system for inspection of circumferential cracks in 16 inch gas pipeline","authors":"Jae-Ha Park, H. Kim, Sung-Jin Song, J. Park, H. Yoo, Y. Rho, Sung-Ho Cho, Dong-Kyu Kim","doi":"10.1109/URAI.2013.6677471","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677471","url":null,"abstract":"Inspection of unpiggable pipeline becomes one of major issues in the gas pipelines industry. Remote field eddy current testing (RFECT) has strong potential for inspecting unpiggable pipelines among the various NDE methods. Thus, in this study, design of RFECT system including driving coil, sensing coil and passive scanning module and intial experimental results obtained from fabricated one-bed testing system isdicussed.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125288355","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 : 2013-12-02DOI: 10.1109/URAI.2013.6677299
Du Yuhuan, Z. Xiaodong
Scramjet is the basis for future hypersonic vehicles, and fuel supply system is an important part in scramjet engine development. Considering of the fuel active cooling, a fuel feed system scheme through valve control was analyzed and designed, and then the control program was put forward for this corresponding scheme. After simplifying the system, each part's mathematical model of the single-point fuel injection system was built. Finally, a PID controller was designed by using Ziegler-Nichols tuning method; simulation results show that the controller can meet the system performance requirements.
{"title":"Design of scramjet engine fuel feed system scheme","authors":"Du Yuhuan, Z. Xiaodong","doi":"10.1109/URAI.2013.6677299","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677299","url":null,"abstract":"Scramjet is the basis for future hypersonic vehicles, and fuel supply system is an important part in scramjet engine development. Considering of the fuel active cooling, a fuel feed system scheme through valve control was analyzed and designed, and then the control program was put forward for this corresponding scheme. After simplifying the system, each part's mathematical model of the single-point fuel injection system was built. Finally, a PID controller was designed by using Ziegler-Nichols tuning method; simulation results show that the controller can meet the system performance requirements.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116433379","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 : 2013-12-02DOI: 10.1109/URAI.2013.6677462
L. T. K. Au, H. Phan, A. Budiyono, H. Park
This paper provides a quantitative analysis for the longitudinal dynamic stability of a vertically flying insect-mimicking flapping wing system (FWS. In order to define the parameters in the equation of motion, the computational fluid dynamics (CFD) by ANSYS-Fluent was used. The aerodynamic forces and moment when the FWS was installed vertically and then inclined -15 and +15 degree for flight speeds of 0, 0.2 and 0.4 rn/s were computed. Through the eigenvalue and eigenvector analysis of the system matrix, we could make the formal description of the dynamic stability of the FWS. Three modes of motion were identified: one stable oscillatory mode, one unstable divergence mode, and one stable subsidence mode. Due to the divergence mode, the FWS eventually becomes unstable. However, the FWS could stay stable in the vertical flight during the first 0.5 second.
{"title":"Dynamic stability in vertically flying insect-mimicking flapping wing system","authors":"L. T. K. Au, H. Phan, A. Budiyono, H. Park","doi":"10.1109/URAI.2013.6677462","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677462","url":null,"abstract":"This paper provides a quantitative analysis for the longitudinal dynamic stability of a vertically flying insect-mimicking flapping wing system (FWS. In order to define the parameters in the equation of motion, the computational fluid dynamics (CFD) by ANSYS-Fluent was used. The aerodynamic forces and moment when the FWS was installed vertically and then inclined -15 and +15 degree for flight speeds of 0, 0.2 and 0.4 rn/s were computed. Through the eigenvalue and eigenvector analysis of the system matrix, we could make the formal description of the dynamic stability of the FWS. Three modes of motion were identified: one stable oscillatory mode, one unstable divergence mode, and one stable subsidence mode. Due to the divergence mode, the FWS eventually becomes unstable. However, the FWS could stay stable in the vertical flight during the first 0.5 second.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122333984","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 : 2013-12-02DOI: 10.1109/URAI.2013.6677411
H. Masuta, Hisato Watanabe, Kaname Sato, Hun-ok Lim
This paper describes a pipe inspection robot with multiple joints. We are developing the pipe inspection robot which is able to move in vertical pipe and correspond with changing radius pipe. Furthermore, our robot can go around a branch pipe by attaching to 2 robots. On the other hand, it is difficult to recognize a position of branch pipe, self position and self posture because inside of pipe is dark and surrounded by walls. In this paper, we develop the fiber grating vision sensor to recognize a position of branch pipe for the pipe inspection robot. We propose the branch pipe recognition using fiber grating vision sensor. And we show several experimental results of branch pipe recognition.
{"title":"Recognition of branch pipe for pipe inspection robot using fiber grating vision sensor","authors":"H. Masuta, Hisato Watanabe, Kaname Sato, Hun-ok Lim","doi":"10.1109/URAI.2013.6677411","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677411","url":null,"abstract":"This paper describes a pipe inspection robot with multiple joints. We are developing the pipe inspection robot which is able to move in vertical pipe and correspond with changing radius pipe. Furthermore, our robot can go around a branch pipe by attaching to 2 robots. On the other hand, it is difficult to recognize a position of branch pipe, self position and self posture because inside of pipe is dark and surrounded by walls. In this paper, we develop the fiber grating vision sensor to recognize a position of branch pipe for the pipe inspection robot. We propose the branch pipe recognition using fiber grating vision sensor. And we show several experimental results of branch pipe recognition.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129534757","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 : 2013-12-02DOI: 10.1109/URAI.2013.6677305
H. Park, J. E. Lee, H. Choi, J. Kyung, D. Yun, Sang-Yeong Jeong, Y. Ryuh
The flexible material is often used for a caudal fin in a robot fish. In that case, the rigid body modeling of the caudal fin is not appropriate for simulating the turbulent flow field around the robot fish. In the present study, FSI (Fluid Structure Interaction) method is applied to the simulation of fish swimming considering the flexibility of caudal fin. Computational fluid dynamics (CFD) is carried out with computational structural mechanics for investigating the swimming characteristics of biomimetic robot fish. For CFD simulation, unsteady Reynolds-averaged Navier-Stokes (URANS) formulation is applied to the complex turbulent flow fields generated by the movement of the robot fish. For finite element analysis (FEA) simulation, the governing equations for structural mechanics are solved. In the present study, the flexibility of the caudal fin is focused and its contribution to the turbulent wakes is investigated.
{"title":"Application of FSI (Fluid Structure Interaction) to biomimetic robot fish","authors":"H. Park, J. E. Lee, H. Choi, J. Kyung, D. Yun, Sang-Yeong Jeong, Y. Ryuh","doi":"10.1109/URAI.2013.6677305","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677305","url":null,"abstract":"The flexible material is often used for a caudal fin in a robot fish. In that case, the rigid body modeling of the caudal fin is not appropriate for simulating the turbulent flow field around the robot fish. In the present study, FSI (Fluid Structure Interaction) method is applied to the simulation of fish swimming considering the flexibility of caudal fin. Computational fluid dynamics (CFD) is carried out with computational structural mechanics for investigating the swimming characteristics of biomimetic robot fish. For CFD simulation, unsteady Reynolds-averaged Navier-Stokes (URANS) formulation is applied to the complex turbulent flow fields generated by the movement of the robot fish. For finite element analysis (FEA) simulation, the governing equations for structural mechanics are solved. In the present study, the flexibility of the caudal fin is focused and its contribution to the turbulent wakes is investigated.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129847737","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 : 2013-12-02DOI: 10.1109/URAI.2013.6677360
Hosun Lee, Chulmin Kwon, Geunho Lee, Sungmoon Jeong, N. Chong
In this paper, we develop an assistive cart that allows users to transport heavy load with lower effort. Our focus is placed on how to design and control the assistive cart to provide reliable user-cart interactions regardless of the condition changes of the loaded weight and the ground. For this purpose, Force/Torque sensor and two motorized wheels are equipped on a conventional cart to response to the user's operation by sensing the input force and generating the assist force. The observer-based impedance control is designed to compute the assistive force with the input force of the user and the velocity of the cart. We verify the validity of the developed assistive cart by comparing the performance of the empty-cart case and the loaded-cart case.
{"title":"Development of an easy-to-manipulate assistive cart system using an observer based impedance control","authors":"Hosun Lee, Chulmin Kwon, Geunho Lee, Sungmoon Jeong, N. Chong","doi":"10.1109/URAI.2013.6677360","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677360","url":null,"abstract":"In this paper, we develop an assistive cart that allows users to transport heavy load with lower effort. Our focus is placed on how to design and control the assistive cart to provide reliable user-cart interactions regardless of the condition changes of the loaded weight and the ground. For this purpose, Force/Torque sensor and two motorized wheels are equipped on a conventional cart to response to the user's operation by sensing the input force and generating the assist force. The observer-based impedance control is designed to compute the assistive force with the input force of the user and the velocity of the cart. We verify the validity of the developed assistive cart by comparing the performance of the empty-cart case and the loaded-cart case.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130317964","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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