Pub Date : 2013-12-02DOI: 10.1109/URAI.2013.6677329
Donghwa Lee, Donghoon Kim, Sangwon Lee, H. Myung, Hyun-Taek Choi
This paper presents experiments on vision-based localization of an autonomous underwater vehicle (AUV) using graph-based simultaneous localization and mapping (SLAM). Relative range and bearing values of each landmark are obtained from image processing results. And a graph structure is built using the landmark detection results and dead-reckoning data of the AUV. The structured graph is optimized by a graph-based SLAM algorithm. Finally, the performance of the graph-based SLAM is compared to an EKF-based SLAM result.
{"title":"Experiments on localization of an AUV using graph-based SLAM","authors":"Donghwa Lee, Donghoon Kim, Sangwon Lee, H. Myung, Hyun-Taek Choi","doi":"10.1109/URAI.2013.6677329","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677329","url":null,"abstract":"This paper presents experiments on vision-based localization of an autonomous underwater vehicle (AUV) using graph-based simultaneous localization and mapping (SLAM). Relative range and bearing values of each landmark are obtained from image processing results. And a graph structure is built using the landmark detection results and dead-reckoning data of the AUV. The structured graph is optimized by a graph-based SLAM algorithm. Finally, the performance of the graph-based SLAM is compared to an EKF-based SLAM result.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"41 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":"130536873","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.2013.6677291
K. Ohara, T. Tanikawa
Recently, the study of Ubiquitous Robot(UR) is one of the hot topics in robotics field. The UR system can support several types of robots and mobile robots from an environment. Moreover, human can also be supported by UR system. Each device is independently distributed in UR environment. When these devices are controlled such like feedback control, time synchronization is one of the important technologies for the control. In this paper, the wireless time synchronization module is proposed as one of the solutions of time synchronization for distributed devices, and evaluated through the experiment.
{"title":"Wireless time synchronization module for Ubiquitous Robot system","authors":"K. Ohara, T. Tanikawa","doi":"10.1109/URAI.2013.6677291","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677291","url":null,"abstract":"Recently, the study of Ubiquitous Robot(UR) is one of the hot topics in robotics field. The UR system can support several types of robots and mobile robots from an environment. Moreover, human can also be supported by UR system. Each device is independently distributed in UR environment. When these devices are controlled such like feedback control, time synchronization is one of the important technologies for the control. In this paper, the wireless time synchronization module is proposed as one of the solutions of time synchronization for distributed devices, and evaluated through the experiment.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"54 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":"123810946","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.2013.6677416
B. Park, Jongheon Kim, Jieun Park, Jae-Uk Shin, H. Myung
As the importance of unconventional resource grows, the demand for the directional drilling technology is increasing. One of the key technologies of the directional drilling is a rotary steerable system (RSS). Among several types of RSS developed so far, `point-the-bit' and `push-the-bit' are the most commonly used ones. In this paper, a new rotary steerable system using hybrid 4-pad system is introduced. This mechanism improves the steering angle by taking advantages of both `point-the-bit' and `push-the-bit' types. We describe the detailed structure and kinematics of this system.
{"title":"Hybrid 4-pad rotary steerable system for directional drilling of unconventional resources","authors":"B. Park, Jongheon Kim, Jieun Park, Jae-Uk Shin, H. Myung","doi":"10.1109/URAI.2013.6677416","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677416","url":null,"abstract":"As the importance of unconventional resource grows, the demand for the directional drilling technology is increasing. One of the key technologies of the directional drilling is a rotary steerable system (RSS). Among several types of RSS developed so far, `point-the-bit' and `push-the-bit' are the most commonly used ones. In this paper, a new rotary steerable system using hybrid 4-pad system is introduced. This mechanism improves the steering angle by taking advantages of both `point-the-bit' and `push-the-bit' types. We describe the detailed structure and kinematics of this system.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"7 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":"124235981","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.2013.6677469
Dae-Kwang Kim, H. Yoo, Junghyun Yoo, Dong-Kyu Kim, Sung-Ho Cho, Sung-Ja Koo, R. Woo, Haeseung Jung
This paper introduces a MFL system developed by a research project, which has been being conducted by KOGAS and initiated in 2011, to develop ILI (In-Line Ispection) Robot named “PIBOT” for the inspection of 16” to 14” unpiggable natural gas pipelines. All elements and functions in the proposed MFL (Magnetic Flux Leakage) system were designed to minimize friction between magnetizer and pipe wall and maximize defect detectability. To enhance driving performance and the ability of obstacle-negotiation, shunting system that can control direction of magnetic flux was developed. The performance of proposed MFL system was verified in the UPSF (Unpiggable Pipeline Simulation Facility) constructed to undertake several kinds of performance test about defect detectability, driving efficient and pressure resistance ability.
{"title":"Development of MFL system for in-pipe robot for unpiggable natural gas pipelines","authors":"Dae-Kwang Kim, H. Yoo, Junghyun Yoo, Dong-Kyu Kim, Sung-Ho Cho, Sung-Ja Koo, R. Woo, Haeseung Jung","doi":"10.1109/URAI.2013.6677469","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677469","url":null,"abstract":"This paper introduces a MFL system developed by a research project, which has been being conducted by KOGAS and initiated in 2011, to develop ILI (In-Line Ispection) Robot named “PIBOT” for the inspection of 16” to 14” unpiggable natural gas pipelines. All elements and functions in the proposed MFL (Magnetic Flux Leakage) system were designed to minimize friction between magnetizer and pipe wall and maximize defect detectability. To enhance driving performance and the ability of obstacle-negotiation, shunting system that can control direction of magnetic flux was developed. The performance of proposed MFL system was verified in the UPSF (Unpiggable Pipeline Simulation Facility) constructed to undertake several kinds of performance test about defect detectability, driving efficient and pressure resistance ability.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"4 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":"123492831","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.2013.6677326
Yeongjun Lee, Tae Gyun Kim, Hyun-Taek Choi
This paper presents a framework for underwater object recognition using imaging sonar. The framework consists of selection of candidates of interest, recognition, and tracking. Instead of trying to recognize objects from a whole image at any certain time using one-size-fit-all method, we're going to select candidates as possible objects of interest first and get rid of fake candidates using a probability based method similar to particle filter in series of images. Each candidate in small cut-out image is under processing by various and specific image processing techniques to recognize object, then it is transferred to tracking phase with object ID. We perform a simple test for an artificial landmark to show feasibility of the proposed framework.
{"title":"Preliminary study on a framework for imaging sonar based underwater object recognition","authors":"Yeongjun Lee, Tae Gyun Kim, Hyun-Taek Choi","doi":"10.1109/URAI.2013.6677326","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677326","url":null,"abstract":"This paper presents a framework for underwater object recognition using imaging sonar. The framework consists of selection of candidates of interest, recognition, and tracking. Instead of trying to recognize objects from a whole image at any certain time using one-size-fit-all method, we're going to select candidates as possible objects of interest first and get rid of fake candidates using a probability based method similar to particle filter in series of images. Each candidate in small cut-out image is under processing by various and specific image processing techniques to recognize object, then it is transferred to tracking phase with object ID. We perform a simple test for an artificial landmark to show feasibility of the proposed framework.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"56 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":"126462165","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.2013.6677393
Dowan Cha, Daewon Kang, S. Oh, K. Kim, Kyung-Soo Kim, Soohyun Kim
We were able to detect step initiation for the Unmanned Technology Research Centre Exoskeleton (UTRCEXO) with a new approach. As detecting step initiation is an important factor for the exoskeleton to assist the operator's movement as immediately as possible, many studies have been done to detect step initiation faster by using heel-off time, or toe-off time. In this paper, we detect step initiation faster than other approaches with, in particular, vertical ground reaction forces. Also, we present an insole-type force sensing resistor that can be applied to the UTRCEXO to get similar events, like ground reaction force events, and can detect step initiation. With our new approach, the UTRCEXO can not only detect step initiation faster, but also assist the operator's movement more quickly.
{"title":"Faster detection of step initiation for the unmanned technology research center exoskeleton (UTRCEXO) with insole-type force sensing resistor (FSR)","authors":"Dowan Cha, Daewon Kang, S. Oh, K. Kim, Kyung-Soo Kim, Soohyun Kim","doi":"10.1109/URAI.2013.6677393","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677393","url":null,"abstract":"We were able to detect step initiation for the Unmanned Technology Research Centre Exoskeleton (UTRCEXO) with a new approach. As detecting step initiation is an important factor for the exoskeleton to assist the operator's movement as immediately as possible, many studies have been done to detect step initiation faster by using heel-off time, or toe-off time. In this paper, we detect step initiation faster than other approaches with, in particular, vertical ground reaction forces. Also, we present an insole-type force sensing resistor that can be applied to the UTRCEXO to get similar events, like ground reaction force events, and can detect step initiation. With our new approach, the UTRCEXO can not only detect step initiation faster, but also assist the operator's movement more quickly.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"102 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":"125979859","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.2013.6677484
Stefano Ditrani, F. Caccavale, A. Sandygulova, M. Dragone
This paper illustrates a new, open source toolkit enabling the seamless integration between robots and popular Internet-based teleconference systems. The toolkit has been designed to leverage a number of standards and to be as open and extensible as possible. This paper describes the rationale for the design of the new toolkit, and illustrates its implementation and its application to two popular robot platforms.
{"title":"An open teleconference toolkit for robotics","authors":"Stefano Ditrani, F. Caccavale, A. Sandygulova, M. Dragone","doi":"10.1109/URAI.2013.6677484","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677484","url":null,"abstract":"This paper illustrates a new, open source toolkit enabling the seamless integration between robots and popular Internet-based teleconference systems. The toolkit has been designed to leverage a number of standards and to be as open and extensible as possible. This paper describes the rationale for the design of the new toolkit, and illustrates its implementation and its application to two popular robot platforms.","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":"132111363","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.2013.6677507
Chanhun Park, Dongil Park, Hyunmin Do, Byung-In Kim
High speed parallel kinematic machines have to be designed to have very small weight because they experience very high level of acceleration and deceleration and the heavy weight requires high driving power. In this reason, high speed parallel kinematic machines have very slender mechanical design and the total weight of the moving parts is very small. This can cause vibrational phenomenon and it can keep the parallel machine from moving very fast. For this reason, the authors researched on this problem. In this paper, the research results will be introduced.
{"title":"Structural analysis of a high speed parallel manipulator","authors":"Chanhun Park, Dongil Park, Hyunmin Do, Byung-In Kim","doi":"10.1109/URAI.2013.6677507","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677507","url":null,"abstract":"High speed parallel kinematic machines have to be designed to have very small weight because they experience very high level of acceleration and deceleration and the heavy weight requires high driving power. In this reason, high speed parallel kinematic machines have very slender mechanical design and the total weight of the moving parts is very small. This can cause vibrational phenomenon and it can keep the parallel machine from moving very fast. For this reason, the authors researched on this problem. In this paper, the research results will be introduced.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"19 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":"134084097","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.2013.6677406
Sung-Gil Wee, Yoon-Gu Kim, Suk-Gyu Lee, J. An
This paper presents a formation-control method based on virtual-space configuration for multi-robot, collective navigation. To maintain the configuration of a multiple-robot formation, each robot creates a virtual space composed of virtual robots around it, so that it can avoid collisions with, and keep a constant distance from, the other robots. In addition, this paper suggests a method by which follower robots might access the outer contour of the virtual space of the leader robot to determine their headings and to maintain a safe configuration of leader and follower robots.
{"title":"Formation control based on virtual space configuration for multi-robot collective navigation","authors":"Sung-Gil Wee, Yoon-Gu Kim, Suk-Gyu Lee, J. An","doi":"10.1109/URAI.2013.6677406","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677406","url":null,"abstract":"This paper presents a formation-control method based on virtual-space configuration for multi-robot, collective navigation. To maintain the configuration of a multiple-robot formation, each robot creates a virtual space composed of virtual robots around it, so that it can avoid collisions with, and keep a constant distance from, the other robots. In addition, this paper suggests a method by which follower robots might access the outer contour of the virtual space of the leader robot to determine their headings and to maintain a safe configuration of leader and follower robots.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"58 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":"132968733","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.2013.6677401
Rui-Jun Yan, Jing Wu, Ji Yeong Lee
This paper presents the motion planning of unicycle-like robot using single Rapidly-exploring Random Tree (RRT) algorithm, combining with Branch and Bound (BB) method. RRT can construct the searching tree efficiently between initial configuration and goal configuration. Based on the constructed searching tree, the optimal path can be extracted with BB algorithm rapidly. Obstacles avoidance is realized by checking whether the contour points of robot locate in the space of obstacles. The simulation result in a complex environment with unicycle-like robot proves the validity of proposed algorithms.
{"title":"Motion planning of unicycle-like robot using single RRT with branch and bound algorithm","authors":"Rui-Jun Yan, Jing Wu, Ji Yeong Lee","doi":"10.1109/URAI.2013.6677401","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677401","url":null,"abstract":"This paper presents the motion planning of unicycle-like robot using single Rapidly-exploring Random Tree (RRT) algorithm, combining with Branch and Bound (BB) method. RRT can construct the searching tree efficiently between initial configuration and goal configuration. Based on the constructed searching tree, the optimal path can be extracted with BB algorithm rapidly. Obstacles avoidance is realized by checking whether the contour points of robot locate in the space of obstacles. The simulation result in a complex environment with unicycle-like robot proves the validity of proposed algorithms.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"1 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":"131291864","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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