Pub Date : 2013-12-02DOI: 10.1109/URAI.2013.6677376
Hyeon-woo Park, In-sung Choi, Sung-Kee Park, J. Choi
In this paper, we explain method of formation control for swarm robots in outdoor environments. Adopted is a leader-following approach for the main formation control. Using only camera for the localization of a leader robot is hard to identify precise images because of a severe illumination change between day and night. So we propose to use an infrared camera with reflective tags. Experiments with two mobile robots have been performed in an outdoor environment and the results will be discussed.
{"title":"Leader-follower formation control using infrared camera with reflective tag","authors":"Hyeon-woo Park, In-sung Choi, Sung-Kee Park, J. Choi","doi":"10.1109/URAI.2013.6677376","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677376","url":null,"abstract":"In this paper, we explain method of formation control for swarm robots in outdoor environments. Adopted is a leader-following approach for the main formation control. Using only camera for the localization of a leader robot is hard to identify precise images because of a severe illumination change between day and night. So we propose to use an infrared camera with reflective tags. Experiments with two mobile robots have been performed in an outdoor environment and the results will be discussed.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"361 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":"114081263","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.2013.6677395
Daegil Park, Jonghui Han, W. Chung
In this paper, we suggest the mission planning method for autonomous underwater vehicle. In order to set the optimal mission scheduling, we solve the traveling salesman problem using genetic algorithm, and we suggest the cost function which considering both Euclidean distance and current information. In additionally, constraints such as priority and obstacles is considered. By checking the simulation, we achieved the valuable simulation results.
{"title":"Optimal mission planning for underwater environment","authors":"Daegil Park, Jonghui Han, W. Chung","doi":"10.1109/URAI.2013.6677395","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677395","url":null,"abstract":"In this paper, we suggest the mission planning method for autonomous underwater vehicle. In order to set the optimal mission scheduling, we solve the traveling salesman problem using genetic algorithm, and we suggest the cost function which considering both Euclidean distance and current information. In additionally, constraints such as priority and obstacles is considered. By checking the simulation, we achieved the valuable simulation results.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"88 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":"114152157","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.2013.6677302
D. Park, Cheolhoon Park, Joohan Park, J. Kyung, Doo-Hyung Kim
There are many automation system in the thin film solar cell manufacturing line. Especially, many kinds of robot are used to handle the large solar cell substrate. Handling the large substrate at high speed is an important issue for high productivity. Because the robot handles the large and heavy substrate at high speed, there are some issues such as vibration control and the optimal design of arms and forks. There have been some previous research about the deflection and the compensation of arms and forks. And we also performed the static/dynamic simulation and analyzed the vibration characteristics in the previous research. In the paper, we carried out more specific simulation and compared the result with the basic vibration characteristics. We can establish the exacter simulation model by the comparison between the simulation and the experiment. We applied the vibration control algorithm such as input shaping algorithm to reduce vibration and proved the effect of the vibration control using both simulation and experiment.
{"title":"Modeling parameter estimation and vibration control of the solar cell substrate handling robot","authors":"D. Park, Cheolhoon Park, Joohan Park, J. Kyung, Doo-Hyung Kim","doi":"10.1109/URAI.2013.6677302","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677302","url":null,"abstract":"There are many automation system in the thin film solar cell manufacturing line. Especially, many kinds of robot are used to handle the large solar cell substrate. Handling the large substrate at high speed is an important issue for high productivity. Because the robot handles the large and heavy substrate at high speed, there are some issues such as vibration control and the optimal design of arms and forks. There have been some previous research about the deflection and the compensation of arms and forks. And we also performed the static/dynamic simulation and analyzed the vibration characteristics in the previous research. In the paper, we carried out more specific simulation and compared the result with the basic vibration characteristics. We can establish the exacter simulation model by the comparison between the simulation and the experiment. We applied the vibration control algorithm such as input shaping algorithm to reduce vibration and proved the effect of the vibration control using both simulation and experiment.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"41 8","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120913457","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.2013.6677297
Kaiyang Li, Xiaodong Zhang, Yuhuan Du
In this paper, the EEG (electroencephalograph) signal acquisition equipment is used to collect the EEG signal of human lower limb movement intention. This paper firstly analyzes α waveform and β waveform, which can most reveal the intentions of human body movement. Then, wavelet transform is used for noise removal, filter and feature extraction. This paper also has described the theory of Support Vector Machine (SVM), and one-to-one SVM method is used for the classification of EEG of six different movement patterns. Finally through the experimental verification, the validity of the proposed research method is demonstrated. The experiment has shown a better judging result, in which the average recognition rate is 78.9%.
{"title":"A SVM based classification of EEG for predicting the movement intent of human body","authors":"Kaiyang Li, Xiaodong Zhang, Yuhuan Du","doi":"10.1109/URAI.2013.6677297","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677297","url":null,"abstract":"In this paper, the EEG (electroencephalograph) signal acquisition equipment is used to collect the EEG signal of human lower limb movement intention. This paper firstly analyzes α waveform and β waveform, which can most reveal the intentions of human body movement. Then, wavelet transform is used for noise removal, filter and feature extraction. This paper also has described the theory of Support Vector Machine (SVM), and one-to-one SVM method is used for the classification of EEG of six different movement patterns. Finally through the experimental verification, the validity of the proposed research method is demonstrated. The experiment has shown a better judging result, in which the average recognition rate is 78.9%.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"80 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":"115744985","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.2013.6677321
Donghyuk Lee, K. Noh, Sun-Kyun Kang, Jangmyung Lee
In this paper, the haptic implementation using user-aware vibration pattern studied to recognize a surroundings of a teleoperated mobile robot in an environment where the user cannot see. The user teleoperates the mobile robots using the joystick in an environment where the user cannot see, haptic that enables the user perceive the perceived location information of obstacle during driving was implemented by using user-aware vibration pattern occurring in the haptic device. The haptic device was consist of equip with one vibration motor on the bottom of the joystick. The mobile robot implements the location information of the obstacle precisely by increasing the resolution using the superposition of ultrasonic sensors, and using this information, proper vibration pattern was implemented in haptic devices.
{"title":"Haptic realization for user recognition using vibration pattern","authors":"Donghyuk Lee, K. Noh, Sun-Kyun Kang, Jangmyung Lee","doi":"10.1109/URAI.2013.6677321","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677321","url":null,"abstract":"In this paper, the haptic implementation using user-aware vibration pattern studied to recognize a surroundings of a teleoperated mobile robot in an environment where the user cannot see. The user teleoperates the mobile robots using the joystick in an environment where the user cannot see, haptic that enables the user perceive the perceived location information of obstacle during driving was implemented by using user-aware vibration pattern occurring in the haptic device. The haptic device was consist of equip with one vibration motor on the bottom of the joystick. The mobile robot implements the location information of the obstacle precisely by increasing the resolution using the superposition of ultrasonic sensors, and using this information, proper vibration pattern was implemented in haptic devices.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"28 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":"125202320","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.2013.6677366
Jongseung Park, Toshitake Nunogaki, Joo-Ho Lee
Reconfigurable Intelligent Space (R+iSpace) is a kind of smart environment and it was proposed to resolve the restriction of position of devices which are installed to the wall and the ceiling. The devices in the R+iSpace are mounted on the mobile module (MoMo) and the R+iSpace controls them. For offering the service to user effectively, the devices mounted on mobile module should be located to their optimal position according to situation. Therefore to find the optimal position of device is very important. In this paper, the fundamental algorithm, which finds the optimal position, is proposed. The algorithm is verified by simulation experiment with camera mounted mobile module.
{"title":"The optimal position of mobile modules in the reconfigurable intelligent space","authors":"Jongseung Park, Toshitake Nunogaki, Joo-Ho Lee","doi":"10.1109/URAI.2013.6677366","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677366","url":null,"abstract":"Reconfigurable Intelligent Space (R+iSpace) is a kind of smart environment and it was proposed to resolve the restriction of position of devices which are installed to the wall and the ceiling. The devices in the R+iSpace are mounted on the mobile module (MoMo) and the R+iSpace controls them. For offering the service to user effectively, the devices mounted on mobile module should be located to their optimal position according to situation. Therefore to find the optimal position of device is very important. In this paper, the fundamental algorithm, which finds the optimal position, is proposed. The algorithm is verified by simulation experiment with camera mounted mobile module.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"20 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":"125093178","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.2013.6677493
Jaehyeok Jeon, Hyoju Lee, Seonhye Han, HyunYong Lee, Choon-Joo Lee, Y. Kim, Hyoukryeol Choi
In this paper, we present an unmanned aerial vehicle (UAV) called VTOL. we designed the overall shape of the UAV. we determined the optimal surface shape of the vehicle and the ratio of width to height of the saucer. Finally, we built the UAV and controlled its flight using anti-torque and flap links.
{"title":"Design and control of an unmanned aerial vehicle (UAV) based on the Coandă effect","authors":"Jaehyeok Jeon, Hyoju Lee, Seonhye Han, HyunYong Lee, Choon-Joo Lee, Y. Kim, Hyoukryeol Choi","doi":"10.1109/URAI.2013.6677493","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677493","url":null,"abstract":"In this paper, we present an unmanned aerial vehicle (UAV) called VTOL. we designed the overall shape of the UAV. we determined the optimal surface shape of the vehicle and the ratio of width to height of the saucer. Finally, we built the UAV and controlled its flight using anti-torque and flap links.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"12 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":"132744187","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.2013.6677440
Jin Tae Kim, Hyunsoo Song, D. Kwon
In this paper, we examined the tendency of non-experts to exhibit emotional touch interactions with a robot model. For the experiment, we defined proper characteristics of the egg-shaped robot. We divided distance into three types: spatial distance, robot size and emotional distance. From the experimental results, we were able to define the properties of touch interaction according to a set of factors: location, interaction type, direction, normal direction and degree of repetition. We were able to find the preference for the type of touch interaction according to the location of the robot, and to classify the semantic type of touch interaction according to emotional group. We also gained some inspiration from interviews with participants.
{"title":"Behavioral analysis of touch-based interaction of humans with an egg-shaped robot","authors":"Jin Tae Kim, Hyunsoo Song, D. Kwon","doi":"10.1109/URAI.2013.6677440","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677440","url":null,"abstract":"In this paper, we examined the tendency of non-experts to exhibit emotional touch interactions with a robot model. For the experiment, we defined proper characteristics of the egg-shaped robot. We divided distance into three types: spatial distance, robot size and emotional distance. From the experimental results, we were able to define the properties of touch interaction according to a set of factors: location, interaction type, direction, normal direction and degree of repetition. We were able to find the preference for the type of touch interaction according to the location of the robot, and to classify the semantic type of touch interaction according to emotional group. We also gained some inspiration from interviews with participants.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"26 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":"134308819","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.2013.6677457
S. Park, W. Chung
Motion primitive is a functional unit of human motion and this can provide a robot control framework to understand human motion in a physical way. Autonomous primitive segmentation is to divide a sequence of motions into a set of proper segments. This paper proposes primitive segmentation algorithm using Bayesian mixture of Gaussian that can automatically choose the number of mixture components. Also to resolve the ambiguous nature of the muscular activations within the same joint positions, the segmentation is performed augmenting the surface electromyogram as muscular activations into the joint positions.
{"title":"Autonomous segmentation of motion primitive including muscular activation using variational Bayesian mixture of Gaussian","authors":"S. Park, W. Chung","doi":"10.1109/URAI.2013.6677457","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677457","url":null,"abstract":"Motion primitive is a functional unit of human motion and this can provide a robot control framework to understand human motion in a physical way. Autonomous primitive segmentation is to divide a sequence of motions into a set of proper segments. This paper proposes primitive segmentation algorithm using Bayesian mixture of Gaussian that can automatically choose the number of mixture components. Also to resolve the ambiguous nature of the muscular activations within the same joint positions, the segmentation is performed augmenting the surface electromyogram as muscular activations into the joint positions.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"51 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":"124995211","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.2013.6677465
Terukazu Kato, N. Hosoya, S. Maeda
Many types of stimuli-sensitive gels have been studied and applied to soft actuators with the progress of the functional materials. Especially, electro-active polymer gels seem to be promising. In all cases, however, the mechanical motion is powered by electric stimuli. Herein we show the self-susteined gel actuator driven by chemical energy. The polymer gels can undergo periodic expansion and contraction without external stimuli. The volume oscillation is induced by the oscillatory Belousov-Zhabotinsky (BZ) reaction, producing displacement up to 10 to 100 μm. Here it is shown that the applying load to the polymer gels substantially improves the actuation performance. The actuated displacement up to 1.15mm were demonstrated. This novel active gels reported in this paper is excellent tools for the successful design and use of the electric-free actuators.
{"title":"A design of self-sustained gel actuator","authors":"Terukazu Kato, N. Hosoya, S. Maeda","doi":"10.1109/URAI.2013.6677465","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677465","url":null,"abstract":"Many types of stimuli-sensitive gels have been studied and applied to soft actuators with the progress of the functional materials. Especially, electro-active polymer gels seem to be promising. In all cases, however, the mechanical motion is powered by electric stimuli. Herein we show the self-susteined gel actuator driven by chemical energy. The polymer gels can undergo periodic expansion and contraction without external stimuli. The volume oscillation is induced by the oscillatory Belousov-Zhabotinsky (BZ) reaction, producing displacement up to 10 to 100 μm. Here it is shown that the applying load to the polymer gels substantially improves the actuation performance. The actuated displacement up to 1.15mm were demonstrated. This novel active gels reported in this paper is excellent tools for the successful design and use of the electric-free actuators.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"29 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":"121474985","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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