Pub Date : 2013-12-02DOI: 10.1109/URAI.2013.6677450
Chanhun Park, Hyunmin Do, Gwang Jo-Jung, Byung-In Kim
There are many reasons to use 1 DOF joint torque sensor at each joints of the robot manipulator. 1 DOF joint torque sensor is designed to sensitively measure 1 DOF rotational torque induced by a BLDC motor and reduction train. Also it has to be insensitive to 5 DOF forces and moments which are not induced by a BLDC motor and reduction. But actually, the 1 DOF torque sensor has sensing error and it cannot be perfectly insensitive to the forces and moments not-induced by the motor. In this reason, a performance-test-equipment has been designed to measure the performance of the joint torque sensor mentioned above. In this paper, the research results will be introduced.
{"title":"Performance test equipment design of a 1 DOF joint torque sensor","authors":"Chanhun Park, Hyunmin Do, Gwang Jo-Jung, Byung-In Kim","doi":"10.1109/URAI.2013.6677450","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677450","url":null,"abstract":"There are many reasons to use 1 DOF joint torque sensor at each joints of the robot manipulator. 1 DOF joint torque sensor is designed to sensitively measure 1 DOF rotational torque induced by a BLDC motor and reduction train. Also it has to be insensitive to 5 DOF forces and moments which are not induced by a BLDC motor and reduction. But actually, the 1 DOF torque sensor has sensing error and it cannot be perfectly insensitive to the forces and moments not-induced by the motor. In this reason, a performance-test-equipment has been designed to measure the performance of the joint torque sensor mentioned above. 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":"94 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":"115974284","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.2013.6677343
Jungwook Han, Jinwhan Kim
Obstacle detection and localization relative to surrounding objects or structures are important for safe vehicle navigation. This capability is particularly useful for unmanned surface vessels (USVs) operating near large structures that will block GPS signals. This study proposes a relative navigation approach, which allows estimating the vehicles position under bridges where GPS signals are not available by building a parameterized map of bridge pier structures in the framework of simultaneous localization and mapping (SLAM). The feasibility of the algorithm is demonstrated in outdoor experiments.
{"title":"Navigation of an unmanned surface vessel under bridges","authors":"Jungwook Han, Jinwhan Kim","doi":"10.1109/URAI.2013.6677343","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677343","url":null,"abstract":"Obstacle detection and localization relative to surrounding objects or structures are important for safe vehicle navigation. This capability is particularly useful for unmanned surface vessels (USVs) operating near large structures that will block GPS signals. This study proposes a relative navigation approach, which allows estimating the vehicles position under bridges where GPS signals are not available by building a parameterized map of bridge pier structures in the framework of simultaneous localization and mapping (SLAM). The feasibility of the algorithm is demonstrated in outdoor experiments.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"30 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":"114719064","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.2013.6677303
Jun-Ho Jeon, Dong-Soo Lee, Changhwa Kim, Y. Ryuh, Sung-Joon Park
Acoustic communication is one of the essential technologies for many promising underwater systems. In this paper, we focus on the research and development of an acoustic modem for a real-time water quality monitoring system using bio-mimetic fish robots. Challengeable issues from the viewpoint of acoustic communication for the application are first classified and then the detailed study is conducted to meet each design criterion. Also, the implemented modem hardware is verified in terms of functionality and performance through experiments in a lake and a river.
{"title":"Research and development of an acoustic modem for underwater bio-mimetic fish robots","authors":"Jun-Ho Jeon, Dong-Soo Lee, Changhwa Kim, Y. Ryuh, Sung-Joon Park","doi":"10.1109/URAI.2013.6677303","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677303","url":null,"abstract":"Acoustic communication is one of the essential technologies for many promising underwater systems. In this paper, we focus on the research and development of an acoustic modem for a real-time water quality monitoring system using bio-mimetic fish robots. Challengeable issues from the viewpoint of acoustic communication for the application are first classified and then the detailed study is conducted to meet each design criterion. Also, the implemented modem hardware is verified in terms of functionality and performance through experiments in a lake and a river.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"70 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":"115005363","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.2013.6677415
Kyu-Mann Lim, J. Cheong
Recently, many industrial settings carry out the justified task with robots that try to improve the productivity and quality of product. This paper describes to a method of `Error Detection' and `Error Recovery' using up-to-date sensors. Errors are defined and identified based on standardized types through the status of sen by the robots.
{"title":"Error detection and recovery for automated manufacturing using dual arms","authors":"Kyu-Mann Lim, J. Cheong","doi":"10.1109/URAI.2013.6677415","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677415","url":null,"abstract":"Recently, many industrial settings carry out the justified task with robots that try to improve the productivity and quality of product. This paper describes to a method of `Error Detection' and `Error Recovery' using up-to-date sensors. Errors are defined and identified based on standardized types through the status of sen by the robots.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"26 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":"115594720","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.2013.6677499
Keisuke Kuroda, S. Sakuma, F. Arai, M. Kaneko
This paper presents a backlashless pump for the high-speed cell manipulation in a microchannel. A piezoelectric actuator is directly connected to the pusher of a syringe for minimizing the backlash during the operation, and, moreover, to achieve high-speed manipulation. The performance of the developed pump is evaluated, and the results show that the response time for the push and pull operations are 41 and 36 milliseconds, respectively. The speed is 4 times faster than the conventional ones, and the controllability of the system is improved correspondingly.
{"title":"High-speed cell manipulation by backlashless syringe pump","authors":"Keisuke Kuroda, S. Sakuma, F. Arai, M. Kaneko","doi":"10.1109/URAI.2013.6677499","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677499","url":null,"abstract":"This paper presents a backlashless pump for the high-speed cell manipulation in a microchannel. A piezoelectric actuator is directly connected to the pusher of a syringe for minimizing the backlash during the operation, and, moreover, to achieve high-speed manipulation. The performance of the developed pump is evaluated, and the results show that the response time for the push and pull operations are 41 and 36 milliseconds, respectively. The speed is 4 times faster than the conventional ones, and the controllability of the system is improved correspondingly.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"591 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":"116241366","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.2013.6677309
Won-Kyung Song, Won-Jin Song, Ji-Young Jung
This paper reports the development of a prototype of a novel exoskeleton robot, i.e., National Rehabilitation Center Robotic Exoskeleton, called NREX, which was designed to assist individuals who have sustained neurological impairments such as from stroke and spinal cord injuries. Among the activities of daily living, we focus on reaching and drinking tasks using an upper extremity. For practicality, we only adopt two motors for the wrist and elbow joints, while using passive devices for the other joints. In particular, the wrist motor can manually be adjusted along the internal/external rotation motion for the simple implementation of activities of daily living tasks.
{"title":"NREX: NRC Robotic Exoskeleton","authors":"Won-Kyung Song, Won-Jin Song, Ji-Young Jung","doi":"10.1109/URAI.2013.6677309","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677309","url":null,"abstract":"This paper reports the development of a prototype of a novel exoskeleton robot, i.e., National Rehabilitation Center Robotic Exoskeleton, called NREX, which was designed to assist individuals who have sustained neurological impairments such as from stroke and spinal cord injuries. Among the activities of daily living, we focus on reaching and drinking tasks using an upper extremity. For practicality, we only adopt two motors for the wrist and elbow joints, while using passive devices for the other joints. In particular, the wrist motor can manually be adjusted along the internal/external rotation motion for the simple implementation of activities of daily living tasks.","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":"115458918","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.2013.6677456
Minjae Kim, S. Park, W. Chung
Conventional micro needle array electrode has some defects. Such as a multi-step expensive fabrication process and low mechanical properties of material. This paper proposes flexible polymer-based micro needle array electrode which solves the problems of the conventional one. The feasibility and the possibility of fabricated electrode are verified by experimental result. As a future works, the attempt will be performed to figure out optimal parameters for the electrode.
{"title":"Flexible polymer-based micro needle array sEMG sensor","authors":"Minjae Kim, S. Park, W. Chung","doi":"10.1109/URAI.2013.6677456","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677456","url":null,"abstract":"Conventional micro needle array electrode has some defects. Such as a multi-step expensive fabrication process and low mechanical properties of material. This paper proposes flexible polymer-based micro needle array electrode which solves the problems of the conventional one. The feasibility and the possibility of fabricated electrode are verified by experimental result. As a future works, the attempt will be performed to figure out optimal parameters for the electrode.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"37 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":"121368415","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.2013.6677438
Suk-Joong Kim, Dong-Ho Kim, Jin-Young Park
This study suggested a boarding robot design in consideration of the old and the infirm and a method for the boarding robot to drive autonomously under in and outdoor environment. This study, to improve the life quality of the old and the infirm who are hard to get about independently, aims at development of a boarding type mobility assisting robot platform capable of autonomic driving and equipped with manual operation functions to prevent collision or crash caused by unskilled operation.
{"title":"Implementation of assistive robotic vehicle for the elderly","authors":"Suk-Joong Kim, Dong-Ho Kim, Jin-Young Park","doi":"10.1109/URAI.2013.6677438","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677438","url":null,"abstract":"This study suggested a boarding robot design in consideration of the old and the infirm and a method for the boarding robot to drive autonomously under in and outdoor environment. This study, to improve the life quality of the old and the infirm who are hard to get about independently, aims at development of a boarding type mobility assisting robot platform capable of autonomic driving and equipped with manual operation functions to prevent collision or crash caused by unskilled operation.","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":"123826685","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.2013.6677346
Jiwoong Kim, W. Chung
There are various localization schemes for autonomous navigation of indoor mobile robots. However, most range sensor-based localization schemes only operate efficiently in environments where the geometric structure is fixed. In other words, localization performance is guaranteed only when the geometric structure of the actual environment matches with the geometric information given in the map. To resolve this limitation, this paper proposes a range sensor-based localization algorithm that can be efficiently used in semi-structured environments. By using both the natural and artificial landmarks simultaneously, a localization technique that is robust to environmental changes can be implemented. Experimental results show that localization performance in semi-structured environments can be improved using the proposed method.
{"title":"Range sensor-based localization of mobile robots in semi-structured environments","authors":"Jiwoong Kim, W. Chung","doi":"10.1109/URAI.2013.6677346","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677346","url":null,"abstract":"There are various localization schemes for autonomous navigation of indoor mobile robots. However, most range sensor-based localization schemes only operate efficiently in environments where the geometric structure is fixed. In other words, localization performance is guaranteed only when the geometric structure of the actual environment matches with the geometric information given in the map. To resolve this limitation, this paper proposes a range sensor-based localization algorithm that can be efficiently used in semi-structured environments. By using both the natural and artificial landmarks simultaneously, a localization technique that is robust to environmental changes can be implemented. Experimental results show that localization performance in semi-structured environments can be improved using the proposed method.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"105 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":"122404106","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.2013.6677353
Sangseung Kang, Kyekyung Kim, S. Chi
In this paper, we present an interactive interface for a sports simulator to provide natural interoperation and customized functions suited to the user based on the identified user's logging and coaching data. The proposed system performs the control function between the user and sports simulator system. The system recommends a personalized exercise mode based on the user's historical information such as their identification data, exercise records, and coaching data. It can also analyze and evaluate for movements of the user during the riding time. The application of an interaction method to sport simulator systems for a customized coaching function can provide a depth of expression and effective educational training for the rider.
{"title":"Interactive interface on a sports simulator for improved interaction and personalized services","authors":"Sangseung Kang, Kyekyung Kim, S. Chi","doi":"10.1109/URAI.2013.6677353","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677353","url":null,"abstract":"In this paper, we present an interactive interface for a sports simulator to provide natural interoperation and customized functions suited to the user based on the identified user's logging and coaching data. The proposed system performs the control function between the user and sports simulator system. The system recommends a personalized exercise mode based on the user's historical information such as their identification data, exercise records, and coaching data. It can also analyze and evaluate for movements of the user during the riding time. The application of an interaction method to sport simulator systems for a customized coaching function can provide a depth of expression and effective educational training for the rider.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"17 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":"122422387","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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