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.2013.6677303
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.2013.6677309
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.2013.6677457
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.2013.6677453
Chan-Soon Lim, W. Lee, Jeong-Yean Yang, D. Kwon
We are developing a XENMA pelvis rehabilitation robot for the gait motion which can generate periodic motion with specific variable crank structures. We are focused on trigonometric property of pelvis motion on gait. We designed robot for patient to ride it, and control his pelvis with two crank-slider mechanisms and variable crank structure that can control its crank length. We also designed modified inverse kinematics methods for a variable crank structures with both geometrical and resolved motion rate control solutions. Modified IK method is simulated and result shows our solution is valid and makes better following performance.
{"title":"The modified inverse kinematics on variable crank for the XENMA pelvis rehabilitation robot","authors":"Chan-Soon Lim, W. Lee, Jeong-Yean Yang, D. Kwon","doi":"10.1109/URAI.2013.6677453","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677453","url":null,"abstract":"We are developing a XENMA pelvis rehabilitation robot for the gait motion which can generate periodic motion with specific variable crank structures. We are focused on trigonometric property of pelvis motion on gait. We designed robot for patient to ride it, and control his pelvis with two crank-slider mechanisms and variable crank structure that can control its crank length. We also designed modified inverse kinematics methods for a variable crank structures with both geometrical and resolved motion rate control solutions. Modified IK method is simulated and result shows our solution is valid and makes better following performance.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"3 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":"121861503","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.2013.6677313
Kuk Cho, Seung-Ho Baeg, Sangdeok Park
This paper describes a 3D pose estimation method for a quadruped robot and a target tracking method for its navigation. The estimated 3D pose is a key resource for walking robot operation. The pose is applied to two components: the robot's walking control and navigation. The estimated robot pose can be used to compensate sensor data such as camera and lidar. The estimated target is used as part of a leader-following system in a GPS-denied environment. In this paper, we show a 3D pose estimation method for the robot for and target tracking for leader-following navigation.
{"title":"3D pose and target position estimation for a quadruped walking robot","authors":"Kuk Cho, Seung-Ho Baeg, Sangdeok Park","doi":"10.1109/URAI.2013.6677313","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677313","url":null,"abstract":"This paper describes a 3D pose estimation method for a quadruped robot and a target tracking method for its navigation. The estimated 3D pose is a key resource for walking robot operation. The pose is applied to two components: the robot's walking control and navigation. The estimated robot pose can be used to compensate sensor data such as camera and lidar. The estimated target is used as part of a leader-following system in a GPS-denied environment. In this paper, we show a 3D pose estimation method for the robot for and target tracking for leader-following navigation.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"2 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":"125514325","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.2013.6677377
Min-Ho Kim, Min-Cheol Lee
UGV has widely used in the battlefield, thus UGV's survivability technique has become one of the main issue on the path planning algorithm. In this study, 3D survivability map is suggested for UGV survivability, and the optimal path planning algorithm on this map is also suggested. 3D survivability map is a grid map on which the 3D terrain data is combined with the battle field data, and each grid node on the map has UGV's survival probability value. The suggested path planning algorithm finds the optimal path by comparing the survival probability value of the grid nodes. At last, the simulation program has been developed, and the results are shown to verify the suggested algorithm.
{"title":"UGV optimal path planning algorithm by using 3D survivability map","authors":"Min-Ho Kim, Min-Cheol Lee","doi":"10.1109/URAI.2013.6677377","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677377","url":null,"abstract":"UGV has widely used in the battlefield, thus UGV's survivability technique has become one of the main issue on the path planning algorithm. In this study, 3D survivability map is suggested for UGV survivability, and the optimal path planning algorithm on this map is also suggested. 3D survivability map is a grid map on which the 3D terrain data is combined with the battle field data, and each grid node on the map has UGV's survival probability value. The suggested path planning algorithm finds the optimal path by comparing the survival probability value of the grid nodes. At last, the simulation program has been developed, and the results are shown to verify the suggested algorithm.","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":"126521599","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.2013.6677463
N. Ha, N. Goo
In this study, we experimentally studied the relationship between wingbeat frequency and resonant frequency of 30 individuals of eight insect species from five families: Odonata (Sympetrum flaveolum), Lepidoptera (Pieris rapae, Plusia gamma and Ochlodes), Hymenoptera (Xylocopa pubescens and Bombus rupestric), Hemiptera (Tibicen linnei) and Coleoptera (Allomyrina dichotoma). We found that wingbeat frequency does not have a strong relation with resonance frequency: in other words, insects have not been evolved sufficiently to flap at their wings' structural resonant frequency. This contradicts the general conclusion of other reports-that insects flap at their wings' resonant frequency to take advantage of passive deformation to save energy.
{"title":"Flapping frequency and resonant frequency of insect wings","authors":"N. Ha, N. Goo","doi":"10.1109/URAI.2013.6677463","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677463","url":null,"abstract":"In this study, we experimentally studied the relationship between wingbeat frequency and resonant frequency of 30 individuals of eight insect species from five families: Odonata (Sympetrum flaveolum), Lepidoptera (Pieris rapae, Plusia gamma and Ochlodes), Hymenoptera (Xylocopa pubescens and Bombus rupestric), Hemiptera (Tibicen linnei) and Coleoptera (Allomyrina dichotoma). We found that wingbeat frequency does not have a strong relation with resonance frequency: in other words, insects have not been evolved sufficiently to flap at their wings' structural resonant frequency. This contradicts the general conclusion of other reports-that insects flap at their wings' resonant frequency to take advantage of passive deformation to save energy.","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":"130841576","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.2013.6677450
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}
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