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}
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.2013.6677361
Kyekyung Kim, Sangseung Kang, Jaehong Kim, Jaeyeon Lee, Joongbae Kim, Jinho Kim
Vision-based object recognition has been studied intensively because of many application fields, especially, manufacturing process in industrial robot application. But it has been challenged due to illumination effect, diverse material object, atypical shape object, etc. In this paper, multiple object recognition including complex shape object has been proposed. The object is consisted of variable characteristic, which has reflection material surface wrapped by plastic or flexible shape. Object segmentation using back light and pose estimation by maximal axis detection, and object recognition by NN have developed. We have evaluated recognition performance on database of ETRI, which has acquired under various lighting conditions.
{"title":"Multiple objects recognition for industrial robot applications","authors":"Kyekyung Kim, Sangseung Kang, Jaehong Kim, Jaeyeon Lee, Joongbae Kim, Jinho Kim","doi":"10.1109/URAI.2013.6677361","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677361","url":null,"abstract":"Vision-based object recognition has been studied intensively because of many application fields, especially, manufacturing process in industrial robot application. But it has been challenged due to illumination effect, diverse material object, atypical shape object, etc. In this paper, multiple object recognition including complex shape object has been proposed. The object is consisted of variable characteristic, which has reflection material surface wrapped by plastic or flexible shape. Object segmentation using back light and pose estimation by maximal axis detection, and object recognition by NN have developed. We have evaluated recognition performance on database of ETRI, which has acquired under various lighting conditions.","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":"126925028","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.2013.6677399
Kyu-Dae Ban, H. Yoon, Jaehong Kim
It's difficult to find location in indoor environments such as subway station and airport passenger terminal. However, the detection and recognition of public sign make it possible to find out the place to go. Proposed system can help visually impaired persons or mobile robots in unfamiliar places. We propose the detection method of public signs in natural images. Especially, we dealt with several signs in subway station such as numbers, arrows, ticket, elevator, escalator, phone, toilet, and arrows giving the direction of those places.
{"title":"Public signs detection in subway station images","authors":"Kyu-Dae Ban, H. Yoon, Jaehong Kim","doi":"10.1109/URAI.2013.6677399","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677399","url":null,"abstract":"It's difficult to find location in indoor environments such as subway station and airport passenger terminal. However, the detection and recognition of public sign make it possible to find out the place to go. Proposed system can help visually impaired persons or mobile robots in unfamiliar places. We propose the detection method of public signs in natural images. Especially, we dealt with several signs in subway station such as numbers, arrows, ticket, elevator, escalator, phone, toilet, and arrows giving the direction of those places.","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":"127093700","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.2013.6677502
Tae-Keun Kim, Dong Yeop Kim, D. H. Cha, Seunz-vun Choi, Bone-Seck Kim, Jung-Hoon Hwang, Chang-Woo Park
This paper discusses a torque sensor for robot hands along with its novel calibration method. Recently, there has been increasing interest in service robots which can manipulate various objects to assist humans. A dexterous robot with precise sensors can greatly enhance the performance of such robots. In this study, we propose a joint torque sensor for robot hands and a calibration method, which allows the users to easily calibrate the robot hand without disassembling it.
{"title":"Development of joint torque sensor and calibration method for robot finger","authors":"Tae-Keun Kim, Dong Yeop Kim, D. H. Cha, Seunz-vun Choi, Bone-Seck Kim, Jung-Hoon Hwang, Chang-Woo Park","doi":"10.1109/URAI.2013.6677502","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677502","url":null,"abstract":"This paper discusses a torque sensor for robot hands along with its novel calibration method. Recently, there has been increasing interest in service robots which can manipulate various objects to assist humans. A dexterous robot with precise sensors can greatly enhance the performance of such robots. In this study, we propose a joint torque sensor for robot hands and a calibration method, which allows the users to easily calibrate the robot hand without disassembling it.","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":"126728563","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.2013.6677345
Jaeshik Yoon, Jae-Han Park, M. Baeg
This paper presents GPU-based collision detection method that accelerates collision queries for sampling-based motion planning. This approach uses many-core GPUs. To take advantage of a many-core GPU, kinematic and collision detection is calculated by the GPU. The experimental results indicate that this approach can result in a ten-fold faster performance than when using a CPU.
{"title":"GPU-based collision detection for sampling-based motion planning","authors":"Jaeshik Yoon, Jae-Han Park, M. Baeg","doi":"10.1109/URAI.2013.6677345","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677345","url":null,"abstract":"This paper presents GPU-based collision detection method that accelerates collision queries for sampling-based motion planning. This approach uses many-core GPUs. To take advantage of a many-core GPU, kinematic and collision detection is calculated by the GPU. The experimental results indicate that this approach can result in a ten-fold faster performance than when using a CPU.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"79 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":"126823581","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}
Pub Date : 2013-12-02DOI: 10.1109/URAI.2013.6677332
Won-Young Lee, Seung-Hyun Lee, Mun-Suck Jang, Eung-Hyuk Lee
This paper suggests linearity enhancement algorithm for slope driving of Intelligent Walker. Intelligent Walker happens to get off track due to external forces from robot's weight and the degree of the slope while slope driving. In order to compensate this, this research used the controller that estimates the external forces according to the slope of road surface and adjusts it to the motor output. Also, through comparisons between targeted rotational angular velocity which the user inputs and its velocity of the robot, algorithm was applied which applies a weight to each shaft. As a result of applying the proposed correction controller to Intelligent Walker, it diverges in case of non-compensation experiments that deviates when moving, but it case of applying the ramp calibration algorithm, the deviation distance at max was within 5cm that it keeps safe driving, and change rate of deviation distance was also stabilized after 1m where no more changes occurred.
{"title":"A study on methods for improving the straightness of the intelligent walker to move on slope","authors":"Won-Young Lee, Seung-Hyun Lee, Mun-Suck Jang, Eung-Hyuk Lee","doi":"10.1109/URAI.2013.6677332","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677332","url":null,"abstract":"This paper suggests linearity enhancement algorithm for slope driving of Intelligent Walker. Intelligent Walker happens to get off track due to external forces from robot's weight and the degree of the slope while slope driving. In order to compensate this, this research used the controller that estimates the external forces according to the slope of road surface and adjusts it to the motor output. Also, through comparisons between targeted rotational angular velocity which the user inputs and its velocity of the robot, algorithm was applied which applies a weight to each shaft. As a result of applying the proposed correction controller to Intelligent Walker, it diverges in case of non-compensation experiments that deviates when moving, but it case of applying the ramp calibration algorithm, the deviation distance at max was within 5cm that it keeps safe driving, and change rate of deviation distance was also stabilized after 1m where no more changes occurred.","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":"127771859","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.2013.6677474
Chaehyeuk Lee, Da-Ni Joo, G. Kim, Byung soo Kim, Gwang hoon Lee, Soon‐Geul Lee
Robots for pipe inspection have been studied for a long time and many mobile mechanisms have been proposed to achieve the inspection task within pipelines. Localization is an important factor for inpipe robot to perform a successful autonomous operation. However, because of its unique characteristics of inpipe condition, sensors which have good performance in localization, like GPS and beacon, cannot be used. In this paper, a localization using elbow detection is presented. With the laser light image processing and the angular velocity of IMU, the odometry module of robot determines whether it is on straight pipe or elbow, and minimizes the integration error in orientation. The experiment environment has consisted of two straight pipes and an elbow, and the pipe map has been constructed as the result.
{"title":"Elbow detection for localization of a mobile robot inside pipeline using laser pointers","authors":"Chaehyeuk Lee, Da-Ni Joo, G. Kim, Byung soo Kim, Gwang hoon Lee, Soon‐Geul Lee","doi":"10.1109/URAI.2013.6677474","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677474","url":null,"abstract":"Robots for pipe inspection have been studied for a long time and many mobile mechanisms have been proposed to achieve the inspection task within pipelines. Localization is an important factor for inpipe robot to perform a successful autonomous operation. However, because of its unique characteristics of inpipe condition, sensors which have good performance in localization, like GPS and beacon, cannot be used. In this paper, a localization using elbow detection is presented. With the laser light image processing and the angular velocity of IMU, the odometry module of robot determines whether it is on straight pipe or elbow, and minimizes the integration error in orientation. The experiment environment has consisted of two straight pipes and an elbow, and the pipe map has been constructed as the result.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"72 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":"127357686","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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