Pub Date : 2013-12-02DOI: 10.1109/URAI.2013.6677410
Abdullah Nazib, Chi-Min Oh, Chil-Woo Lee
Object tracking is always a challenging research to the computer vision community. It becomes more difficult at night video systems due to low contrast against the background. This paper is proposing a framework that detects object and tracks it at low contrast night surveillance video. A robust intensity statistics based detection method has been designed for processing low contrast frame and detect object structure from it. Based on successful detection, it tracks the object using Kalman filter algorithm.
{"title":"Object detection and tracking in night time video surveillance","authors":"Abdullah Nazib, Chi-Min Oh, Chil-Woo Lee","doi":"10.1109/URAI.2013.6677410","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677410","url":null,"abstract":"Object tracking is always a challenging research to the computer vision community. It becomes more difficult at night video systems due to low contrast against the background. This paper is proposing a framework that detects object and tracks it at low contrast night surveillance video. A robust intensity statistics based detection method has been designed for processing low contrast frame and detect object structure from it. Based on successful detection, it tracks the object using Kalman filter algorithm.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"104 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":"124819925","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.2013.6677352
Seunghwan Park, Jaeil Cho
In this paper, we suggest an idea that provides ROI-based spatial information to an operator for the operation of a remote-controlled robot. For this, we consider two cases. First case is that the map which includes ROI information is used at the start with the robot's position. Second one is that ROI is designated when pre-defined conditions are fulfilled with some sensing data. In this case, some dynamic changes of environment can be reported directly and an operator can take action with the situation change. Designated ROI will be presented in the operator's screen by the pre-defined visualization rules.
{"title":"ROI-based visualization of spatial information for a remote-controlled robot","authors":"Seunghwan Park, Jaeil Cho","doi":"10.1109/URAI.2013.6677352","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677352","url":null,"abstract":"In this paper, we suggest an idea that provides ROI-based spatial information to an operator for the operation of a remote-controlled robot. For this, we consider two cases. First case is that the map which includes ROI information is used at the start with the robot's position. Second one is that ROI is designated when pre-defined conditions are fulfilled with some sensing data. In this case, some dynamic changes of environment can be reported directly and an operator can take action with the situation change. Designated ROI will be presented in the operator's screen by the pre-defined visualization rules.","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":"127442478","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.2013.6677389
Tae Gyun Kim, Hyun-Taek Choi, N. Ko
This paper reports a localization method based on particle filter with range and bearing information for fixed landmarks. The method consists of motion model which predicts pose of a robot, sensor model which evaluates the predicted pose, and resampling which modifies the evaluated pose. The proposed particle filter method utilizes bearing information as well as range information. The results of a simulation show trajectories for estimated robot location. Also, there is a result for comparison of performances using the proposed method and extended Kalman filter based method.
{"title":"Localization of a robot using particle filter with range and bearing information","authors":"Tae Gyun Kim, Hyun-Taek Choi, N. Ko","doi":"10.1109/URAI.2013.6677389","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677389","url":null,"abstract":"This paper reports a localization method based on particle filter with range and bearing information for fixed landmarks. The method consists of motion model which predicts pose of a robot, sensor model which evaluates the predicted pose, and resampling which modifies the evaluated pose. The proposed particle filter method utilizes bearing information as well as range information. The results of a simulation show trajectories for estimated robot location. Also, there is a result for comparison of performances using the proposed method and extended Kalman filter based method.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"10 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":"127917308","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.2013.6677420
Nahian Rahman, Min-Cheol Lee
In modern robotic Surgery, the surgical systems are being involved with multiple degrees of freedom to facilitate dexterity and precise operation in human body. In previous studies, it has shown that, the perturbation observer of sliding mode control with sliding perturbation observer (SMCSPO) can estimate the reaction force acting on the instrument tip. The perturbation is defined as the combination of the uncertainties and nonlinear terms where the major uncertainties arise from the reaction force. However in presence of external dynamics, the vertical instrument inside the body has some effects during operation. Therefore the reaction force estimated by SPO will be a combination of actual reaction force and external disturbances. It is necessary for the surgeon to measure the disturbance effects on the instrument during operation for the sake of safety. This paper studies about dynamic disturbances acting on the instrument using SMCSPO algorithm. A three DOF robot has formed with surgical instrument in RoboticsLab environment. Simulation has shown that SPO of SMCSPO can estimate the actual reaction force quite correctly when the surgical robot is fixed. However, it shows that SPO does not have satisfactory results when the instrument carrying robot's joint are free to move. It has seen that the estimated perturbation of each joint of robot has no relation with each other. Therefore measuring disturbances of the robot joints can be calculated using forward kinematics laws.
{"title":"Roboticslab based simulation for extraction of reaction force in multi DOF surgical robot dynamic system and analysis","authors":"Nahian Rahman, Min-Cheol Lee","doi":"10.1109/URAI.2013.6677420","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677420","url":null,"abstract":"In modern robotic Surgery, the surgical systems are being involved with multiple degrees of freedom to facilitate dexterity and precise operation in human body. In previous studies, it has shown that, the perturbation observer of sliding mode control with sliding perturbation observer (SMCSPO) can estimate the reaction force acting on the instrument tip. The perturbation is defined as the combination of the uncertainties and nonlinear terms where the major uncertainties arise from the reaction force. However in presence of external dynamics, the vertical instrument inside the body has some effects during operation. Therefore the reaction force estimated by SPO will be a combination of actual reaction force and external disturbances. It is necessary for the surgeon to measure the disturbance effects on the instrument during operation for the sake of safety. This paper studies about dynamic disturbances acting on the instrument using SMCSPO algorithm. A three DOF robot has formed with surgical instrument in RoboticsLab environment. Simulation has shown that SPO of SMCSPO can estimate the actual reaction force quite correctly when the surgical robot is fixed. However, it shows that SPO does not have satisfactory results when the instrument carrying robot's joint are free to move. It has seen that the estimated perturbation of each joint of robot has no relation with each other. Therefore measuring disturbances of the robot joints can be calculated using forward kinematics laws.","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":"126238878","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.2013.6677349
Dong Yeop Kim, Jongsu Yoon, Tae-Keun Kim, Bong-Seok Kim, Chang-Woo Park
We have researched an automated gondola-typed robot system for building façade maintenance. Our system moves in vertical direction on walls with two endless winders along wire ropes. Because its main function is to paint, the balance of the gondola system should be kept. Two endless winders are controlled in accordance with ARS (Attitude Reference System). With proposed algorithm, input frequency values of winders are continuously updated. In experiment, balance of the gondola system was enough to paint on wall while proposed algorithm was executed.
{"title":"Vertical movement for gondola-typed robot system","authors":"Dong Yeop Kim, Jongsu Yoon, Tae-Keun Kim, Bong-Seok Kim, Chang-Woo Park","doi":"10.1109/URAI.2013.6677349","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677349","url":null,"abstract":"We have researched an automated gondola-typed robot system for building façade maintenance. Our system moves in vertical direction on walls with two endless winders along wire ropes. Because its main function is to paint, the balance of the gondola system should be kept. Two endless winders are controlled in accordance with ARS (Attitude Reference System). With proposed algorithm, input frequency values of winders are continuously updated. In experiment, balance of the gondola system was enough to paint on wall while proposed algorithm was executed.","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":"126448185","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.2013.6677447
In-Gyu Park, In-Tea Lee, Jae-Hak Lee, Moon-Jick Lee, Jungwoo Lee, J. Suh
In this paper, we propose a robotic system for the automatic cutting of castings for gas turbine runner and gate. It requires a lot of time and effort of the cutting operating by the operator because of this product materials are tough and compact. In order to overcome this difficulty, we propose a robotic system that can automatically identify and respond to the condition of the product and replacing the cutting tools. We verify the practicality of the proposed robotic system is applied to the actual cutting and grinding operations.
{"title":"Development of the robot system for the process improvement of the castings of the runner and gate cutting","authors":"In-Gyu Park, In-Tea Lee, Jae-Hak Lee, Moon-Jick Lee, Jungwoo Lee, J. Suh","doi":"10.1109/URAI.2013.6677447","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677447","url":null,"abstract":"In this paper, we propose a robotic system for the automatic cutting of castings for gas turbine runner and gate. It requires a lot of time and effort of the cutting operating by the operator because of this product materials are tough and compact. In order to overcome this difficulty, we propose a robotic system that can automatically identify and respond to the condition of the product and replacing the cutting tools. We verify the practicality of the proposed robotic system is applied to the actual cutting and grinding operations.","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":"117003112","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.2013.6677333
M. Hong, Sin-Jung Kim, Tae-Min Um, Keehoon Kim
A new robotic system for upper-limb power assistance for the elderly and the disabled has been developed by our research group. It is composed of three main modules, a 1-DOF under-actuated hand module to assist with hand grasp motions, a 3-DOF exoskeleton-type parallel wrist mechanism for wrist power assistance, and a 6-DOF serial chain to assist with arbitrary movements of the operator's forearm. The system uses a pseudo-exoskeleton approach; accordingly, some problems caused by the inconsistency between the joint axes of the robot and the human operator can be minimized. In this paper, an overview of the second version of the robotic system is introduced. Furthermore, the operating capability of the proposed robot is observed in a demonstration of the robot performing several activities-of-daily-living (ADL) tasks, such as picking up a pen with a pinch grasp, gripping an object with a power grasp, and the brushing of teeth.
{"title":"KULEX: An ADL power-assistance demonstration","authors":"M. Hong, Sin-Jung Kim, Tae-Min Um, Keehoon Kim","doi":"10.1109/URAI.2013.6677333","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677333","url":null,"abstract":"A new robotic system for upper-limb power assistance for the elderly and the disabled has been developed by our research group. It is composed of three main modules, a 1-DOF under-actuated hand module to assist with hand grasp motions, a 3-DOF exoskeleton-type parallel wrist mechanism for wrist power assistance, and a 6-DOF serial chain to assist with arbitrary movements of the operator's forearm. The system uses a pseudo-exoskeleton approach; accordingly, some problems caused by the inconsistency between the joint axes of the robot and the human operator can be minimized. In this paper, an overview of the second version of the robotic system is introduced. Furthermore, the operating capability of the proposed robot is observed in a demonstration of the robot performing several activities-of-daily-living (ADL) tasks, such as picking up a pen with a pinch grasp, gripping an object with a power grasp, and the brushing of teeth.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"312 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120911234","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.2013.6677319
Sangtae Kim, SangJoo Kwon
A nonlinear control scheme is investigated for the posture control of a two-wheeled balancing robot. It largely consists of the feedforward controller to follow a well-planned trajectory satisfying the boundary conditions of initial and final state plus the state feedback controller in terms of the SDRE nonlinear optimal control. In this paper, we discuss how to formulate the nonlinear control inputs given the nonlinear dynamic model with some numerical results.
{"title":"Nonlinear control design for a two-wheeled balancing robot","authors":"Sangtae Kim, SangJoo Kwon","doi":"10.1109/URAI.2013.6677319","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677319","url":null,"abstract":"A nonlinear control scheme is investigated for the posture control of a two-wheeled balancing robot. It largely consists of the feedforward controller to follow a well-planned trajectory satisfying the boundary conditions of initial and final state plus the state feedback controller in terms of the SDRE nonlinear optimal control. In this paper, we discuss how to formulate the nonlinear control inputs given the nonlinear dynamic model with some numerical results.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"40 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":"121046531","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.2013.6677460
Minkyu Kim, Keehoon Kim
This paper proposes a special technique for pattern classification problems using the sEMG signal from human forearm muscles. For improvement of classification accuracy, a multi-reference is set for each class so that the classifier can cover a wide range of obtained signals for training. The results of classification accuracy through an off-line simulation were analyzed to validate the proposed concept.
{"title":"Increasing performance of a pattern recognition system using a sEMG signal by setting multi-references","authors":"Minkyu Kim, Keehoon Kim","doi":"10.1109/URAI.2013.6677460","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677460","url":null,"abstract":"This paper proposes a special technique for pattern classification problems using the sEMG signal from human forearm muscles. For improvement of classification accuracy, a multi-reference is set for each class so that the classifier can cover a wide range of obtained signals for training. The results of classification accuracy through an off-line simulation were analyzed to validate the proposed concept.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"27 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":"121329155","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.2013.6677316
Byung-Yun Park, Byung-Mo Cho, Kyung-Hwan Lee, Jungsan Cho, Sangdeok Park
JINPOONG, a walking robot using hydraulic pressure, requires a power source to operate the power-pack. Therefore, power was supplied to JINPOONG by using an engine that has high power per unit engine weight. Hydraulic pump requires a constant rotating speed in order to supply stable hydraulic pressure because the pressure and flow rate changes according to rotating speed. This study proposes a way to maintain relatively stable rotating speed of engine with irregular and fluctuating load.
{"title":"Design and implementation of electronic governor system for 2 stroke engine","authors":"Byung-Yun Park, Byung-Mo Cho, Kyung-Hwan Lee, Jungsan Cho, Sangdeok Park","doi":"10.1109/URAI.2013.6677316","DOIUrl":"https://doi.org/10.1109/URAI.2013.6677316","url":null,"abstract":"JINPOONG, a walking robot using hydraulic pressure, requires a power source to operate the power-pack. Therefore, power was supplied to JINPOONG by using an engine that has high power per unit engine weight. Hydraulic pump requires a constant rotating speed in order to supply stable hydraulic pressure because the pressure and flow rate changes according to rotating speed. This study proposes a way to maintain relatively stable rotating speed of engine with irregular and fluctuating load.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"35 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":"121332885","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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