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2018 15th International Conference on Ubiquitous Robots (UR)最新文献

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Barb based Fast Movement of Mobile Module for Deploying Devices in Reconfigurable Intelligent Space 基于倒刺的可重构智能空间中设备部署移动模块快速移动
2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8442206
Tatsuki Satooka, H. Yamazoe, Joo-Ho Lee
{"title":"Barb based Fast Movement of Mobile Module for Deploying Devices in Reconfigurable Intelligent Space","authors":"Tatsuki Satooka, H. Yamazoe, Joo-Ho Lee","doi":"10.1109/URAI.2018.8442206","DOIUrl":"https://doi.org/10.1109/URAI.2018.8442206","url":null,"abstract":"In this paper, an improved Mobile Module (MoMo) based on Spring and a Barb Mechanism is introduced and its performance evaluation results are shown. In the Reconfigurable Intelligent Space $(mathbf{R}+mathbf{iSpace})$, all the devices in the environment can be relocated according to the current situation. To achieve this environment, the MoMo, which can mount devices and move around the environment including walls and ceiling, is a necessary element. A new version of prototype MoMo with Spring-Barb Mechanism to improve speed was developed.","PeriodicalId":347727,"journal":{"name":"2018 15th International Conference on Ubiquitous Robots (UR)","volume":"122 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134527363","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}
引用次数: 4
Investigation of a Novel Continuously Rotating Knee Mechanism for Legged Robots 一种新型腿式机器人连续旋转膝关节机构研究
2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441802
S. Ghassemi, D. Hong
{"title":"Investigation of a Novel Continuously Rotating Knee Mechanism for Legged Robots","authors":"S. Ghassemi, D. Hong","doi":"10.1109/URAI.2018.8441802","DOIUrl":"https://doi.org/10.1109/URAI.2018.8441802","url":null,"abstract":"This paper presents a novel continuously rotating knee mechanism for legged robots. Specifically, the mechanism presented is used on NABi (Non-Anthropomorphic Biped). Legged robots with traditional humanoid design often have human-like leg configurations that require complex motion planning and high number of degrees of freedom for locomotion. NABi however, has a unique leg configuration that increases stability and balance while simplifying mechanical design and motion planning. A novel knee joint design that allows the robot's shin (tibia) to rotate a full 360 degrees continuously will allow the robot to walk over large obstacles such as a tall doorsill or climb stairs easily. In normal conditions, the robot uses a bipedal walking gait, however in certain scenarios, the rotating knees become beneficial. This paper presents the findings from the observations of a series of experiments performed for two specific example scenarios. Examples include going over a barrier (doorsill) and ascending stairs. With an initial plan to perform motion analysis and trajectory planning on the above locomotion types, we observe that careful planning and trajectory generation is not the optimum method to approach this problem. It is rather preferred to treat the locomotion method as a continuous motion that passively adjust based on variable factors such as robot geometry, torque output, and friction properties.","PeriodicalId":347727,"journal":{"name":"2018 15th International Conference on Ubiquitous Robots (UR)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123951966","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}
引用次数: 1
System Design and Experiment of a Laryngeal Surgical Robotic System 喉外科机器人系统的设计与实验
2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441782
Sanghwa Kim, J. Seo, Jaehong Woo, Hyun-Soo Yoon, K. Tae, B. Yi
{"title":"System Design and Experiment of a Laryngeal Surgical Robotic System","authors":"Sanghwa Kim, J. Seo, Jaehong Woo, Hyun-Soo Yoon, K. Tae, B. Yi","doi":"10.1109/URAI.2018.8441782","DOIUrl":"https://doi.org/10.1109/URAI.2018.8441782","url":null,"abstract":"A laryngeal surgical robotic system equipped with high quality 3-dimensional images and robot arms is developed to help the surgeon treat general diseases located at head and neck area. This paper is to describe a system configuration and demonstrate effectiveness of the laryngeal surgical robotic system. A mechanical construction of this system is based on a novel stackable parallel mechanism architecture. The EtherCAT communication protocol is used for real-time control. In order to confirm the effectiveness of the laryngeal surgical robotic system, experiments using phantom and cadaver were performed.","PeriodicalId":347727,"journal":{"name":"2018 15th International Conference on Ubiquitous Robots (UR)","volume":"6 7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124568966","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}
引用次数: 3
2D Barcode Detection using Images for Drone-assisted Inventory Management 二维条码检测在无人机辅助库存管理中的应用
2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441834
Hyeon Cho, Dongyi Kim, Junho Park, Kyungshik Noh, Wonjun Hwang
{"title":"2D Barcode Detection using Images for Drone-assisted Inventory Management","authors":"Hyeon Cho, Dongyi Kim, Junho Park, Kyungshik Noh, Wonjun Hwang","doi":"10.1109/URAI.2018.8441834","DOIUrl":"https://doi.org/10.1109/URAI.2018.8441834","url":null,"abstract":"Drone-assisted inventory management is attractive for companies with large warehouses and factories. Additionally, there is an interest in a novel method that automatically detects target barcodes using a IR-based camera, which enables efficient drone path planning and results in reducing power consumption. In this paper, we propose an efficient detection framework which determines the localizations of 2D barcodes. Many regional proposals of 2D barcodes are reduced to a few candidate regions according to the distance information between the drone and the target 2D barcode. Visual features of the selected candidate regions are extracted by LBP and HOG methods, respectively. To gain discriminant power for classification, SVM is used at the end of the procedure. The final detection region is determined by a weighted sum-based score fusion method. To validate the performance of the proposed method, we collect 2D barcode images under real-life warehouse conditions and obtain extensive experiment results.","PeriodicalId":347727,"journal":{"name":"2018 15th International Conference on Ubiquitous Robots (UR)","volume":"171 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121242638","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}
引用次数: 13
Development of a Remote Steel Pipe Cutting Robot System 远程钢管切割机器人系统的研制
2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441772
Hocheol Shin, Y. Bae, Seungho Jung, You-rak Choi, Chang-Hoi Kim
{"title":"Development of a Remote Steel Pipe Cutting Robot System","authors":"Hocheol Shin, Y. Bae, Seungho Jung, You-rak Choi, Chang-Hoi Kim","doi":"10.1109/URAI.2018.8441772","DOIUrl":"https://doi.org/10.1109/URAI.2018.8441772","url":null,"abstract":"This paper describes the design of a remote control robot system for hazardous environments such as a severe accident or the dismantling of a nuclear power plant. Occasionally, it is necessary for a robot to carry out the cutting work. We designed the hardware of a robot system and the software architecture. The system to be developed is composed of a master device, a slave robot, and a mobile platform, as well as a telescopic mast that moves the slave robot to the desired position. The integrating program has a system component control module, a virtual guide implementing module, and egocentric remote control algorithms. In addition, we developed a cutting tool for the robot system and carried out a cutting test of a 2 inch steel pipe with 5 mm thickness.","PeriodicalId":347727,"journal":{"name":"2018 15th International Conference on Ubiquitous Robots (UR)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127147051","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}
引用次数: 3
Smart Passive Compliance Device System for Precision Assembly Task with Industrial Robot 面向工业机器人精密装配任务的智能被动顺应装置系统
2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441864
Jongwoo Park, Hwisu Kim, D. Park, Chanhun Park
{"title":"Smart Passive Compliance Device System for Precision Assembly Task with Industrial Robot","authors":"Jongwoo Park, Hwisu Kim, D. Park, Chanhun Park","doi":"10.1109/URAI.2018.8441864","DOIUrl":"https://doi.org/10.1109/URAI.2018.8441864","url":null,"abstract":"As the use of robots on industrial sites increases, the demand for assembly technologies for robots is growing. However, small parts such as mobile IT parts are difficult to assemble as industrial robots due to positioning inaccuracy. Therefore, force control or RCC(Remote Center Compensators) devices are usually suggested method. Force control methods require expensive sensors and are difficult to obtain stability in comparison to position control systems. To this end, the research applied RCC structure to developed passive compliance devices. Research is carried out on the assembly task of industrial robots.","PeriodicalId":347727,"journal":{"name":"2018 15th International Conference on Ubiquitous Robots (UR)","volume":"90 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125411804","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}
引用次数: 1
Detected Obstacle Avoidance in Teleoperation System with a Virtual Link and Virtual Joints 基于虚拟链路和虚拟关节的遥操作系统避障检测
2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441763
Jiwoong Han, Kyunghwan Cho, Hyeunseok Choi, Gi-Hun Yang
{"title":"Detected Obstacle Avoidance in Teleoperation System with a Virtual Link and Virtual Joints","authors":"Jiwoong Han, Kyunghwan Cho, Hyeunseok Choi, Gi-Hun Yang","doi":"10.1109/URAI.2018.8441763","DOIUrl":"https://doi.org/10.1109/URAI.2018.8441763","url":null,"abstract":"In teleoperation system, the teleoperator cannot completely understand the situation of the remote site where the slave robot is located. If there is an obstacle in the vicinity of the slave robot, the teleoperator needs a lot of fatigue in order to avoid the obstacle. In this paper, we apply the conventional obstacle avoidance algorithm using the redundancy control if there is an obstacle except for the slave robot end-effector, and we apply the shared redundancy control, which is proposed obstacle avoidance algorithm, if there is an obstacle near the slave robot end-effector. The proposed algorithm avoids obstacles by creating a virtual link and virtual joints to the end-effector of the slave robot. We control the actual robot with the shared redundancy control of the axes added to the virtual robot. The experiment confirms that the proposed method is effective on avoiding an obstacle in teleoperation system.","PeriodicalId":347727,"journal":{"name":"2018 15th International Conference on Ubiquitous Robots (UR)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125428370","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}
引用次数: 2
3D Pose Estimation of Catheter Band Markers based on Single-Plane Fluoroscopy 基于单平面透视的导管带标记物三维姿态估计
2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441789
Sangchul Hwang, Deukhee Lee
{"title":"3D Pose Estimation of Catheter Band Markers based on Single-Plane Fluoroscopy","authors":"Sangchul Hwang, Deukhee Lee","doi":"10.1109/URAI.2018.8441789","DOIUrl":"https://doi.org/10.1109/URAI.2018.8441789","url":null,"abstract":"Lumbar disc disease is a common affliction in today's society. A common treatment for this condition is minimally invasive endoscopic surgery, which involves the guiding of a needle into the target disc. However, an epiduroscopy can accidentally damage surrounding tissues as the epidural catheter is inserted in the lower back and guided up toward the affected nerve roots based only on preoperative medical images and anatomical knowledge. Thus, we propose a method for tracking the location of surgical tools based on radiographic images. In detail, our method involves the following: photographing a surgical tool with a physical marker frame composed of three or more marker bands; an information processor, which detects the center point on each marker band in the photographed image; and an information processor that estimates a three-dimensional location for the surgical tool based on the distance between the detected center point, the center point of a true marker band, and a tracking apparatus.","PeriodicalId":347727,"journal":{"name":"2018 15th International Conference on Ubiquitous Robots (UR)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126618264","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}
引用次数: 6
A Tendon-driven Upper-limb Rehabilitation Robot 肌腱驱动的上肢康复机器人
2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441920
Min Li, WenLiang Guo, Guanghua Xu, Yan-Bo Jia, Jun Xie, Xiaodong Zhang
{"title":"A Tendon-driven Upper-limb Rehabilitation Robot","authors":"Min Li, WenLiang Guo, Guanghua Xu, Yan-Bo Jia, Jun Xie, Xiaodong Zhang","doi":"10.1109/URAI.2018.8441920","DOIUrl":"https://doi.org/10.1109/URAI.2018.8441920","url":null,"abstract":"Rehabilitation robots are playing an increasingly important role in daily rehabilitation of patients. In recent years, exoskeleton rehabilitation robots have become a research hotspot. However, the existing exoskeleton rehabilitation robots are mainly rigid exoskeletons. During rehabilitation training using such exoskeletons, the patient's joint rotation center is fixed, which cannot adapt to the actual joint movements, resulting in secondary damage to the patients. Therefore, in this paper, a tendon-driven flexible upper-limb rehabilitation robot is proposed; the structure and connectors of the rehabilitation robot are designed considering the physiological structure of human upper limbs; we also built the prototype and performed experiments to validate the designed robot. The experimental results show that the proposed upper-limb rehabilitation robot can assist the human subject to conduct upper-limb rehabilitation training.","PeriodicalId":347727,"journal":{"name":"2018 15th International Conference on Ubiquitous Robots (UR)","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126745153","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}
引用次数: 2
NaoBlocks: A Case Study of Developing a Children's Robot Programming Environment NaoBlocks:开发儿童机器人编程环境的案例研究
2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441843
Craig J. Sutherland, B. MacDonald
{"title":"NaoBlocks: A Case Study of Developing a Children's Robot Programming Environment","authors":"Craig J. Sutherland, B. MacDonald","doi":"10.1109/URAI.2018.8441843","DOIUrl":"https://doi.org/10.1109/URAI.2018.8441843","url":null,"abstract":"Developing a robotics system can be a complex process, with competing requirements between programmers and end-users. This paper presents a case study on the development of NaoBlocks, a block-based programming environment that allows children to program a Nao robot. NaoBlocks was developed over three phases, with feedback from the end-users (children) guiding the process. Lessons learnt include providing feedback often and early, keeping the editor simple, making the environment robust, allowing override functionality and allowing progressive functionality.","PeriodicalId":347727,"journal":{"name":"2018 15th International Conference on Ubiquitous Robots (UR)","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124845339","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}
引用次数: 9
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