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2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)最新文献

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Posture and workspace analysis of KU hybrid robotic hand KU混合机械手的姿态与工作空间分析
2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) Pub Date : 2011-11-01 DOI: 10.1109/URAI.2011.6145984
Hyunhwan Jeong, J. Cheong
{"title":"Posture and workspace analysis of KU hybrid robotic hand","authors":"Hyunhwan Jeong, J. Cheong","doi":"10.1109/URAI.2011.6145984","DOIUrl":"https://doi.org/10.1109/URAI.2011.6145984","url":null,"abstract":"In this paper, we present kinematic and posture analysis of KU hybrid hand, which allows two different operation modes. We analyze kinematic structure and workspace of the KU hybrid hand. We test the ability of KU hybrid hand in making various grasp configurations using standard grasp taxonomy. We also present in-hand motion planning with rolling contact.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129222472","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: 0
Study of classification of failure states for Small Unmanned Ground Vehicle by response surface methodology 基于响应面法的小型无人地面车辆故障状态分类研究
2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) Pub Date : 2011-11-01 DOI: 10.1109/URAI.2011.6145852
Young Kook Kim, Dooyeol Koh, Sang Hoon Lee, Soohyun Kim
{"title":"Study of classification of failure states for Small Unmanned Ground Vehicle by response surface methodology","authors":"Young Kook Kim, Dooyeol Koh, Sang Hoon Lee, Soohyun Kim","doi":"10.1109/URAI.2011.6145852","DOIUrl":"https://doi.org/10.1109/URAI.2011.6145852","url":null,"abstract":"SUGV(Small Unmanned Ground Vehicle) used for human rescue and military operation is need to overcome the environment that tough terrains such as a hole or high obstacles. As far as the survival of the vehicle and the preserving ability of the information in the vehicle are concerned, it is essential to have an approach for recognizing unattainable driving states. However, despite the fact that the study of obstacle avoidance and stabilization of SUGV is focused on, it is hardly found out ways of classifying unattainable driving states with the sensors mounted on the SUGV unit. In order to overcome the problem, this paper proposes a practical way for classifying SUGV Failure State(SFS) with the meaningful parameters by statistical method, response surface methodology(RSM).","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123450763","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: 0
Fault tolerant controller design for component faults of a small scale unmanned aerial vehicle 小型无人机部件故障容错控制器设计
2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) Pub Date : 2011-11-01 DOI: 10.1109/URAI.2011.6145937
V. K. Kaliappan, Hanmaro Yong, A. Budiyono, D. Min
{"title":"Fault tolerant controller design for component faults of a small scale unmanned aerial vehicle","authors":"V. K. Kaliappan, Hanmaro Yong, A. Budiyono, D. Min","doi":"10.1109/URAI.2011.6145937","DOIUrl":"https://doi.org/10.1109/URAI.2011.6145937","url":null,"abstract":"In this paper additive fault detection and isolation method coupled with fault tolerant control architecture are developed in order to deal with component faults for a rotorcraft based unmanned aerial vehicle (RUAV). The failure considered is malfunction with internal components of the helicopter which occurs during the maneuvers: rotor angular rate variations, etc. These faults lead from trivial to catastrophic damage of the system. The proposed fault detection and reconfiguration control is based on a parameter estimation approach which drives a reconfigurable control system (RCS) build with the Pseudo-inverse method. The complete setup is implemented under Hardware-in-the-loop-simulation (HILS). The PC104 board with QNX RTOS platform is used for simulation. Simulation results illustrate the efficiency and effectiveness of the proposed approach.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123499256","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: 11
Design and simulation of a robot that can walk and jump 能走能跳的机器人的设计与仿真
2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) Pub Date : 2011-11-01 DOI: 10.1109/URAI.2011.6146023
H. Seung, Sangyoon Lee
{"title":"Design and simulation of a robot that can walk and jump","authors":"H. Seung, Sangyoon Lee","doi":"10.1109/URAI.2011.6146023","DOIUrl":"https://doi.org/10.1109/URAI.2011.6146023","url":null,"abstract":"This paper presents the development of a small legged robot that can both walk and jump. The robot is designed to four legs that are actuated by two servo motors per leg. Each leg has a jumping part that consists of a gear part and a spring part. We also report the forward kinematics of robot for motion analysis. In addition, computer simulation was executed for evaluating the performance of jumping and walking. The simulation results show that the jumping part can jump as high as 140 mm and the robot can move forward 76 mm during one cycle.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"30 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121151990","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
Anti-vibration PID control for a robot manipulator experiments 一种机器人机械手抗振PID控制实验
2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) Pub Date : 2011-11-01 DOI: 10.1109/URAI.2011.6145919
Dong-Won Lim, Eun-Hye Kim, Yongkwun Lee
{"title":"Anti-vibration PID control for a robot manipulator experiments","authors":"Dong-Won Lim, Eun-Hye Kim, Yongkwun Lee","doi":"10.1109/URAI.2011.6145919","DOIUrl":"https://doi.org/10.1109/URAI.2011.6145919","url":null,"abstract":"Vibration becomes a major control issue as industrial robots get lighter and slimmer. Proportional- Integral-Derivative (PID) control is simple and easy to regulate the motion of robots. If gains of PID can be tuned precisely for the given purpose, it will be more beneficial than heavy and complicated control algorithm. The paper introduces the feasibility of PID tip position control to suppress oscillation at the end of the effecter (EOF) by experiments and leads to controller synthesis and design for better performance.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124430364","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
Feature extraction based on common spatial analysis for time domain parameters 基于公共空间分析的时域参数特征提取
2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) Pub Date : 2011-11-01 DOI: 10.1109/URAI.2011.6145846
Xinyang Li, S. Ge, Yaozhang Pan, K. Hong, Zhengchen Zhang, Xiao-Su Hu
{"title":"Feature extraction based on common spatial analysis for time domain parameters","authors":"Xinyang Li, S. Ge, Yaozhang Pan, K. Hong, Zhengchen Zhang, Xiao-Su Hu","doi":"10.1109/URAI.2011.6145846","DOIUrl":"https://doi.org/10.1109/URAI.2011.6145846","url":null,"abstract":"In this paper, an approach of feature extraction by designing common spatial filters specifically for time domain parameters (TDP) is proposed. This approach is aiming at motor imagery detection in electroencephalogram (EEG). Particularly, this method calculates the derivatives of the original signals and then applies common spatial analysis (CSP) to each order of derivatives. Variances of the spatially filtered signal after taking logarithm are used as features. Quadratic discriminant analysis (QDA) is applied to the feature vectors and classifies the vectors into different categories. We evaluate our approach using data consisting of two classes: left-hand and right-hand movement imageries from three subjects, and comparison between the proposed method and applying CSP analysis to the whole set of EEG signal directly is presented. Our results show that the proposed method generates more discriminant features in this motor imagery classification issue.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124027869","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
Trajectory generation of wheeled mobile robot using convolution method 基于卷积法的轮式移动机器人轨迹生成
2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) Pub Date : 2011-11-01 DOI: 10.1109/URAI.2011.6145999
Junghoon Kim, Youngjin Choi
{"title":"Trajectory generation of wheeled mobile robot using convolution method","authors":"Junghoon Kim, Youngjin Choi","doi":"10.1109/URAI.2011.6145999","DOIUrl":"https://doi.org/10.1109/URAI.2011.6145999","url":null,"abstract":"This paper suggests a trajectory generation method using convolution operation for wheeled mobile robots. To be smooth (infinitely differentiable) trajectory generation for wheeled mobile robot, a curvature is utilized in this paper. It makes possible that mobile robots have arbitrary final position and heading angle. After making path to be followed, the trajectory is designed in such a way to satisfy given constraints such as maximum velocity, maximum acceleration and maximum jerk. Also, convolution method is able to guarantee the trajectory to satisfy given constraints. Since mobile robots are equipped with driving motors as control inputs, ultimately, motor's specifications are utilized for convolution trajectory generation.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"176 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126257663","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
A method to recognize road terrain with 3D scanning 一种三维扫描道路地形识别方法
2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) Pub Date : 2011-11-01 DOI: 10.1109/URAI.2011.6145858
Kazuki Hayashida, Jae Hoon Lee, S. Okamoto
{"title":"A method to recognize road terrain with 3D scanning","authors":"Kazuki Hayashida, Jae Hoon Lee, S. Okamoto","doi":"10.1109/URAI.2011.6145858","DOIUrl":"https://doi.org/10.1109/URAI.2011.6145858","url":null,"abstract":"This research deals with a method to recognize road terrain for a robot to navigate near building. In order to move a robot in and around buildings, it is required to recognize some structured way of both indoor and outdoor environment such as slope, steps, stairs and so on. For that, a detection technique based on 3D scan and plane geometry was proposed in this research. By adopting preprocessing to extract lines from scan points, it can make planes effectively. Experiments with the proposed method to recognize the environment near building were carried out.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126292314","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
Guideline for determination of link mass of a robot arm for collision safety 用于碰撞安全的机械臂连杆质量的测定指南
2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) Pub Date : 2011-11-01 DOI: 10.1109/URAI.2011.6145847
Sang-Duck Lee, Jae-Bok Song
{"title":"Guideline for determination of link mass of a robot arm for collision safety","authors":"Sang-Duck Lee, Jae-Bok Song","doi":"10.1109/URAI.2011.6145847","DOIUrl":"https://doi.org/10.1109/URAI.2011.6145847","url":null,"abstract":"In recent years the collision safety between a human and a robot has been increasingly important because of the spread of service robots. In order to design a safe robot arm, the collision safety evaluation must be conducted prior to the construction of the robot arm to compute the necessary design parameters. Previous evaluation methods required the use of the actual robot, which are both time consuming and expensive. In this study we propose a new human-robot collision model and a collision safety evaluation method which does not require the use of the actual robot. A human-robot collision model is developed, and the collision safety of a 3 DOF planar robot arm is evaluated. Then, using the evaluation results, the design of the robot arm is modified to ensure the collision safety. The proposed evaluation method enables the appropriate design parameters for a safe robot arm to be determined in a short period of time at the minimal cost.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128109208","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
A behavior model of autonomous mobile projection robot for the visual information 基于视觉信息的自主移动投影机器人行为模型
2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) Pub Date : 2011-11-01 DOI: 10.1109/URAI.2011.6145894
T. Shiotani, K. Maegawa, Joo-Ho Lee
{"title":"A behavior model of autonomous mobile projection robot for the visual information","authors":"T. Shiotani, K. Maegawa, Joo-Ho Lee","doi":"10.1109/URAI.2011.6145894","DOIUrl":"https://doi.org/10.1109/URAI.2011.6145894","url":null,"abstract":"This paper describes about the behavior model for a mobile-projection robot. A mobile-projection robot which is named as Ubiquitous Display (UD) has been developed. UD is visual informative presentation device which is able to support interaction between a projected image and users. In this paper, a behavior model, which is based on parameters of user, obstacles and projected image with dynamic environment for UD is implemented. To verify the validity of the proposed behavior model, experiments were conducted.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121591526","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: 5
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