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

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The method of roll maintain for spherical robot of torque driven type from the external impact 研究了力矩驱动型球形机器人在外力冲击下的滚转保持方法
2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) Pub Date : 2011-11-01 DOI: 10.1109/URAI.2011.6145873
Gye-do Park, Hyun Lee, Kyoung-Hwan Kim, Jangmyung Lee
{"title":"The method of roll maintain for spherical robot of torque driven type from the external impact","authors":"Gye-do Park, Hyun Lee, Kyoung-Hwan Kim, Jangmyung Lee","doi":"10.1109/URAI.2011.6145873","DOIUrl":"https://doi.org/10.1109/URAI.2011.6145873","url":null,"abstract":"This paper propose a new balance control method of spherical robot. When motors generate turning force, Spherical robot can maintain the balance for roll using the moment of inertia and angular acceleration. This method which is fixed to the center axis by bearing has zero angular acceleration, so spherical robot maintains the balance from disturbance and external impact. For the measurement of roll slope, this system used the gyro and acceleration sensor and used the kalman filter because of exact measurement of gyro and acceleration sensor which have a noise.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"134 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":"115025127","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
Map management system for cv-SLAM 地图管理系统的cv-SLAM
2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) Pub Date : 2011-11-01 DOI: 10.1109/URAI.2011.6145932
Hyukdoo Choi, Euntai Kim, Y. Park, C. Kim
{"title":"Map management system for cv-SLAM","authors":"Hyukdoo Choi, Euntai Kim, Y. Park, C. Kim","doi":"10.1109/URAI.2011.6145932","DOIUrl":"https://doi.org/10.1109/URAI.2011.6145932","url":null,"abstract":"This paper present a map management system for ceiling vision (cv)-SLAM where a map is comprised of line landmarks on the ceiling. Since the size of a map, which is the number of landmarks, is related to computational and memorial cost, it should be managed in an appropriate size. For this purpose, the binary Bayes filter is utilized to estimate the probability of existence of a landmark. We demonstrate the system in the real world experiment to prove its performance.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"12 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":"116317759","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
Reducing localization ambiguity of immobile passive UHF RFID tagged physical objects 减少固定无源超高频RFID标签物理对象的定位歧义
2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) Pub Date : 2011-11-01 DOI: 10.1109/URAI.2011.6145928
Jae Sung Choi, Hyun Lee, Sang-Cheol Lee, Dong Ha Lee
{"title":"Reducing localization ambiguity of immobile passive UHF RFID tagged physical objects","authors":"Jae Sung Choi, Hyun Lee, Sang-Cheol Lee, Dong Ha Lee","doi":"10.1109/URAI.2011.6145928","DOIUrl":"https://doi.org/10.1109/URAI.2011.6145928","url":null,"abstract":"Location sensing of physical objects is one of critical issues in many applications. Passive UHF Radio Frequency Identification (RFID) technique provides an efficient solution because of its low cost for installation and easy identification of the tagged physical objects. In this paper, we research on the localization problem using passive UHF RFID systems. We discuss theoretical and practical characteristics of a passive UHF RFID system. We propose novel algorithm to minimize the number of ambiguous tag points against a single RSSI value from a target tag and increase accuracy of location estimation in 2D grid space. Because of a single Received Signal Strength Indicator (RSSI) can be related to multiple points in the monitoring area due to signal propagation when we use the RSSI based localization technique. According to the analysis of our experiment results, our proposed approach shows over 50% improvement compared with the conventional k-Nearest Neighbor algorithm in a test frame, and 23.24cm of estimation error with a high granularity for localization of box level items with 4 different positions in the immobile applied application such as a smart shelf.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"2 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":"125938608","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
Planning of kicking motion with via-point representation for humanoid robots 仿人机器人通过点表示的踢腿运动规划
2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) Pub Date : 2011-11-01 DOI: 10.1109/URAI.2011.6145987
C. Sung, T. Kagawa, Y. Uno
{"title":"Planning of kicking motion with via-point representation for humanoid robots","authors":"C. Sung, T. Kagawa, Y. Uno","doi":"10.1109/URAI.2011.6145987","DOIUrl":"https://doi.org/10.1109/URAI.2011.6145987","url":null,"abstract":"This paper describes planning of a whole body motion, such as kicking motion, for humanoid robots. Motion planning which is generally accompanied by various constraints is a key problem to achieve the task. In these constraints, the conditions for achieving the task are the most important component in the motion planning. In this research, we propose a method for motion planning with via-point representation to deal with various conditions for achieving the task. The via-point representation plays a crucial role in the reappearance of human movements. Our method deals with various constraints including the achievements for the task by conditions of the via-point parameterization in the optimization process. We applied this method to generate the kicking motion of a humanoid robot HOAP-3, and confirmed that the robot kicked a ball to roll on the ground and to fly in the air.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"121 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":"130145443","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: 8
Compliance control of a position controlled robotic hand using F/T sensors 使用 F/T 传感器对位置控制机械手进行顺应性控制
2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) Pub Date : 2011-11-01 DOI: 10.1109/URAI.2011.6145861
Joonhee Jo, Sung-Kyun Kim, Yonghwan Oh, Sang-Rok Oh
{"title":"Compliance control of a position controlled robotic hand using F/T sensors","authors":"Joonhee Jo, Sung-Kyun Kim, Yonghwan Oh, Sang-Rok Oh","doi":"10.1109/URAI.2011.6145861","DOIUrl":"https://doi.org/10.1109/URAI.2011.6145861","url":null,"abstract":"There are a variety of robotic hands with many different hardware configurations including many sensors. For a robotic hand, physical interaction between the hand and objects is an interesting point. Compliance control is of great importance in grasping arbitrary object. In this paper, compliance control of position controlled robotic hand is attempted with external sensor on the finger tip. Utilizing an F/T sensor, sensor compensation first and then gravity compensation are executed. Overall system and algorithm are analyzed with the proposed controllers. For validating the proposed method, low-pass filter (LPF), sensor initial calibration are conducted and showed competent results.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"18 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":"131069977","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: 10
Development of educational material for manufacturing engineering using stereo vision and 3D CAD/CAM 利用立体视觉和三维CAD/CAM技术开发制造工程教材
2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) Pub Date : 2011-11-01 DOI: 10.1109/URAI.2011.6145853
Y. Oshima, T. Morishita
{"title":"Development of educational material for manufacturing engineering using stereo vision and 3D CAD/CAM","authors":"Y. Oshima, T. Morishita","doi":"10.1109/URAI.2011.6145853","DOIUrl":"https://doi.org/10.1109/URAI.2011.6145853","url":null,"abstract":"This paper proposes a technical education program for engineering students; this program is based on a 3D CAD/CAM technology and a stereo vision technology, and it encourages the students to use a CAD/CAM circuit board and an image information processing system. Further, in this study, control experiments involving the use of a simple and compact robot equipped with a stereo vision system were performed. In addition, this education program that introduces students to the attractive 3D CAD/CAM technology and the stereo vision technology can expect to provide students an interesting experience on both constructing a robot and programming.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"38 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":"131003409","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
Periodic task scheduling algorithm under precedence constraint based on topological sort 优先级约束下基于拓扑排序的周期任务调度算法
2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) Pub Date : 2011-11-01 DOI: 10.1109/URAI.2011.6145920
Si Wan Kim, H. Park
{"title":"Periodic task scheduling algorithm under precedence constraint based on topological sort","authors":"Si Wan Kim, H. Park","doi":"10.1109/URAI.2011.6145920","DOIUrl":"https://doi.org/10.1109/URAI.2011.6145920","url":null,"abstract":"Almost real-time systems are constructed by periodic tasks that have precedence. In this paper, we propose scheduling method and validation algorithm. This method allocate periodic task that have precedence relations for fixed priority using topological sort algorithm. And we validation this algorithm using simple example.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"1 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":"131344407","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
Automation of Air Data Test System 空气数据测试系统自动化
2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) Pub Date : 2011-11-01 DOI: 10.1109/URAI.2011.6145867
Syed Hayder Abbas, Muhammad Yousaf Ali Khan, Imran Pervez
{"title":"Automation of Air Data Test System","authors":"Syed Hayder Abbas, Muhammad Yousaf Ali Khan, Imran Pervez","doi":"10.1109/URAI.2011.6145867","DOIUrl":"https://doi.org/10.1109/URAI.2011.6145867","url":null,"abstract":"In this paper we have presented an approach to automate the air data testing techniques. Traditionally the Air Data Test System (ADTS) is manually programmed with different values, using the built-in numeric keypad on the equipment, to calibrate the pressure and altitude sensors of a vehicle or aircraft. For each input the resulting output is compared with it. This manual approach is suitable for small ranges of pressure but when the sensor needs to be tested over a large range of pressure values, is time consuming and thus becomes impractical. Thus the need arises for automating the calibration process. This paper presents the implementation of an application developed in Lab VIEW for automating the calibration of the ADS via the GPIB interface. The GUI developed allows for extensive testing of the sensor in limited time.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"29 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":"126756016","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
Probabilistic shape vision for embedded systems 嵌入式系统的概率形状视觉
2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) Pub Date : 2011-11-01 DOI: 10.1109/URAI.2011.6145952
S. Olufs, M. Vincze, P. Plöger
{"title":"Probabilistic shape vision for embedded systems","authors":"S. Olufs, M. Vincze, P. Plöger","doi":"10.1109/URAI.2011.6145952","DOIUrl":"https://doi.org/10.1109/URAI.2011.6145952","url":null,"abstract":"This paper presents a robust object tracking method using a sparse shape-based object model for embedded systems with limited computational capabilities. Our approach consists of three ingredients namely shapes, a motion model and a sparse (non-binary) sub-sampling of colours in background and foreground parts based on the shape assumption. The tracking itself is inspired by the idea of having a short-term and a longterm memory. A lost object is “missed” by the long-term memory when it is no longer recognized by the short-term memory. Moreover, the long-term memory allows to re-detect vanished objects and using their new position as a new initial position for object tracking. The short-term memory is implemented with a new Monte Carlo variant which provides a heuristic to cope with the loss-of-diversity problem. It enables simultaneous tracking of multiple (visually) identical objects. The long-term memory is implemented with a Bayesian Multiple Hypothesis filter. We demonstrate the robustness of our approach with respect to object occlusions and non-Gaussian/non-linear movements of the tracked object. Our approach is very scalable since one can tune the parameters for a trade-off between precision and computational time.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"32 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":"114248125","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
Hybrid control architecture of the robotic surveillance system using smartphones 智能手机机器人监控系统的混合控制体系结构
2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) Pub Date : 2011-11-01 DOI: 10.1109/URAI.2011.6146015
Huikyung Oh, Incheol Kim
{"title":"Hybrid control architecture of the robotic surveillance system using smartphones","authors":"Huikyung Oh, Incheol Kim","doi":"10.1109/URAI.2011.6146015","DOIUrl":"https://doi.org/10.1109/URAI.2011.6146015","url":null,"abstract":"This paper presents the hybrid control of an intelligent surveillance system that enables a smartphone user to surveil or monitor home invaders, old/sick persons or little children remotely via a mobile home robot combined with his/her smartphone. In view of the mobile robot's limited cognitive and computational abilities, the surveillance system is designed to control the robot in a user-robot collaborative manner rather than rely on the robot's fully autonomous control.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"281 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":"116076209","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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