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홈 > 분야별

공학 > 제어계측공학 (342건)

On the Problem of Describing Activities in Context-Aware Environments
On the Problem of Describing Activities in Context-Aware Environments
Fulvio Mastrogiovanni;Antonio Sgorbissan;Renato Zaccaria
한국과학기술원 인간친화 복지 로봇 시스템 연구센터 / International Journal of Assistive Robotics and Mechatronics 제9권 제4호 / 2008 / 4-19 (16 pages)
공학>제어계측공학 / KDC : 기술과학 > 기계공학 / KCI : 공학 > 제어계측공학
초록보기
A framework is introduced that is aimed at allowing the description of real-world situations to be recognized by context-aware applications, with a special emphasis on Ambient Intelligence(AmI) scenarios, such as Smart Homes. In particular, the Situation Description Language SDL is delineated, which allows to easily specify patters of activities and events which occurrences must be assessed using information originating from distributed devices. As long as sensory observations are available, symbolic information is first aggregated and then classified according to formulas described in SDL. Examples grounded with respect to a real-world Smart Home environment are presented and discussed.
Social Rhythms and Nocturnal Routines in Community Dwelling Older Adults
Social Rhythms and Nocturnal Routines in Community Dwelling Older Adults
Julie Behan;David Prendergast;Lorcan Wals;Brenda Quigley
한국과학기술원 인간친화 복지 로봇 시스템 연구센터 / International Journal of Assistive Robotics and Mechatronics 제9권 제4호 / 2008 / 63-73 (11 pages)
공학>제어계측공학 / KDC : 기술과학 > 기계공학 / KCI : 공학 > 제어계측공학
초록보기
This paper describes a pilot carried out by The Digital Health Group in Intel, in which daily social rhythms of community dwelling older adults were examined and related to objectively and subjectively recorded sleep measurements. Ten relatively healthy independently living older adults were interviewed using ethnographic processes to determine a baseline of social activities, behaviours and nocturnal sleeping routines. Each home was fitted with six sensing elements to establish and monitor daily and nocturnal activities. Social behaviours were explored through social contact through phone conversation and human interaction, through mobility, inside and outside the home, and through a person's self reported internal state (how they feel each day). Nocturnal rhythms were examined through actigraph watches and bed pressure sensing devices. A preliminary sub-set of the results are presented in this paper in the form of case studies showing subjective and objective data sets and their comparison to social routines.
Message from Director of HWRS-ERC
Message from Director of HWRS-ERC
Z.Zenn Bien
한국과학기술원 인간친화 복지 로봇 시스템 연구센터 / International Journal of Assistive Robotics and Mechatronics 제9권 제4호 / 2008 / 120-121 (2 pages)
공학>제어계측공학 / KDC : 기술과학 > 기계공학 / KCI : 공학 > 제어계측공학
* 이 논문은 저작권자의 요청으로 무료로 제공됩니다.
A Study on the Application of the Software Framework MASSIVE in KAIST's Intelligent Sweet Home System
A Study on the Application of the Software Framework MASSIVE in KAIST's Intelligent Sweet Home System
Oliver Prenzel;Sang Wan Lee;Zeungnam Bien;Axel Graeser
한국과학기술원 인간친화 복지 로봇 시스템 연구센터 / International Journal of Assistive Robotics and Mechatronics 제9권 제4호 / 2008 / 74-84 (11 pages)
공학>제어계측공학 / KDC : 기술과학 > 기계공학 / KCI : 공학 > 제어계측공학
초록보기
MASSIVE (Multi - Layer Architecture for Semi-Autonomous Service Robots with Verified Task Execution) is a software framework that provides and infrastructure concept for distributed sensor and actuator systems such as service robots, operating in environments that are equipped with smart components. Besides this modular and extensible architecture, a principle of task knowledge specification and verification with process-structures in included in MASSIVE that is able to guarantee task planning in real time along with verified and thus robust system runtime behavior. In this paper the framework is presented briefly. The focus of this contribution is to study how to apply the MASSIVE principles for a typical sample application scenario in KAIST's Intelligent Sweet Home System. First, the required software components have to be derived, and second the exemplary application of MASSIVE's specification and verification methods and tools is demonstrated. The flexibility and the structuring capabilities of the MASSIVE framework as well as the impact of fast system deployment will be worked out.
A Logical Framework for Behaviour Reasoning and Assistance in a Smart Home
A Logical Framework for Behaviour Reasoning and Assistance in a Smart Home
Liming Chen;Chris Nugent;Maurice Mulvenna;Dewar Finlay;Xin hong;and Michael Poland
한국과학기술원 인간친화 복지 로봇 시스템 연구센터 / International Journal of Assistive Robotics and Mechatronics 제9권 제4호 / 2008 / 20-33 (14 pages)
공학>제어계측공학 / KDC : 기술과학 > 기계공학 / KCI : 공학 > 제어계측공학
초록보기
Smart Homes(SH) have emerged as a realistic intelligent assistive environment capable of providing assistive living for the elderly and the disabled. Nevertheless, it still remains a challenge to assist the inhabitants of a SH in performing the "right" action(s) at the "right" time in the "right" place. To address this challenge, this paper introduces a novel logical framework for cognitive behavioural modelling, reasoning and assistance based on a highly developed logical theory of actions - the Event Calculus. Cognitive models go beyond data- centric behavioural models in that they govern an inhabitant's behaviour by reasoning about its knowledge, actions and environmental events. In our work we outline the theoretical foundation of such and approach and describe cognitive modelling of SH. We discuss the reasoning capabilities and algorithms of the cognitive SH model and present the details of the various tasks it can support. A system architecture is proposed to illustrate the use of the framework in facilitating assistive living. We demonstrate the perceived effectiveness of the approach through presentation of its operation in the context of a real world daily activity scenario.
Related Conferences & Workshops Calendar
Related Conferences & Workshops Calendar
편집부
한국과학기술원 인간친화 복지 로봇 시스템 연구센터 / International Journal of Assistive Robotics and Mechatronics 제9권 제4호 / 2008 / 122-123 (2 pages)
공학>제어계측공학 / KDC : 기술과학 > 기계공학 / KCI : 공학 > 제어계측공학
* 이 논문은 저작권자의 요청으로 무료로 제공됩니다.
Pervasive Assistance in Smart Homes for People with Intellectual Disabilities
Pervasive Assistance in Smart Homes for People with Intellectual Disabilities
Jèrèmy Bauchet;Sylvain Giroux;Hélène Pigot;Dany Lussier-Desrochers;Yves Lachapelle
한국과학기술원 인간친화 복지 로봇 시스템 연구센터 / International Journal of Assistive Robotics and Mechatronics 제9권 제4호 / 2008 / 42-54 (13 pages)
공학>제어계측공학 / KDC : 기술과학 > 기계공학 / KCI : 공학 > 제어계측공학
초록보기
Cognitively impaired people in general and people with intellectual disabilities in particular may suffer from deficits of attention, initiation, memory, or planning. Such deficits prevent them to perform accurately and successfully their activities of daily living(ADL). Meal preparation is a significant ADL for achieving autonomous living. Thanks to Archipel, a pervasive cognitive assistant for meal preparation, they can improve and foster their autonomy and auto-determination. A study involving twelve(12) persons with intellectual disabilities demonstrated that archipel, pervasive computing, and ambient intelligence are very promising technologies.
Software Interface for Hardware-independent Robot Platforms
Software Interface for Hardware-independent Robot Platforms
Ji-Woo Park;Yun-Sik Son;jin-Woo Jung;Se-Man Oh
한국과학기술원 인간친화 복지 로봇 시스템 연구센터 / International Journal of Assistive Robotics and Mechatronics 제9권 제4호 / 2008 / 110-119 (10 pages)
공학>제어계측공학 / KDC : 기술과학 > 기계공학 / KCI : 공학 > 제어계측공학
초록보기
In most research, robots have been regarded as having a complete set of functions. Such robots can fulfill only specialized roles. Accordingly, it is not possible to use these robot systems for a variety of purposes. However, if robot tools are defined as each of functional elements, robots can be repurposed for a variety of tasks. By connecting various robot tools, robots can be enabled to perform a multitude of functions. This type of robot is referred to here as a tool-based evolution robot. Tool-based evolution robots must support interfaces allowing interactive functions between robots. In this paper, a software interface for a hardware-independent robot platform is proposed. This interface offers a method to allow hardware-dependent functions between robots. The Proposed software interface is designed to consider dynamic loading/removing. The interface can support the use of hardware-dependent functions between robots. Finally, a foundation allowing dynamic addition and removal of robot components is established.
Special Issue on Ambient Intelligence in Smart Homes
Special Issue on Ambient Intelligence in Smart Homes
J. Biswas;M.A. Feki
한국과학기술원 인간친화 복지 로봇 시스템 연구센터 / International Journal of Assistive Robotics and Mechatronics 제9권 제4호 / 2008 / 2-3 (2 pages)
공학>제어계측공학 / KDC : 기술과학 > 기계공학 / KCI : 공학 > 제어계측공학
* 이 논문은 저작권자의 요청으로 무료로 제공됩니다.
Context-aware Reminder Coordination for Assisting Daily Activities of Elders with Dementia
Context-aware Reminder Coordination for Assisting Daily Activities of Elders with Dementia
Kejun Du;Daqung Zhang;Xingshe Zhou;Mounir Mokhtari
한국과학기술원 인간친화 복지 로봇 시스템 연구센터 / International Journal of Assistive Robotics and Mechatronics 제9권 제4호 / 2008 / 34-41 (8 pages)
공학>제어계측공학 / KDC : 기술과학 > 기계공학 / KCI : 공학 > 제어계측공학
초록보기
Elderly people with mild dementia often have difficulty to complete daily activities because of memory impairment. This paper proposes to use context-aware reminders to assist elders with mild dementia for their daily activities. four kinds of reminders are identified in our system, and the coordination among different reminders is particularly researched, leading to a novel scheduling mechanism and a context-aware prompting strategy. The scheduling mechanism resolves the reminder conflicts, and the context-aware prompting strategy ensures the completion of the reminded daily activities to the greatest extent. In order to facilitate the interaction between caregivers and the system, we also provide a reminder description model and a simple software tool for caregivers to create and edit the reminding services. Finally, some initial implementation results are presented.
Condensation Principal Component Analysis
Condensation Principal Component Analysis
Kap-Ho Seo;Changmok Oh;Ju-Jang Lee
한국과학기술원 인간친화 복지 로봇 시스템 연구센터 / International Journal of Assistive Robotics and Mechatronics 제9권 제4호 / 2008 / 104-109 (6 pages)
공학>제어계측공학 / KDC : 기술과학 > 기계공학 / KCI : 공학 > 제어계측공학
초록보기
An Intelligent Bed Robot System(IBRS) is proposed to help the elderly and the disabled attain an independent life getting into and out of bed. The IBRS is a special bed equipped with two robot arms and an array of pressure sensors attached to the mattress. The pressure distribution on the mattress is used to estimate the position of the patient, and an appropriate assistance is provided by the robot arms.
Utilization of Reaction Force Information for Robotic Mobility Aids for the Elderly
Utilization of Reaction Force Information for Robotic Mobility Aids for the Elderly
Jin-Kyu Choi · Choong Sik Park
한국과학기술원 인간친화 복지 로봇 시스템 연구센터 / International Journal of Assistive Robotics and Mechatronics 제9권 제4호 / 2008 / 85-94 (10 pages)
공학>제어계측공학 / KDC : 기술과학 > 기계공학 / KCI : 공학 > 제어계측공학
초록보기
Existing robotic mobility aids have been developed with various functions that support the everyday life of elderly people. However, most of them have no countermeasures against tumbling, which can cause the user to fall. One way to assure safety against such a tumble is to give the information of the stability margin to the user before a rumble occurs. The purpose of this paper is to propose the utilization of the reaction force information near the wheels to improve the safety level during the use of mobility aids. It is shown that the reaction force information supplies not only the ZMP(aero-moment point) for providing a current stability margin but also the orientation angles of the device, the user's force, the load on the actuated wheel, and the mass and its center position in a 3-D space for safer walking assistance. In this paper, the methods to obtain the advantages produced when using the reaction force information are initially formulated, and a number of examples to confirm the methods then are presented and discussed.
Real-life Experimental Data Acquisition in Smart Home and Data Analysis Tool Development
Real-life Experimental Data Acquisition in Smart Home and Data Analysis Tool Development
Tatsuya Yamazaki;Tetsuo Toyomura
한국과학기술원 인간친화 복지 로봇 시스템 연구센터 / International Journal of Assistive Robotics and Mechatronics 제9권 제4호 / 2008 / 55-62 (8 pages)
공학>제어계측공학 / KDC : 기술과학 > 기계공학 / KCI : 공학 > 제어계측공학
초록보기
Collecting smart environment experimental data in a real situation and sharing the data are necessary to make the technologies used in the smart environment more practical. We have developed a data analysis tool for the real-life experiment data collected in a smart home environment. the subjects of the 16-day experimental data were a couple of husband and wife in their sixties. the data analysis tool as well as the collected data with the consent of the subjects is open for the purpose of research and development. In this paper, we introduce how the data were collected and the outline of the data analysis tool to promote interdisciplinary research and standardization activities in the field of smart environments.
Incorporating Network Connectivity in Beacon Localization via Cost Function Minimization
Incorporating Network Connectivity in Beacon Localization via Cost Function Minimization
Shinkyu Park;Jeongsik Choi;Jimin Kim;Beomhee Lee
한국과학기술원 인간친화 복지 로봇 시스템 연구센터 / International Journal of Assistive Robotics and Mechatronics 제9권 제4호 / 2008 / 95-103 (9 pages)
공학>제어계측공학 / KDC : 기술과학 > 기계공학 / KCI : 공학 > 제어계측공학
초록보기
In robot localization systems, sensor networks are often deployed for computing the robots's positions. However, these systems require a prior knowledge of the positions of the beacons that from the sensor network. Range-only Simultaneous Localization and Mapping(SLAM) using robot-to-beacon range measurements has been on major approach to finding the positions of both the robot and the beacons in sensor networks. Other recent research has shown that by incorporating beacon-to-beacon ranges that establish the connectivity between beacons into the SLAM algorithm, the beacon map obtained by SLAM can be improved. In order to improve the map with such connectivity, a method for incorporating established connectivity is needed. Thus, a cost function minimization approach that considers the entire connectivity concurrently and has low computational complexity is proposed here. The simulation results show that this approach improves the accuracy of estimated positions for both the robot and the beacons.
Special Issue on Learning and Evolution Techniques for Assistive Robots
Special Issue on Learning and Evolution Techniques for Assistive Robots
Jin-Woo Jung
한국과학기술원 인간친화 복지 로봇 시스템 연구센터 / International Journal of Assistive Robotics and Mechatronics 제9권 제3호 / 2008 / 2-2 (1 pages)
공학>제어계측공학 / KDC : 기술과학 > 기계공학 / KCI : 공학 > 제어계측공학
* 이 논문은 저작권자의 요청으로 무료로 제공됩니다.
Broadcast Scheduling for Intelligent Service Robots
Broadcast Scheduling for Intelligent Service Robots
MeeHwa Park;Yong Kyu Lee
한국과학기술원 인간친화 복지 로봇 시스템 연구센터 / International Journal of Assistive Robotics and Mechatronics 제9권 제3호 / 2008 / 32-39 (8 pages)
공학>제어계측공학 / KDC : 기술과학 > 기계공학 / KCI : 공학 > 제어계측공학
초록보기
Broadcasting can be used to send data to multiple intelligent service robots from a server in a wireless mobile environment. If data requests from robots change dynamically, previous broadcast scheduling methods become inefficient since they schedule based only on the static frequency of data requests. Moreover, they could make a high-priority robot wait long for infrequently requested data because they schedule frequent data first without considering user priorities. In this paper, we propose a new broadcast scheduling method that reflects dynamic changes of users' requests based on user profiles. It also considers users' priorities to reduce the data access time of high-priority users. Simulation is performed to compare the performance of our approach with that of two previous approaches using user's access patterns. The result on the experiments shows that our approach outperforms others.
Implementation of Robot-PNP for Intelligent Self-Reconfiguration Based on Scenario
Implementation of Robot-PNP for Intelligent Self-Reconfiguration Based on Scenario
Chang Seog Song;Yeon Geol Rye;Myung Jin Chung
한국과학기술원 인간친화 복지 로봇 시스템 연구센터 / International Journal of Assistive Robotics and Mechatronics 제9권 제3호 / 2008 / 17-23 (7 pages)
공학>제어계측공학 / KDC : 기술과학 > 기계공학 / KCI : 공학 > 제어계측공학
초록보기
Previously, robots were an assembly-type devices designed for accomplishment of a specific purpose. However, recent intelligent service robots require the capabilities of learning and evolving their operating systems, hardware, and software by themselves. Therefore, we research a technology which can automatically search for peripheral IT devices and other robots without direct connection in a complex indoor environment and recognize them, like PNP (plug and play). However, most robot-PNP technology is based on a wire USB interface which connects them with a sensor or actuator by cable, and this interface is able to connect only to robot platforms and devices. We propose a wireless robot-PNP based on IEEE 802.1.5.4 for an intelligent service robot. The proposed robot-PNP can search and recognize peripheral devices without directly connecting to a robot body. The proposed PNP consists of six modules (Device Discovery, Event Management, Device List Management, Device Profile Analysis, Service Discovery, and Device Control. The proposed robot-PNP can autonomously recognize peripheral devices, including mutual recognition with peripheral devices, and control them like the robot's own components.
Preliminary Study of Articulation Training Supporting System for the Hearing Impaired using Automated Lip Shape Recognition
Preliminary Study of Articulation Training Supporting System for the Hearing Impaired using Automated Lip Shape Recognition
Han-Mu Park;Jin-Woo Jung
한국과학기술원 인간친화 복지 로봇 시스템 연구센터 / International Journal of Assistive Robotics and Mechatronics 제9권 제3호 / 2008 / 52-60 (9 pages)
공학>제어계측공학 / KDC : 기술과학 > 기계공학 / KCI : 공학 > 제어계측공학
초록보기
Many hearing-impaired persons cannot say a word, generally, because they have not had a chance to get the learning for saying by the absence of the ability for hearing. But, the ability for hearing is thoroughly different from the ability for saying. I.e., if the hearing impaired wants to say and tries to say repeatedly, he/she can speak well just like non-hearing impaired persons. This process is called as articulation training and needs many expertise for training all the hearing impaired in Korea. In addition, this process requires repetitive and long time training but the number of expertise is absolutely insufficient. In this paper, a system which can assist the articulation training for the hearing impaired was suggested to help the insufficient number of the articulation training supporters.
Design and Control Strategy for a 5 DOF Above-Elbow Prosthetic Arm
Design and Control Strategy for a 5 DOF Above-Elbow Prosthetic Arm
Subrata Kumar Kun여;Kazuo Kiguchi;Etsuo Horikawa
한국과학기술원 인간친화 복지 로봇 시스템 연구센터 / International Journal of Assistive Robotics and Mechatronics 제9권 제3호 / 2008 / 61-75 (15 pages)
공학>제어계측공학 / KDC : 기술과학 > 기계공학 / KCI : 공학 > 제어계측공학
초록보기
This paper presents a five degree of freedom (DOF) prosthetic arm that is designed for above-elbow (AE) amputees to increase their mobility in daily life activities. The mechanical design and control strategy of the prosthetic arm are proposed. The proposed prosthetic arm is assumed to be controlled using a combination of a muscle electromyogram (EMG) based controller and a task oriented kinematics based controller. A fuzzy rule based EMG controller that uses the EMG signals of residual arm muscles is designed to control the prosthesis elbow and hand motion. The residual upper arm and the prosthesis elbow joint kinematics are used as input information for the kinematics based controller to control the prosthesis 2 DOF wrist and forearm motion. An artificial neural network based classifier that classifies the daily life activities based on the joint kinematics has been designed for the kinematics based controller. After the classification, the inverse kinematic technique is applied to calculate the desired wrist and forearm angles in order to realize the classified task. The kinematics of the arm was acquired with a motion capture system while performing the selected activities. The effectiveness of the proposed controller is evaluated through experiments.
Design of Self-contained Gesture-based Input Device for Human Robot Interface
Design of Self-contained Gesture-based Input Device for Human Robot Interface
won-Chul Bang;Wook Chang;Eun-Seok Choi
한국과학기술원 인간친화 복지 로봇 시스템 연구센터 / International Journal of Assistive Robotics and Mechatronics 제9권 제3호 / 2008 / 3-16 (14 pages)
공학>제어계측공학 / KDC : 기술과학 > 기계공학 / KCI : 공학 > 제어계측공학
초록보기
In this paper, we introduce a spatial input device equipped with accelerometers and gyroscopes for interaction between humans and robots. The sensors measure accelerations and angular velocities produced by the users' handwriting motions in 2D/3D spaces. The measurements from gyroscopes are integrated to give the attitude of the system and are consequently used to remove the effects of the gravity and the inclination of the system. The compensated acceleration measurements are integrated twice to give the position of the system. Due to the integration processes involved in estimating the handwriting trajectory, the accuracy of the position measurement significantly deteriorates along with time. To estimate handwriting trajectory of a stroke on a surface and even in the air, we propose methods to segment a stroke, to compensate the integration errors, and to reconstruct 2D trajectory on the X-y plane from 3D trajectory in 3D space. Real experimental results with several performance measures are included to show the effectiveness and feasibility of the developed input device.