:: ICCAS 2015 ::

TB02		[OS] SICE-ICROS Joint Organized Session on Intelligent Robot System
Time : 13:00~14:30 Room : 102		Chair : Min Cheol Lee, Pusan National University / (Takashi Yoshimi, Shibaura Institute of Technology, )



13:00~13:15	TB02-1

Group-Based Particle Swarm Optimization for Multiple-Vehicles Trajectory Planning
Anugrah K Pamosoaji(University of Atma Jaya Yogyakarta, Indonesia), Keum-Shik Hong(Pusan National University, Korea, Republic of )

This paper discusses a class of group-based particle swarm optimization (GBPSO) used for figuring out admissible velocities on the three-degree Bezier-based path. Constraints of maximum allowable radial and tangential accelerations and tangential velocities are considered. The proposed method is designed for performing minimum-time collision-free trajectories in a multiple-vehicle system. The proposed method has advantages in shortening velocity profile generation time and enhances the searching time. The results of a simulation demonstrating the performance of the proposed GBPSO are presented



13:15~13:30	TB02-2

Survival Probability Map Based Path Planning of Mobile Robots
Se Hong Park, Beom Seok Cho, Min ho Kim, Min Cheol Lee(Pusan National University, Korea, Republic of )

In this paper, we will create a suitable map for a given environment and plan a path to the target as in an engagement situation to find the optimal path, rather than finding the shortest path. Basically, the map is based on grid map and given Environmental information of engagement situation is described as probability based survivability map and visibility map. After combining the cost of A * algorithm's path and the cost of Survivability map and Visibility map, then the optimal path can be find from the engagement situation.



13:30~13:45	TB02-3

Flight Evaluation of Solar Powered Unmanned Flying Vehicle Using Ground Testbed
Hyeon Bo Park, Joo Seok Lee, Kee Ho Yu(Chonbuk national university, Korea, Republic of )

Achieving long endurance of a UAV is very important to perform tasks. A solar UAV is one way for long endurance. However, there is damage or loss of solar UAV for the flight test. In this study, the testbed is designed for replicating flight motion of solar UAV on the ground. The testbed evaluates the performance of the main parts and verifies the ability of the long endurance flight. The system can monitor the energy flow by the measurement of the energy production and the consumption according to flight motion. And the experiment result was compared with the flight simulation for validation.



13:45~14:00	TB02-4

Position Determination of a Popup Menu on Operation screens of a Teleoperation System using a Low Cost Head Tracker
Ryosuke Sugai, Masamitsu Kurisu(Tokyo Denki University, Japan)

In this paper, a position determination of a popup menu for teleoperation using a head tracker is introduced. We develop a teleoperation system with multiple screens and a multi-purpose haptic control device, which enables an operator to control a robot remotely with various operation manners by deforming its configuration. A fixation point of the operator on the screen is estimated by use of a low cost head tracker. The popup menu for selection of the manners appears in the place which the operator is looking at. Usability of the implemented functions is confirmed in simple experiments.



14:00~14:15	TB02-5

Extraction of actions and objects from instruction manual for executable robot planning
Ngoc Hung Pham, Takashi Yoshimi(Shibaura Institute of Technology, Japan)

Home service robots are expected to execute many tasks for human in daily life. This research aims to analyze the instructions from the user manuals of some types of home appliances to extract actions and objects which then can be understood by robot and used for building the working robot plan. We propose a processing procedure including grammatical parsing the instruction sentences by using a parser, then extracting the pairs of action and object from parse tree of each instruction sentence. A manual comparison is executed to evaluate the extraction results.