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Using Autonomous Robots to Enable Self-organizing Broadband Networks
Eric T. Matson,Benny Leong,Cory Q. Nguyen,Anthony Smith,Juan P. Wachs 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
Broadband is a ubiquitous technology for connecting people together via a basic communications medium. Incorporating mobility into broadband antennas provides for the creation of movable nodes which can seek out other nodes. In contrast, stationary broadband nodes are incapable of finding new nodes if they are out of range or have an impediment. Supplying a broadband node with mobility and the capability to adapt to its environment, as well as, to other broadband nodes, is the central aim of this effort. This research enables self-organizing mobile broadband networks with the integration of broadband radios, autonomous robotic platforms and multiagent organizations. The broadband network acts as an infrastructure for external users and connects all robotic instances. The integration of these technologies furthers the ability to communicate where mobility and adaptation are critical.
김동한,Sebastian Rodriguez,Eric T. Matson,김종현 한국전자통신연구원 2018 ETRI Journal Vol.40 No.4
In recent years, there has been increasing interaction between humans and non‐human systems as we move further beyond the industrial age, the informationage, and as we move into the fourth‐generation society. The ability to distinguish between human and non‐human capabilities has become more difficult to discern. Given this, it is common that cyber‐physical systems (CPSs) are rapidly integrated with human functionality, and humans have become increasingly dependent on CPSs to perform their daily routines.
Byung-Cheol Min,Ji-Hyeon Hong,Eric T. Matson 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10
This research deals with an altitude controller of a quadrotor type UAV with an unknown total mass of the structure. We assume that the uncertainty results from the flight mission in which the UAV carries unknown payloads. Since the quadrotor type UAV involves both translational and rotational motions due to its inherent dynamics, it is of importance to know accurate information on the vehicles the moment of inertia and the total mass in order to guarantee the UAVs attitude and position controls. An Adaptive Robust Control (ARC) is utilized to compensate for the parametric uncertainty. Then, Lyapunov based stability analysis shows that the proposed control design guarantees asymptotic tracking error for the UAVs altitude control. Numerical simulation results which are time-based are presented to illustrate the good tracking performance of the designed control law.
An Approach for Reducing Computational Time for Real-Time Autonomous Vehicle Tracking
TaeWook Hwang,Seonhee Kim,Sujeong Kim,Gilsang Jang,Jihye Park,Seongha Park,Eric T. Matson,Kyungsup Kim 제어로봇시스템학회 2018 제어로봇시스템학회 국제학술대회 논문집 Vol.2018 No.10
Autonomous vehicles are familiar to public in daily life nowadays. For a recreational purpose, autonomous vehicles such as drones are commonly adopted for people. However with the easy accessibility, those autonomous vehicles can be a threat to anyone. Moreover, to detect and prevent those possible threats, real-time detection and tracking system is required. With the requirements, we propose a real-time communication between post-processing device and autonomous vehicle tracking sensor, which is a radar and a noise reduction method for post-processing. With the proposed method, a Frequency Modulated Continuous Wave (FMCW) radar can be utilized for real-time monitoring of autonomous vehicle. In this paper, we used an audio file recorded through a FMCW radar for distance tracking. The recorded audio data were processed by Inverse Fast Fourier Transformation (IFFT) and noise cancellation. We propose a data selection formula for faster IFFT processing and a noise reduction method in real-time communication. Also we propose a simple Android application to receive the processed data that sent to as distances of the target autonomous vehicle in time in real-time, so that a user can conveniently watch an autonomous vehicle near the radar.
An Adaptive Goal-Based Model for Autonomous Multi-Robot Using HARMS and NuSMV
Kim, Yongho,Jung, Jin-Woo,Gallagher, John C.,Matson, Eric T. Korean Institute of Intelligent Systems 2016 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.16 No.2
In a dynamic environment autonomous robots often encounter unexpected situations that the robots have to deal with in order to continue proceeding their mission. We propose an adaptive goal-based model that allows cyber-physical systems (CPS) to update their environmental model and helps them analyze for attainment of their goals from current state using the updated environmental model and its capabilities. Information exchange approach utilizes Human-Agent-Robot-Machine-Sensor (HARMS) model to exchange messages between CPS. Model validation method uses NuSMV, which is one of Model Checking tools, to check whether the system can continue its mission toward the goal in the given environment. We explain a practical set up of the model in a situation in which homogeneous robots that has the same capability work in the same environment.
An Adaptive Goal-Based Model for Autonomous Multi-Robot Using HARMS and NuSMV
Yongho Kim,Jin-Woo Jung,John C. Gallagher,Eric T. Matson 한국지능시스템학회 2016 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.16 No.2
In a dynamic environment autonomous robots often encounter unexpected situations that the robots have to deal with in order to continue proceeding their mission. We propose an adaptive goal-based model that allows cyber-physical systems (CPS) to update their environmental model and helps them analyze for attainment of their goals from current state using the updated environmental model and its capabilities. Information exchange approach utilizes Human-Agent-Robot-Machine-Sensor (HARMS) model to exchange messages between CPS. Model validation method uses NuSMV, which is one of Model Checking tools, to check whether the system can continue its mission toward the goal in the given environment. We explain a practical set up of the model in a situation in which homogeneous robots that has the same capability work in the same environment.
A HARMS-based heterogeneous human-robot team for gathering and collecting
Kim, Miae,Koh, Inseok,Jeon, Hyewon,Choi, Jiyeong,Min, Byung Cheol,Matson, Eric T.,Gallagher, John Techno-Press 2018 Advances in robotics research Vol.2 No.3
Agriculture production is a critical human intensive task, which takes place in all regions of the world. The process to grow and harvest crops is labor intensive in many countries due to the lack of automation and advanced technology. Much of the difficult, dangerous and dirty labor of crop production can be automated with intelligent and robotic platforms. We propose an intelligent, agent-oriented robotic team, which can enable the process of harvesting, gathering and collecting crops and fruits, of many types, from agricultural fields. This paper describes a novel robotic organization enabling humans, robots and agents to work together for automation of gathering and collection functions. The focus of the research is a model, called HARMS, which can enable Humans, software Agents, Robots, Machines and Sensors to work together indistinguishably. With this model, any capability-based human-like organization can be conceived and modeled, such as in manufacturing or agriculture. In this research, we model, design and implement a technology application of knowledge-based robot-to-robot and human-to-robot collaboration for an agricultural gathering and collection function. The gathering and collection functions were chosen as they are some of the most labor intensive and least automated processes in the process acquisition of agricultural products. The use of robotic organizations can reduce human labor and increase efficiency allowing people to focus on higher level tasks and minimizing the backbreaking tasks of agricultural production in the future. In this work, the HARMS model was applied to three different robotic instances and an integrated test was completed with satisfactory results that show the basic promise of this research.
AWARE Pulse: An Integrated Portal to the AWARE Platform
Benny Leong,Cory Q. Nguyen,Anthony H. Smith,Eric T. Matson,J. Eric Dietz 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10
This paper presents the AWARE Pulse application that serves as a web portal to the AWARE platform that provides a mobile wireless network through the use of autonomous robotic agents. In particular, this paper discusses the overall application architecture including the various components within the application, the different roles of the application as well as the integration of AWARE Pulse into the existing AWARE platform.