The Korea Atomic Energy Research Institute (KAERI) launched a nuclear hydrogen program to develop and demonstrate a hydrogen mass production system by 2019. The key feature of the system is to produce the hydrogen fro...The Korea Atomic Energy Research Institute (KAERI) launched a nuclear hydrogen program to develop and demonstrate a hydrogen mass production system by 2019. The key feature of the system is to produce the hydrogen from water using nuclear power. No fossil fuel (energy) will be used and no greenhouse gas will be emitted. The high temperature gas-cooled reactor (HTGR), which has high safety characteristics with competitive economy, is being developed to provide a high temperature heat (about 1000℃) requir...展开更多
Robot programming by demonstration (PBD) system for task in which objectrequires contact with environment is built based on the controlling skill model. The skill isdescribed in three aspects: contact state classifier...Robot programming by demonstration (PBD) system for task in which objectrequires contact with environment is built based on the controlling skill model. The skill isdescribed in three aspects: contact state classifier, acquirement of contact states sequence andcontrolling transition between states. The classifier is developed with the support vector machineby using force sense. Sequence of states is obtained from the force signal of demonstration by theevent trigger. The velocity command of transition is achieved by linearization method. The PBDsystem is successfully built with robot controller with open architecture.展开更多
To acquire human operation skill based on force sense, element contact form (ECF) is proposed to describe contact condition firstly. The skill is modeled as a sequence of discrete ECFs. Since different ECF has differe...To acquire human operation skill based on force sense, element contact form (ECF) is proposed to describe contact condition firstly. The skill is modeled as a sequence of discrete ECFs. Since different ECF has different force distribution, a support vector machine classifier is built to identify the contact conditions according to the force signal. Finally, the robot can obtain the skill from the human demonstration.展开更多
文摘The Korea Atomic Energy Research Institute (KAERI) launched a nuclear hydrogen program to develop and demonstrate a hydrogen mass production system by 2019. The key feature of the system is to produce the hydrogen from water using nuclear power. No fossil fuel (energy) will be used and no greenhouse gas will be emitted. The high temperature gas-cooled reactor (HTGR), which has high safety characteristics with competitive economy, is being developed to provide a high temperature heat (about 1000℃) requir...
基金This project is supported by National Natural Science Foundation of China(No.6997S014) China 863 Robot Automatic Assembly Topic (No.863512972004).
文摘Robot programming by demonstration (PBD) system for task in which objectrequires contact with environment is built based on the controlling skill model. The skill isdescribed in three aspects: contact state classifier, acquirement of contact states sequence andcontrolling transition between states. The classifier is developed with the support vector machineby using force sense. Sequence of states is obtained from the force signal of demonstration by theevent trigger. The velocity command of transition is achieved by linearization method. The PBDsystem is successfully built with robot controller with open architecture.
文摘To acquire human operation skill based on force sense, element contact form (ECF) is proposed to describe contact condition firstly. The skill is modeled as a sequence of discrete ECFs. Since different ECF has different force distribution, a support vector machine classifier is built to identify the contact conditions according to the force signal. Finally, the robot can obtain the skill from the human demonstration.
