Daeha Lee

Transformation algorithms between BPEL4WS and BPML for the executable business process

Web services is an emerging technology of distributed computing as an interoperable means integrating loosely coupled Web applications. The current basic Web services standards SOAP, WSDL and UDDI are not sufficient to fully support the complete business process. To support the business process, several specifications related to the Web services composition, such as BPEL4WS, WSCI, and BPML, were suggested and have been developed in several standard bodies under the support of major vendors. Among them, BPEL4WS and BPML may be used to describe an executable business process used in the internal enterprise system. In this paper, we suggest the transformation algorithms between BPEL4WS and BPML to enhance the interoperability. For example, a BPEL4WS implementation system may use the transformation algorithm from BPML into BPEL4WS in order to refer to a BPML-formatted executable business process. Conversely, the system may use the transformation algorithm from BPEL4WS into BPML in order to export the BPML-formatted document describing its BPEL4WS-based business process instance.

A 100 V, 10 mA high-voltage driver ICs for field emission display applications

We have developed the gate driver IC with 64-channel outputs and the PWM cathode driver IC with 32-channel outputs for driving row/column line of FED panel. The developed gate and the cathode driver ICs having full-complementary high voltage output circuit and CVSL type level shifter are suited for low power consumption, high speed switching as 20 MHz, high output drive voltages ranging from 20 V to 100 V and 20 mA current driving. The high-voltage output stages perform 100 V switching of 50 pF capacitive load with 100 ns of rising/falling time obtained. The LDMOS technology that is completely compatible with 1.2 /spl mu/m analog CMOS process is used to decrease the production cost and increase the packing density of panel driving system. The gate and cathode driver ICs applied 25/spl times/25 FED panels driving board show excellent driving characteristics.

Task allocation strategy of heterogeneous multi-robot for indoor surveillance

Multi-robot cooperation promises increased performance and fault-tolerance in large-scale environments. To achieve the goal with these features, dynamic task allocation algorithm is required to adapt changing environment. Whereas previous researches mostly have been done for simplifying the mission and emphasizing the task allocation algorithm, this paper addresses the needs to analyze the mission more concretely and introduces a strategy for the task allocation problem: off-line and on-line analyses. The off-line analysis takes the robot-working scenario into account statically before deploying the robots. The on-line analysis considers the real time task allocation algorithm while running the robots. Combining these two analyses, efficient task allocation is achieved with minimum cost.

Identifying principal social signals in private student-teacher interactions for robot-enhanced education

Providing robots with social intelligence is critical for making entertaining and sustainable human-robot interactions. The first step to get good social intelligence is to appropriately understand the meaning of social signals emitted by interactors. In this paper, we introduce a preliminary study on identifying principal social signals in interpreting participants engagement and confirmation intention in 1:1 interactions. We annotated 6 video recordings of private teacher-student interactions with 20 social signals and their interpretations, and built pattern data sets with different subsets of social signals. C4.5 based decision trees were generated using the pattern data sets and the recall rates were compared. Also attribute selection was performed to find principal social signals. The results showed that verbal signal was the most principal for determining engagement, and the combination of gaze and verbal signal for confirmation intention.

Cooperative Multi-robot Searching Algorithm

The problem of multi-robot for searching mission with fully communicative known environment is considered in this paper. Robots are required to maneuver every part of the given environment repeatedly until they find a target object. In order to increase the effectiveness of deploying the mult-robot, they need to be spread out sufficiently, not overlapping the searching area with other robots. To achieve this, we proposed an algorithm about deploying the multi-robot with maximizing the on-line coverage of the searching area. A shared dynamic map and its updating algorithm is proposed. Robots find next exploration area autonomously while updating the shared dynamic map. The algorithm is tested by simulation and the result is presented.

Speech-based Human-Robot Interaction Components for URC Intelligent Service Robots

This video is concerned with a scenario for developing speech-based Human-Robot Interaction (sHRI) components for Ubiquitous Robot Companion (URC) Intelligent Service Robots as one of the next-generation growth engine industries in Korea. Here the URC means that it will provide the necessary services at any time and place to meet the users requirements. Thus, it combines the network function with the current concept of a robot in order to enhance mobility and human interface. The main characteristics of this video are to combine of text-independent speaker recognition and Korean-based spontaneous speech recognition from two speakers in scenario. Especially each speaker communicates with service robot through spontaneous speech recognition with continuous words to provide useful information such as daily life schedule and TV program suitable to the speaker recognized. On the basis of these components, consumers will be able to utilize various speech-based services of the robot.

Human internal state recognition using modified chain-code method

Through facial expressions, it is able to read the human emotions. In order to achieve a smooth interaction between human and machines, the importance of emotion recognition is increasing. In this paper, we do handle human internal states except the existing basic six human emotions. To indicate a change of the feature points of face, we use vector chain code encoding method, it is extended from the existing chain code method. The chain code only encode the direction information between features. The vector chain code can encode the direction information and distance information altogether. Through experiments, a method utilizing a vector chain code that presented in this paper was more improved rather than the method using the conventional chain code.

A socially interactive robot using social skills in physical training

In this paper, we propose a socially interactive robot facilitating social skills and identify the effects of robot social skills, to help maintain a natural and sustained interaction between humans and robot in a physical training. To that end, we conducted an experiment with 28 participants using the humanoid robot Nao. As a result, there were significant differences in 7 out of 9 measured categories between the control group where social skills were not used, and the experimental group where social skills were used by the robot. Therefore, social skills including feedback, mutual gaze and social distance should be consider as a positive social cues for physical training.

ebXML BP modeling toolkit

Collaboration in a business system requires a business process specification defining the procedure of the business scenario. The business process specification is generated from a business process model. ebXML, which is the XML-based B2B standard framework for organizations of any size using the Internet, recommends process analysts and modelers to use the UN/CEFACT (United Nations Centre for the Facilitation of Procedures and Practices for Administration, Commerce and Transport) Modeling Methodology (UMM). The artifacts of the modeling are UML (Unified Modeling Language) diagrams and worksheets. They can be transformed into an ebXML business process (BP) specification and other business models. The artifacts and transformed results are registered in the business library for being shared with ebXML systems and being re-used in other modeling tools. This paper reports on our implementation of an ebXML BP modeling toolkit that accepts the architecture suggested in the ebXML and considers the required functions of modeling. These functions include modeling business processes based on UMM, generating a BP specification, transforming the processes using a metaframework, and registering them in the ebXML registry. The business process modeling toolkit is made up of the business process modeler, business process editor, and built-in registry client. The business process modeler not only models the business process with UML diagrams but also generates the business process specification, reverses it, and exports XMI of the business process. The business process editor is used only for editing the business process specification. The built-in registry client stores the business process model, the business process specification, or the XMI document, and searches and loads them.

Multiple Robots Task Allocation for Cleaning and Delivery

This paper presents a mathematical formulation of the problem of cleaning and delivery task in a large public space with multiple robots, along with a procedural solution based on task reallocation. The task in the cleaning problem is the cleaning zone. A group of robots are assigned to each cleaning zones according to the environmental parameters. Resource constraints make cleaning robots stop operation periodically, which can incur a mission failure or deterioration of the mission performance. In our solution approach, continuous operation is assured by replacing robots having resource problems with standby robots by task reallocation. Two resource constraints are considered in our formulation: the battery capacity and the garbage bin size. This paper describes and compares the performance of three task reallocation strategies: All-At-Once, Optimal-Vector, and Performance-Maximization. The performance measures include remaining garbage volume, cleaning quality, and cleaning time. Task allocation algorithms are tested by simulation in an area composed of 4 cleaning zones, and the Performance-Maximization strategy marked the best performance. Hence, a delivery task is added to the cleaning task. The delivery request operates as a new perturbation factor for the reallocation. The task allocation procedure for the delivery task includes the switching of tasks of the delivery robot itself as well as exchanging among cleaning robots to meet the balance of the cleaning performance. The experiment was conducted with 9 robots with the software architecture that enables multi-functional of a robot and they performed both pseudo-clean and delivery task successfully.