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Localization Method in dense Smoke Scenarios Using radar-thermal Stereo Sensor Fusion

Journal of institute of Control, robotics and systems 2024年第8期30卷 871-878页

作者： Lee, Meungsuk Kang, Minseok Shin, dong Gwan Pyo, Juhyun Kim, Jinwon Song, Hyeongseok Kim, Murim Human-Centered Robotics R&D Division Korea Institute of Robotics & Technology Convergence Korea Republic of

In this study, we overcome the challenges of robot localization in environments filled with dense smoke, which significantly reduce visibility and hinder traditional SLAM methods. Our approach introduces a novel fusion technology combining radar and thermal stereo sensors for such extreme conditions. Leveraging the complementary strengths of the two sensor types, our algorithm significantly enhances the localization accuracy of robots in firefighting scenarios. We conducted experimental evaluations under dense fog conditions to validate the efficiency of our proposed method. The results demonstrate an improvement in robot localization performance and confirm the potential applicability of our approach for use in firefighting robots. Furthermore, the sensor fusion not only augments the mapping accuracy but also provides crucial additional feature points for better operational control and environmental perception, thus paving the way for a more effective deployment of robots in disaster response situations. © ICrOS 2024.

关键词： Fire extinguishers

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derivation and Analysis of System requirements for a robust Antarctic Exploration robot in Harsh driving Conditions Based on Antarctic Application Experiments

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Journal of institute of Control, robotics and systems 2024年第7期30卷 710-717页

作者： Kwon, Ji-Wook Lee, Hyoujun Uhm, Taeyoung Lee, Jongdeuk Kim, Jong Chan Choi, Young-Ho Smart Mobility R&D Division Korea Institute of Robotics and Technology Convergence Korea Republic of

This paper presents the initial operational results of the Antarctic exploration robot KArEX on the Antarctic continent. It analyzes various phenomena encountered during autonomous navigation in Antarctic conditions and derives the necessary requirements for operating autonomous robots in such environments. KArEX navigated surfaces such as snow, ice, glaciers, gravel, and soil around the Jangbogo Station in Antarctica, covering a distance of about 10 Km. Activities included navigating around structures, glacier areas, snow hills, and water puddles. The robot was also stored outside overnight. remote monitoring and control of KArEX from a distance was conducted to verify the robot's effectiveness. This process led to the analysis and verification of pre-planned specifications before real-environment testing and the identification of additional operational and system requirements to withstand the harsh Antarctic operational conditions. © ICrOS 2024.

关键词： robots

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Tracking Error Based Fault Tolerant Scheme for Marine Vehicles with Thruster redundancy

Tracking Error Based Fault Tolerant Scheme for Marine Vehicl...

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2025 IEEE Underwater technology, UT 2025

作者： Li, Ji-Hong Kang, Hyungjoo Kim, Min-Gyu Lee, Mun-Jik Jin, Han-Sol Cho, Gun rae Korea Institute of Robotics and Technology Convergence Autonomous Systems R&D Division KIRO Pohang Korea Republic of

ISBN: (纸本)9798331534189

This paper proposes an active model-based fault and failure tolerant control scheme for a class of marine vehicles with thruster redundancy. Unlike widely used state and parameter estimation methods, where the estimation errors are utilized to generate residual, in this paper we directly apply the trajectory tracking error terms to construct residual and detect thruster fault and failure in the steady state of the tracking system. As for identification or diagnosis, this paper proposes a novel scheme through a detailed examination of the tracking error trends and the combinations of thruster configurations. Since this fault detection and identification operates within the same closed-loop of the tracking control system, control reconfiguration can be easily achieved by adjusting the weight parameter of the isolated thruster to minimize tracking errors or residual. Numerical studies with the real world vehicle model is also carried out to verify the effectiveness of the proposed method. © 2025 IEEE.

关键词： Closed loop control systems

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Operational Space Fomulation of Time delay Control for Underwater Vehicles and its Extension to diver Guidance

Operational Space Fomulation of Time Delay Control for Under...

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2025 IEEE Underwater technology, UT 2025

作者： Cho, Gun rae Kang, Hyungjoo Kim, Min-Gyu Park, Sungho Jin, Hansol Jin, Seongho Korea Institute of Robotics and Techonology Convergence Autonomous Systems R&D Division Pohang Korea Republic of

ISBN: (纸本)9798331534189

In this study, we propose a method for designing a robust controller for underwater vehicles when the control input space and workspace differ. To achieve this, we formulate the Time delay Control (TdC) in operational space, which is efficient yet has a simple structure. The proposed controller maintains the robustness against disturbances and structural simplicity inherent in the conventional TdC while effectively addressing the situation where the workspace differs from the control input space. Additionally, we propose a method for applying the proposed controller to the task of guiding divers to their destinations using underwater vehicles. Underwater environments often have limited visibility due to issues such as turbidity, so we design the controller and reference trajectories based on the diver's field of view. Through simulations, we demonstrate that the proposed control method effectively operates in various workspaces, including world-coordinate-based workspaces and diver's field of view-based workspaces. © 2025 IEEE.

关键词： delay control systems

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OGM Based real-time Obstacle detection and Avoidance using Multibeam FLS 2

OGM Based Real-time Obstacle Detection and Avoidance using M...

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2nd International Conference on Mechatronics, Control and robotics, ICMCr 2024

作者： Jin, Han-Sol Kang, Hyungjoo Kim, Min-Gyu Lee, Mun-Jik Jin, Seongho Cho, Gun rae Li, Ji-Hong Korea Institute of Robotics & Technology Convergence Autonomous Systems R&d Division Pohang37666 Korea Republic of

ISBN: (纸本)9798350396096

This paper presents an obstacle detection and avoidance algorithm based on OGM (occupancy grid map) method and its experimental studies. At each time step (5Hz), given the current frame of FLS (forward looking sonar) image, each of its cloud point is transformed into the reference frame and upgrade the density of the grid where the point is located. during this upgrade, weights were applied to both the current density of the grid and the cloud point intensity. With this OGM, each grid whose density surpass certain threshold is taken as obstacle and counted in the path planning using general potential field method. A series of experimental studies have been carried out in the sea port environment, whereas we can investigate and analysis the effects of the design parameters in both of OGM construction and obstacle avoidance algorithms. This paper shows some of these preliminary results. © 2024 IEEE.

关键词： Motion planning

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Mobile robot Using Unbalanced road Adaption device

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Journal of institute of Control, robotics and systems 2024年第1期30卷 20-26页

作者： Lim, Ji-Ho Lee, Sang-Yeob Shin, dongwon Department of Mechanical System Engineering Kumoh National Institute of Technology Korea Republic of AI Robotics R&D Division Korea Institute of Robotics & Technology Convergence Korea Republic of

This study investigated a mobile robot capable of navigating unbalanced road surfaces solely via its mechanical structure, utilizing an unbalanced road adaptation device. This adaptation device was designed by introducing a height adaptor to the existing suspension mechanism, with each component consisting of links and shock absorbers. With these components, the robot excelled in adapting to unbalanced road surfaces. To validate the performance of the designed robot, a degree-of-freedom analysis was conducted, and the robot’s driving stability was evaluated through driving simulations. © ICrOS 2024.

关键词： Mobile robots

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development of a personal mobility scooter with autonomous driving and safety features

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Journal of institute of Control, robotics and systems 2023年第5期29卷 404-411页

作者： Eui-Jung, Jung Kwang-Woo, Jeon Juhyun, Kim Jong-Il, Lee Min-Gyu, Kim Hyo-Jeong, Cha Human-Robot Interaction R&D Center Korea Institute of Robotics & Technology Convergence Korea Republic of AI Robotics R&D Division Korea Institute of Robotics & Technology Convergence Korea Republic of Department of Medical Robotics Korea Institute of Machinery & Materials Korea Republic of

This study developed a personal mobility scooter with autonomous driving and safety functions. The scooter can recognize indoor and outdoor environmental conditions by applying various sensor systems similar to semi-autonomous vehicles. The addition of an autonomous driving function ensures user convenience. The mobility scooter was developed to provide user safety by preventing collisions and rollover accidents. First, the system configuration and functions of the personal mobility scooter have been introduced, followed by the application of algorithms to implement each function. In terms of convenience, the main features of personal mobility scooters include indoor autonomous driving, outdoor semi-autonomous driving, and guardian-following driving. In terms of safety, the salient features are collision prevention and rollover prevention. The functions proposed here were incorporated in an actual mobility scooter, and its efficacy was verified through experiments. © 2023, institute of Control, robotics and systems. All rights reserved.

关键词： Motion planning

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Image Enhancement Method for detection in Logistics Loading and Unloading robots

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IEEE Access 2024年 1-1页

作者： Kang, Jeon-Seong Kang, Jin Kyu Son, Soeun Park, Sung Ho Jung, Eui-Jung Cho, Gun rae AI Robotics R&D Division Korea Institute of Robotics & Technology Convergence Seoul Republic of Korea Independent Researcher Seoul Republic of Korea Autonomous Systems R&D Division Korea Institute of Robotics & Technology Convergence Pohang Republic of Korea

This paper presents a novel method in the field of robotic vision, specifically designed to operate effectively under various lighting conditions. We propose an Image Enhancement Method for parcel loading status recognition, which addresses the challenge of insufficient lighting inside freight trucks without requiring lighting adjustments. Our approach integrates GAN and YOLO v5 into an end-to-end structure, where the detection network’s outputs influence the training of the generative network. Unlike traditional methods that focus solely on enhancing low-light image visibility, our method is optimized to maximize detection accuracy. To demonstrate the superiority of our approach, we constructed a setup resembling a freight truck, collected a dataset under varying lighting conditions, and conducted extensive experiments. The latter sections of the paper review relevant studies on vision data control in computer vision, provide a detailed explanation of our method, describe the experimental setup and database acquisition process, and discuss the results and analyses. The conclusion is presented in Section 6. Authors

关键词： Lighting

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Tracking Error Based Fault Tolerant Scheme for Marine Vehicles with Thruster redundancy

Tracking Error Based Fault Tolerant Scheme for Marine Vehicl...

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International Symposium on Underwater technology

作者： Ji-Hong Li Hyungjoo Kang Min-Gyu Kim Mun-Jik Lee Han-Sol Jin Gun rae Cho Autonomous Systems R&D Division KIRO Korea Institute of Robotics and Technology Convergence Pohang Republic of Korea

ISBN: (数字)9798331534189

ISBN: (纸本)9798331534196

关键词： Underwater cables Attitude control redundancy Fault tolerant systems Fault location Market research Control systems Numerical models Underwater technology Underwater vehicles

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A Lagrangian Approach for Trajectory Tracking of Underactuated Marine Vessels ⁎

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IFAC-PapersOnLine 2024年第6期58卷 196-201页

作者： J.H. Li H. Kang M.G. Kim M.J. Lee H.S. Jin G.r. Cho Autonomous Systems R&D Division Korea Institute of Robotics and Technology Convergence Gigok-Ro 39 Nam-Gu Pohang 37666 Korea

This paper attempts to explore the trajectory tracking problem for underactuated marine vessels from a Lagrangian perspective. First, we derive the vessel’s dynamics from Euler-Lagrangian equations and its kinematics from the mechanical constraint, both in the polar frame. The benefit of using polar frame is that we can transform the two-input-three-output underactauted system into a two-input-two-output form such that it becomes easy for us to solve the control problem using general backstepping method. In this paper, the main focus is taken on that how to improve the control performance by fully utilizing the features of the vessel’s nonlinear dynamics from the Lagrangian perspective. Some numerical studies are also carried out to investigate and analyse the effectiveness of the proposed scheme.

关键词： Marine vessels underactuated systems Euler-Lagrangian trajectory tracking

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