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Obstacle recognition using a haptic device

Journal of Measurement Science and Instrumentation 2013年第4期4卷 376-380页

作者： Kyungwook Noh Donghyuk Lee Sunkyun Kang Jaewon An Jangmyung Lee Department of Interdisciplinary Program in Robotics Pusan National University Department of Electrical Engineering Pusan National University

A haptic device is proposed which gives the user feedback information on their location and orientation of the obstacle through the mobile robot that detects the obstacle in an environment where the user cannot *** robot recognizes the exact position of the obstacle through configuring the nested ultrasonic sensor and giving feedback information to the haptic *** haptic device consisting of five vibration motors can realize the haptic through the vibration of user's finger using the position information of the obstacle received *** addition,it has high accuracy to recognize the surrounding environment and realizes the various situations with the fuzzy controller and the nested ultrasonic sensors.

关键词： haptic device teleoperation haptic feedback mobile robot obstacle recognitionDocument code：AArticle ID：1674-8042（2013）04-0376-05

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Research on the MPPT simulation of mini photovoltaic system for the robotic vacuum cleaner battery charging

Research on the MPPT simulation of mini photovoltaic system ...

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6th International Conference on Intelligent robotics and Applications, ICIRA 2013

作者： Heo, Seong-Min Kim, Ki-Ryong Kim, Hee-Je Department of Interdisciplinary Program in Robotics Pusan National University Jangjeon-dong Geumjung-gu Korea Republic of Department of Electrical Enginneering Pusan National University Jangjeon-dong Geumjung-gu Korea Republic of

ISBN: (纸本)9783642408519

In this paper, we aims to the development of mini solar power system for robot vacuum cleaner battery charging. it has the advantage of being convenient for the robot vacuum cleaner, but at the same time it has the disadvantage like electric shock and inefficient battery charging. In order to overcome these shortcomings, we plan to apply more advanced technology in the development of this system in conjunction with the Wireless power transfer system. This paper presents to applying to the mini solar battery charging system for the mathematical modeling of solar cells and the 50watt solar array modules MATLAB simulation results. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Charging (batteries)

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Corrosion protection using high-voltage and high-frequency system

Corrosion protection using high-voltage and high-frequency s...

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6th International Conference on Intelligent robotics and Applications, ICIRA 2013

作者： Baek, Seung-Hwa Kim, Hyun-Min Kim, Hee-Je Department of Interdisciplinary Program in Robotics Pusan National University Jangjeon-dong Geumjung-gu Korea Republic of Department of Electrical Enginneering Pusan National University Jangjeon-dong Geumjung-gu Korea Republic of

ISBN: (纸本)9783642408519

The corrosion of ships and equipment is the issue of shipping transportation and marine pollution. The organotin compound paint such as TBT(Tributyl Tin) or sinking of the ship which has been negligent in maintenance for a long time cause massive contamination of ocean. Therefore, to proof corrosion, maintain and manage the equipment from the electrical corrosion in the seawater becomes more and more significant. The corrosion in the ocean has many causes and there are several ways to prevent the corrosion by now. The main cause of corrosion is the oxidation of metals. Regarding this point, we want to know that application of high-voltage, high-frequency pulsed power technology is how much effective to electrical corrosion in environment of electrolyte that can cause corrosion easily. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Ships

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Bunker oil C heating using induction heating

Bunker oil C heating using induction heating

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6th International Conference on Intelligent robotics and Applications, ICIRA 2013

作者： Kim, Dong-Hyun Kim, Ki-Ryong Kim, Hee-Je Department of Interdisciplinary Program in Robotics Pusan National University Jangjeon-dong Geumjung-gu Korea Republic of Department of Electrical Enginneering Pusan National University Jangjeon-dong Geumjung-gu Korea Republic of

ISBN: (纸本)9783642408519

The purpose of this paper is application of induction heating. Generally, Steam Heating and Resistance Heating are in use to heating Bunker Oil C. however, Heating Machine is hard to maintenance and maintenance cost is expensive, because both method are direct contact with oil. In this paper, we research for Bunker Oil C heating using induction heating. This way we avoid direct contact with oil and use LLC Resonant Circuit to reduce switching loss. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Induction heating

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Magnetic resonance wireless power transmission using a LLC resonant circuit for a locomotion robot's battery charging

Magnetic resonance wireless power transmission using a LLC r...

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6th International Conference on Intelligent robotics and Applications, ICIRA 2013

作者： Kim, Ki-Ryong Kim, Dong-Hyun Kim, Hee-Je Department of Interdisciplinary Program in Robotics Pusan National University Jangjeon-dong Geumjung-gu Korea Republic of Department of Electrical Engineering Pusan National University Jangjeon-dong Geumjung-gu Korea Republic of

ISBN: (纸本)9783642408519

The purpose of this paper is a locomotion robot's battery charging. Using a LLC resonant circuit and magnetic resonance WPT(Wireless Power Transmission). The proposed this WPT system consists of transmitter and receiver circuits. The transmitter is a LLC resonant circuit and receiver circuit is a LC resonant circuit that has a resonant coil, a capacitor, and full bridge diode rectifier. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Charging (batteries)

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Accurate Velocity Control based on the distance of a Mobile Robot and Obstacle using a Haptic Joystick

Accurate Velocity Control based on the distance of a Mobile ...

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International Conference on Control, Automation and Systems

作者： DongHyuk Lee KyungWook Noh SookHee Park JangMyung Lee Department of Interdisciplinary Program in Robotics Pusan National University Department of Electrical Engineering Pusan National University

ISBN: (纸本)9781467322478

In this paper, the mobile robot equipped with a single ultrasonic sensor to measure the value of the distance between the mobile robot and the obstacle will be manipulated by a haptic joystick through the value of Force Feedback. Accordingly, the mobile robot will move based on the information of the ultrasonic sensor without colliding the obstacle to precise velocity control. Vibration part which is designed and installed at the bottom of the joystick implements Haptic features using the distance data from the ultrasonic sensor. Using the Bluetooth communication, the haptic joystick and the mobile robot give and receive the data mutually to control the mobile robot's velocity. In order to realize the precise velocity control, PD controller with the advantage of stabilization system is designed and the performances of two cases before or after PD control are evaluated and compared.

关键词： Haptic Joystick Mobile Robot Ultrasonic Sensor Velocity Control PD controller

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Obstacle avoidance of a moving sound following robot using active virtual impedance

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Journal of Institute of Control, robotics and Systems 2014年第2期20卷 200-210页

作者： Han, Jong-Ho Park, Sook-Hee Noh, Kyung-wook Lee, Dong-Hyuk Lee, Jang-Myung Department of Electrical Engineering Pusan National University Korea Republic of Department of Interdisciplinary Program in Robotics Pusan National University Korea Republic of

An active virtual impedance algorithm is newly proposed to track a sound source and to avoid obstacles while a mobile robot is following the sound source. The tracking velocity of a mobile robot to the sound source is determined by virtual repulsive and attraction forces to avoid obstacles and to follow the sound source, respectively. Active virtual impedance is defined as a function of distances and relative velocities to the sound source and obstacles from the mobile robot, which is used to generate the tracking velocity of the mobile robot. Conventional virtual impedance methods have fixed coefficients for the relative distances and velocities. However, in this research the coefficients are dynamically adjusted to elaborate the obstacle avoidance performance in multiple obstacle environments. The relative distances and velocities are obtained using a microphone array consisting of three microphones in a row. The geometrical relationships of the microphones are utilized to estimate the relative position and orientation of the sound source against the mobile robot which carries the microphone array. Effectiveness of the proposed algorithm has been demonstrated by real experiments. © ICROS 2014.

关键词： Mobile robots

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A mobile robot estimating the real-time moving sound sources by using the curvature trajectory

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Journal of Institute of Control, robotics and Systems 2014年第1期20卷 48-57页

作者： Han, Jong-Ho Park, Sook-hee Lee, Dong-Hyuk Noh, Kyung-wook Lee, Jang-myung Department of Electrical Engineering Pusan National University Korea Republic of Department of Interdisciplinary Program in Robotics Pusan National University Korea Republic of

It is suggested that the curvature trajectory be used to estimate the real-time moving sound sources and efficiently the robot estimating the sound sources. Since the target points of the real-time moving sound sources change, the mobile robot continuously estimates the changed target points. In such a case, the robot experiences a slip phenomenon due to the abnormal velocity and the changes of the navigating state. By selecting an appropriate curvature and navigating the robot gradually by using it, it is possible to enable the robot to reach the target points without having much trouble. In order to recognize the sound sources in real time, three microphones need to be organized in a straight form. Also, by applying the cross-correlation algorithm to the TDOA base, the signals can be analyzed. By using the analyzed data, the locations of the sound sources can be recognized. Based on such findings, the sound sources can be estimated. Even if the mobile robot is navigated by selecting the gradual curvature based on the changed target points, there could be errors caused by the inertia and the centrifugal force related to the velocity. As a result, it is possible to control the velocity of both wheels of the robot through the velocity PID controller in order to compensate for the slip phenomenon and minimize the estimated errors. In order to examine whether the suggested curvature trajectory is appropriate for estimating the sound sources, two mobile robots are arranged to carry out an actual experiment. The first robot is moved by discharging the sound sources, while the second robot recognizes and estimates the locations of the discharged sound sources in real time. © ICROS 2014.

关键词： Mobile robots

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Estimate the inclination angle using traveling speed of Segway robot on the slope

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Journal of Institute of Control, robotics and Systems 2014年第11期20卷 1164-1169页

作者： Jeong, Hee-In Lee, Sang-Yong Lee, Jang-Myung Department of Electrical Engineering Pusan National University Korea Republic of Department of Interdisciplinary Program in Robotics Pusan National University Korea Republic of

This paper proposes an angle estimation of Segway robot for the slop driving. Most of Segway robot was controlled by pose control of keeping robot's balance and motor control of driving. In motor control, we analyzed Segway robot kinetically and estimated an angle of inclination using the velocity that depends on input force. In pose control, also, we used PD controller and evaluated a stability of controller through MATLAB simulation. Assuming the robot keeps its balance stably using controller, we could linearize dynamics. We could obtain the result through the experiment which estimates an angle using the velocity of Segway robot that is derived from linearized dynamics. © ICROS 2014.

关键词： Robots

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Tactile navigation system using a haptic device

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Journal of Institute of Control, robotics and Systems 2014年第8期20卷 807-814页

作者： Lee, Dong-Hyuk Noh, Kyung-Wook Kang, Sun Kyun Kim, Hyun Woo Lee, Jang-Myung Department of Electrical Engineering Pusan National University Korea Republic of Department of Interdisciplinary Program in Robotics Pusan National University Korea Republic of

In this paper, we proposed a haptic navigation system which used the tactile data for the user guides of the mobile robot to the reference point via tele-operation in unknown blind environment. This navigation system can enable a mobile robot to avoid obstacles and move to the reference point, according to the direction provided by the device guides through a haptic device consisting of a vibration motor in a blind environment. There are a great deal of obstacles in real environments, and so mobile robots can avoid obstacles by recognizing the exact position of each obstacle through the superposition of an ultrasonic sensor. The navigation system determines the direction of obstacle avoidance through an avoidance algorithm that uses virtual impedance, and lets users know the position of obstacles and the direction of the avoidance through the haptic device consisting of 5 vibration motors. By letting users know intuitionally, it lets the mobile robot precisely reach the reference point in unknown blind environment. This haptic device can implement a haptic navigation system through the tactile sensor data. © ICROS 2014.

关键词： Mobile robots

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