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Flapping performance of a flapper actuated by the compressed LIPCA

World Forum on Smart Materials and Smart Structures technology, SMSST 07

作者： Nguyen, Quoc Viet Park, Hoon Cheol Goo, Nam Seo Department of Advanced Technology Fusion Konkuk University Korea Republic of Department of Advanced Technology Fusion Konkuk University Artificial Muscle Research Center and Smart Robot Center Korea Republic of

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Characteristics of a Beetle's Free Flight and a Flapping-Wing System that Mimics Beetle Flight

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仿生工程学报(英文版) 2010年第1期7卷 77-86页

作者： Quoc Viet Nguyen[a] Hoon Cheol Park[a][b] Nam Seo Goo[a][b] Doyoung Byun[b][c] [a] Department of Advanced Technology Fusion Konkuk University Seoul 143-701 Korea [b] Artificial Muscle Research Center & Smart Robot Center Konkuk University Seoul 143-701 Korea [c] Department of Aerospace Engineering Konkuk University Seoul 143-701 Korea

In this work, we first present a method to experimentally capture the free flight of a beetle (Allomyrina dichotoma), which is not an active flyer. The beetle is suspended in the air by a hanger to induce the free flight. This flight is filmed using two high-speed cameras. The high speed images are then examined to obtain flapping angle, flapping frequency, and wing rotation of the hind wing. The acquired data of beetle free flight are used to design a motor-driven flapper that can approximately mimic the beetle in terms of size, flapping frequency and wing kinematics. The flapper can create a large flapping angle over 140° with a large passive wing rotation angle. Even though the flapping frequency of the flapper is not high enough compared to that of a real beetle due to the limited motor torque, the flapper could produce positive average vertical force. This work will provide important experience for future development of a beetle-mimicking Flapping-Wing Micro Air Vehicle (FWMAV).

关键词： biomimetics beetle free flight wing kinematics flapper Scotch yoke linkage mechanism

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Static compensation ZMP algorithm preventing tips-over of a tele-operation excavator

Static compensation ZMP algorithm preventing tips-over of a ...

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29th International Symposium of Automation and robotics in Construction, ISARC 2012

作者： Yu, Bo-Hyun Park, Ki-Young Lee, Kyung-Don Han, Chang-Soo Department of Robot Technology Institute for Advanced Engineering Young-in Korea Republic of Department of Mechanical Engineering Hanyang University An-san Korea Republic of

Purpose: Research on tele-operated excavators that protect the operator from the risk of tip-over excavators in hazardous working areas has increased in popularity. The tele-operated excavator is able to protect workers from risks in hazardous working areas, but the operator cannot directly access the tip-over information from the tele-operated excavator. We propose the static compensation ZMP (Zero Moment Point) algorithm for preventing excavator tip-overs. Method: Firstly, kinematic and kinetic analysis of the excavator was performed. Secondly, static compensation ZMP algorithm, which uses ZMP algorithm to determine gait stability of a biped walking robot, was developed to prevent tips-over of tele-operation excavator. Static compensation ZMP algorithm minimizes ZMP-error due to rapidly changing excavator acceleration using the center of gravity through a static compensation algorithm. Finally, the result of the proposed algorithm is simulated by RecurDyn model with Matlab Simulink co-simulation method. Results & Discussion: In the simulation result ZMP has been compared to static compensation ZMP-algorithm using an excavator dynamic model. From these results we see that the ZMP value is bigger than the static compensation ZMP. This means that the general ZMP is disturbed due to rapidly changing excavator acceleration. This problem is minimized by the static compensation ZMP-algorithm.

关键词： MATLAB

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Robust and precise eye detection based on locally selective projection

Robust and precise eye detection based on locally selective ...

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作者： Zheng, Ying Wang, Zengfu Department of Automation University of Science and Technology China Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Anhui Province China

ISBN: (纸本)9781424421756

This paper proposes a robust and precise eye detection method based on a new projection algorithm called locally selective projection (LSP). Along each projection axis, LSP selects a pixel and uses a function calculated in the neighborhood of the pixel as response. The local selectivity of LSP makes it robust against rotation, illumination and occlusion. Moreover, the positions of selected pixels can be recorded, providing a 2D cue for image analysis. We apply LSP to eye detection. The vertical and horizontal LSPs are first used to give reliable eye candidates, then a SVM classifier is employed to verify the real eye pairs. The experiment result compared with an AdaBoost detector shows the robustness and accuracy of proposed method. © 2008 IEEE.

关键词： Pixels

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Semantic feature extraction for accurate eye corner detection

Semantic feature extraction for accurate eye corner detectio...

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作者： Xu, Cui Zheng, Ying Wang, Zengfu Department of Automation University of Science and Technology China Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Anhui Province China

ISBN: (纸本)9781424421756

In this paper a novel eye corner (canthus) detection method is proposed. The method is based on sematic features which are extracted from the structure and appearance characteristics of canthus. The eyelids are first fitted to construct an angle model. Based on this model, one feature is proposed to characterize the appearance difference between inner and outer canthus regions, and another feature is proposed to emphasize the role of the canthus angle bisector region. The two features are fused in a logistic regression classifier to detect accurate canthus. The effectiveness and accuracy of the proposed method are demonstrated in experiments. © 2008 IEEE.

关键词： Semantics

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Design of a robot gripper for a rapid service robot

Design of a robot gripper for a rapid service robot

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6th IFAC Symposium on Mechatronic Systems, MECH 2013

作者： Jung, Tae J. Oh, Jun H. Mechanical Engineering Department Korea Advanced Institute of Science and Technology Dae-jeon Korea Republic of Humanoid Robot Research Center Korea Advanced Institute of Science and Technology Dae-jeon Korea Republic of

ISBN: (纸本)9783902823311

This research designs a robot gripper for a rapid service robot. For a service robot that moves rapidly, a robot gripper must be lightweight and must have the ability to grasp objects of any size or shape stably. In addition, sufficient gripping force, a low cost, and a friendly shape are necessary. To satisfy the above requirements, this research designs a new robot gripper. We use a four-bar linkage underactuated system for shape adaptability and to reduce the weight. In a simulation, the four-bar linkage is designed to eliminate the rollback ejection phenomenon while also maximizing the utilization of a parallel grasping. While other studies place emphasis on preventing rollback ejection phenomenon, in this research we stress the maximum utilization of both parallel and power grasping using a compliance jaw and a double four-bar linkage design. With the parallel four-bar linkage system, the gripper can perform both parallel grasping and power grasping, allowing it to grip a diverse range of objects. Moreover, the compliant jaw enhances the stability of its grasp, and its worm gear enables the gripper grasp to be stable while also reducing the gripper's weight. With a force sensor, it can manage sensitive force control. In this way, we designed a robot gripper suitable for rapid service robots. © 2013 IFAC.

关键词： Grippers

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Development of a Smart IoT Safety Platform for Preventing Accidents in High-Risk Industrial Sites 24

Development of a Smart IoT Safety Platform for Preventing Ac...

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2024 7th International Conference on robot Systems and Applications, ICRSA 2024

作者： Yoon, Jiyoung Kim, Cheolhwan Park, Yongteak Korea Polytechnics Yeongcheon Robot Campus Korea Republic of Institute of Advanced Convergence Technology Kyungpook National University Daegu Korea Republic of The Department of Robot IT the Robot Campus of Korea Polytechnics Robot Campus-ro 1 Gyeongsangbuk-do Yeongcheon38839 Korea Republic of

ISBN: (纸本)9798400717031

In the modern industrial society, activities across various industrial sectors play a crucial role in driving economic growth and technological advancement. However, these activities inevitably involve risks to the safety and health of workers. Accidents and injuries at industrial sites not only threaten the lives and well-being of workers but also lead to decreased productivity, legal issues, and financial losses for companies. Among different industries, construction and manufacturing sectors account for the highest proportion of industrial accidents. These accidents often occur due to workers’ carelessness and lack of awareness. This paper proposes a smart IoT safety platform to prevent safety accidents in construction and manufacturing sites. The smart IoT safety platform consists of IoT devices, network devices, and a control server. The IoT devices are designed to monitor various types of safety incidents, such as worker monitoring, entrapment accidents, gas leaks, collapses, and falls, using wearable or site-installed devices equipped with sensors like laser, IMU, gas, and cameras. The network devices include BLE Mesh installed on IoT devices and a LoRa Mesh network to transmit data to the control server. The control server collects and monitors data from the site and includes control functions to prevent safety accidents. The development of the smart IoT safety platform aims to create a safer work environment by preventing accidents and establishing a safety culture across the industry. This integration of advanced IoT technology in safety management is expected to significantly contribute to reducing industrial accidents and enhancing overall workplace safety. © 2024 Copyright held by the owner/author(s).

关键词： Losses

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Fuzzy logic based 2D position estimation for small robotic fish using low cost MEMS accelerometer

Fuzzy logic based 2D position estimation for small robotic f...

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IEEE 15th International Conference on advanced robotics: New Boundaries for robotics, ICAR 2011

作者： Yoo, Taesuk Hong, Sung Kyung Ryuh, Youngsun Department of Aerospace Engineering Sejong University Korea Republic of Center for the Advanced Robot Industry Korea Institute of Industrial Technology Korea Republic of

ISBN: (纸本)9781457711589

This paper presents an effective calibration method and a fuzzy logic based smart signal-processing algorithm in order to accurately estimate a 2D position for small robotic fish with MEMS accelerometers. For position estimation, it is easy to be influenced by errors which come from MEMS accelerometer. The sources of error can be categorized into two groups, deterministic type and stochastic type. The former primarily includes bias, scale factor error and non-orthogonality;the latter contains signal drifting. Subsequently, the least squares algorithm is used to modify the deterministic error and the fuzzy filter can suppress the stochastic noise. Therefore, the proposed method integrated of least squares algorithm and fuzzy signal processing is utilized to enhance the accuracy and performance of MEMS accelerometer. The experimental results show the efficiency of this algorithm. © 2011 IEEE.

关键词： Fuzzy logic

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Virtual and distance experiments: pedagogical alternatives, not logistical alternatives

Virtual and distance experiments: pedagogical alternatives, ...

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113th Annual ASEE Conference and Exposition, 2006

作者： Lindsay, Euan Good, Malcolm Curtin University of Technology Australia Curtin University of Technology Perth Australia University of Melbourne Australia Department of Mechanical and Manufacturing Engineering Australian Robot Association International Advanced Robotics Program Australia Advanced Engineering Centre for Manufacturing

Remote and virtual access to laboratory classes are increasingly prevalent in undergraduate engineering courses, but as yet there have been few, if any, studies, that adequately evaluate the learning outcomes of these alternative access modes. The move to alternative access modes has been driven primarily by logistical imperatives such as increased flexibility of delivery, and potential cost reductions. This focus on the "how" of implementing the laboratories has come at the expensive of the "why" - the impact upon the students' learning has been largely overlooked. This paper reports a study into remote and virtual access to laboratory equipment, and shows that there are statistically significant differences between the students' achievement on a number of learning outcomes. In particular, it shows that certain types of learning outcomes are impacted differently in different modes. This fine-grained analysis avoids the common pitfall of simply comparing overall aggregated marks, and shows that rather than no effect upon outcomes, there are instead multiple changes in learning outcomes whose combined effects upon the students' marks cancel out. The transparency of the interface was found to be a key factor in determining the quality of learning outcomes in the remote mode;however, it was not found to be significant in the simulation mode. This finding, whilst surprising, is explained when the theory pertinent to separation is considered. The take home message of this paper is that moving to remote and virtual access to laboratory hardware leads to significant changes in the learning outcomes of the students who experience this laboratory. In the face of such changes, these alternative access modes must be considered pedagogical alternatives, rather than simply logistical conveniences. © American Society for Engineering Education, 2006.

关键词： Virtual reality

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Development of 3D viewer based teleoperation interface for Human Support robot HSR

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ROBOMECH Journal 2014年第1期1卷 1页

作者： Yaguchi, Hiroaki Sato, Kenji Kojima, Mitsuharu Sogen, Kiyohiro Takaoka, Yutaka Tsuchinaga, Masayoshi Yamamoto, Takashi Inaba, Masayuki Department of Information Science and Technology The University of Tokyo Hongo Bunkyo-ku 7-3-1 Tokyo Japan Advanced Technology Engineering Dept. Partner Robot Div. Toyota Motor Corporation 543 Kirigahora Nishi-Hirose-cho Toyota Aichi Japan

In this paper, we introduce 3D-viewer-based teleoperation system for manipulation task of Human Support robot HSR. The system is integrated by three functions;3D environment information visualization based on Manhattan-world assumption, known object recognition using LINE-MOD algorithm, and virtual teaching with 3D robot model using interactive marker. We show some experimental results of manipulation tasks using proposed system. © 2014, Yaguchi et al.;licensee Springer.

关键词： Object recognition

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