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IEEE/RSJ International Conference on Intelligent robots and Systems

作者： Seonghun Hong Woosub Lee Changhyun Cho Sungchul Kang Hyeongcheol Lee Center for Bionics Korea Institute of Science and Technology 136-791 Seoul Korea Center for Bionics Korea Institute of Science and Technology Seoul Korea Department of Control Instruments and Robot Chosun University Gwang-ju 501-759 Korea Division of Electrical and Biomedical Engineering Hanyang University Seoul Korea

ISBN: (纸本)9781479969357

Multi-DoFs (Degrees of Freedom) manipulators with more than 6-DoF can perform complex and diverse tasks. To make these serial-chain manipulators safer, a variety of safety components were researched. If there is a crash at the end-effector of the serial-chain manipulators, components mounted on joints of the upper and lower arm can absorb the impact. Unfortunately, physical human-robot interaction does not occur only at the end-effector, a collision can happen anywhere from the base to the end-effector. If a collision occurs in the upper arm of relatively low DoFs, safety components attached to each joint may not work properly. Therefore, a study for joint configurations of serial manipulators is necessary with respect to the placement of safety components at the shoulder joint. Through various case studies, this paper verifies the appropriate joint configurations that place safety components at each revolute joint for physical human-robot safety.

关键词： safety component Manipulators Shoulder Joint Revolute joints end effectors upper arms Crash Collisions

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A Parallel Processing Uninterruptible Power Supply for Sudden Voltage Fluctuation for Power Management

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engineering（科研） 2013年第1期5卷 13-19页

作者： Sung-Hun Ko Seong-Ryong Lee Department of Control & Robot Engineering Kunsan National University Kunsan Korea

This paper deals with a parallel processing uninterruptible power supply (UPS) for sudden voltage fluctuation in power management to integrate power quality improvement, load voltage stabilization and UPS. To reduce the complexity, cost and number of power conversions, which results in higher efficiency, only one voltage-controlled voltage source inverter (VCVSI) is used. The VCVSI is connected in series on the DC battery side and in parallel on the AC grid side with a decoupling inductor. The system provides sinusoidal voltage at the fundamental value of 220V/60Hz for the load during abnormal utility power conditions or grid failure. Also, the system can be operated to mitigate the harmonic current and voltage demand from nonlinear loads and provide voltage stabilization for loads when sudden voltage fluctuation occur, such as sag and swell. The experimental results confirm the system protects against outages caused by abnormal utility power conditions and sudden voltage fluctuations and change.

关键词： Parallel processing UPS Decoupling inductor Power angle VCVSI

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Haptic interfaces for the rescue walking robots motion in the disaster areas

Haptic interfaces for the rescue walking robots motion in th...

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UKACC International Conference on control (control)

作者： Luige Vladareanu Octavian Melinte Adrian Bruja Hongbo Wang Xiaojie Wang Shuang Cang Hongnian Yu Zeng-Guang Hou Xiao-Liang Xie Robotics and Mechatronics Department Institute of Solid Mechanics C-tin Mille 15 Bucharest 1 ROMANIA School of Design Engineering and Computing Boumemouth University Poole Dorset UK Parallel Robot and Mechatronic System Laboratory of Hebei Province University Qinhuangdao CHINA State Key Laboratory of Management and Control for Complex Systems Beijing P.R.CHINA

In the recent years haptic interfaces became a reliable solution in order to solve problems which arise when humans interact with the environment. If in the research area of the haptic interaction between human and environment there are important researches, a innovative approach for the interaction between the robot and the environment using haptic interfaces and virtual projection method is presented in this paper. In order to control this interaction we used the Virtual Projection Method where haptic control interfaces of impedance and admittance will be embedded. The obtained results, validated by simulations assure stability, stiffness, high maneuverability and adaptability for rescue walking robots in order to move in disaster, dangerous and hazardous areas.

关键词： Haptic interfaces Legged locomotion robot sensing systems Impedance Force

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Navigation control for exploration rover with Microwave Doppler sensors

Navigation control for exploration rover with Microwave Dopp...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Masahiro Isogai Yasuhiko Nawa Yuya Usui Kunio Aiki Department of Electronic Control and Robot Engineering Aichi University of Technology Japan

ISBN: (纸本)9781467353199

Microwave Doppler sensors commonly used in automatic-door systems have been used in a rover navigation system. A collimated microwave beam with an angular width of ±3° at a frequency of 24 GHz was emitted from a sensor (A) on a dish antenna 30 cm in diameter. Another sensor (B), which works as a detector, was installed on the rover. The rover was programmed to make a right turn when the microwave signal was above a specified level and to make a left turn when the signal was than that level. The rover started from a point 70 m away and approached to within 1.5 m of sensor A in 4-5 min. This navigation method is useful when GPS is not usable.

关键词： Sensors Microwave antennas Microwave circuits Base stations Microwave amplifiers Navigation

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Navigation control for an exploration rover with microwave Doppler sensors (Fabrication of second prototype rover and experiments)

Navigation control for an exploration rover with microwave D...

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IEEE International Conference on System engineering and Technology

作者： Masahiro Isogai Michihide Ito Yasuhiko Nawa Kunio Aiki Department of Electronic Control and Robot Engineering Aichi University of Technology Gamagori Japan

In this study, fist, we conducted a study on the navigation control for a rover using microwave Doppler sensors. Microwave Doppler sensors commonly used in automatic-door systems have been used in a rover navigation system. A collimated microwave beam with an angular width of ±3° at a frequency of 24 GHz was emitted from a sensor (A) on a dish antenna 30 cm in diameter. Another sensor (B), which works as a detector, was installed on the rover. The rover was programmed to make a right turn when the microwave signal was above a specified level and to make a left turn when the signal was than that level. The rover started from a point 70 m away and approached to within 1.5 m of sensor A. This navigation method is useful when GPS is not usable. Second, we proposed a method to avoid irregular surfaces on a ground because the prototype rover we have previously developed could not be navigated owing to the cut of the microwave beam by large irregularity of ground surfaces. In this study, second prototype rover with a function of avoiding the irregular ground surfaces was fabricated and we confirmed the effectiveness of the proposed method through some experiments.

关键词： Sensors Microwave antennas Navigation Microwave circuits Base stations Doppler effect

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Wireless remote control for an electromagnet-type moving microrobot (experimental results for legs' vibrations and straight runs)

Wireless remote control for an electromagnet-type moving mic...

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SICE Annual Conference

作者： Masahiro Isogai Daisuke Kobayashi Department of Electronic Control and Robot Engineering Aichi University of Technology Aichi Japan

ISBN: (纸本)9781479914951

Recently, many researchers have been studying microrobots. Moreover, yearly contests have been held in order to develop microrobot technologies. As a result of these activities, various types of microrobot have been proposed, including motor-type, piezoelectric-element-type, and electromagnet-type microrobots. To date, the authors' research group has been studying a locomotion mechanism and control method for an electromagnet-type microrobot, which has a volume of 1[cm 3 ]. The proposed microrobot has a feature of being able to turn with single electromagnet coil using the difference of the vibration characteristics of the legs. In this paper, we propose a wireless remote control method for the microrobot, using the feature of the locomotion mechanism and control method we have proposed previously. To show the fundamental function of the wireless remote control method proposed, we report on some experimental results for legs' vibrations and straight runs of the microrobots.

关键词： Field effect transistors Light emitting diodes Switches Wireless sensor networks Wireless communication Legged locomotion

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Behavior control algorithm of swarm robots to maintain network connectivity

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Journal of Institute of control, robotics and Systems 2013年第12期19卷 1132-1137页

作者： Kim, Jong Seon Jeong, June Young Ji, Sang Hoon Joo, Young Hoon Department of Control and Robotics Engineering Kunsan National University Korea Republic of Applied Robot Technology Korea Institute of Industrial Technology Korea Republic of

In swarm robot systems, it is vital to maintain network connectivity to ensure cooperative behavior between robots. This paper deals with the behavior control algorithm of the swarm robots for maintaining network connectivity. To do this, we divide swarm robots into search-robots, base-robots, and relay-robots. Using these robots, we propose behavior control algorithm to maintain network connectivity. The behavior control algorithms to maintain network connectivity are proposed for the local path planning using virtual force and global path planning using the Delaunay triangulation, respectively. Finally, we demonstrate the effectiveness and applicability of the proposed method through some simulations. © ICROS 2013.

关键词： Behavioral research

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Localization of a robot using particle filter with range and bearing information

Localization of a robot using particle filter with range and...

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International Conference on Ubiquitous robots and Ambient Intelligence (URAI)

作者： Tae Gyun Kim Hyun-Taek Choi Nak Yong Ko Korea Institute of Ocean Science and Technology Daejeon Korea Department of Control Instrumentation and Robot Engineering Chosun University Gwangju Korea

This paper reports a localization method based on particle filter with range and bearing information for fixed landmarks. The method consists of motion model which predicts pose of a robot, sensor model which evaluates the predicted pose, and resampling which modifies the evaluated pose. The proposed particle filter method utilizes bearing information as well as range information. The results of a simulation show trajectories for estimated robot location. Also, there is a result for comparison of performances using the proposed method and extended Kalman filter based method.

关键词： robot sensing systems Particle filters Uncertainty Kalman filters Trajectory Predictive models

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Performance evaluation of the wireless microrobot in pipe with symmetrical spiral structure

Performance evaluation of the wireless microrobot in pipe wi...

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IEEE International Conference on robotics and Biomimetics

作者： Jian Guo Xiang Wei Shuxiang Guo Wei Wei Yuehui Ji Yunliang Wang Tianjin Key Laboratory for Control Theory & Application in Complicated Systems and Biomedical Robot Laboratory TianJin University of Technology TianJin China Intelligent Mechanical Systems Engineering Department Kagawa University Takamatsu Kagawa Japan

ISBN: (纸本)9781479927456

A wireless microrobot may be used in the small space and biomedical practice, especially in the industrial field and biomedical application. In this paper, we designed a new kind of wireless microrobot with symmetrical spiral structure, which have more compact volume, completely symmetrical mechanical structure, quick response, forward-backward motions and can clean the dirt adhering to the inner wall. According to the hydromechanical lubrication theory and Newton viscous law, we build the motion model of the microrobot. Through analysis, simulations and experiments, this paper had evaluated the effect of spiral depth and thread unit number. In addition, we verified the feasibility of this new kind of microrobots, and obtained the moving speeds of forward-backward and upward-downward motion in the pipe. The experimental results indicated that the maximum moving speed is 22.68 mm/s at 12 Hz in the horizontal direction and 6.29 mm/s at 13Hz in the vertical direction with input currents of 0.7A. Finally, we designed a control panel for this system, which can control the microrobot current motion states easily, and make our system more portable and compact. The designed wireless microrobot can move smoothly in water and other liquid medium and is very useful in the industrial application and microsurgery application.

关键词： Spirals Force Prototypes Wireless communication Current measurement Liquids Magnetic fields

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Modeling of muscle forces around the elbow in the RITS

Modeling of muscle forces around the elbow in the RITS

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IEEE International Conference on robotics and Biomimetics

作者： Wei Wei Wu Zhang Fan Zhang Shuxiang Guo Jian Guo Yuehui Ji Yunliang Wang Tianjin Key Laboratory for Control Theory & Application in Complicated Systems and Biomedical Robot Laboratory TianJin University of Technology TianJin China The School of Electrical Engineering TianJin University of Technology TianJin China The School of Mechanical Engineering TianJin University of Technology TianJin China The Intelligent Mechanical Systems Engineering Department TianJin University of Technology TianJin Kagawa China

ISBN: (纸本)9781479927456

Muscle forces modeling and computation around the elbow are focused on in this paper when the elbow flexing and extending in the sagittal plane. The paper introduces a Rehabilitation Intelligent Training System (RITS) for restoration of motor function. The system has advantages of small size, less weight and interaction during the rehabilitation process. Furthermore, this system mainly consists of a force feedback device called PHANTOM Premium 1.5, ULERD, EEG (Electroencephalogram) based Brain-Computer Interfaces (BCI). The impaired hand wears the ULERD, so the therapist can control and move the injured hand by PHANTOM Premium in tele-operation. If the force feedback from PHAMTOM Premium is similar to the force generated by the muscle force of upper limb, the effect of upper limb rehabilitation to restore elbow motion may be suitable and satisfactory. This paper aims to computing the natural muscle forces and realizing the force which is generated by PHAMTOM and close to the computed one. Experiment has been performed to prove that the method is feasible in such robots. The development of this method can be a promising approach for further research in more effective rehabilitation to the elbow joint.

关键词： Muscles Force Elbow robots Joints Brain modeling Educational institutions

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