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Obstacle information transfer and control method using haptic device consist of vibration motors

Journal of Institute of Control, robotics and Systems 2014年第10期20卷 1036-1043页

作者： Lee, Dong-Hyuk Noh, Kyung-Wook Kang, Sun Kyun Han, Jong Ho 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, a new haptic device is proposed for the teleoperation, which can recognize the invisible environment of a mobile robot. With this new device, it is possible for the user to identify the location of an obstacle and to avoid it. The haptic device has been attached on the top of a joystick so that the user can remotely control the mobile robot to avoid the obstacles which are recognized by the ultrasonic sensors. Also, the invisible environment is recognized more accurately overlapping the data from the ultrasonic sensors. There are five vibration motors in the haptic device to indicate the direction of the obstacle. So the direction of the obstacle can be recognized by the vibration at the finger on each vibration motor. For various situations and surrounding environments, experiments are performed using fuzzy controller and overlapping ultrasonic sensors. The results demonstrate the effectiveness of the proposed haptic joystick.

关键词： Remote control

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Haptic joystick implementation using vibration pattern algorithm

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Journal of Institute of Control, robotics and Systems 2013年第7期19卷 605-613页

作者： Noh, Kyung-Wook Lee, Dong-Hyuk Han, Jong-Ho Park, Sookhee Lee, Jangmyung Department of Interdisciplinary Program in Robotics Pusan National University Korea Republic of Department of Electrical Engineering Pusan National University Korea Republic of

This research proposes a vibration pattern algorithm to implement the haptic joystick to control a mobile robot at the remote site without watching the navigation environment. When the user cannot watch the navigation environment of the mobile robot, the user may rely on the haptic joystick solely to avoid obstacles and to guide the mobile robot to the target. To generate vibration patterns, there is a vibration motor at the bottom of the joystick which is held by the user to control the motion direction of the mobile robot remotely. When the mobile robot approaches to an obstacle, a pattern of vibration is generated by the motor, and by feeling the vibration pattern which is determined by the relative position of the mobile robot to the obstacle, the user can move the joystick to avoid the collision to the obstacle for the mobile robot. To generate the vibration patterns to convey the relative location of the obstacle near the mobile robot to the user, Fuzzy interferences have been utilized. To measure the distance and location of the obstacle near the mobile robot, ultrasonic sensors with the ring structure have been adopted and they are attached at the front and back sides of the mobile robot. The precise location of the obstacle is obtained by fusing the multiple data from ultrasonic sensors. Effectiveness of the proposed algorithm has been verified through the real experiments and the results are demonstrated. © ICROS 2013.

关键词： Feedback

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Balancing Control of a Ball Robot Based on an Inverted Pendulum

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Journal of Institute of Control, robotics and Systems 2013年第9期19卷 834-838页

作者： Kang, Seok-Won Park, Chan-Ik Byun, Gyu-Ho Lee, Jang-Myung Department of Interdisciplinary Program in Robotics Pusan National University Korea Republic of School of Electronic Engineering Pusan National University Korea Republic of

This paper proposes a new ball robot which has a four axis structure and four motors that directly actuate the ball to move or to maintain the balance of the robot. For the Balancing control, it is possible to use non-model-based controller to control simply without complex formula. All the gains of the controller are heuristically adjusted during the experiments. The tilt angle is measured by IMU sensors, which is used to generate the control input of the roll and pitch controller to make the tilt angle zero. The performance of the designed control system has been verified through the real experiments with the developed ball robot. ©ICROS 2013.

关键词： Inverted pendulum

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LQR controller design for balancing and driving control of a bicycle robot

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Journal of Institute of Control, robotics and Systems 2014年第5期20卷 551-556页

作者： Kang, Seok-Won Park, Kyung-Il Lee, Jangmyung Department of Interdisciplinary Program in Robotics Pusan National University Korea Republic of School of Electronic Engineering Pusan National University Korea Republic of

This paper proposes a balancing control and driving control of a bicycle robot based on dynamic modeling of the bicycle robot, which has been derived using the Lagrange equations. For the balancing control of the bicycle robot, a reaction wheel pendulum method has been adopted in this research. By using the dynamics equations of the bicycle robot, an LQR controller has been designed for a balancing and driving control of a bicycle robot. The performance of the balance control is verified experimentally before the driving control, which shows a stable posture within one degree vibrations. To show the dynamic characteristics of the bicycle robot during driving, a trapezoidal velocity trajectory is selected as the references. Through simulations and real experiments, the effectiveness of the proposed algorithm has been demonstrated. © ICROS 2014.

关键词： Equations of motion

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Dynamic object tracking of a quad-rotor with image processing and an extended Kalman filter

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Journal of Institute of Control, robotics and Systems 2015年第7期21卷 641-647页

作者： Kim, Ki-jung Yu, Ho-Yun Lee, Jangmyung Department Interdisciplinary Program in Robotics Pusan National University Korea Republic of Depart of Electrical Engineering Pusan National University Korea Republic of

This paper proposes a new strategy for a quad-rotor to track a moving object efficiently by using image processing and an extended Kalman filter. The goal of path planning for the quad-rotor is to design an optimal path from the start point to the destination point. To lengthen the freight time of the quad-rotor, an optimal path is required to reduce the energy consumption. To track a moving object, the mark signed on the moving object has been detected by a camera mounted first on the quad-rotor. The center coordinates of the mark and its area are calculated through the blob analysis which is one type of image processing. The mark coordinates are utilized to obtain information on the motion direction and the area of the mark is utilized to recognize whether the object moves backward or forward from the camera on the quad-rotor. In addition, an extended Kalman filter has been applied to predict the direction and speed of the dynamically moving object. Through these schemes, it is aimed that the quad-rotor can track the dynamic object efficiently in terms of flight distance and time. Through the two different route freights of the quad-rotor, the performance of the proposed system has been demonstrated. © ICROS 2015.

关键词： Extended Kalman filters

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Haptic realization for user recognition using vibration pattern

Haptic realization for user recognition using vibration patt...

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

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

In this paper, the haptic implementation using user-aware vibration pattern studied to recognize a surroundings of a teleoperated mobile robot in an environment where the user cannot see. The user teleoperates the mobile robots using the joystick in an environment where the user cannot see, haptic that enables the user perceive the perceived location information of obstacle during driving was implemented by using user-aware vibration pattern occurring in the haptic device. The haptic device was consist of equip with one vibration motor on the bottom of the joystick. The mobile robot implements the location information of the obstacle precisely by increasing the resolution using the superposition of ultrasonic sensors, and using this information, proper vibration pattern was implemented in haptic devices.

关键词： Vibrations Mobile robots Acoustics Haptic interfaces Pattern recognition Robot sensing systems

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3D map building for slopes based on modeling of mobile robot

3D map building for slopes based on modeling of mobile robot

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IEEE International Conference on Industrial Technology (ICIT)

作者： Yo-Seop Hwang Hyun-Woo Kim Dong-Ju Lee Jang-Myung Lee Department of Electrical Engineering Pusan National University Busan Korea Department of Interdisciplinary Program in Robotics Pusan National University Busan Korea

This paper proposes a robust 3D (dimension) map building system for a mobile robot using a LRF (Laser Range Finder). Instead of the expensive and bulky 3D laser scanner, the LRF can be utilized and installed on the mobile robot for the map building and the autonomous navigation. This research, the scanning operations are performed while the mobile robot moved on the slanted surface and ground without stops. The motion of the mobile robot is transformed into the scanning surface in the process of forming the 3D map. The experimental results reveal that the improved accuracy of navigation for the mobile robot in the real time scanning of the environment.

关键词： Mobile robots Three-dimensional displays Buildings Sensors Robot kinematics Navigation

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The hybrid dimming control system for solar charging robot

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World Academy of Science, Engineering and Technology 2010年 72卷 185-188页

作者： Won-Yong Chae, A. Kim, B. Hyung-Nam Lee, C. Kyoung-Jun Kim, D. Hee-Je Interdisciplinary Program in Robotics Pusan National University Pusan Korea Republic of Electronic and Electrical Engineering Department Pusan National University Pusan Korea Republic of

The renewable energy has been attracting attention as a new alternative energy due to the problem of environmental pollution and resource depletion. In particular, daylighting and PV system are regarded as the solutions. In this paper, the hybrid dimming control system supplied by solar cell and daylighting system was designed. Daylighting system is main source and PV system is spare source. PV system operates the LED lamp which supports daylighting system because daylighting system is unstable due to the variation of irradiance. In addition, PV system has a role charging batteries. Battery charging has a benefit that PV system operate LED lamp in the bad weather. However, LED lamp always can't turn on that's why dimming control system was designed. In particular, the solar charging robot was designed to check the interior irradiance intensity. These systems and the application of the solar charging robot are expected to contribute developing alternative energy in the near future.

关键词： Charging (batteries)

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The study on the wireless power transfer system for mobile robots

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World Academy of Science, Engineering and Technology 2010年 72卷 182-184页

作者： Kim, Hyung-Nam Chae, Won-Yong Shin, Dong-Sul Kim, Ho-Sung Kim, Hee-Je Interdisciplinary program in Robotics Pusan National University Pusan Korea Republic of Electronic and Electrical Engineering Department Pusan National University Pusan Korea Republic of

A wireless power transfer system can attribute to the fields in robot, aviation and space in which lightening the weight of device and improving the movement play an important role. A wireless power transfer system was investigated to overcome the inconvenience of using power cable. Especially a wireless power transfer technology is important element for mobile robots. We proposed the wireless power transfer system of the half-bridge resonant converter with the frequency tracking and optimized power transfer control unit. And the possibility of the application and development system was verified through the experiment with LED loads.

关键词： Light emitting diodes

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Enhanced outdoor localization of multi-GPS/INS fusion system using Mahalanobis Distance

Enhanced outdoor localization of multi-GPS/INS fusion system...

引用

International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Yun-Ki Kim Seung-Hwan Choi Jang-Myung Lee Department of Electrical Engineering Pusan National University Busan Korea Interdisciplinary Program in Robotics Pusan National University Busan Korea

This paper describes the implementation of system estimating outdoor position system with three GPS and one IMU sensor. The accuracy of three low-cost GPS which have large instantaneous error are supplemented by using The center of the triangular method and system that has more accurate estimation of position is designed by combining three GPS and one IMU sensor through EKF. And also data values overflowed are eliminated to gain more precise data values with utilization of Mahalanobis Distance. Through experiment, it can verify the results compared single GPS and multi-GPS position error, and then calibrated mobile robot position estimation results can be found.

关键词： Global Positioning System Receivers Mobile robots Robot sensing systems Estimation

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