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

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

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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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Development of master handle for robotic laparoscopy using cable-conduit

Development of master handle for robotic laparoscopy using c...

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SICE Annual Conference

作者： Woo-Hyeok Choi Sung-Min Yoon Min-Cheol Lee Interdisciplinary Program in Robotics Pusan NationalUniversity Busan South Korea Graduate School of Mechanical Engineering Pusan National University Busan South Korea Department of Mechanical Engineering Pusan National University Busan South Korea

ISBN: (纸本)9781479914951

In robotic surgery, a surgeon checks only a surgical site of patient in the progress of surgery by vision and sound information. In order to solve this limited information, the haptic function is necessary. For haptic realization, it requires much more information through various sensors. However, because of the special environment inside human body, it is not easy to apply sensors such as a force sensor. The low inertia master device for laparoscope operation with cable-conduit was developed in previous research to give haptic function. This suggested a possibility of developing a master device by using the cable-conduit. However, since each axis of rotations does not match with human wrist joint, it is very inconvenient to use. This paper suggests a new mechanism design structure to solve these problems of previous work by new form of master device. And it is experimented and analyzed that a cable conduit connected control box can follow well according to a trajectory of one axis's angle.

关键词： Robot sensing systems Trajectory Force Production Industries Surgery

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