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检索条件"机构=Department of Robotics Engineering Program"

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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

引用

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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7-DOF horseback riding simulator based on a crank mechanism with variable radius and its inverse kinematics solution

7-DOF horseback riding simulator based on a crank mechanism ...

引用

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

作者： Oh-Hun Kwon Jeong-Yean Yang Chan-Soon Lim Dong-Soo Kwon Robotics Program and HRI Research Center KAIST Daejeon Korean Department of Mechanical Engineering and HRI Research Center KAIST Daejeon Korean

This paper proposes a robotic simulator for horseback riding that incorporates a crank mechanism with a variable radius. In horseback riding simulations, it is necessary to efficiently generate vertical sinusoid motion. A novel crank mechanism is proposed to change the unidirectional rotation of a motor to sinusoid wave motion with an arbitrary magnitude and frequency. On the basis of the results of a kinematic analysis, the singularity and redundancy issues of the system are presented. To avoid the singularity problem, an inverse kinematics solution is presented and the result of the simulation shows stable solution of the inverse kinematics.

关键词： Kinematics Trajectory Robots AC motors Joints Jacobian matrices Redundancy

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Development of an exploration rover platform for sample return mission

Development of an exploration rover platform for sample retu...

引用

International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Seokju Lee Sungsik Huh Sungyeon Park David Hyunchul Shim Department of the Robotics Program Korea Advanced Institute of Science and Technology Daejeon Korea Department of Aerospace Engineering Korea Advanced Institute of Science and Technology Daejeon Korea

This paper introduces core technologies and development process of an exploration rover for sample return mission. The purpose of development for the rover is to participate in the Sample Return Robot Challenge: pre-learning sample to be found, searching for the target sample with autonomous navigation, and retrieving the sample to a goal location, which requires many techniques from various fields to work together. In order to suppose the rover operated at the space environment such as the Moon or the Mars, mechanical characteristics and sensor/electronic/communication systems are described in this paper.

关键词： Robot sensing systems Wheels Suspensions Three-dimensional displays Visualization Laser radar

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A RRT-based collision-free and occlusion-free path planning method for a 7DOF manipulator

A RRT-based collision-free and occlusion-free path planning ...

引用

IEEE International Conference on Mechatronics and Automation

作者： Yeoun-Jae Kim Jeong-Hyeon Wang So-Youn Park Joon-Yong Lee Jeong-Jung Kim Ju-Jang Lee Robotics Program KAIST Daejeon Korea Department of Electrical Engineering KAIST Daejeon Korea Department of Genetics Development and Cell Biology Iowa state university Ames USA

ISBN: (纸本)9781479939800

In this paper, we present a path planning algorithm of a 7DOF manipulator with RRT(Rapidly-exploring Random Trees). The method presents a occlusion-free and collision-free path planning algorithm. First, we present a basics of RRT algorithm which is a basic searching method for a path planning of this paper. Second, the implementation of a occlusion-free path constraints is presented. Third, the collision-avoiding path planning constraints is presented. Fourth, the integration of RRT with these two constraints is shown. The proposed method is verified by a numerical simulation with Matlab and v-rep robotics simulation tool.

关键词： Humanoid robots Manipulators Path planning Sensors Conferences Vectors

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Extrinsic calibration of non-overlapping camera-laser system using structured environment

Extrinsic calibration of non-overlapping camera-laser system...

引用

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Yunsu Bok Dong-Geol Choi Pascal Vasseur In So Kweon Division of Future Vehicle KAIST Korea Robotics Program KAIST Korea Laboratory LITIS Université de Rouen France Department of Electrical Engineering KAIST Korea

In this paper are presented simple and practical solutions to extrinsic calibration between a camera and a 2D laser sensor, without overlap. Previous methods utilized a plane or an intersecting line of two planes as a geometric constraint with enough common field-of-view. These required additional sensors to calibrate non-overlapping systems. In this paper, we present two methods for solving the problem - one utilizes a plane; the other utilizes an intersecting line of two planes. For each method, an initial solution of the relative positions of a non-overlapping camera and a laser sensor, was computed by adopting a reasonable assumption about geometric structures. Then we refined it via non-linear optimization, even if the assumption was not perfectly satisfied. Both simulation results and experiments using real data showed that the proposed methods provided reliable results compared to ground-truth, and similar or better results than those provided by a conventional method.

关键词： Cameras Robot sensing systems Vectors Calibration Optimization Lasers Feature extraction

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A parallel Remote Center of Motion mechanism for needle-based medical interventions

A parallel Remote Center of Motion mechanism for needle-base...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Mostafa Hadavand Michael D. Naish Rajni V. Patel Biomedical Engineering Graduate Program Western University Canadian Surgical Technologies and Advanced Robotics (CSTAR) Lawson Health Research Institute London Canada Department of Mechanical and Materials Engineering Western University Department of Electrical and Computer Engineering Western University

A novel parallel Remote Center of Motion (RCM) mechanism is proposed for a surgical robot designed to perform minimally invasive needle-based interventions for lung cancer diagnosis and treatment. The proposed robot provides four degrees of freedom (DOFs) to orient and move a surgical needle within a spherical coordinate system. The RCM is beneath the skin surface to minimize the invasiveness of the surgical procedure while providing the required workspace. This compact, patient-mounted robot benefits from a design capable of measuring the pure interaction forces between the needle and the tissue. In this paper, the mechanism design and its specifications are described. The kinematic analysis is presented and isotropy of the mechanism for targeting tumors is studied. Finally, the performance of the proposed robot is evaluated experimentally.

关键词： Needles Kinematics Robot kinematics Legged locomotion Joints Cancer

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Position estimation of landmark using 3D point cloud and trilateration method

Position estimation of landmark using 3D point cloud and tri...

引用

International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Hyun Chul Roh Yungeun Choe Jinyong Jung Hyunjun Na Younggun Cho Myung Jin Chung Robotics Program Korea Advanced Institute of Science and Technology (KAIST) Daejeon Korea Department of Electrical Engineering Korea Advanced Institute of Science and Technology (KAIST) Daejeon Korea

ISBN: (纸本)9781479953349

We demonstrate the appropriacy of using laser distance meter as the accurate, cost-effective, simple solution for position estimation within precise 3D point cloud map in urban environment scenario. Our approach treats trilateration method with minimum error selection algorithm for better position accuracy of landmark. We validate the performance of our approach through 22 landmarks measured using RTK GPS for error analysis of proposed position estimation method based on trilateration.

关键词： Three-dimensional displays Estimation Measurement by laser beam Vehicles Sensors Global Positioning System Robots

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Proposed surface to air anti stealth technology for homeland security

Proposed surface to air anti stealth technology for homeland...

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International Conference on engineering and Technology (ICET)

作者： Marwa A. El Diwiny El-Sayed Hassanen Abou-Hashema M. El-Sayed G. Abouelmagd Mechatronics and Industrial Robotics Program Faculty of Engineering Minia University EI Minia Egypt Electrical Engineering Department Faculty of Engineering Minia University EI Minia Egypt Electrical Engineering Department Faculty of Engineering Aswan University Aswan Egypt Minia University El Minia EG

This paper handles a proposed algorithm of surface to air anti stealth technology for homeland security. The paper approach is anti stealth theory and it's application by using fuzzy logic control. the anti stealth is done by exposing stealth EM 3500 wave absorber with non lethal pulsed ND YAG 532 then the electric permittivity enhanced and consequently reflection. The application of surface to air is done by determining important parameters as the borders range and creating virtual shape of laser beam hunter for the target through expecting it's degree of freedom in the free space, fuzzy logic control can control the proposed system by inserting expected range of laser hunter beams finally the desired angle can be obtained for get more contact points on it's surface to be visible of microwave radar.

关键词： Aircraft Reflection Permittivity Materials Impedance Lasers

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Dynamic analysis of the spinal-pelvic motion match during feline galloping for speed increase into quadruped robotic system

Dynamic analysis of the spinal-pelvic motion match during fe...

引用

International Conference on Control, Automation and Systems ( ICCAS)

作者： Young Kook Kim Jongwon Park Byungho Yoon Kyung-Soo Kim Soohyun Kim Robotics Program Korea Advanced Institute of Science and Technology (KAIST) Daejeon Republic of Korea Department of Mechanical Engineering Korea Advanced Institute of Science and Technology (KAIST) Daejeon Republic of Korea

ISBN: (纸本)9781479960514

In terms of the speed performance in feline galloping, relative spinal motion is observed as a key role to increase the locomotion speed. In order to prove this, a domestic cat was observed to investigate galloping gait patterns of the feline. Based on the measurement of the dynamic behavior of a domestic cat, we observed a significant increase in speed through correlated angular rate changes of spinal segments. To support the motion into a quadruped system, the hindlimb stance phase was analyzed using a 2 dimensional planar dynamic model to verify that the external torque generated by spinal motion plays an important role in increasing the ground reaction force in the direction of movement. To verify the analysis, the dynamic simulation demonstrating the hindlimb stance was applied with 3 parameter variations: time, phase and the amplitude of the fitted relative angular velocity profile.

关键词： TV Minimization Robots

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New Anti stealth technology for safe piloting of the unmanned aerial vehicle

New Anti stealth technology for safe piloting of the unmanne...

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IEEE International Conference on Mechatronics and Automation

作者： Marwa A. El Diwiny El-Sayed Hassanen Abou-Hashema M. El-Sayed G. Abouelmagd Mechatronics and Industrial Robotics Program Minia University El Minia El Minia Egypt Electrical Engineering Department Minia University El Minia El Minia Egypt Electrical Engineering Department Aswan University Aswan Egypt Production Engineering and Design Department Minia University El Minia El Minia Egypt

This research handles a proposed technology in the defense and security system is Anti stealth technology, This technology supposes increasing radar cross section (RCS) of the stealth system by increasing relative permittivity ε' and decreasing attenuation ε" consequently loss tangent tan(δ e ). Non lethal pulsed ND YAG 532nm laser is the proposed solution for enhancing stealth EM 3500 wave absorber's relative permittivity. This research handles a probabilistic Algorithm for detecting stealth target by using neural network as future implementation for Anti stealth technology.

关键词： Laser beams Materials Permittivity Aircraft Radar Masers Laser applications

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