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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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Image feature-based real-time RGB-D 3D SLAM with GPU acceleration

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Journal of Institute of Control, robotics and Systems 2013年第5期19卷 457-461页

作者： Lee, Donghwa Kim, Hyongjin Myung, Hyun Department of Civil and Environmental Engineering KAIST Korea Republic of Robotics Program KAIST Korea Republic of

This paper proposes an image feature-based real-time RGB-D (Red-Green-Blue Depth) 3D SLAM (Simultaneous Localization and Mapping) system. RGB-D data from Kinect style sensors contain a 2D image and per-pixel depth information. 6-DOF (Degree-of-Freedom) visual odometry is obtained through the 3D-RANSAC (RANdom SAmple Consensus) algorithm with 2D image features and depth data. For speed up extraction of features, parallel computation is performed with GPU acceleration. After a feature manager detects a loop closure, a graph-based SLAM algorithm optimizes trajectory of the sensor and builds a 3D point cloud based map.

关键词： Degrees of freedom (mechanics)

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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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2D image feature-based real-time RGB-D 3D SLAM

2D image feature-based real-time RGB-D 3D SLAM

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1st International Conference on Robot Intelligence Technology and Applications, RiTA 2012

作者： Lee, Donghwa Kim, Hyongjin Myung, Hyun Department of Civil and Environmental Engineering KAIST 291 Daehak-ro Yuseong-gu Daejeon 305-701 Korea Republic of Robotics Program KAIST 291 Daehak-ro Yuseong-gu Daejeon 305-701 Korea Republic of

ISBN: (纸本)9783642373732

This paper proposes a real-time RGB-D (red-green-blue depth) 3D SLAM (simultaneous localization and mapping) system. Kinect style sensors give RGB-D data which contains 2D image and per-pixel depth information. 6-DOF (degree-of-freedom) visual odometry is obtained through the 3D-RANSAC (three-dimensional random sample consensus) algorithm with image features and depth information. For speed up extraction of features, parallel computation is performed on a GPU (graphics processing unit) processor. After a feature manager detects loop closure, a graph-based SLAM algorithm optimizes trajectory of the sensor and 3D map. Experimental results show the processing rate over 20 Hz. © 2013 Springer-Verlag.

关键词： Graphics processing unit

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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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3D navigation for transsphenoidal surgical robotics system based on CT — Images and basic geometric approach

3D navigation for transsphenoidal surgical robotics system b...

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IEEE International Conference on robotics and Biomimetics

作者： Nonthachai Suratriyanont Jackrit Suthakorn Master Program at the Department of Biomedical Engineering Mahidol University Nakompathom Thailand Department of Biomedical Engineering and the Center for Biomedical and Robotics Technology Mahidol University Nakornpathom Thailand

ISBN: (纸本)9781479927456

This paper presents the use of computed tomography image (CT) to generate a 3D workspace in the area of skull base. Our ultimate goal is to develop a surgical robotic system to aid in the endoscopic transsphenoidal surgery. The 3D workspace can benefit both aspects of robot design and intra operative navigation system. In our system, the 3D model of a skull base area is created by the 3DSlicer program and is exported as Stereo Lithography (STL) format which is composed of faces and vertices for the basic structure. For the intraoperative navigation system, the collision detection of tools and anatomical structures can be done by a geometrics approach.

关键词： Surgery Bones Robots Three-dimensional displays Solid modeling Mathematical model Computed tomography

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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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Manipulation of Deformable Objects Without Modeling and Simulating Deformation

Manipulation of Deformable Objects Without Modeling and Simu...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Dmitry Berenson Department of Computer Science and the Robotics Engineering Program Worcester Polytechnic Institute (WPI) 100 Institute Road Worcester MA 01609 USA

ISBN: (纸本)9781467363563

We present a method to manipulate deformable objects that does not require modeling and simulating deformation. Our method is based on the concept of diminishing rigidity, which we use to quickly compute an approximation to the Jacobian of the deformable object. This Jacobian is used to drive the points within the deformable object towards a set of targets. However, this Jacobian alone is insufficient to avoid stretching the object beyond its allowed length and to avoid gripper collision with obstacles. Thus a key part of our approach is incorporating techniques to avoid collision and excessive stretching. Our experiments show how to perform several interesting tasks for one and two-dimensional deformable objects using our method. They also show how the method can be applied to collaborative tasks, where the robot and a user simultaneously manipulate the deformable object. Our experiments are conducted in simulation but we emphasize that our method does not have access to the model of the deformable object used by the simulator, although we assume we are able to sense the geometry of the object. While our method is local, we find that it is quite versatile in the range of tasks it can perform, especially since it has no knowledge of the model of the deformable object.

关键词： Jacobian Modeling simulating Religious Missions Collisions

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Visual motion observer-based bilateral control for eye-in-hand mobile robot teleoperation

Visual motion observer-based bilateral control for eye-in-ha...

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IEEE Conference on Control Technology and Applications (CCTA)

作者： Toshiyuki Murao Hiroyuki Kawai Yusei Tsuruo Masayuki Fujita Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Tokyo Japan Department of Robotics Kanazawa Institute of Technology Ishikawa Japan Department of Mechanical and Control Engineering Tokyo Institute of Technology Tokyo Japan

This paper investigates, as a first step for visual feedback bilateral control, visual motion observer-based bilateral attitude and position control for eye-in-hand mobile robot teleoperation systems. Firstly, visual motion observers for eye-in-hand mobile robots are presented. Then, a visual motion observer-based bilateral and coordination control laws for attitude maneuvers are proposed. Moreover, visual motion observer-based bilateral position control and stability analysis are presented. The main contribution of this paper is to show that the bilateral control framework in which teleoperation systems utilize visual information to obtain the relative poses of the master and slave robots can be provided based on passivity. Finally, the effectiveness of the proposed framework is verified through computer simulations and experiments.

关键词： Visualization Mobile robots Attitude control Torque Force Observers

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