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Optimal Path Search for robot Manipulator using Deep Reinforcement Learning

IEIE Transactions on smart Processing and Computing 2021年第5期10卷 424-430页

作者： Sunwoo, Yungmin Lee, Won Chang Department of Smart Robot Convergence and Application Engineering Pukyong National University Busan Korea Republic of Department of Electronic Engineering Pukyong National University Busan Korea Republic of

Much research using deep reinforcement learning has been conducted to make robot manipulators perform certain tasks with little prior knowledge of the work environment. However, due to the high-dimension continuous action-state spaces that a robot manipulator must work in, it is difficult for deep reinforcement learning agents to find or even learn optimal policies. In this paper, we present a method for generating optimal paths for the end effector of a robot manipulator to move through. This is achieved by using images of the workspace that allow us to avoid the problems of high dimensionality while the system learns pick-and-place tasks using deep reinforcement learning. The robot simulator Webots was used to implement the robot model in a virtual work environment. Simulations confirmed that the robot manipulator is able to successfully move target objects from their starting points to their destinations while avoiding moving obstacles in real time, even if the size, position, and number of obstacles are varied. © 2021 Institute of Electronics and Information Engineers. All rights reserved.

关键词： Reinforcement learning

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An Anti-disturbance backstepping control for a two-axis gimbal system with euler angle feedback and delayed inputs

An Anti-disturbance backstepping control for a two-axis gimb...

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2021 International Conference on System Science and engineering, ICSSE 2021

作者： Huynh, Thinh Tran, Minh Thien Bok Kim, Young Pukyong National University Department of Smart Robot Convergence and Application Engineering Busan Korea Republic of

ISBN: (纸本)9781665448482

Maintaining the position of a camera by a gimbal system in surveillance applications has never been an easy task since the system is carried on a mobile vehicle. In this study, the design of a stabilization control for the gimbal system is presented to deal with this problem. Firstly, the system kinematics and dynamics are derived in mathematical models, where influences of disturbances, system nonlinearities, and hardware parameterizations are taken into consideration. Secondly, an observer is proposed to estimate the unmeasured disturbances. Then, a full state feedback controller is designed based on the backstepping procedure to ensure the performance of the system. The system stability is preserved in the sense of Lyapunov theory, and the effectiveness is validated by simulation studies. Although the effects of delay time cannot be rejected completely, performances of the proposed control are better than those of previous related studies. © 2021 IEEE.

关键词： Sliding mode control

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A Study on Unmanned Water-Powered Aerial Vehicle Equipped with Nozzle Rotation Mechanism and Propeller Module 24

A Study on Unmanned Water-Powered Aerial Vehicle Equipped wi...

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24th International Conference on Control, Automation and Systems, ICCAS 2024

作者： Nguyen, Thien-Dinh Dinh, Cao-Tri Huynh, Thinh Lee, Dong-Hun Kim, Young-Bok Pukyong National University Department of Smart Mobility Engineering College of Information Technology and Convergence Busan48513 Korea Republic of Pukyong National University Department of Intelligent Robot Engineering Busan48513 Korea Republic of Pukyong National University Division of Energy Transport System Engineering Department of Mechanical System Engineering Busan48513 Korea Republic of

ISBN: (纸本)9788993215380

Water-powered aerial vehicles have been widely applied in various fields such as entertainment, rescue and transportation. However, they require an operator to have an expert technique to govern. In order to enhance the skillful applications of these vehicles in specialized missions such as firefighting, rescue, and exploration, this study proposed a novel unmanned water-powered aerial vehicle actuating nozzle rotation mechanism and propellers module. In particular, by changing the water force direction through the nozzle rotation modules and air force of propeller modules, the proposed vehicle can achieve comprehensive 6-degree-of-freedom motion under the constant mass flow rate condition. As a first step to investigate the effectiveness of the proposed system, the following steps are being taken. Firstly, a mathematical model of the vehicle is derived in detail to describe system dynamics. Secondly, a well-known proportional-integral- derivative controller is then applied to regulate its full motion. Finally, the simulation studies are conducted to validate the feasibility of the proposed vehicle. © 2024 ICROS.

关键词： Three term control systems

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Design of the Joint Structure Using a Magnetic Coupling with Linear Motion for Enhanced Braking Systems

Design of the Joint Structure Using a Magnetic Coupling with...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： HyoJae Kang YongJae Lee SeoHyun Yoo DaeHee Han SeongTaek Im Min-Sung Kang Department of Interdisciplinary Robot Engineering Systems Hanyang University Ansan Korea School of Smart Convergence Engineering Hanyang University Ansan Korea

ISBN: (数字)9788993215380

ISBN: (纸本)9798331517939

This study introduces a robot joint structure utilizing magnetic coupling for non-contact power transmission and braking. The proposed design arranges permanent magnets on the motor shaft and the power-receiving shaft to transmit power via axial magnetic coupling mechanism. During braking, the structure allows linear movement to disengage from the motor shaft. This disengagement prevents power transmission during normal braking and utilizes a fixed magnet array on the opposite side for effective braking in a stopped state. In abnormal braking scenarios, the magnetic coupling characteristic ensuring power transmission is halted by disengaging the coupling, even if the motor continues to rotate, thereby avoiding continuous collisions typical in rigid coupling methods. The design was validated before experiments using magnetic films to verify the correct magnet arrangement. Experiments confirmed the power transmission in a noload state and demonstrated the braking test of disengagement action. Future research will focus on applying this structure to practical robotic applications, aiming to develop telescopic mechanisms or alternative motor configurations to maintain robust connections between moving components.

关键词： Couplings Shafts Magnetic films Resistance Design methodology Power transmission Motors Permanent magnets Reliability robots

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Design of Low-Power Variable Gain Amplifier

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Journal of Institute of Control, robotics and Systems 2022年第1期28卷 1-5页

作者： Choi, Ye-Ji Ryu, Jee-Youl Department of Smart Robot Convergence and Application Engineering Pukyong National University Korea Republic of Department of Information and Communications Engineering Pukyong National University Korea Republic of

This paper presents a low-power variable gain amplifier (VGA) for the automotive radar. The proposed VGA comprises a gain control stage and an amplifier stage with active inductors. The gain control stage on the circuit is designed to be adjustable in 5 steps from 0 dB to 20 dB. The chip area can be reduced using an active inductor. This circuit also has a lower power dissipation, which reduces slow vibrations. The VGA is fabricated by TSMC 0.13 μm CMOS process. In comparison to conventional research results, the proposed VGA showed a lower power consumption of 17.88 mW, a low noise figure of less than 3.424 dB, and a relatively low active area of 0.034 mm2. © ICROS 2022.

关键词： Variable gain amplifiers

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A Study on Robust Fault-tolerant Control for a Low-cost Target Tracking System 21

A Study on Robust Fault-tolerant Control for a Low-cost Targ...

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21st International Conference on Control, Automation and Systems, ICCAS 2021

作者： Huynh, Thinh Tran, Minh-Thien Lee, Dong-Hun Kim, Young-Bok Pukyong National University Department of Smart Robot Convergence and Application Engineering Busan48513 Korea Republic of Pukyong National University Department of Mechanical System Engineering Busan48513 Korea Republic of

ISBN: (纸本)9788993215212

This paper presents a robust control system for a low-cost tracking system. As the controlled apparatus, a 2-axis gimbal is involved in a networked control system and an unreliable gyro sensor is used. Besides, external disturbances heavily affect the system performance. Thus, an unknown input observer is proposed to identify the sensor fault accurately even in the presence of the disturbances and time-varying delay of the networked system. Their influences are estimated subsequently. Then, a fault-tolerant controller is designed, using the observed fault and disturbances. The continuous control law is obtained based on the super-twisting algorithm, backstepping procedure, and integral sliding mode control technique. Finally, a simulation in a worst-case scenario validates the efficiency of the proposed control method. Compared to other control systems, the proposed controller has shown its superiority and reliability. © 2021 ICROS.

关键词： Controllers

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Design of a low-power 12-bit 1msps sar analog-to-digital converter

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Journal of Institute of Control, robotics and Systems 2021年第1期27卷 26-31页

作者： Chun, Jae-Il Choi, Ye-Ji Ryu, Jee-Youl Department of Smart Robot Convergence and Application Emgineering Pukyong National University Korea Republic of

In this paper, a low-power 12-bit 1MSps Successive-Approximation-Register (SAR) Analog-to-Digital Converter (ADC) is proposed to increase the integration degree. The proposed circuit is designed using the 1Poly-6Metal 0.13 μm CMOS process, and operates at a supply voltage of 1.2 V. A pre-amplifier is incorporated to amplify both comparator and buffer, and offer flexible signal processing and good performance. The signal processing stage is compared to conventional circuits, so that fine signals can be captured for optimization. The proposed ADC showed very low power consumption (0.654 mW), good Figure of Merit (FOM) (0.98 fJ/conversion) and smaller die area (0.106 mm2) compared with conventional results. This circuit also showed excellent Effective Number of Bits (ENOB) and high Signal-to-Noise Distortion Ratio (SNDR), 72.19 dB and 11.69 bits respectively. © ICROS 2021.

关键词： Signal processing

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Comparison of deep reinforcement learning algorithms: Path Search in Grid World

Comparison of deep reinforcement learning algorithms: Path S...

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International Conference on Electronics, Information and Communications (ICEIC)

作者： YungMin SunWoo WonChang Lee Smart Robot Convergence and Application Engineering Pukyong National University Republic of Korea

ISBN: (数字)9781728191614

ISBN: (纸本)9781728191621

Deep reinforcement learning is being used to teach robots elaborate and complex tasks, and recently, it has gained successful results in various fields of robotics. However, there is still a limit to directly applying the existing deep reinforcement learning algorithms due to the continuous and high-dimensional states and actions inherent in the robot, and a method of inducing correct learning through proper expression of the environment in which the robot will work is required. As a way to enable the robot to recognize the work environment, there is observation through a camera, and a mapping from this to the grid world is a way to express the work environment. This allows us to considerably reduce the dimensions of state and action and find the optimal policy for the path search problem using deep reinforcement learning algorithms. In this paper, we compare the simulation results of various deep reinforcement learning algorithms for path search, which is a representative problem depicted as a grid world, and present the environment, model architecture and parameters used in the simulation.

关键词： Simulation robot vision systems Reinforcement learning Search problems Turning Task analysis robots

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A Study on Unmanned Water-Powered Aerial Vehicle Equipped with Nozzle Rotation Mechanism and Propeller Module

A Study on Unmanned Water-Powered Aerial Vehicle Equipped wi...

引用

International Conference on Control, Automation and Systems ( ICCAS)

作者： Thien-Dinh Nguyen Cao-Tri Dinh Thinh Huynh Dong-Hun Lee Young-Bok Kim Department of Intelligent Robot Engineering Pukyong National University Busan Korea Department of Smart Mobility Engineering College of Information Technology and Convergence Pukyong National University Busan Korea Department of Mechanical System Engineering Division of Energy Transport System Engineering Pukyong National University Busan Korea

ISBN: (数字)9788993215380

ISBN: (纸本)9798331517939

关键词： Automation Propellers System dynamics Simulation Force Transportation Entertainment industry Control systems Mathematical models Trajectory

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Lidar SLAM Comparison in a Featureless Tunnel Environment

Lidar SLAM Comparison in a Featureless Tunnel Environment

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Iulian Filip Juhyun Pyo Meungsuk Lee Hangil Joe Department of Robot and Smart System Engineering Kyungpook National University Daegu Korea Korea Institue of Robotics and Technology Convergence Pohang Korea

Simultaneous Localization and Mapping (SLAM) algorithm consists a vital part of decision-making process of autonomous robot platforms. Many lidar-based SLAM methods have been proposed for indoor and urban environments. However, a few studies are reported in a featureless tunnel environment. In this paper we consider recent lidar SLAM frameworks and test their performance in a tunnel environment. Our dataset is collected by a four-wheeled ground vehicle that is equipped with a lidar sensor used for mapping and feature detection and an IMU sensor used for odometry tracking information. The performance of seven different lidar SLAM algorithms is tested and as a result, in corridor environment LIO-SAM and SC-LIO-SAM frameworks show the lowest trajectory and point cloud error, respectively. On the other hand, LIO-SAM and FAST-LIO2 displays the best trajectory accuracy in the tunnel environment with addition of artificial landmarks and without them, respectively. The results obtained during the performance of seven different lidar SLAM algorithms can contribute to the development of a SLAM framework in a featureless tunnel environment.

关键词： Point cloud compression Simultaneous localization and mapping Laser radar Feature detection Urban areas Decision making Control systems

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