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检索条件"机构=Dept. of Control Robot Engineering"

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Locomotion mechanism and control method for a microrobot using the difference in the vibration characteristics of the legs (fabrication of a prototype microrobot;preliminary experiments and experiments in turning control)

Locomotion mechanism and control method for a microrobot usi...

引用

22nd Annual Symp. on Micro-Nano Mechatronics and Human Science, MHS 2011, Held Jointly with the Symp. on COE for Education and Research of Micro-Nano Mechatronics, Micro-Nano GCOE 2011, Symp. on Hyper Bio Assembler for 3D Cellular System Innovation

作者： Isogai, Masahiro Dept. of Electronic Control and Robot Engineering Aichi University of Technology 50-2 Manori Nishihazamacho Gamagori 443-0047 Japan

ISBN: (纸本)9781457713613

Recently, microrobots have been the subject of a large number of studies, and contests are held throughout the year with the aim of developing microrobot technologies. As a result, various types of microrobots have been proposed including motor-type, piezoelectric-element-type, and electromagnet-type microrobots. This study considers a novel locomotion mechanism and a control method for an electromagnet-type microrobot that can not only travel in a straight line, but can also turn using just a single electromagnet that utilizes the difference in the vibration characteristics of the left and right legs. In this study, a control method to change the turning radius is proposed, and a prototype microrobot and controller are fabricated. In addition, the characteristics of the turning radius are investigated and the effectiveness of the proposed control method is verified through experiments. © 2011 IEEE.

关键词： Vibration analysis

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A novel design of wave energy harvest device with flywheel energy storage system

A novel design of wave energy harvest device with flywheel e...

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15th World Multi-Conference on Systemics, Cybernetics and Informatics, WMSCI 2011

作者： Lin, Kuo-Chi Joo, Young Hoon Helkin, Steven Chan, Ham Dept. of Mechanical Materials and Aerospace Engineering University of Central Florida Orlando FL 32816 United States Dept. of Control Robot and Systems Engineering Kunsan National University Kunsan 573-701 Korea Republic of Dept. of Mechatronics Engineering Southern Polytechnic State University Marietta GA 30060 United States

ISBN: (纸本)9781936338290

This paper describes a novel design of a wave energy harvest device that utilizes a flywheel energy storage (FES) system to yield increased power generation. The buoy design is moored to the ocean floor via a cable;as the buoy is heaved vertically by ocean waves, the cable rotates a pulley which in turn drives the rotor of an onboard generator. A ratchet within the pulley allows the rotor to only be turned in one direction. To prevent large tensions from begin imposed on the cable by the back torque from the generator, a flywheel energy storage system is used. As the buoy is heaved vertically by incident waves, the electric load on the generator is removed, resulting in all of the energy extracted by the buoy to be stored in the flywheel system. Consequently the buoy is less restricted by high tensions and able to closely follow the motion of the waves, even while using a large generator with a high back torque coefficient. As the buoy moves downward after being heaved, the load is re-coupled to the generator, transferring the energy stored by the flywheel to the generator. Essentially the FES system trades power generation time for improved buoy motion. The focus of the paper is not to optimize the design of the buoy, but rather demonstrate the effectiveness of the FES system for the buoy design with arbitrary parameters. Simple simulations for a small buoy confirm the effectiveness of the proposed flywheel energy storage system - without it the wave energy harvest device produced only 90.0 watts of power, but with it the device produced 180.3 watts - an improvement of 100%. This improvement is based on a small generator with low back torque coefficient;for a large-scale design and stronger generator, the benefits are expected to be even greater.

关键词： Buoys

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A study on the human identification technique for privacy protection in intelligent video surveillance system

A study on the human identification technique for privacy pr...

引用

2011 IEEE Asia-Pacific Services Computing Conference, APSCC 2011

作者： Kim, Min-Gu Moon, Hae-Min Won, Chulho Chung, Yongwha Pan, Sung Bum Dept. of Control and Instrumentation Engineering Chosun University 375 Seosuk-dong Dong-gu Gwangju Korea Republic of Dept. of Information and Communication Engineering Chosun University 375 Seosuk-dong Dong-gu Gwangju Korea Republic of Dept. of Electrical and Computer Engineering California State University Fresno CA United States Dept. of Computer and Information Science Korea Univ. Sejong Campus Chungnam Korea Republic of Dept. of Control Instrumentation and Robot Engineering Chosun University 375 Seosuk-dong Dong-gu Gwangju Korea Republic of

ISBN: (纸本)9780769546247

Recently as the incidences of terrorism and crime increase, the utilization of video surveillance system such as CCTV is increased. The increase of video surveillance system is useful in maintaining the safety of people's living and public order, however, the issue has been brought up about privacy invasion. For this, researches on the masking method to protect the privacy are being carried out. The masking method can protect privacy by eliminating the visual information but reduces the surveillance function. Therefore, the techniques that satisfy the human identification-based privacy protection and surveillance function at the same time have been researched. In this paper, the human identification method that is applicable to the existing privacy protection method and video surveillance system is explained. © 2011 IEEE.

关键词： Monitoring

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Development of an omnidirectional walking engine for full-sized lightweight humanoid robots

Development of an omnidirectional walking engine for full-si...

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ASME 2011 International Design engineering Technical Conferences and Computers and Information in engineering Conference, IDETC/CIE 2011

作者： Song, Seungmoon Ryoo, Young-Jae Hong, Dennis W. Robotics Institute Carnegie Mellon University Pittsburgh PA 15213 United States Dept. of Control and Robot Engineering Mokpo National University Muan-goon Korea Republic of Robotics and Mechanisms Laboratory Dept. of Mechanical Engineering Virginia Tech. Blacksburg VA 24061 United States

ISBN: (纸本)9780791854839

In this paper, we propose and demonstrate an omnidirectional walking engine that achieves stable walking using feedback from an inertial measurement unit (IMU). The 3D linear inverted pendulum model (3D-LIPM) is used as a simplified model of the robot, the zero moment point (ZMP) criterion is used as the stability criterion, and only the feedback from the IMU is utilized for stabilization. The proposed walking engine consists of two parts;the omnidirectional gait generator, and the stability controller. ZMP equations, derived based on the 3D-LIPM, are used in the omnidirectional gait generator. The solutions of the differential equations are directly used which reduces the computation cost compare to other existing methods. Two kinds of feedback controllers are implemented for the stability controller;one is the indirect reference ZMP controller, and the other is the indirect joint controller. The walking engine is tested on a lightweight, full-sized, 21-degree-of-freedom (DOF) humanoid robot CHARLI-L (Cognitive Humanoid Autonomous robot with Learning Intelligence, version Lightweight) which stands 141 cm tall and weighs only 12.7 kg. The design goals of CHARLI-L are low development cost, lightweight, and simple design, which all match well with the proposed walking engine. The results of the experiments present the efficacy of our approach. Copyright © 2011 by ASME.

关键词： Anthropomorphic robots

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A safe joint with a joint torque sensor

A safe joint with a joint torque sensor

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2011 8th International Conference on Ubiquitous robots and Ambient Intelligence, URAI 2011

作者： Choi, Dong-Eun Yang, Gi-Hun Choi, Junho Lee, Woosub Cho, Changhyun Kang, Sungchul Center for Bionics Korea Institute of Science and Technology Seoul 136-791 Korea Republic of Under Water Robot Center Korea Institute of Industrial Technology Cheonan 331-825 Korea Republic of Dept. of Mechanical and Aerospace Engineering Tokyo Institute of Technology Tokyo 152-8552 Japan Dept. of Control Instruments and Robot Chosun University Gwang-ju 501-759 Korea Republic of

ISBN: (纸本)9781457707223

In this study, a safe joint with a joint torque sensor is presented. The safe joint, named "Spring-Clutch", is a simple passive mechanism that consists of a spring, a cam, and a joint torque sensor. When the torque applied is less than a pre-set threshold, the Spring-Clutch acts as a rigid joint between the input and output. However, if the applied torque exceeds the threshold, the Spring-Clutch is released and acts as a revolute joint, which results in reduction of the collision force to prevent damage of human and robot. After the applied torque is removed, the Spring-Clutch is immediately re-engaged. In addition, a compact joint torque sensor is installed in the Spring-Clutch to measure the torque at the joint. This paper describes the design principles and performance evaluation of Spring-Clutch, and discusses practical applications to a joint mechanism for safe manipulator. © 2011 IEEE.

关键词： Torque

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The prediction of energy production and planning of the Southwest coast offshore wind farm

The prediction of energy production and planning of the Sout...

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8th International Conference on Power Electronics - ECCE Asia: "Green World with Power Electronics", ICPE 2011-ECCE Asia

作者： Jeong, A. Moon-Seon Moon, B. Chae-Joo Choi, C. Man Soo Jeong, D. Gwon-Seong Chang, E. Young-Hak Dept. of Electrical Engineering College of Mokpo National University 61 Dorim-ri Cheonggye-myeon Muan-gun Jeonnam Korea Republic of DMS CO. Wind Power Divition Suwon Korea Republic of Dept. of Control Robot Engineering College of Mokpo National University 61 Dorim-ri Cheonggye-myeon Muan-gun Jeonnam Korea Republic of

ISBN: (纸本)9781612849560

Korea has been developing coast has been developing wind energy on land for a long time, and the government is in preparations of an offshore wind farm for the first time. The conditions of the wind rose affect not only the structures of wind turbine, but are also important in predicting the future energy production rate. If an offshore wind farm is to be composed, it is the most important factor to predict the amount of energy produced each year on the predicted site of the wind farm. In order to predict this, a Met mast must be installed at the selected site for more than one year to analyze the measured wind rose resource. This study has analyzed the wind rose resource by using the data obtained through the Met mast of 60[m] height installed on an island of the Southwest coast, and the measured data has been applied on WindPRO and WAsP programs to predict the annual energy production based on the calculation of the energy production under the assumption that a 100[MW] level offshore wind farm is composed at the selected site. The result was 313,672.24[MWh/year] if 50 2[MW] level wind generators are applied, thus a usage rate of 35.81% is expected. © 2011 IEEE.

关键词： Offshore wind farms

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The prediction of energy production and planning of the Southwest coast offshore wind farm

The prediction of energy production and planning of the Sout...

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International Conference on Power Electronics (ICPE)

作者： Moon-Seon Jeong Chae-Joo Moon Man Soo Choi Gwon-Seong Jeong Young-Hak Chang Dept. of Electrical Engineering College of Mokpo National University 61 Dorim-riCheonggye-myeon Muan-gun Jeonnam South Korea DMS CO. Wind Power Divition of Suwon Suwon South Korea Dept. of Control Robot Engineering College of Mokpo National University 61 Dorim-ri Cheonggye-myeon Muan-gun Jeonnam South Korea

关键词： Power electronics Asia

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A new human identification method for intelligent video surveillance system

A new human identification method for intelligent video surv...

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2010 19th International Conference on Computer Communications and Networks, ICCCN 2010

作者： Moon, Hae-Min Pan, Sumg Bum Dept. of Information and Communication Engineering Chosun Univ. Gwangju Korea Republic of Dept. of Control Instrumentation and Robot Engineering Chosun Univ. Gwangju Korea Republic of

ISBN: (纸本)9781424471164

Recently, the use of security surveillance system including CCTV is increasing due to the increase of terrors and crimes. However as the data recorded through the video surveillance system is exposed, the invasion of privacy is raised. The studies on the technology of protecting privacy from the surveillance system in addition to these organizations are actively carried out. To distinguish the human of privacy protection, the identification technique is necessary. This paper proposes the human identification method that uses height and clothing-color information appropriate for the intelligent video surveillance system based on smartcard. It can obtain reliable feature information using smartcard. In this paper, representative colors are extracted by applying octree-based color quantization technique to the clothing region and height is extracted from the geometrical information of the images. Identification is accomplished by comparing the similarities between two data based on Euclidean distance. From the experiment, we could see that the identification of a human can be checked through the proposed system. © 2010 IEEE.

关键词： Color

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The multi-modal human identification based on smartcard in video surveillance system

The multi-modal human identification based on smartcard in v...

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2010 IEEE/ACM International Conference on Green Computing and Communications, GreenCom 2010, 2010 IEEE/ACM International Conference on Cyber, Physical and Social Computing, CPSCom 2010

作者： Moon, Hae-Min Won, Chulho Pan, Sung Bum Dept. of Information and Communication Engineering Chosim University Gwangju Korea Republic of Dept. of Electrical and Computer Engineering California State University Fresno CA United States Dept. of Control Instrumentation and Robot Engineering Chosun University Gwangju Korea Republic of

ISBN: (纸本)9780769543314

Recently, the use of security surveillance system including CCTV is increasing due to the increase of terrors and crimes. However as the data recorded through the video surveillance system is exposed, the invasion of privacy is raised. The research on the technology of protecting privacy from the surveillance system in addition to these organizations is actively carried out. At this time, to distinguish the human of privacy protection, the identification technique is necessary. For identification, the proposed system uses soft-biometrics such as color and height information based on smartcard. It can obtain reliable feature information using smartcard. In this paper, representative colors are extracted by applying octree-based color quantization technique to the clothing region and height is extracted from the geometrical information of the images. The identification is accomplished by comparing the similarities between two data based on Euclidean distance. Through identification by using multiple information rather than single information, the proposed system demonstrates the possibility of human identification under the surveillance camera environment. © 2010 IEEE.

关键词： Color

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An incremental granular network for data modeling in software engineering

An incremental granular network for data modeling in softwar...

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作者： Lee, Myung-Won Kwak, Keun-Chang Dept. of Control Instrumentation Robot Engineering Chosun University 375 Seosuk-dong Dong-gu Gwangju 501-759 Korea Republic of

ISBN: (纸本)9788988678183

In this paper, we propose an incremental method of Granular Networks (GN) to construct conceptual and computational platform of Granular Computing (GrC). The essence of this network is to describe the associations between information granules including fuzzy sets formed both in the input and output spaces. The context within which such relationships are being formed is established by the system developer. Here information granules are built using Contextdriven Fuzzy Clustering (CFC). This clustering develops clusters by preserving the homogeneity of the clustered patterns associated with the input and output space. The experimental results on well-known software module of Medical Imaging System (MIS) revealed that the incremental granular network showed a good performance in comparison to other previous literature.

关键词： Granulation

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