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LSTM based hydraulic excavator angular velocity prediction model

Journal of Institute of Control, robotics and systems 2019年第8期25卷 705-712页

作者： Ryu, Bo-Hyun Han, Chang-Soo Dept. of Plant Engineering System Engineering Team Institute for Advanced Engineering Korea Republic of Dept. of Mechatronics. Eng. Hanyang University Korea Republic of Dept. of Robot Eng. Hanyang University Korea Republic of

This paper proposes a long short-term memory (LSTM) model for predicting the angular velocity of an excavator. An excavator’s movement command appears at the speed of its hydraulic cylinder, which then appears as the angular velocity of its joint. Therefore, if the angular velocity of the joint, which changes as a function of the operating command, can be predicted, the excavator can be controlled. However, since the cylinder is a nonlinear system, it is difficult to create a system model. To solve this problem, we propose a model having long short-term memory (LSTM) based angular velocity prediction. We constructed an experimental environment for a hydraulic RC excavator, collected excavator data, and analyzed the prediction accuracy of our LSTM model. In addition, we applied the LSTM-based angular velocity prediction model to a PID control algorithm to compare the general PID control algorithm with the proposed control performance. © ICROS 2019.

关键词： Excavators

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Autonomous flying of drone based on ppo reinforcement learning algorithm

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Journal of Institute of Control, robotics and systems 2020年第11期26卷 955-963页

作者： Park, Sung Gwan Kim, Dong Hwan Dept. of Mechanical Design and Robot Engineering Seoul National University of Science and Technology Korea Republic of Dept. of Mechanical System Design Engineering Seoul National University of Science and Technology Korea Republic of

In this study, the performance of autonomous flight was analyzed by introducing the PPO method as reinforcement learning for autonomous flight of drones. A simulator based on the dynamics of a drone was produced, and the performance of autonomous flight was confirmed when reinforcement learning was applied to a drone using this simulator. After that, the possibility of autonomous flight was confirmed by applying the PPO algorithm to the actual drone. Also, a lightweight embedded PC was attached to the drone to perform independent calculations to simultaneously construct obstacle avoidance and path planning. Copyright© ICROS 2020.

关键词： Simulators

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Collaborative control method of underwater, surface and aerial robots based on sensor network

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Transactions of the Korean Institute of Electrical Engineers 2016年第1期65卷 135-141页

作者： Man, Dong-Woo Ki, Hyeon-Seung Kim, Hyun-Sik Dept. of Robot System Engineering Tongmyong University Korea Republic of Dept. of Mechanical System Engineering Tongmyong University Korea Republic of

Recently, the needs for the development and application of marine robots are increasing as marine accidents occur frequently. However, it is very difficult to acquire the information by utilizing marine robots in the marine environment. Therefore, the needs for the researches of sensor networks which are composed of underwater, surface and aerial robots are increasing in order to acquire the information effectively as the information from heterogeneous robots has less limitation in terms of coverage and connectivity. Although various researches of the sensor network which is based on marine robots have been executed, all of the underwater, surface and aerial robots have not yet been considered in the sensor network. To solve this problem, a collaborative control method based on the acoustic information and image by the sonars of the underwater robot, the acoustic information by the sonar of the surface robot and the optical image by the camera of the static-floating aerial robot is proposed. To verify the performance of the proposed method, the collaborative control of a MUR(Micro Underwater robot) with an OAS(Obstacle Avoidance Sonar) and a SSS(Side Scan Sonar), a MSR(Micro Surface robot) with an OAS and a BMAR(Balloon-based Micro Aerial robot) with a camera are executed. The test results show the possibility of real applications and the need for additional studies. Copyright © The Korean Institute of Electrical Engineers.

关键词： Sensor networks

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A CMOS-LSI for a sensor network platform of social robot applications 10

A CMOS-LSI for a sensor network platform of social robot app...

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Smart systems Integration 2016 - 10th International Conference and Exhibition on Integration Issues of Miniaturized systems, SSI 2016

作者： Muroyama, Masanori Nakayama, Takahiro Hata, Yoshiyuki Nonomura, Yutaka Bartley, Travis Tanaka, Shuji Tohoku University Microsystem Integration Center Miyagi Japan Toyota Motor Corp. Partner Robot Div. Aichi Japan Toyota Central R and D Labs. Inc. System and Electronics Engineering Dept. III Aichi Japan Meijo University Mechatronics Engineering Aichi Japan Tohoku University Graduate School of Engineering Miyagi Japan

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Collaborative obstacle avoidance method of surface and aerial drones based on acoustic information and optical image

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Transactions of the Korean Institute of Electrical Engineers 2015年第7期64卷 1081-1087页

Recently, the researches of aerial drones are actively executed in various areas, the researches of surface drones and underwater drones are also executed in marine areas. In case of surface drones, they essentially utilize acoustic information by the sonar and consequently have the local information in the obstacle avoidance as the sonar has the limitations due to the beam width and detection range. In order to overcome this, more global method that utilizes optical images by the camera is required. Related to this, the aerial drone with the camera is desirable as the obstacle detection of the surface drone with the camera is impossible in case of the existence of clutters. However, the dynamic-floating aerial drone is not desirable for the long-term operation as its power consumption is high. To solve this problem, a collaborative obstacle avoidance method based on the acoustic information by the sonar of the surface drone and the optical image by the camera of the static-floating aerial drone is proposed. To verify the performance of the proposed method, the collaborative obstacle avoidances of a MSD(Micro Surface Drone) with an OAS(Obstacle Avoidance Sonar) and a BMAD(Balloon-based Micro Aerial Drone) with a camera are executed. The test results show the possibility of real applications and the need for additional studies. Copyright © The Korean Institute of Electrical Engineers.

关键词： Drones

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Intelligent blowing controller for autonomous underwater flight vehicle

Intelligent blowing controller for autonomous underwater fli...

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

作者： Kim, Hyun-Sik Dept. of Robot System Engineering Tongmyong University 428 Sinseon-ro Nam-gu Busan 608-711 Korea Republic of

ISBN: (纸本)9783642373732

In case of flooding, the underwater flight vehicle (UFV) usually executes the emergency blowing by blowing ballast tanks off using high pressure air (HPA) while it also uses control planes and a propulsion unit to reduce the overshoot dept. caused by a flooding and blowing sequence. However, the conventional whole HPA blow-off method lets the body on the surface after blowing despite a slight flooding. This results in the unnecessary mission failure or body exposure. Therefore, it is necessary to keep the body at the near surface by the blowing control while reducing the overshoot dept.. To solve this problem, an intelligent blowing controller (IBC) using expert knowledge and the fuzzy basis function expansion (FBFE) is proposed here. To verify the performance of the proposed controller, the blowing control of UFV is performed. Simulation results show that the proposed algorithm effectively solves the problems in the UFV blowing control system online. © 2013 Springer-Verlag.

关键词： Controllers

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Multiple moving object tracking using distributed network camera

Multiple moving object tracking using distributed network ca...

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Joint 5th International Conference on Soft Computing and Intelligent systems and 11th International Symposium on Advanced Intelligent systems, SCIS and ISIS 2010

作者： Jin, Taeseok Kim, Hyun-Sik Dept. of Mechatronics Engineering DongSeo University Busan 617-716 Korea Republic of Dept. of Robot System Engineering TongMyong University Busan 608-711 Korea Republic of

Multiple moving object tracking is a challenging problem is multi-image fusion in robotic Space. To handle this, particle filter and SOM are used to track the system state based on information from multiple cameras. The random moving object is tracked based on the integrated information from distributed network cameras. In order to achieve these goals, we present a method for representing, tracking and human following by fusing distributed multiple vision systems in robotic Space, with application to pedestrian tracking in a crowd. And the article presents the integration of color distributions into SOM(Self Organizing Map) based particle filtering. Particle filters provide a robust tracking framework under ambiguity conditions. We propose to track the moving objects by generating hypotheses not in the image plan but on the top-view reconstruction of the scene. Comparative results on real video sequences show the advantage of our method for multi-motion tracking. Simulations are carried out to evaluate the proposed performance. Also, the method is applied to the intelligent environment and its performance is verified by the experiments.

关键词： Self organizing maps

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Static overmoduration strategies of 2-phase full bridge inverter

Static overmoduration strategies of 2-phase full bridge inve...

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作者： Choi, Seung Cheol Kim, Young Ki Kim, Sang Hoon Kim, Hyung Chul Park, Chan Bae Mok, Hyung Soo Dept. of Electrical Engineering Kon-Kuk University Korea Republic of Dept. of Electrical and Electronic Engineering Kangwon University Korea Republic of Intelligent Robot Group R and D Center Dasarobot Korea Republic of Dept. of Vehicle Dynamics and Propulsion System Korea Railroad Research Institute Korea Republic of

ISBN: (纸本)9788986510119

In this paper, the static overmodulation is proposed for the 2-phase full bridge inverter. The overmodulation strategy increases a fundamental output voltage and improves a voltage utilization up to the maximum in the overmodulation range. The linear modulation range and the static overmodulation range are defined in the 2-phase full bridge inverter. The overmodulation strategies which increase a voltage utilization until the 4-step mode by a linearization of the output voltage in the overmodulation regions are proposed. To maintain a linearity of the relation between a reference voltage and a fundamental output voltage, this paper suggests a compensated voltage, whose magnitude or phase is modified to the proposed control scheme. Simulation and experiment results demonstrate the effectiveness of the proposed algorithms.

关键词： Electric inverters

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The S.H.E.L.L. project: A Secure Habitat for an Enhanced Long Living - Design, implementation and guidelines for a new concept of people assistance

The S.H.E.L.L. project: A Secure Habitat for an Enhanced Lon...

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2010 3rd International Symposium on Applied Sciences in Biomedical and Communication Technologies, ISABEL 2010

作者： Mastrogiovanni, Fulvio Bagnasco, Andrea Allasia, Giorgio Giuni, Antonella Dept. of Computer Communication and System Sciences University of Genova Genoa Italy Department of Biophysical and Electronics Engineering University of Genoa Genoa Italy FOS Srl Genoa Italy Genova Robot Srl Genoa Italy

ISBN: (纸本)9781424481323

The SHELL project aims at implementing state of art technologies in the domains of Wireless Sensor Networks, Ambient Intelligence, Context Awareness, Automated Learning, in order to design a new concept for assisting people affected by mental diseases or living alone. The goal to achieve is a modular device kit system, easy to deploy and to use, which will be able to learn to peculiar habits of the people under monitoring in order to improve the level of automatic alarms. ©2010 IEEE.

关键词： Wireless sensor networks

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Body motion editor for sign language avatar

Body motion editor for sign language avatar

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International Conference on Control, Automation and systems

作者： Oh, Young-Joon Park, Kwang-Hyun Bien, Zeungnam Human-friendly Weifare Robot System Engineering Research Center KAIST Dept. of Electrical Engineering and Computer Science KAIST

ISBN: (纸本)9788995003879

Korean sign language is complex visual-spatial language most used in deaf society and is expressed by gestures using hands and other movements such as facial expression and body posture. In this paper, we present a body motion editor to control joint angles of whole body as well as facial expression of a sign avatar since deaf people express facial motion more often than hearing people to communicate easily with another signer. The body motion is represented by body motion symbols which construct a body motion database together with facial expression and complexion. The developed editor can help deaf people to communicate with hearing people using a sign avatar.

关键词： Korean sign language sign avatar body motion symbol GUI

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