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检索条件"机构=Division of Robot System"

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Observer-based Boundary Control of a Water-powered Aerial system

Observer-based Boundary Control of a Water-powered Aerial Sy...

引用

2023 International Conference on system Science and Engineering, ICSSE 2023

作者： Huynh, Thinh Dinh, Cao-Tri Kim, Young-Bok Pukyong National University Division of Energy Transport System Engineering Department of Mechanical System Engineering Busan Korea Republic of Pukyong National University Department of Intelligent Robot Engineering Busan Korea Republic of

ISBN: (纸本)9798350322941

This paper investigates the motion control problems of an aerial system powered by water jet propulsion in which the water is conveyed through a flexible hose attached underneath. In this system, the thrust is generated by jetting water out of four nozzles, whose cross-sectional area is much smaller than the inlet, while the necessary torques for fight maneuvers are achieved by rotating these nozzles to direct the respective thrust. The system can be thought of as a tethered drone and its dynamics are described by coupled ordinary-partial differential equations showing the motion interaction of the hose and the system. Based on Lyapunov's direct method, an observer-based boundary control is designed to achieve the desired flight maneuver of the system while still preserving the stabilization of both the system and the hose. As a result, the uniform ultimate boundedness of the entire control system is achieved, and its performance is verified by simulations. © 2023 IEEE.

关键词： Nozzles

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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...

引用

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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Mobile Wellness Program for Nurses with Rotating Shifts Using Social Messenger Service: A Proposed Design

Mobile Wellness Program for Nurses with Rotating Shifts Usin...

引用

International Conference on Computational Science and Computational Intelligence (CSCI)

作者： Sang–Ho Lee Sanghun Yun Dong–Ha Lee Oh–Seok Kwon Jinung An Division of Intelligent Robot & Convergence Research Advanced Centre for Olfaction DGIST Daegu Republic of Korea Division of Electronics and Information System DGIST Daegu Republic of Korea Division of Intelligent Robot DGIST Daegu Republic of Korea

ISBN: (数字)9798350361513

ISBN: (纸本)9798350372304

Nurses with rotating shifts face unique challenges in maintaining their wellness. This paper proposes a mobile wellness program for nurses with rotating shifts using a social messenger service. The program is designed to be accessible, convenient, and engaging for nurses with busy and unpredictable schedules. The program will focus on three key areas of wellness: physical health, mental health, and sleep. Nurses will be able to access information and resources on these topics through the social messenger service such as KakaoTalk have become one of the most frequently used tools s in South Korea. They will also be able to connect with other nurses in the program to share tips and support each other. Quantitative data will be collected on nurse participation and engagement. Qualitative data will be collected through interviews with nurses to learn about their experiences with the program and its impact on their wellness. This proposed mobile wellness program has the potential to make a significant contribution to the well-being of nurses with rotating shifts. By providing nurses with access to information, resources, and support, the program can help them to improve their physical and mental health, and sleep.

关键词： Schedules Information resources Scientific computing Mental health Object recognition Interviews Faces

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State Space Exploration with Large Language Models for Human-robot Cooperation in Mechanical Assembly

State Space Exploration with Large Language Models for Human...

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Iberian robotics Conference (robot)

作者： Attique Bashir Raja Moktafi Marco Giangreco Rainer Mueller Industrial Robotics and Human-Robot Cooperation ZeMA gGmbH Saarbruecken Germany Assembly System Planning and Digitalization ZeMA gGmbH Saarbruecken Germany Head of division assembly system ZeMA gGmbH Saarbruecken Germany

ISBN: (数字)9798350376364

ISBN: (纸本)9798350376371

In the realm of human-robot cooperation (HRC) for mechanical assembly, determining the task allocation between human operators and robots is crucial. Traditionally, this requires extensive pre-planning of the product's state space. We propose a novel system utilizing a Large Language Model (LLM) to dynamically reason and determine the next assembly state based on real-time product description. A camera monitors the assembly process, and the captured data is pre-processed and fed to a LLM, which predicts the next assembly state and subsequently instructs the robot on its task. This approach enables a more flexible and adaptive assembly process without the need for exhaustive pre-planning.

关键词： Large language models robot vision systems Cameras Real-time systems Space exploration Planning Resource management Assembly robots Monitoring

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Observer-based Boundary Control of a Water-powered Aerial system

Observer-based Boundary Control of a Water-powered Aerial Sy...

引用

International Conference on system Science and Engineering (ICSSE)

作者： Thinh Huynh Cao-Tri Dinh Young-Bok Kim Department of Mechanical System Engineering Division of Energy Transport System Engineering Pukyong National University Busan Republic of Korea Department of Intelligent Robot Engineering Pukyong National University Busan Republic of Korea

This paper investigates the motion control problems of an aerial system powered by water jet propulsion in which the water is conveyed through a flexible hose attached underneath. In this system, the thrust is generated by jetting water out of four nozzles, whose cross-sectional area is much smaller than the inlet, while the necessary torques for fight maneuvers are achieved by rotating these nozzles to direct the respective thrust. The system can be thought of as a tethered drone and its dynamics are described by coupled ordinary–partial differential equations showing the motion interaction of the hose and the system. Based on Lyapunov’s direct method, an observer-based boundary control is designed to achieve the desired flight maneuver of the system while still preserving the stabilization of both the system and the hose. As a result, the uniform ultimate boundedness of the entire control system is achieved, and its performance is verified by simulations.

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Yaw Motion Control system for Novel Unmanned Water-Powered Aerial Vehicle: Design and Experiments

Yaw Motion Control System for Novel Unmanned Water-Powered A...

引用

International Conference on Control and robots (ICCR)

作者： Cao-Tri Dinh Thinh Huynh Dong-Hun Lee Young-Bok Kim Department of Intelligent Robot Engineering Pukyong National University Busan Republic of Korea Department of Mechanical System Engineering Division of Energy Transport System Engineering Pukyong National University Busan Republic of Korea

This paper presents a novel unmanned water-powered aerial vehicle and designs a robust nonlinear yaw motion controller. Over the past five years, researchers have studied autonomous water-powered aerial vehicles to enhance their application in various fields including rescue missions, intricate space exploration, firefighting operations, and more, rather than limiting them to entertainment purposes like their manned counterparts. To enable the water-powered aerial vehicle to operate without riders, numerous drive mechanisms have been proposed to govern its motion. Nonetheless, the existing structures still possess certain minor imperfections. Therefore, this study first introduces a novel unmanned water-powered aerial vehicle (UWAV) that utilizes a nozzle rotation mechanism with some improvements. A mathematical model is derived to describe its rotational dynamic characteristics. A robust nonlinear controller is designed to control the yaw motion of the proposed UWAV. This controller consists of two parts: (1) forming a disturbance estimation through an extended state observer (ESO) to estimate and compensate for disturbances, and (2) implementing an integral super-twisting sliding mode control (ISTSMC) law, which ensures robust tracking and stability of the UWAV. The experiments compare the proposed controller with the standalone ISTSMC. The results demonstrate the feasibility of the designed model and the superiority of the proposed controller in terms of robustness and tracking performance.

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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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Research on HRI Evaluation system and Diver Safety Equipment

Research on HRI Evaluation System and Diver Safety Equipment

引用

OCEANS

作者： Ye Jun Lee Min-Gyu Kim Myung-Jun Shin Tae Sung Park Jinhyung Kim Sunghun Kim Kichoon Lee Jihun Lee Jeongtack Min HRI(Human Robot Interaction) Research Center KIRO(Korea Institute of Robotics and Technology Convergence) Pohang South Korea Department of Rehabilitation Medicine Pusan National University Hospital and Pusan National University School of Medicine Busan South Korea Department of Convergence Medical Institute of Technology Pusan National University Hospital Busan South Korea Technical Research Center RNWare Co. Ltd Daegu South Korea System Development Division Gleam-Systems Daejeon South Korea Modeling and Simulation Division Gleam-Systems Daejeon South Korea Marine Leisure Equipment R&D Center KIRO(Korea Institute of Robotics and Technologh Convergence) Pohang South Korea

ISBN: (数字)9798331540081

ISBN: (纸本)9798331540098

Scuba diving is a common aquatic leisure sport that many individuals enjoy in the sea. With the increasing number of people participating, there is a corresponding rise in related incidents and accidents. Typically, such events are caused by inadequate user proficiency with equipment, sudden onset of physical symptoms, failure to respond to external obstacles, and equipment malfunctions. As interest in scuba diving grows, the development of diver safety equipment that enhances convenience and usability through the interaction between divers and equipment is crucial, not only to assist underwater activities but also to preemptively prevent accidents. This paper explores the analysis of divers' physiological conditions and diver equipment evaluation criteria. Building upon this, it proposes a HRI(Human-robot Interaction) evaluation system to facilitate the research and development of safety equipment for secure scuba diving operations.

关键词： Oceans Human-robot interaction Physiology Safety Personnel Usability robots Research and development Accidents Sports

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Feasibility Study of a Consumer Multi-Sensory Wristband to Monitor Sleep Disorder

Feasibility Study of a Consumer Multi-Sensory Wristband to M...

引用

International Conference on Computational Science and Computational Intelligence (CSCI)

作者： Sang-Ho Lee Sanghun Yun Jinung An Dong-Ha Lee Division of Intelligent Robot DGIST Daegu Republic of Korea Division of Electronics & Information System DGIST Daegu Republic of Korea

ISBN: (数字)9781728155845

ISBN: (纸本)9781728155852

The new generation of consumer wristbands are now able to classify sleep stages based on multiple sensing data. Several studies have validated the accuracy of one of the latest models, that is, Fitbit Charge 2, in measuring polysomnographic(PSG) parameters. Nevertheless, its feasibility in measuring sleep disorder remains unknown. This study aimed to evaluate the potential of Fitbit Charge 2 as a means of monitoring sleep disorders for workers. We recruited participants without mental and medical diseases from 3 sites consisting of department, hospital and research institute. Sleep data were obtained from 3-month night recording at each worker's home in 95 adults (22-64 years; 68 women; over 20 participants from each site). Our results indicate that there are some differences in sleep patterns in different occupations.

关键词： Sleep apnea Monitoring Biomedical monitoring Intelligent robots Sensors Atmospheric measurements

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An Estimation Model of Nasopharyngeal Specimen Collection Path for Non-face-to-face Automatic Sampling robot

An Estimation Model of Nasopharyngeal Specimen Collection Pa...

引用

International Conference on Control, Automation and systems ( ICCAS)

作者： Yonghwan Moon Jihoon Kim Suhun Jung Sang Kyung Kim Jeongryul Kim Keri Kim School of Mechanical Engineering Korea University 145 Anam-ro Seongbuk-gu Seoul Korea Augmented Safety System with Intelligence Sensing Korea Institute of Science and Technology 5 Hwarang-ro 14-gil Seongbuk-gu Seoul Korea Artificial Intelligence and Robot Institute Korea Institute of Science and Technology 5 Hwarang-ro 14-gil Seongbuk-gu Seoul Korea Department of Mechanical Engineering Korea Advanced Institute of Science and Technology 291 Daehak-ro Yuseong-gu Daejeon Korea Division of Bio-Medical Science and Technology University of Science and Technology 217 Gajeong-ro Yuseong-gu Daejeon Korea

Due to the worldwide spread of COVID-19, each government invests many human resources and money in screening tests. The spread of the virus has led to the development of robots that track the location of specimen collection or drive directly through master-slave devices by installing special equipment on patients’ noses to reduce the physical burden on medical staff and prevent infection during screening tests. Sampling robots proposed in previous studies have a rather complicated specimen collection process or make it impossible to collect specimens when the patient cannot wear special equipment. Therefore, we propose a deep learning-based model that predicts the nasopharyngeal specimen sampling path without additional equipment. The test bench for the collection of learning datasets was configured, and the nasopharyngeal specimen sampling path was expressed using an augmented reality marker to learn the estimated value. In addition, we add weight factors to the proposed model to compare the root mean square error of the direction vector.

关键词： COVID-19 Point cloud compression Nose Process control Predictive models Prediction algorithms Real-time systems

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