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dynamics formulation and optimization algorithm for external force interaction and motion generation in a welding robot manipulator

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Journal of Institute of Control, robotics and Systems 2020年第6期26卷 429-434页

作者： Chung, Hyun-Joon Jung, Eui-Jung Chung, Goobong Intelligent Robotics R&D Division Korea Institute of Robotics and Technology Convergence Korea Republic of

This paper studies the modeling and simulation method of a robot manipulator with external force interaction. We analyze a welding robot manipulator that is used for building box girders in an offshore plant. The robot platform has six degrees of freedom and all rotational joints. To build a mechanical structure of the robot manipulator, the dH (denavit– Hartenberg) method is used, and the equations of motion driven by the Lagrange’s formulation with external force are implemented. The external force interacting with the robot platform is modeled as a mass-spring-damper system. The joint angle profiles of the robot manipulator parameterized with B-spline function approximation are the variables of optimization. The objective function is the summation of joint torque squares, and it is equally weighted for each joint. For constraints, joint angle limits;joint torque limits;collision avoidance;continuity condition;and the position, velocity, and orientation of end effector are imposed. Using the optimization-based modeling and simulation method, we can obtain all information related to the joint space, such as joint angle profiles, joint velocity profiles, and joint torque profiles under the external force interaction condition. © ICrOS 2020.

关键词： Equations of motion

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Inclusive greenhouse gas budget assessment in turfs: From turf production to disposal of grass clippings

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Journal of Environmental Management 2023年 346卷 118919页

作者： Kuronuma, Takanori Masuda, Shohei Mito, Takuya Watanabe, Hitoshi Center for Environment Health and Field Sciences Chiba University 6-2-1 Kashiwa-no-ha Chiba Kashiwa-city277-0882 Japan Advanced Energy Research & Development Division Innovative Research Excellence Honda R&D Co. Ltd. Power Unit & Energy 4630 Shimotakanezawa Haga-machi Tochigi Hagagun321-3393 Japan

Globally, greenhouse gas (GHG) reduction is a serious concern. To evaluate whether turfs serve as a GHG sink or source, GHG budget assessments for life cycle are required. However, previous studies have only focused on the use of turfs. To bridge these gaps in literature, this study investigated GHG (CO2, N2O, and CH4) emissions from the disposal of grass clippings and soil GHG fluxes in turfs. Additionally, GHG budgets in the turf production phase were assessed. Finally, inclusive GHG budgets from turf production to disposal of grass clippings for four turf uses (soccer stadium, golf course, office, and urban park) were assessed. Grass clippings were disposed in three forms (incineration, leaving as-is, and biochar). We found that GHG emissions from incineration and leaving 1 t-fresh weight (FW) of grass clippings were 0.711 and 0.207 t-CO2e, respectively. Contrastingly, the GHG emissions from the biochar yield from 1 t-FW of grass clippings were −0.200 t-CO2e. Further, annual soil GHG fluxes in newly established Zoysia and Kentucky bluegrass turfs were calculated at 0.067 and 0.040 tCO2e･ha-1･yr-1, respectively. As the turf grass in production fields sequester large amounts of CO2, GHG budgets in turf production phase were estimated at approximately −20 t-CO2e･ha-1･yr-1. Inclusive GHG budget assessment from turf production to disposal of grass clippings showed that turfs only in the urban parks served as a GHG sink and this ability was comparable to CO2 sequestration in forests. To enhance the ability of GHG sinks and to promote changes from a GHG source to GHG sink, our study revealed the importance of reduction of GHG emissions from energy and resource uses (especially fertilizers and gasoline) for turf management. © 2023

关键词： Carbon dioxide

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develoopment of a mobille manippulator foor weldinng cell bllocks in ooffshore platformms

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Journal of Institute of Control, robotics and Systems 2020年第6期26卷 487-492页

作者： Juung, Eui-Jung Jeon, Kwang Woo Chung, Hyunn-Joon Chungg, Goobong Jiin, Maolin Intelligent Roboticcs R&D Division Korea Institute off Robotics and Tecchnology Korea Republic of

Severral studies have explored the utiility of welding rrobots in the moodern industrial llandscape. As suuch, welding robbots are bbeing developedd to perform mmore complex tassks. In this papper, motion plannning algorithmss are introducedd for studying wwelding rrobots operatingg in a narrow sppace in offshoree platforms. Firsst, the forward kkinematics for thhe developed wwelding robot conntrol is analyzed, and thhe Jacobian to deetermine the relaationship betweeen input and outtput velocity is oobtained. A motiion planning alggorithm tthat considers coollision and joinnt limits using thhe Jacobian is prooposed, and a loocalization algoriithm based on particle filters is uused to estimate the loccation of the moobile platform. TTo verify the prroposed methodss, various simullations includingg motion planniing and llocalization are performed. Foor achieving bettter welding mootion, simulationns to find the ooptimal mobile platform locatiion are pperformed. Finaally, through actuual welding expeeriments, the vallidity of the propposed welding roobot system is veerified. © ICrOOS 2020.

关键词： Welding

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Heterogeneous robot-Assisted Services in Isolation Wards: A System development and Usability Study

Heterogeneous Robot-Assisted Services in Isolation Wards: A ...

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IEEE/rSJ International Conference on Intelligent robots and Systems (IrOS)

作者： Youngsun Kwon Soyeon Shin Kyonmo Yang Seongah Park Soomin Shin Hwawoo Jeon Kijung Kim Guhnoo Yun Sangyong Park Jeewon Byun Sang Hoon Kang Kyoung-Ho Song doik Kim dong Hwan Kim Kapho Seo Sonya S. Kwak Yoonseob Lim Artificial Intelligence and Robotics Institute Korea Institute of Science and Technology Seoul South Korea Interactive Robotics R&D Division Korea Institute of Robotics & Technology Convergence Pohang South Korea Department of Mechanical Engineering Ulsan National Institute of Science and Technology Ulsan South Korea Softnet Corporation Seoul South Korea Department of Physical Therapy and Rehabilitation Science School of Medicine University of Maryland Baltimore MD Department of Internal Medicine Seoul National University Bundang Hospital Seoul National University College of Medicine Seongnam South Korea

Isolation wards operate in quarantine rooms to prevent cross-contamination caused by infectious diseases. Behind the benefits, medical personnel can have the infection risk from patients and the heavy workload due to the isolation. This work proposes a robot-assisted system to alleviate these problems in isolation wards. We conducted a survey about the medical staff's difficulties and envisioning robots. Using the investigation result, we devised three valuable services using two kinds of heterogeneous robots: telemedicine, emergency alert, and delivery services by care robots and delivery robots. Our system also provides user-interactive components such as a dashboard for medical staff and a patient app for inpatients. To manage the services efficiently, we suggest the robotic system based on a central control server and a hierarchical management architecture. Through a user study, we reviewed the usability of the developed system and its future directions.

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research on HrI Evaluation System and diver Safety Equipment

Research on HRI Evaluation System and Diver Safety Equipment

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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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Fine-Pitch Interconnection and Highly Integrated Assembly Packaging with FOMIP (Fan-out Mediatek Innovation Package) Technology

Fine-Pitch Interconnection and Highly Integrated Assembly Pa...

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Electronic Components and Technology Conference (ECTC)

作者： Ian Hsu Chi-Yuan Chen Stanley Lin Ta-Jen Yu Ming-Che Hsieh KeonTaek Kang Seung Wook Yoon Package Technology Division MediaTek Inc. Hsinchu Taiwan Field Applications Engineering JCET Group Co. Ltd. Taiwan R&D Dept. JCET Group Co. Ltd. South Korea R&D Dept. JCET Group Co. Ltd. Singapore

ISBN: (数字)9781728161808

ISBN: (纸本)9781728161815

The market for mobile data access devices connected to a virtual cloud access point is exploding and driving both increased functional convergence as well as increased packaging complexity and sophistication. This is driving an unprecedented demand to increase the variety of advanced packages, such as chiplets and TSV (Through Silicon Via) interposer packaging solutions. It is expected that the industry will see more exciting interconnect technologies of advanced wafer level packaging such as TSV, 2.5d interposers, TSV-less (die last), eWLB (embedded Wafer Level Ball Grid Array)/FOWLP (Fan Out Wafer Level Package) to meet these needs. Because demands of die size reduction, efficiency enhancement and lower power consumption are always required in mobile communication applications with advanced Si node, much finer line width/space (LW/LS) and die pad pitch design is utilized. However, when the finer LW/LS design is used in the advanced Si node electronic devices, not only will there be an increased cost, but also the substrate manufacturing capability in a flip chip package must be considered. The substrate technology with finer LW/LS of 5/5μm and below currently is still a tough challenge in manufacturing. Therefore, in order to deliver a cost-efficient, fine pitch interconnection, highly integrated and performance packaging solution, the FOMIP (Fan-out Mediatek Innovation Package) technology is introduced in this paper. The FOMIP technology adopts 2.5d eWLB and flip chip package technologies with the design of 60μm die pad pitch, 5/5μm LW/LS and 1 layer redistribution layer (rdL) to extend the interconnection pitch as minimum 80μm by Cu pillar bumping process. The assembly challenges and process development including how to optimize the equipment handling and the warpage characterization of molded wafer is present. The warpage of molded wafer with Cu pillar bumps is collected to analyze different processes before eWLB package singulation. The molded eWLB package is

关键词： Flip-chip devices Packaging Substrates Silicon Performance evaluation Manufacturing robustness

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Modeling Long-Term Transfers of radiocesium in Farmland Under different Tillage and Cover Crop Treatments

SSRN

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SSrN 2023年

作者： Li, Peiran Gong, Yingting Tanaka, Taku Thiry, Yves Huang, Qiliang Komatsuzaki, Masakazu State Environmental Protection Key Laboratory of Environmental Pollution Health Risk Assessment South China Institute of Environmental Sciences Ministry of Ecology and Environment of the PRC Guangzhou China Institute of Agricultural Resources and Environment Guangdong Academy of Agricultural Sciences Guangzhou China EDF R&D LNHE 6 Quai Watier Chatou78400 France - Research and Development Division Chatenay-Malabry92298 France United Graduate School of Agricultural Science Tokyo University of Agriculture and Technology Saiwaicho 3-5-8 Fuchu Tokyo183-8509 Japan Center for International Field Agriculture Research & Education Ibaraki University 3-21-1 Ami Ibaraki Inashiki300-0393 Japan

The 2011 nuclear accident at Japan's Fukushima daiichi Nuclear Power Plant (FdNPP) prompted inquiries about the long-term transfer of Cesium-137 (137Cs) from soil to agricultural plants. In this context, numerical modeling is particularly useful for the long-term evaluation of the consequences of agroecosystem contamination. Agricultural practices, such as tillage and cover cropping, play key roles in 137Cs recycling in agroecosystems. In this study, we used 10-year monitoring data to develop a dynamic model to predict 137Cs redistribution (via uptake, litterfall, translocation, and percolation) under different tillage (no-tillage, NT;rotary cultivation, rC;moldboard plow, MP) and cover crop (rye;hairy vetch;fallow weed) treatments. The verification exercise and assessment results indicated the model's reliability, as the temporal dynamics of predicted values agreed with observed values. Tillage significantly influenced the 137Cs distribution in soil, thereby affecting plant uptake of 137Cs, whereas cover crop exerted a minimal effect on 137Cs cycling. Furthermore, while the 137Cs concentrations in soybean grain under rC and NT treatments were comparable 62 years after the FdNPP accident, the concentration under MP treatment remained consistently the lowest. despite natural decay being the main cause of the decreased global 137Cs level in the agroecosystem, with minimal losses from percolation to deeper soil layers and soybean harvesting, adopting an appropriate tillage practice was shown to promote a long-term reduction of 137Cs concentration in crops. Finally, to improve the model’s accuracy, further research should consider incorporating the effects of soil properties and extreme weather events on 137Cs flow into the model, as these factors are essential for realizing improved agroecosystem predictions. © 2023, The Authors. All rights reserved.

关键词： Tillage

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Power distribution for Motion Control of UrI-T, Underwater Cable Burying rOV

Power Distribution for Motion Control of URI-T, Underwater C...

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OCEANS - Europe

作者： Hyungjoo Kang Gun rae Cho Mun-Jik Lee Geonhui Ki Min-Gyu Kim Ji-Hong Li Marine Robotics R&D Division Korea Institute of Robot & Convergence (KIRO) Pohang South Korea

We present the power distribution controller for motion control of remotely operated vehicle (rOV) trencher which is named UrI-T. The UrI-T carry out various underwater construction tasks including burying and maintenance of cable and small diameter pipeline. The UrI-T is launched and recovered, and it has to follow and inspect the cable installed on the seafloor during burying task. In this task, we can give some commands with various combination to the UrI-T. Moreover, the UrI-T does not supply the sufficient flow to the propulsion system because of a lack of capacity of hydraulic powered unit (HPU). We need a controller to handle propulsion system efficiently. In this paper, we suggest the power distribution controller to control propulsion system. We analyze the hydraulic control system of the UrI-T, and model the controller. We take a test to verify the performance of this controller in the water-tank. As a result of the test, the UrI-T is controlled by various input combination, and the flow is distributed to the propulsion system.

关键词： Control systems robots Task analysis Attitude control Power distribution Power cables Propulsion

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Stability Evaluation of Outdoor Unmanned Security robot in Terrain Information

Stability Evaluation of Outdoor Unmanned Security Robot in T...

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International Conference on Control, Automation and Systems

作者： Ji-Hyun Park Tae-Young Uhm Gi-deok Bae Young-Ho Choi Field Robotics R&D Division Korea Institute of Robot and Convergence(KIRO) Pohang Korea

ISBN: (纸本)9781538670804;9788993215168

recently, mobile robots are increasingly used for guidance and security. When the robot drive for guidance and security work, it should drive autonomously. At this time, the robot has to judge the obstacle and avoid it, and the robot should not fall over. In particular, in the case of outdoor unmanned robot mentioned in this paper, when a special situation occurs, the robot has a high speed because it must reach the target point quickly. The outdoor driving robot can be rolled over because it moves in an outdoor environment where a slope exists. In this paper, we define the case where the robot rollover and suggest a method for stability evaluation. We define a model for robot rollover through information of robot dynamics and terrain environment. And a method for evaluating rollover will be described.

关键词： robot safety Mobile robot Mobile robot zmp rollover

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Underwater Localization using received Signal Strength of Electromagnetic Wave with Obstacle Penetration Effects

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IFAC-PapersOnLine 2019年第21期52卷 372-377页

作者： daegil Park Kyungmin Kwak Jinhyun Kim Ji-Hong Li Wan Kyun Chung Underwater Robotics R&D Division Korea Institute of Robot and Convergence Pohang Korea Future Technology Department CJ Logistics Seoul Korea Department of Mechanical & Automotive Engineering Seoul National University of Science and Technology(SeoulTECH) Seoul Korea Department of Mechanical Engineering Pohang University of Science and Technology(POSTECH) Pohang Korea

In this paper, we discuss a range sensor model using EM wave attenuation for localizing in an underwater environment with obstacles. Because an acoustic sensor is unsuitable for environment with obstacles due to the multi-path effect and diffraction, we propose a alternative range estimation method using EM wave attenuation. By considering the penetration distortion effect with underwater distance-signal attenuation model, we defined a robust EM wave attenuation function in the environment with obstacles. We performed the several experiments in order to determine the calibration factors according to the material, and the obstacle model is developed. Also, we obtained a robust localization results using the obtained sensor model with obstacle penetration effects.

关键词： Underwater Positioning Electromagnetic wave Localization EM wave Sensor

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