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Docking Assistance System Between Trailer and Tractor Using UWB Measuring Module

Journal of Institute of Control, Robotics and Systems 2024年第1期30卷 59-65页

作者： Park, Jong Hak Heo, Jeong Woong Moon, Hee Chang Industrial Convergence Interdepartmental Program Autonomous Vehicle･Intelligent Robotics The Graduate School of Hongik University Korea Republic of Mechanical and System Design Engineering Hongik University Korea Republic of

Trailers, which are used to load equipment such as containers and construction materials, are towed by the power of tractors to transport the equipment. The tractor, the towing vehicle, and the trailer, the towed vehicle, are independent systems, and the tractor can combine and separate by replacing the trailer for various purposes. To dock the trailer and tractor, the tractor should be backward with the posture and position of the rear of the tractor in line with the front of the trailer. The tractor driver shall be mounted based on the driver’s cognitive judgment, with a rear-view camera and mirror to determine the matching position of the trailer. We implemented and explored a system that could determine the length of this combination of systems using UWB, a positioning system, rather than driver recognition judgment, and used it to determine the position and posture of the trailer reference tractor using a square geometric approach. © ICROS 2024.

关键词： Light trailers

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Materials science and engineering studies in mechanical engineering Department – high temperature deformation, microstructural control and welding/ joining technology

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Keikinzoku/Journal of Japan Institute of Light Metals 2023年第6期73卷 286-296页

作者： Takayama, Yoshimasa Mechanical and Intelligent Engineering Program Graduate School of Regional Development and Creativity Utsunomiya University 7-1-2 Yoto Utsunomiya-shi Tochigi321-8585 Japan

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Vehicle Speed Control in the Dilemma Zone Using Deep Learning

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Journal of Institute of Control, Robotics and Systems 2022年第3期28卷 209-217页

作者： Lee, Jaewook Kim, Bongsang Sim, Hongseok Choi, Hyohyuk Moon, Heechang Industrial Convergence Interdepartmental Program Autonomous Vehicle･Intelligent Robotics The Graduate School of Hongik University Korea Republic of Mechanical and System Design Engineering Hongik University Korea Republic of

The dilemma zone refers to the area where a vehicle approaching an intersection as the light turns yellow must decide whether to stop or not. Often, the vehicle’s speed is too fast for it to stop at the stop line before the light turns red, but the vehicle cannot completely clear the intersection before the three-second yellow signal ends. This can lead to a major accident as the departing vehicle has not cleared the intersection before the opposite light changes to a green signal and cars on the other side of the intersection start to move. To prepare for this situation, traffic light patterns were modified using pre-trained data sets, then the traffic patterns at these lights were recorded using cameras. Autonomous vehicles were introduced into these areas and their speed was controlled based on the recognized traffic light patterns. This paper explores whether deep learning algorithms can effectively control vehicle speed when autonomous vehicles face the dilemma zone. © ICROS 2022.

关键词： Autonomous vehicles

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Real-time Path Planning Algorithm based on Ridge Detection for Solid-State LiDAR-based Autonomous Agricultural Robot

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Journal of Institute of Control, Robotics and Systems 2022年第2期28卷 146-152页

作者： Baek, Seungbeom Kim, Bongsang Lee, Jaewook Moon, Heechang Industrial Convergence Interdepartmental Program Autonomous Vehicle·Intelligent Robotics The Graduate School of Hongik University Korea Republic of Mechanical & System Design Engineering Hongik University Korea Republic of

Autonomous robots driving in agricultural environments need to create accurate routes to prevent damaging farmland. Herein, a real-time path planning algorithm based on ridge detection using the Livox Mid70 LiDAR is proposed. The field has a steep slope between the furrow and the ridge, and we find data corresponding to this slope from the lidar data. Using two Mid70 LiDARs, we collect the left and right slope data and linearly fit the slope data using the RANSAC algorithm. Finally, the driving route is obtained from the average of the two straight lines. To verify the algorithm, the steering angle needed to follow the driving path was calculated, and an autonomous driving test was conducted in the actual field environment: it was observed that the robot drove stably. Additional tests will be conducted in more rugged terrain. © ICROS 2022.

关键词： Optical radar

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Improvement of Localization Algorithm for Indoor and Outdoor Navigation of Autonomous Robots

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Journal of Institute of Control, Robotics and Systems 2025年第5期31卷 502-509页

作者： Cho, Joonhyuk Kim, Bongsang Moon, Heechang Industrial Convergence Interdepartmental Program Autonomous Vehicle Intelligent Robotics The Graduate School of Hongik University Korea Republic of Mechanical & System Design Engineering Hongik University Korea Republic of

Location estimation for waypoint-based autonomous driving robots primarily relies on SLAM (Simultaneous Localization and Mapping) and GNSS (Global Navigation Satellite System) technologies. GNSS performs well in open areas but struggles with signal issues, while SLAM offers high accuracy in feature-rich environments but faces challenges in open spaces. This study integrates SLAM and GNSS, enabling seamless switching between systems when one encounters difficulties. The combined system ensures consistency by aligning coordinate systems and directional data. Experiments in indoor, forest, and open environments demonstrate that the switching algorithm enables stable autonomous driving in diverse conditions, effectively leveraging the strengths of both systems. © ICROS 2025.

关键词： Global positioning system

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Variable-Speed Teaching-Playback as Real-World Data Augmentation for Imitation Learning

arXiv

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arXiv 2024年

作者： Masuya, Nozomu Sato, Hiroshi Yamane, Koki Kusume, Takuya Sakaino, Sho Tsuji, Toshiaki Master's Program in Intelligent and Mechanical Interaction Systems Degree Programs in Systems and Information and Engineering Graduate School of Science and Technology University of Tsukuba Japan Doctoral Program in Intelligent and Mechanical Interaction Systems Degree Programs in Systems and Information and Engineering Graduate School of Science and Technology University of Tsukuba Japan Department of Intelligent Interaction Technologies Institute of Systems and Information Engineering University of Tsukuba Japan Graduate School of Science and Engineering Saitama University Saitama Japan

Because imitation learning relies on human demonstrations in hard-to-simulate settings, the inclusion of force control in this method has resulted in a shortage of training data, even with a simple change in speed. Although the field of data augmentation has addressed the lack of data, conventional methods of data augmentation for robot manipulation are limited to simulation-based methods or downsampling for position control. This paper proposes a novel method of data augmentation that is applicable to force control and preserves the advantages of real-world datasets. We applied teaching-playback at variable speeds as real-world data augmentation to increase both the quantity and quality of environmental reactions at variable speeds. An experiment was conducted on bilateral control-based imitation learning using a method of imitation learning equipped with position-force control. We evaluated the effect of real-world data augmentation on two tasks, pick-and-place and wiping, at variable speeds, each from two human demonstrations at fixed speed. The results showed a maximum 55% increase in success rate from a simple change in speed of real-world reactions and improved accuracy along the duration/frequency command by gathering environmental reactions at variable speeds. Copyright © 2024, The Authors. All rights reserved.

关键词： Demonstrations

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Black ice danger area estimation and active speed control research by utilizing road condition sensor

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Journal of Institute of Control, Robotics and Systems 2021年第11期27卷 815-823页

作者： Hwang, Daekyu Kim, Bongsang Lee, Kyuho Sim, Hongseok Moon, Heechang Industrial Convergence Interdepartmental Program Autonomous Vehicle･Intelligent Robotics The Graduate School of Hongik University Korea Republic of Mechanical & System Design Engineering Hongik University Korea Republic of

This study was performed to verify the feasibility of using a black ice danger area estimation function based on the wetness data acquired by a piezoelectric based RCS (Road Condition Sensor) through real road tests under each environment and real vehicle conditions. The techniques and system implementation are considered for the prevention of accidents caused by black ice, which primarily causes critical issues in winter every year. System detects the value of wetness on the road during (or right after) rain and snow using an RCS then can estimate the possibility of the presence of black ice on the forward path at low temperatures by combining with those obtained using the ambient temperature sensor and GIS (GPS and map). Accident avoidance and damage minimization effect is expected by securing safe driving conditions through active speed control. © ICROS 2021.

关键词： Ice

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Localization of a Crack in Moving Cylindrical Ferromagnetic Rods by Measuring the Fourier Coefficients of the Leakage Magnetic Flux

Localization of a Crack in Moving Cylindrical Ferromagnetic ...

引用

Magnetic Conference - Short Papers (INTERMAG Short Papers), IEEE International

作者： Kanta Shiku Masafumi Kuromizu Yuji Gotoh Takaaki Nara Graduate School of Information Science and Technology The University of Tokyo bunkyo-ku Japan Division of Materials Science and Production Engineering Graduate School of Engineering Oita University Oita Japan Intelligent Mechanical Systems Program Faculty of Science and Technology Oita University Oita Japan

ISBN: (数字)9798350362213

ISBN: (纸本)9798350362220

Electromagnetic nondestructive inspection for high-speed moving ferromagnetic materials is necessary for manufacturing efficiency. In this paper, we present a novel leakage magnetic flux (LMF) method to estimate the crack position in a moving cylindrical ferromagnetic rod. The method directly measures the first-order Fourier coefficients of the LMF moving with the crack by using only two coils with DC excitation. The location of a crack is estimated by the proposed method, as demonstrated for an S45C cylindrical rod.

关键词： Location awareness Coils Magnetic flux Inspection Ferromagnetic materials Manufacturing Electromagnetics

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Formability of Third Generation Advanced High Strength Steel: Experimental and Theoretical Approach

SSRN

引用

SSRN 2024年

作者： Butuc, Marilena C. Vincze, Gabriela Santos, Rafael Pereira, António Santos, Abel D. Amaral, Rui L. Barlat, Frederic Centre for Mechanical Technology and Automation Department of Mechanical Engineering University of Aveiro Portugal LASI - Intelligent Systems Associate Laboratory Guimarães Portugal Graduate Program in Metallurgical Engineering Universidade Federal Fluminense Rio de Janeiro Volta Redonda Brazil Faculty of Engineering University of Porto R. Dr. Roberto Frias s/n Porto4200-465 Portugal INEGI – Institute of Science and Innovation in Mechanical and Industrial Engineering Portugal Graduate Institute of Ferrous Technology Pohang University of Science and Technology Korea Republic of

The aim of this paper is to evaluate, predict and analyze the plastic properties and formability of third-generation advanced high-strength steel (3genAHSS), with a specific focus on USS CR980XG3™️ AHSS as the reference material. Forming limit diagrams were determined, utilizing a range of experimental methods, including Nakajima tests, Erichsen tests, uniaxial tensile tests, and the Bulge test. A pivotal aspect is the application of an advanced sheet metal forming limit model based on Marciniak-Kuczynski analysis to simulate localized necking onset. Various constitutive equations, such as von Mises, Hill 48, and Yld2000-2d yield conditions, were used in simulation, alongside strain hardening laws like Swift and Voce. Comparative analyses were conducted to assess the accuracy of different models in predicting forming limits, with a particular emphasis on the influence of strain rate sensitivity. The study underscores the significant impact of the experimental method on forming limit values, highlighting that Yld2000-2d and the Swift hardening law with strain rate sensitivity provide optimal reproducibility of experimental data. Furthermore, the research emphasizes the necessity of considering strain rate sensitivity for accurate numerical simulations, stressing the effectiveness of the Marciniak-Kuczynski model when combined with proper constitutive equations in predicting forming limits for USS CR980XG3™️ AHSS. © 2024, The Authors. All rights reserved.

关键词： Strain hardening

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Three-Dimensional Variable Slab-Selective Projection Acquisition Imaging

arXiv

引用

arXiv 2023年

作者： Park, Jinil Shin, Taehoon Park, Jang-Yeon The Department of Intelligent Precision Healthcare Convergence Sungkyunkwan University Suwon Korea Republic of Division of Mechanical and Biomedical Engineering Graduate Program in Smart Factory Ewha Woman University Seoul Korea Republic of The Department of Biomedical Engineering Sungkyunkwan University Suwon Korea Republic of

Three-dimensional (3D) projection acquisition (PA) imaging has recently gained attention because of its advantages, such as achievability of very short echo time, less sensitivity to motion, and undersampled acquisition of projections without sacrificing spatial resolution. However, larger subjects require a stronger Nyquist criterion and are more likely to be affected by outer-volume signals outside the field of view (FOV), which significantly degrades the image quality. Here, we proposed a variable slab-selective projection acquisition (VSS-PA) method to mitigate the Nyquist criterion and effectively suppress aliasing streak artifacts in 3D PA imaging. The proposed method involves maintaining the vertical orientation of the slab-selective gradient for frequency-selective spin excitation and the readout gradient for data acquisition. As VSS-PA can selectively excite spins only in the width of the desired FOV in the projection direction during data acquisition, the effective size of the scanned object that determines the Nyquist criterion can be reduced. Additionally, unwanted signals originating from outside the FOV (e.g., aliasing streak artifacts) can be effectively avoided. The mitigation of the Nyquist criterion owing to VSS-PA was theoretically described and confirmed through numerical simulations and phantom and human lung experiments. These experiments further showed that the aliasing streak artifacts were nearly suppressed. © 2023, CC BY-NC-ND.

关键词： Data acquisition

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