In this paper, a new haptic device is proposed for the teleoperation, which can recognize the invisible environment of a mobile robot. With this new device, it is possible for the user to identify the location of an o...
详细信息
In this paper, a new haptic device is proposed for the teleoperation, which can recognize the invisible environment of a mobile robot. With this new device, it is possible for the user to identify the location of an obstacle and to avoid it. The haptic device has been attached on the top of a joystick so that the user can remotely control the mobile robot to avoid the obstacles which are recognized by the ultrasonic sensors. Also, the invisible environment is recognized more accurately overlapping the data from the ultrasonic sensors. There are five vibration motors in the haptic device to indicate the direction of the obstacle. So the direction of the obstacle can be recognized by the vibration at the finger on each vibration motor. For various situations and surrounding environments, experiments are performed using fuzzy controller and overlapping ultrasonic sensors. The results demonstrate the effectiveness of the proposed haptic joystick.
LLC resonant converter is used to control laser power density in ruby laser power supply. Zero voltage switching(ZVS) is implemented to minimize the switching loss by the LLC resonant converter. Laser output power is ...
详细信息
LLC resonant converter is used to control laser power density in ruby laser power supply. Zero voltage switching(ZVS) is implemented to minimize the switching loss by the LLC resonant converter. Laser output power is investigated and experimented by changing the output current. That current is controled by the charging voltage of capacitor. From those results, we obtained the maximum laser output of 1.94J at the discharge current of 860A and the pulse repetition rate of 1Hz.
This paper proposes a robust 3D (dimension) map building system for a mobile robot using a LRF (Laser Range Finder). Instead of the expensive and bulky 3D laser scanner, the LRF can be utilized and installed on the mo...
详细信息
This paper proposes a robust 3D (dimension) map building system for a mobile robot using a LRF (Laser Range Finder). Instead of the expensive and bulky 3D laser scanner, the LRF can be utilized and installed on the mobile robot for the map building and the autonomous navigation. This research, the scanning operations are performed while the mobile robot moved on the slanted surface and ground without stops. The motion of the mobile robot is transformed into the scanning surface in the process of forming the 3D map. The experimental results reveal that the improved accuracy of navigation for the mobile robot in the real time scanning of the environment.
This paper proposes improvement for performance of a low-cost Pedestrian Dead-Reckoning(PDR) System through calibration and analysis of sensor. It is applied that PDR System for estimating pedestrian's position in...
详细信息
ISBN:
(纸本)9781479957378
This paper proposes improvement for performance of a low-cost Pedestrian Dead-Reckoning(PDR) System through calibration and analysis of sensor. It is applied that PDR System for estimating pedestrian's position in the area not being able to be received. also sensor's error is removed by using angle compensation technique and performance of system is improved by analysis of PDR system. Consequently, position of pedestrian is estimated by applying the improved value of sensor and result of angle analysis to PDR system. Experiments were conducted to verify the proposed system. Experimental results within 2% of range error, RMS position error of less than 3% showed superior performance.
Path planning of mobile robot has a purpose to design an optimal path from an initial position to a target point. Minimum driving time, minimum driving distance and minimum driving error might be considered in choosin...
详细信息
In this paper proposes a visual manipulation method that incorporates computation of 3D object position from characteristic disparity of stereo image. First, we proceed to an image revision work using the calibration....
详细信息
In this paper, tightly coupled system is designed using multi-GPS receivers based on the Extended Kalman Filter(EKF). Typically, GPS has the instantaneous error and INS has the disadvantage that the cumulative error o...
详细信息
In this paper, the obstacle recognition research is conducted by using vibration pattern. Remotely, the user can perceive the surroundings sensed by the obstacle recognition unit. The vibration motor was installed at ...
详细信息
A haptic device is proposed which gives the user feedback information on their location and orientation of the obstacle through the mobile robot that detects the obstacle in an environment where the user cannot *** ro...
详细信息
A haptic device is proposed which gives the user feedback information on their location and orientation of the obstacle through the mobile robot that detects the obstacle in an environment where the user cannot *** robot recognizes the exact position of the obstacle through configuring the nested ultrasonic sensor and giving feedback information to the haptic *** haptic device consisting of five vibration motors can realize the haptic through the vibration of user's finger using the position information of the obstacle received *** addition,it has high accuracy to recognize the surrounding environment and realizes the various situations with the fuzzy controller and the nested ultrasonic sensors.
暂无评论