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The study on the wireless power transfer system for mobile robots

World Academy of Science, Engineering and Technology 2010年 72卷 182-184页

作者： Kim, Hyung-Nam Chae, Won-Yong Shin, Dong-Sul Kim, Ho-Sung Kim, Hee-Je Interdisciplinary program in Robotics Pusan National University Pusan Korea Republic of Electronic and Electrical Engineering Department Pusan National University Pusan Korea Republic of

A wireless power transfer system can attribute to the fields in robot, aviation and space in which lightening the weight of device and improving the movement play an important role. A wireless power transfer system was investigated to overcome the inconvenience of using power cable. Especially a wireless power transfer technology is important element for mobile robots. We proposed the wireless power transfer system of the half-bridge resonant converter with the frequency tracking and optimized power transfer control unit. And the possibility of the application and development system was verified through the experiment with LED loads.

关键词： Light emitting diodes

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Design of a guide vane for improving inside flow uniformity of electrostatic precipitator

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Transactions of the Korean Institute of Electrical Engineers 2013年第4期62卷 523-528页

作者： Noh, Wook Bae, Seong-Jun Park, Sookhee Kang, Sunkyun Lee, Jangmyung Dept. of Interdisciplinary Program in Robotics Pusan National University Korea Republic of Dept of Electrical and Electronic Engineering Pusan National University Korea Republic of

In recent years, many efforts are increasingly being made to conserve the natural environment with enhanced emission standards and air quality standards. Also there are various methods necessary to be researched to minimize the emission of air pollutants. In particular, boilers of industrial facilities are major portions of the air pollution. The front duct which needs to be designed to reduce the gases to the electrostatic precipitator requires a bent tube, a reduction/extend tube and an auxiliary equipment, that is, a guide vane. This paper proposes an optimum design of the guide vane by a case study for electrostatic precipitator's flow uniformity. The operating conditions of this study are as follows: BMCR (Boiler Maximum Continuous Rate) and MGR (Maximum Guaranteed Rate) are 75%, 50%, and 30%;turbulent fluid dynamics model is based upon K- Ε formulation. Presentation of the computed motion of particles is found to be quite useful to predict the precipitator performance by use CFD (Computational Fluid Dynamics).

关键词： Electrostatic precipitators

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Development of medical ruby laser power supply using LLC resonant converter

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Transactions of the Korean Institute of Electrical Engineers 2014年第7期63卷 924-928页

作者： Kim, Dong-Hyun Jung, Jae-Hun Kim, Hee-Je Dept. of Electrical Engineering Pusan National University Korea Republic of Dept. of Interdisciplinary Program in Robotics Pusan National University Korea Republic of

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.

关键词： Power converters

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SMCSPO based reaction force estimation for 7 DOF robot arm

SMCSPO based reaction force estimation for 7 DOF robot arm

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Hyun Hee Kim Wang Jie Karam Dad Kallu Min Cheol Lee Interdisciplinary Program in Robotics Pusan National University Busan Korea School of Mechanical Engineering Pusan National University Busan Korea

ISBN: (纸本)9781467390583

The high degree-of-freedom robot arms need the end-effector's assembly force information for precision and accuracy works. But attaching a force sensor on the end-effector of robot is difficult because of cost, weight and structural problems. In this paper, we will apply SMCSPO(Sliding Mode Control with Sliding Perturbation Observer) robust control algorithm to a 7 degree-of-freedom robot arm to estimate assembly force without force sensor in robotics Lab simulation. From estimated perturbation, we can decide whether the end-effector of robot arm crashes the assembly part of not. If the absolute value of perturbation of most axes is sharply increasing case, it can be assumed that the end-effector of robot manipulator and assembling parts collide into each other.

关键词： Manipulators Robot sensing systems Force Service robots Collision avoidance Observers

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Enhanced outdoor localization of multi-GPS/INS fusion system using Mahalanobis Distance

Enhanced outdoor localization of multi-GPS/INS fusion system...

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Yun-Ki Kim Seung-Hwan Choi Jang-Myung Lee Department of Electrical Engineering Pusan National University Busan Korea Interdisciplinary Program in Robotics Pusan National University Busan Korea

This paper describes the implementation of system estimating outdoor position system with three GPS and one IMU sensor. The accuracy of three low-cost GPS which have large instantaneous error are supplemented by using The center of the triangular method and system that has more accurate estimation of position is designed by combining three GPS and one IMU sensor through EKF. And also data values overflowed are eliminated to gain more precise data values with utilization of Mahalanobis Distance. Through experiment, it can verify the results compared single GPS and multi-GPS position error, and then calibrated mobile robot position estimation results can be found.

关键词： Global Positioning System Receivers Mobile robots Robot sensing systems Estimation

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Hadamard product for low-rank bilinear pooling 5

Hadamard product for low-rank bilinear pooling

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5th International Conference on Learning Representations, ICLR 2017

作者： Kim, Jin-Hwa On, Kyoung-Woon Lim, Woosang Kim, Jeonghee Ha, Jung-Woo Zhang, Byoung-Tak Interdisciplinary Program in Cognitive Science Seoul National University Seoul08826 Korea Republic of School of Computer Science and Engineering Seoul National University Seoul08826 Korea Republic of School of Computing KAIST Daejeon34141 Korea Republic of NAVER LABS Corp. NAVER Corp Gyeonggi-do13561 Korea Republic of School of Computer Science and Engineering Interdisciplinary Program in Cognitive Science Seoul National University and Surromind Robotics Seoul08826 Korea Republic of

Bilinear models provide rich representations compared with linear models. They have been applied in various visual tasks, such as object recognition, segmentation, and visual question-answering, to get state-of-the-art performances taking advantage of the expanded representations. However, bilinear representations tend to be high-dimensional, limiting the applicability to computationally complex tasks. We propose low-rank bilinear pooling using Hadamard product for an efficient attention mechanism of multimodal learning. We show that our model outperforms compact bilinear pooling in visual question-answering tasks with the state-of-the-art results on the VQA dataset, having a better parsimonious property. © ICLR 2019 - Conference Track Proceedings. All rights reserved.

关键词： Object recognition

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The evaluation of scratch reduction in Flying Touch method by using SMCSPO

The evaluation of scratch reduction in Flying Touch method b...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Sung jin Kim Hyun Hee Sung min Yoon Min Cheol Lee School of Interdisciplinary Program in Robotics Pusan National University Busan SouthKorea School of Mechanical Engineering Pusan National University Busan SouthKorea

Scratch defects is occur due to impact drop and friction between the roller and slab in the conventional hot rolling method. The Flying Touch method is one of the proposed methods to improve the scratch defects. Flying Touch method is available to soft touch between the rollers and the slab. Because roller is unfixed and flexible. And Flying Touch method is proposed synchronization of the rollers' angular velocity and the slab's surface velocity. In this paper, a simulator was designed to apply and verify the Flying Touch method. After, the actual implementation was velocity synchronization of Flying Touch method in the designed simulator. Performance of scratch reduction evaluated comparative experiment to velocity de-synchronization and velocity synchronization of Flying Touch method.

关键词： Synchronization Slabs Control systems Frequency modulation

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Haptic realization for user recognition using vibration pattern

Haptic realization for user recognition using vibration patt...

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Dong-Hyuk Lee Kyung-Wook Noh Sun-Kyun Kang Jang-Myung Lee Department of Electrical Engineering Pusan National University Pusan Korea Department of Interdisciplinary Program in Robotics Pusan National University Pusan Korea

In this paper, the haptic implementation using user-aware vibration pattern studied to recognize a surroundings of a teleoperated mobile robot in an environment where the user cannot see. The user teleoperates the mobile robots using the joystick in an environment where the user cannot see, haptic that enables the user perceive the perceived location information of obstacle during driving was implemented by using user-aware vibration pattern occurring in the haptic device. The haptic device was consist of equip with one vibration motor on the bottom of the joystick. The mobile robot implements the location information of the obstacle precisely by increasing the resolution using the superposition of ultrasonic sensors, and using this information, proper vibration pattern was implemented in haptic devices.

关键词： Vibrations Mobile robots Acoustics Haptic interfaces Pattern recognition Robot sensing systems

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3D map building for slopes based on modeling of mobile robot

3D map building for slopes based on modeling of mobile robot

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IEEE International Conference on Industrial Technology (ICIT)

作者： Yo-Seop Hwang Hyun-Woo Kim Dong-Ju Lee Jang-Myung Lee Department of Electrical Engineering Pusan National University Busan Korea Department of Interdisciplinary Program in Robotics Pusan National University Busan Korea

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.

关键词： Mobile robots Three-dimensional displays Buildings Sensors Robot kinematics Navigation

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A study for estimating reaction force of robot arm by using PDSPO

A study for estimating reaction force of robot arm by using ...

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Hyun Hee Kim Sun Oh Park Jin Ho Kyung Hyun Min Do Min Cheol Lee Interdisciplinary Program in Robotics Pusan National University Busan Korea School of Mechanical Engineering Pusan National University Busan Korea Department of Robotics and Mechatronics Korea Institute of Machinery and Materials Daejeon Korea

In the industrial field, assembling parts using robot arm requires force information. Some robot arms with torque sensors are commercially available, but they are difficult to use for industrial applications due to durability problems. In addition, mounting a torque sensor on the robot arm increases manufacturing costs and complicates the structure. In this study, we apply Sliding Perturbation Observer (SPO) to 7-axis robot manipulator and estimate reaction force without using torque sensor in simulation. From the estimated perturbation, it can be determined whether the end effector of the robot manipulator will crash part of the assembly.

关键词： Manipulators Service robots Robot sensing systems Collision avoidance Observers Force

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