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Obstacle information transfer and control method using haptic device consist of vibration motors

Journal of Institute of Control, robotics and Systems 2014年第10期20卷 1036-1043页

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

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.

关键词： Remote control

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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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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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Improved performance of a low-cost PDR system through sensor calibration and analysis

Improved performance of a low-cost PDR system through sensor...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Yunki. Kim Donghyuk Lee Kijung. Kim Jangmyung. Lee Dept. of Electrical Engineering Pusan National University Busan Korea Dept. Interdisciplinary Program in Robotics Pusan National University Busan Korea Dept. of Electrical Engineering 'Brain Korea 21 Project’ of Pusan National University Busan Korea

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.

关键词： Acceleration Mathematical model Equations Length measurement Temperature sensors Estimation Calibration

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Object following robot using vision camera, single curvature trajectory and Kalman filters

Object following robot using vision camera, single curvature...

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6th International Conference on Intelligent robotics and Applications, ICIRA 2013

作者： Heo, Shin-Nyeong Lim, Hyun-Seop Hwang, Seungik Lee, Jangmyung Interdisciplinary Program in Robotics Pusan National University Korea Republic of Department of Electrical Engineering Pusan National University Korea Republic of

ISBN: (纸本)9783642408519

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 choosing the optimal path and they are correlated to each other. In this paper, an efficient driving trajectory is planned in a real situation where a mobile robot follows a moving object. Position and distance of the moving object are obtained using a web camera;the rotation angular and linear velocities are estimated using Kalman filters to predict the trajectory of the moving object. Finally the mobile robot follows the moving object using a single curvature trajectory by estimating trajectory of the moving object. Using the estimation by Kalman filters and the single curvature in the trajectory planning, the total tracking distance and error rate have been saved about 7 %. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Kalman filters

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Vision based people tracking using stereo camera and camshift

Vision based people tracking using stereo camera and camshif...

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6th International Conference on Intelligent robotics and Applications, ICIRA 2013

作者： Park, Kang-Il Park, Chan-Ik Lee, Jangmyung Interdisciplinary Program in Robotics Pusan National University Korea Republic of Department of Electrical Engineering Pusan National University Korea Republic of

ISBN: (纸本)9783642408519

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. To obtain the characteristic disparity, a set of characteristic points, essential to obtain characteristics like center points or corner points are determined from the CAMShift center of left and right images. By iterative computation and tracking in real time, the algorithm is able to robustly provide accurate 3D position of target objects. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Calibration

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Outdoor precision position estimation system using multi-GPS receivers

Outdoor precision position estimation system using multi-GPS...

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6th International Conference on Intelligent robotics and Applications, ICIRA 2013

作者： Choi, Seunghwan Kim, Kijung Kim, Yunki Lee, Jangmyung Interdisciplinary Program in Robotics Pusan National University Korea Republic of Department of Electrical Engineering Pusan National University Korea Republic of

ISBN: (纸本)9783642408519

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 occurs over time. To fill the gap, receiving is stabilized and accuracy is higher position information get using multi-GPS receivers. INS's data is precisely updated through the multi-GPS's position data in the data fusion process of the EKF. 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. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Global positioning system

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Vibration pattern for the implementation of haptic joystick

Vibration pattern for the implementation of haptic joystick

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6th International Conference on Intelligent robotics and Applications, ICIRA 2013

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

ISBN: (纸本)9783642408519

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 the bottom of the joystick in order to let the user perceive the distance value of the obstacle which can be recognized by ultrasonic sensors. And in the various situations, the operation can be precisely implemented by using the Fuzzy controller. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Ultrasonic sensors

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26th Annual Computational Neuroscience Meeting (CNS*2017): Part 3 Antwerp, Belgium. 15-20 July 2017 Abstracts

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BMC NEUROSCIENCE 2017年第SUPPL 1期18卷 95-176页

作者： [Anonymous] Department of Neuroscience Yale University New Haven CT 06520 USA Department Physiology & Pharmacology SUNY Downstate Brooklyn NY 11203 USA NYU School of Engineering 6 MetroTech Center Brooklyn NY 11201 USA Departament de Matemàtica Aplicada Universitat Politècnica de Catalunya Barcelona 08028 Spain Institut de Neurobiologie de la Méditerrannée (INMED) INSERM UMR901 Aix-Marseille Univ Marseille France Center of Neural Science New York University New York NY USA Aix-Marseille Univ INSERM INS Inst Neurosci Syst Marseille France Laboratoire de Physique Théorique et Modélisation CNRS UMR 8089 Université de Cergy-Pontoise 95300 Cergy-Pontoise Cedex France Department of Mathematics and Computer Science ENSAT Abdelmalek Essaadi’s University Tangier Morocco Laboratory of Natural Computation Department of Information and Electrical Engineering and Applied Mathematics University of Salerno 84084 Fisciano SA Italy Department of Medicine University of Salerno 84083 Lancusi SA Italy Dipartimento di Fisica Università degli Studi Aldo Moro Bari and INFN Sezione Di Bari Italy Data Analysis Department Ghent University Ghent Belgium Coma Science Group University of Liège Liège Belgium Cruces Hospital and Ikerbasque Research Center Bilbao Spain BIOtech Department of Industrial Engineering University of Trento and IRCS-PAT FBK 38010 Trento Italy Department of Data Analysis Ghent University Ghent 9000 Belgium The Wellcome Trust Centre for Neuroimaging University College London London WC1N 3BG UK Department of Electronic Engineering NED University of Engineering and Technology Karachi Pakistan Blue Brain Project École Polytechnique Fédérale de Lausanne Lausanne Switzerland Departement of Mathematics Swansea University Swansea Wales UK Laboratory for Topology and Neuroscience at the Brain Mind Institute École polytechnique fédérale de Lausanne Lausanne Switzerland Institute of Mathematics University of Aberdeen Aberdeen Scotland UK Department of Integrativ

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Obstacle recognition using a haptic device

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Journal of Measurement Science and Instrumentation 2013年第4期4卷 376-380页

作者： Kyungwook Noh Donghyuk Lee Sunkyun Kang Jaewon An Jangmyung Lee Department of Interdisciplinary Program in Robotics Pusan National University Department of Electrical Engineering Pusan National University

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.

关键词： haptic device teleoperation haptic feedback mobile robot obstacle recognitionDocument code：AArticle ID：1674-8042（2013）04-0376-05

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