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IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2015

作者： Cha, Keum-Gang Yoon, Sung-Min Kim, Hyun-Hee Gim, Ki-Yeon Lee, Min-Cheol Department of Mechanical Engineering Pusan National University BusanKS102 Korea Republic of Interdisciplinary Program in Robotics Pusan National University BusanKS102 Korea Republic of School of Mechanical Engineering Pusan National University BusanKS102 Korea Republic of

ISBN: (纸本)9781467391078

In this paper, the estimation method of reaction force for electro-hydraulic servo system for movement is discussed. This reaction force estimation method is based on sliding perturbation observer that is robust observer technique. Before estimating reaction force, the modeling of electro-hydraulic servo system is processed. Before the fine modeling parameters of electro-hydraulic servo system, modeling equation is obtained through cylinder equation using expansion and shrinkage stroke process. After finding modeling equation, the obtaining accurate modeling parameter is carried out from signal compression method. After defining modeling parameter, reaction force estimation is operated by sliding perturbation observer. The analysis result of estimation for reaction force will be used for bilateral control with master-slave structure. © 2015 IEEE.

关键词： Estimation

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The development of flying touch hot rolling control method based on SMCSPO

The development of flying touch hot rolling control method b...

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

作者： Hyun-Hee Kim Sung-Jin Kim Min Cheol Lee Interdisciplinary Program in Robotics Pusan National University Busan Republic of Korea Department of Mechanical Engineering Pusan National University Busan Republic of Korea

ISBN: (纸本)9781509020669

To produce good quality of steel plates, scratches on steel plate should be minimized in hot rolling process. The new method, flying touch algorithm is introduced to control the gap between upper and lower roller for reducing scratches. In the flying touch method, the uniformity of coil can be debased due to variation of reaction force between rollers and steel plate. Therefore, the robust control algorithm and force estimation method is needed to apply flying touch method to hot rolling process. This paper introduces sliding mode control with sliding perturbation observer (SMCSPO) in flying touch hot rolling process. This paper also survey the effect of improved smoothen curve trajectory for realizing the flying touch and velocity synchronization on rolling mills' roller to reduce a scratch due to a friction force caused by the velocity desynchronization.

关键词： Steel Force Friction Mathematical model Rubber Torque Belts

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Self-propulsion via slipping: frictional swimming in multi-legged locomotors

arXiv

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arXiv 2022年

作者： Chong, Baxi He, Juntao Li, Shengkai Erickson, Eva Diaz, Kelimar Wang, Tianyu Soto, Daniel Goldman, Daniel I. Interdisciplinary Graduate Program in Quantitative Biosciences United States School of Physics United States Institute for Robotics and Intelligent Machines Georgia Institute of Technology AtlantaGA United States

Locomotion is typically studied either in continuous media where bodies and legs experience forces generated by the flowing medium, or on solid substrates dominated by friction. In the former, centralized coordination is believed to facilitate appropriate slipping through the medium for propulsion. In the latter, slip is often assumed minimal and thus avoided via decentralized controls. We discover in laboratory experiments that terrestrial locomotion of a meter scale multi-segmented/legged robophysical model resembles undulatory fluid swimming. Experiments varying waves of limb stepping and body bending reveal how these parameters result in effective terrestrial locomotion despite seemingly ineffective isotropic frictional contacts. Dissipation dominates over inertial effects in this macroscopic-scaled regime, resulting in essentially geometric locomotion akin to microscopic-scale swimming. Theoretical analysis demonstrates that the high-dimensional multi-segmented/legged dynamics can be simplified to a centralized low-dimensional model, which reveals an effective Resistive Force Theory with an acquired viscous drag anisotropy. We extend our low-dimensional, geometric analysis to illustrate how body undulation can aid performance in non-flat obstacle-rich terrains and also use the scheme to quantitatively model how body undulation affects performance of biological centipede locomotion (the desert centipede S. polymorpha) moving at relatively high speeds (∼ 0.5 body lengths/sec). Our results could facilitate control of multilegged robots in complex terradynamic scenarios. © 2022, CC BY.

关键词： Friction

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Objects tracking of the mobile robot using the hybrid visual servoing

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Journal of Institute of Control, robotics and Systems 2015年第8期21卷 781-787页

作者： Park, Kang-I.L. Woo, Chang-Jun Lee, Jangmyung Department of Interdisciplinary Program in Robotics Pusan National University Korea Republic of Department of Electronic and Electric and Computer Engineering Pusan National University Korea Republic of Department of Electronic Engineering Pusan National University Korea Republic of

This paper proposes a hybrid visual servoing algorithm for the object tracking by a mobile robot with the stereo camera. The mobile robot with the stereo camera performs an object recognition and object tracking using the SIFT and CAMSHIFT algorithms for the hybrid visual servoing. The CAMSHIFT algorithm using stereo camera images has been used to obtain the three-dimensional position and orientation of the mobile robot. With the hybrid visual servoing, a stable balance control has been realized by a control system which calculates a desired angle of the center of gravity whose location depends on variations of link rotation angles of the manipulator. A PID controller algorithm has adopted in this research for the control of the manipulator since the algorithm is simple to design and it does not require unnecessary complex dynamics. To demonstrate the control performance of the hybrid visual servoing, real experiments are performed using the mobile manipulator system developed for this research. © ICROS 2015.

关键词： Mobile robots

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Which ads to show? Advertisement image assessment with auxiliary information via multi-step modality fusion

arXiv

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arXiv 2019年

作者： Park, Kyung-Wha Lee, JungHoon Kwon, Sunyoung Ha, Jung-Woo Kim, Kyung-Min Zhang, Byoung-Tak Interdisciplinary Program in Neuroscience Seoul National University Statistics and Actuarial Science Soongsil University Clova AI Research NAVER Corp Department of Computer Science and Engineering Seoul National University Surromind Robotics

Assessing aesthetic preference is a fundamental task related to human cognition. It can also contribute to various practical applications such as image creation for online advertisements. Despite crucial influences of image quality, auxiliary information of ad images such as tags and target subjects can also determine image preference. Existing studies mainly focus on images and thus are less useful for advertisement scenarios where rich auxiliary data are available. Here we propose a modality fusion-based neural network that evaluates the aesthetic preference of images with auxiliary information. Our method fully utilizes auxiliary data by introducing multi-step modality fusion using both conditional batch normalization-based low-level and attention-based high-level fusion mechanisms, inspired by the findings from statistical analyses on real advertisement data. Our approach achieved state-of-the-art performance on the AVA dataset, a widely used dataset for aesthetic assessment. Besides, the proposed method is evaluated on large-scale real-world advertisement image data with rich auxiliary attributes, providing promising preference prediction results. Through extensive experiments, we investigate how image and auxiliary information together influence click-through rate. Copyright © 2019, The Authors. All rights reserved.

关键词： Image fusion

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Development of master handle for robotic laparoscopy using cable-conduit

Development of master handle for robotic laparoscopy using c...

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SICE Annual Conference

作者： Woo-Hyeok Choi Sung-Min Yoon Min-Cheol Lee Interdisciplinary Program in Robotics Pusan NationalUniversity Busan South Korea Graduate School of Mechanical Engineering Pusan National University Busan South Korea Department of Mechanical Engineering Pusan National University Busan South Korea

ISBN: (纸本)9781479914951

In robotic surgery, a surgeon checks only a surgical site of patient in the progress of surgery by vision and sound information. In order to solve this limited information, the haptic function is necessary. For haptic realization, it requires much more information through various sensors. However, because of the special environment inside human body, it is not easy to apply sensors such as a force sensor. The low inertia master device for laparoscope operation with cable-conduit was developed in previous research to give haptic function. This suggested a possibility of developing a master device by using the cable-conduit. However, since each axis of rotations does not match with human wrist joint, it is very inconvenient to use. This paper suggests a new mechanism design structure to solve these problems of previous work by new form of master device. And it is experimented and analyzed that a cable conduit connected control box can follow well according to a trajectory of one axis's angle.

关键词： Robot sensing systems Trajectory Force Production Industries Surgery

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Reaction force estimation of hydraulic servo system using sliding perturbation observer

Reaction force estimation of hydraulic servo system using sl...

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

作者： Keum-Gang Cha Sung-Min Yoon Hyun-Hee Kim Ki-Yeon Gim Min-Cheol Lee Department of Mechanical Engineering Pusan National University Busan Republic of Korea Interdisciplinary Program in Robotics Pusan National University Busan Republic of Korea School of Mechanical Engineering Pusan National University Busan Republic of Korea

ISBN: (纸本)9781467391085

关键词： Force Mathematical model Observers Damping Dynamics Uncertainty Valves

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The Finite Element Analysis of Flying Touch Hot Rolling Method Using Ansys Simulation

The Finite Element Analysis of Flying Touch Hot Rolling Meth...

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Asian Control Conference

作者： Hyun-Hee Kim Min-Cheol Lee Interdisciplinary Program in Robotics Pusan National University School of Mechanical Engineering Pusan National University

ISBN: (纸本)9781479978632

In the hot rolling process, the scratches are caused by immense friction between the rollers and the steel plate, and this defect debases the productivity of steelworks. Existing hot strip mills have a structure that fixes the gap between upper and lower rollers;as a result, steel plates inevitably underwent strong friction and shock when passing through the rollers. The new concept, a flying touch method is proposed, which can control the gap between rollers for reducing scratches in hot rolling process. It is essential to simulate in finite element analysis program because the real hot rolling system is too huge and dangerous to have repetitive experiments. This paper introduces the results of the finite element analysis and a method to decrease scratches on the steel plate in hot rolling process.

关键词： Hot rolling process Flying touch Finite element analysis Ansys simulation SMCSPO Impact drop

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A Portable Multiscopic Camera for Novel View and Time Synthesis in Dynamic Scenes

arXiv

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arXiv 2022年

作者： Zhang, Tianjia Lau, Yuen-Fui Chen, Qifeng The Hong Kong University of Science and Technology Hong Kong The Individualized Interdisciplinary Program The Robotics Institute Hong Kong The Department of Mathematics Hong Kong The Department of Computer Science and Engineering The Department of Electronic and Computer Engineering Hong Kong

We present a portable multiscopic camera system with a dedicated model for novel view and time synthesis in dynamic scenes. Our goal is to render high-quality images for a dynamic scene from any viewpoint at any time using our portable multiscopic camera. To achieve such novel view and time synthesis, we develop a physical multiscopic camera equipped with five cameras to train a neural radiance field (NeRF) in both time and spatial domains for dynamic scenes. Our model maps a 6D coordinate (3D spatial position, 1D temporal coordinate, and 2D viewing direction) to view-dependent and time-varying emitted radiance and volume density. Volume rendering is applied to render a photo-realistic image at a specified camera pose and time. To improve the robustness of our physical camera, we propose a camera parameter optimization module and a temporal frame interpolation module to promote information propagation across time. We conduct experiments on both real-world and synthetic datasets to evaluate our system, and the results show that our approach outperforms alternative solutions qualitatively and quantitatively. Our code and dataset are available at https://***/. Copyright © 2022, The Authors. All rights reserved.

关键词： Cameras

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RNR-Nav: A Real-World Visual Navigation System Using Renderable Neural Radiance Maps

RNR-Nav: A Real-World Visual Navigation System Using Rendera...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Minsoo Kim Obin Kwon Howoong Jun Songhwai Oh Interdisciplinary Program in Artificial Intelligence (IPAI) and ASRI Seoul Republic of Korea Department of Electrical and Computer Enginnering (ECE) and ASRI Seoul National University Seoul Republic of Korea Sequor Robotics Inc. Seoul Republic of Korea

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

We propose a novel visual localization and navigation framework for real-world environments directly integrating observed visual information into the bird-eye-view map. While the renderable neural radiance map (RNR-Map) [1] shows considerable promise in simulated settings, its deployment in real-world scenarios poses undiscovered challenges. RNR-Map utilizes projections of multiple vectors into a single latent code, resulting in information loss under suboptimal conditions. To address such issues, our enhanced RNR-Map for real-world robots, RNR-Map++, incorporates strategies to mitigate information loss, such as a weighted map and positional encoding. For robust real-time localization, we integrate a particle filter into the correlation-based localization framework using RNR-Map++ without a rendering procedure. Consequently, we establish a real-world robot system for visual navigation utilizing RNR-Map++, which we call "RNR-Nav." Experimental results demonstrate that the proposed methods significantly enhance rendering quality and localization robustness compared to previous approaches. In real-world navigation tasks, RNR-Nav achieves a success rate of 84.4%, marking a 68.8% enhancement over the methods of the original RNR-Map paper.

关键词： Location awareness Visualization Navigation Rendering (computer graphics) Particle filters Encoding Vectors Robustness Real-time systems Intelligent robots

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