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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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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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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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Accurate Velocity Control based on the distance of a Mobile Robot and Obstacle using a Haptic Joystick

Accurate Velocity Control based on the distance of a Mobile ...

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International Conference on Control, Automation and Systems

作者： DongHyuk Lee KyungWook Noh SookHee Park JangMyung Lee Department of Interdisciplinary Program in Robotics Pusan National University Department of Electrical Engineering Pusan National University

ISBN: (纸本)9781467322478

In this paper, the mobile robot equipped with a single ultrasonic sensor to measure the value of the distance between the mobile robot and the obstacle will be manipulated by a haptic joystick through the value of Force Feedback. Accordingly, the mobile robot will move based on the information of the ultrasonic sensor without colliding the obstacle to precise velocity control. Vibration part which is designed and installed at the bottom of the joystick implements Haptic features using the distance data from the ultrasonic sensor. Using the Bluetooth communication, the haptic joystick and the mobile robot give and receive the data mutually to control the mobile robot's velocity. In order to realize the precise velocity control, PD controller with the advantage of stabilization system is designed and the performances of two cases before or after PD control are evaluated and compared.

关键词： Haptic Joystick Mobile Robot Ultrasonic Sensor Velocity Control PD controller

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Dielectric heating using high voltage generation of self LC resonance of transformer

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Transactions of the Korean Institute of Electrical Engineers 2012年第12期61卷 1877-1879页

作者： Teons, Jae-Hnnn Kim, Hee-Je Kim, Soo-Won Dept. of Interdisciplinary Program in Robotics Pusan National University Korea Republic of Electrical Engineering Pusan National University Korea Republic of

Generally, stray capacitance is unnecessary element of designing circuit, because it can not be predicted by a designer. But we propose LC Resonant Circuit using stray capacitance of transformer. This method proposes miniaturization of circuit, because LC Resonant Circuit can be make simply to using stray capacitance instead of capacitor and size of transformer is reduced. Finally, we research aspect of dielectric heating by change of frequency and output voltage using developed converter.

关键词： Resonant circuits

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Performance Improvement and Height Estimation of Pedestrian Dead-Reckoning System using a Low Cost MEMS Sensor

Performance Improvement and Height Estimation of Pedestrian ...

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International Conference on Control, Automation and Systems

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

ISBN: (纸本)9781467322478

In this paper, PDR system's Improved performance and height estimation are introduced using a low-cost IMU. The personal navigation systems typically have used GPS. But the area where GPS signals are blocked should not be used such as indoor environments. To compensate for this, one of a technique is used PDR system. The location of a pedestrian estimates using only PDR system of the IMU. First of all, in order to estimate the location, a low-cost sensor corrected and manufactured the module. The step is detected using acceleration information by moving of the pedestrian through the module. A step length can be estimated using the detected step. The position estimation and heading will be estimated by the acceleration sensor and gyro sensor. Finally, information of the acceleration sensor and barometer applied to the KF (Kalman Filter) to estimate the height. This paper was tested in a real-environment based on the proposed algorithm. As the result, excellent performance was confirmed within the average distance error within 1% and the position error within 4% in the location estimate. And the results of height estimate, average standard error is confirmed improved performance as max 0.15m in case of using Kalman Filter.

关键词： IMU Pedestrian dead-reckoning Step estimation PDR System Height Estimation

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A study on obstacle detection using 3D Hough transform with corner

A study on obstacle detection using 3D Hough transform with ...

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作者： Hwang, Sun Min Kim, Chi Yen Beak, Jun-Young Eom, Hyeon Seob Lee, Min Cheol Interdisciplinary Program in Robotics Pusan National University Busan Korea Republic of School of Mechanical Engineering Pusan National University Busan Korea Republic of

ISBN: (纸本)9784907764364

Collision avoidance is essential element for safe navigation of mobile robot. In mobile robot system, various sensors are used to recognize or detect objects which have possibility of collision against robot during driving. As inescapable fault of each sensor, many researchers have studied sensor fusion and compensation methods to overcome the problems. Most popular sensors used for mobile robot are laser and ultrasonic sensors. However it is difficult for these sensors to find obstacle in case of a slope road. For the slope environment, this paper studies vision method. Vision sensor can detect slope by using randomized Hough transform (RHT). This paper suggests a method of detecting an obstacle in a complicated space with slant using RHT and corner information. This paper proves to compare the result of presence RHT. © 2010 SICE.

关键词： Mobile robots

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The hybrid dimming control system for solar charging robot

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World Academy of Science, Engineering and Technology 2010年 72卷 185-188页

作者： Won-Yong Chae, A. Kim, B. Hyung-Nam Lee, C. Kyoung-Jun Kim, D. 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

The renewable energy has been attracting attention as a new alternative energy due to the problem of environmental pollution and resource depletion. In particular, daylighting and PV system are regarded as the solutions. In this paper, the hybrid dimming control system supplied by solar cell and daylighting system was designed. Daylighting system is main source and PV system is spare source. PV system operates the LED lamp which supports daylighting system because daylighting system is unstable due to the variation of irradiance. In addition, PV system has a role charging batteries. Battery charging has a benefit that PV system operate LED lamp in the bad weather. However, LED lamp always can't turn on that's why dimming control system was designed. In particular, the solar charging robot was designed to check the interior irradiance intensity. These systems and the application of the solar charging robot are expected to contribute developing alternative energy in the near future.

关键词： Charging (batteries)

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The study on the wireless power transfer system for mobile robots

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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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A self-organizing autonomous prediction system for controlling mobile robots

A self-organizing autonomous prediction system for controlli...

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2009 International Conference on Automation, robotics and Control Systems, ARCS 2009

作者： De Leeuw, Josh R. Livingston, Kenneth R. Interdisciplinary Robotics Research Lab. Vassar College Poughkeepsie NY United States Department of Psychology and Program in Cognitive Science Vassar College Poughkeepsie NY United States

ISBN: (纸本)9781615676552

No single innovation is likely to precipitate the sudden emergence of a truly general and robust artificial intelligence. Instead, a careful study of the history of efforts to build AI systems and consideration of factors responsible for evolved general intelligence suggest point toward several promising lines of research. In the research reported here we explore the hypothesis that the ability to learn autonomously from patterns of success and failure at making predictions about what will happen next in a perception-action loop may be a necessary condition for robust AI, even if it is not sufficient. We present a novel learning architecture, the Self-Organizing Autonomous Prediction System, which learns to predict the consequences of actions within a perception-action loop. Two simulation studies demonstrate the success of the approach and the value of prediction-based learning as an important feature of highly adaptive intelligence. Future elaborations of this approach are also discussed.

关键词： Forecasting

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