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

作者： Heo, Seong-Min Kim, Ki-Ryong Kim, Hee-Je Department of Interdisciplinary Program in Robotics Pusan National University Jangjeon-dong Geumjung-gu Korea Republic of Department of Electrical Enginneering Pusan National University Jangjeon-dong Geumjung-gu Korea Republic of

ISBN: (纸本)9783642408519

In this paper, we aims to the development of mini solar power system for robot vacuum cleaner battery charging. it has the advantage of being convenient for the robot vacuum cleaner, but at the same time it has the disadvantage like electric shock and inefficient battery charging. In order to overcome these shortcomings, we plan to apply more advanced technology in the development of this system in conjunction with the Wireless power transfer system. This paper presents to applying to the mini solar battery charging system for the mathematical modeling of solar cells and the 50watt solar array modules MATLAB simulation results. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Charging (batteries)

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Corrosion protection using high-voltage and high-frequency system

Corrosion protection using high-voltage and high-frequency s...

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

作者： Baek, Seung-Hwa Kim, Hyun-Min Kim, Hee-Je Department of Interdisciplinary Program in Robotics Pusan National University Jangjeon-dong Geumjung-gu Korea Republic of Department of Electrical Enginneering Pusan National University Jangjeon-dong Geumjung-gu Korea Republic of

ISBN: (纸本)9783642408519

The corrosion of ships and equipment is the issue of shipping transportation and marine pollution. The organotin compound paint such as TBT(Tributyl Tin) or sinking of the ship which has been negligent in maintenance for a long time cause massive contamination of ocean. Therefore, to proof corrosion, maintain and manage the equipment from the electrical corrosion in the seawater becomes more and more significant. The corrosion in the ocean has many causes and there are several ways to prevent the corrosion by now. The main cause of corrosion is the oxidation of metals. Regarding this point, we want to know that application of high-voltage, high-frequency pulsed power technology is how much effective to electrical corrosion in environment of electrolyte that can cause corrosion easily. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Ships

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Bunker oil C heating using induction heating

Bunker oil C heating using induction heating

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

作者： Kim, Dong-Hyun Kim, Ki-Ryong Kim, Hee-Je Department of Interdisciplinary Program in Robotics Pusan National University Jangjeon-dong Geumjung-gu Korea Republic of Department of Electrical Enginneering Pusan National University Jangjeon-dong Geumjung-gu Korea Republic of

ISBN: (纸本)9783642408519

The purpose of this paper is application of induction heating. Generally, Steam Heating and Resistance Heating are in use to heating Bunker Oil C. however, Heating Machine is hard to maintenance and maintenance cost is expensive, because both method are direct contact with oil. In this paper, we research for Bunker Oil C heating using induction heating. This way we avoid direct contact with oil and use LLC Resonant Circuit to reduce switching loss. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Induction heating

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Magnetic resonance wireless power transmission using a LLC resonant circuit for a locomotion robot's battery charging

Magnetic resonance wireless power transmission using a LLC r...

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

作者： Kim, Ki-Ryong Kim, Dong-Hyun Kim, Hee-Je Department of Interdisciplinary Program in Robotics Pusan National University Jangjeon-dong Geumjung-gu Korea Republic of Department of Electrical Engineering Pusan National University Jangjeon-dong Geumjung-gu Korea Republic of

ISBN: (纸本)9783642408519

The purpose of this paper is a locomotion robot's battery charging. Using a LLC resonant circuit and magnetic resonance WPT(Wireless Power Transmission). The proposed this WPT system consists of transmitter and receiver circuits. The transmitter is a LLC resonant circuit and receiver circuit is a LC resonant circuit that has a resonant coil, a capacitor, and full bridge diode rectifier. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Charging (batteries)

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Bilateral control for haptic laparoscopic surgery robot

Bilateral control for haptic laparoscopic surgery robot

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2013 44th IEEE International Symposium on robotics, ISR 2013

作者： Yoon, Sung Min Kim, Won Jae Lee, Min Cheol Choi, Woo Hyeok Graduate School of Mechanical Engineering Pusan National University Busan Korea Republic of School of Mechanical Engineering Pusan National University Busan Korea Republic of Interdisciplinary Program in Robotics Pusan National University Busan Korea Republic of

ISBN: (纸本)9781479911738

When using commercialized robot assisted laparoscopic such as Da Vinci, surgeon has met some problem to depend only on the information by visual feedback. To solve this problem, haptic function is required. In order to realize the haptic teleoperation system, force feedback and bilateral control system are needed. The previous researches showed that the perturbation value estimated by sliding perturbation observer(SPO) followed a reaction force loaded on the surgical robot instrument well. This paper addresses a bilateral control which is performed to realize haptic teleoperation based on this estimated force. The experiment results shows that a torque and force sensorless teleoperation system can be implemented using bilateral control structure. © 2013 IEEE.

关键词： Robotic surgery

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Balancing Control of a Ball Robot Based on an Inverted Pendulum

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Journal of Institute of Control, robotics and Systems 2013年第9期19卷 834-838页

作者： Kang, Seok-Won Park, Chan-Ik Byun, Gyu-Ho Lee, Jang-Myung Department of Interdisciplinary Program in Robotics Pusan National University Korea Republic of School of Electronic Engineering Pusan National University Korea Republic of

This paper proposes a new ball robot which has a four axis structure and four motors that directly actuate the ball to move or to maintain the balance of the robot. For the Balancing control, it is possible to use non-model-based controller to control simply without complex formula. All the gains of the controller are heuristically adjusted during the experiments. The tilt angle is measured by IMU sensors, which is used to generate the control input of the roll and pitch controller to make the tilt angle zero. The performance of the designed control system has been verified through the real experiments with the developed ball robot. ©ICROS 2013.

关键词： Inverted pendulum

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Wireless power transmission using electromagnetic inductive coupling and lc resonant

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Transactions of the Korean Institute of Electrical Engineers 2013年第3期62卷 349-354页

作者： Lee, Seung-Hwan Kimm, Hyoen-Min Kim, Hee-Je Kim, Su-Weon Dept. of Interdisciplinary Program in Robotics Pusan National University Korea Republic of Electrical Engineering Pusan National University Korea Republic of

Wireless power transmission introduced by Tesla has instrumented by many scientists of the world. This technique first was utilized as wireless communications such as radio in long range transmission. And contactless transmission using inductive property was used on white goods. In 2007, MIT' lab introduced that new wireless power transmission by magnetic resonance which has about 50% efficiency and 2M transmission distances, it was a chance to refocus a new possibility of wireless power transmission. In this paper, using LC coupling compensate the short distances of contactless transmission, this simple method could transmit about 30cm distances. Using this approach, it can be solved the short transmission distances, a drawback of Electromagnetic inductive coupling method.

关键词： Natural frequencies

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Haptic joystick implementation using vibration pattern algorithm

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Journal of Institute of Control, robotics and Systems 2013年第7期19卷 605-613页

作者： Noh, Kyung-Wook Lee, Dong-Hyuk Han, Jong-Ho Park, Sookhee Lee, Jangmyung Department of Interdisciplinary Program in Robotics Pusan National University Korea Republic of Department of Electrical Engineering Pusan National University Korea Republic of

This research proposes a vibration pattern algorithm to implement the haptic joystick to control a mobile robot at the remote site without watching the navigation environment. When the user cannot watch the navigation environment of the mobile robot, the user may rely on the haptic joystick solely to avoid obstacles and to guide the mobile robot to the target. To generate vibration patterns, there is a vibration motor at the bottom of the joystick which is held by the user to control the motion direction of the mobile robot remotely. When the mobile robot approaches to an obstacle, a pattern of vibration is generated by the motor, and by feeling the vibration pattern which is determined by the relative position of the mobile robot to the obstacle, the user can move the joystick to avoid the collision to the obstacle for the mobile robot. To generate the vibration patterns to convey the relative location of the obstacle near the mobile robot to the user, Fuzzy interferences have been utilized. To measure the distance and location of the obstacle near the mobile robot, ultrasonic sensors with the ring structure have been adopted and they are attached at the front and back sides of the mobile robot. The precise location of the obstacle is obtained by fusing the multiple data from ultrasonic sensors. Effectiveness of the proposed algorithm has been verified through the real experiments and the results are demonstrated. © ICROS 2013.

关键词： Feedback

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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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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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