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Development of a personal mobility scooter with autonomous driving and safety features

Journal of institute of Control, robotics and Systems 2023年第5期29卷 404-411页

作者： Eui-Jung, Jung Kwang-Woo, Jeon Juhyun, Kim Jong-Il, Lee Min-Gyu, Kim Hyo-Jeong, Cha Human-Robot Interaction R&D Center Korea Institute of Robotics & Technology Convergence Korea Republic of AI Robotics R&D Division Korea Institute of Robotics & Technology Convergence Korea Republic of Department of Medical Robotics Korea Institute of Machinery & Materials Korea Republic of

This study developed a personal mobility scooter with autonomous driving and safety functions. The scooter can recognize indoor and outdoor environmental conditions by applying various sensor systems similar to semi-autonomous vehicles. The addition of an autonomous driving function ensures user convenience. The mobility scooter was developed to provide user safety by preventing collisions and rollover accidents. First, the system configuration and functions of the personal mobility scooter have been introduced, followed by the application of algorithms to implement each function. In terms of convenience, the main features of personal mobility scooters include indoor autonomous driving, outdoor semi-autonomous driving, and guardian-following driving. In terms of safety, the salient features are collision prevention and rollover prevention. The functions proposed here were incorporated in an actual mobility scooter, and its efficacy was verified through experiments. © 2023, institute of Control, robotics and Systems. All rights reserved.

关键词： Motion planning

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Development of motion-maker for an android

Development of motion-maker for an android

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Seulgi Lee Byung-Rok So Ho-Gil Lee Department of Intelligent Robotics University of Science and Technology Daejeon Korea Division of Applied Robot Technology Korea Institute of Industrial Technology Ansan Korea

An android is a robot which resembles human especially appearance and behavior. This robot is usually used for an emcee, a desk clerk, a teacher and so on. Its motion should be accurate and correspond to what it tells because a little difference of motion may bring misunderstanding. Comparing a humanoid, an android should resemble human more strictly because not-quite-high quality of mimicry leads peoplepsilas hatred.

关键词： Humans Humanoid robots Service robots Intelligent robots robot sensing systems robotics and automation Databases Educational robots Joints Tactile sensors

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Implementation of Force Sensor with Multi Strain Gauges for Enhancing Accuracy and Precision

Implementation of Force Sensor with Multi Strain Gauges for ...

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2010 IEEE/ASME International Conference on Mechatronic and Embedded System and Applications(2010 IEEE 机电一体化和嵌入式系统与应用国际会议)

作者： J. C. Koo Y. S. Ihn Y. C. Kim H. R. Choi S. M. Lee School of Mechanical Engineering Sungkyunkwan University Suwon Korea Division of Applied Robot Technology Korea Institute of Industrial Technology Ansan Korea

A force sensor using strain gauges is widely used in many mechanical measuring systems. A method of measuring force and contact point using two gauges is available although it rather limited to extension of micro scale measurement. In order to overcome this limitation and to maximize a precision of the strain gauge sensor, sensor structure was optimized. Also, we used Kalman filtering for increasing an accuracy. It significantly increase the signal to noise ratio and stability of the sensor. This force sensor using strain gauges will be applied to diverse fields such as inspecting a micro system or manipulating small devices.

关键词： Optical filters Sun Actuators Torque Optical sensors

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Method to apply virtual spring-damper hypothesis for a redundant hydraulic manipulator

Method to apply virtual spring-damper hypothesis for a redun...

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International Conference on Ubiquitous robots and Ambient Intelligence (URAI)

作者： Jin Tak Kim Jung San Cho Se-Hee Whang Sang Uk Chon Sangdeok Park Korea Institute of Industrial Technology Cheonan KR Division of Applied Robot Technology Korea Institute of Industrial Technology Ansan-si Gyeonggi-do Republic of Korea

ISBN: (纸本)9781479953349

This paper proposes a method to verify the performance of a redundant 4 degree of freedoms (DOF) hydraulic manipulator when Virtual Spring-damper (VSD) algorithm is applied. It is combined with a control based on the VSD algorithm proposed by Ari-moto et al. To verify the applicability of VSD algorithm to the hydraulic robot manipulator of redundancy 4-DOF, we conducted an experiment to tracking repetitive circle motions of 0.2 m radius to the Y-Z plane in 3.5 seconds. To check the control performance to all directions, the experiment was conducted to the repetitive circle motions which are sloped to 30 ° to the X axis. The effectiveness of the proposed control scheme is demonstrated in experimentation with the 4-DOF manipulator.

关键词： Manipulators Joints Torque Jacobian matrices Redundancy Shock absorbers

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Development of a wearable input device based on human hand-motions recognition

Development of a wearable input device based on human hand-m...

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IEEE International Workshop on Intelligent robots and Systems (IROS)

作者： Daeheui Won Ho-Gil Lee Jin-Young Kim Moosung Choi Min-Sung Kang Control and Intelligence Research Group Division for Applied Robot Technology (DART) Korea Institute of Industrial and Technology Ansan South Korea

In this paper, a new wearable input device recognizing human hand-motion, a keyglove, is proposed. The glove can resolve the disadvantages of the conventional input devices and can be adapted to the mobile computing environment The device is applicable as the touch-typing input method for users' easy understanding and improvement of input speed. The hand-motion for touch-typewriting using QWERTY keyboard, which is most widely being used currently, is analyzed. The analyzed results show that the model with 21 DOF can be reduced to one with approximately 14 DOF. The hand-motion capture module using low price sensors is also developed for hand-motion recognition. In general, however, typists using the keyglove system can not exactly determine the key position of desired input letter because the virtual keyboard does not have the physical location of key layouts, and that causes many typewriting errors at a long typewriting time. Therefore, an algorithm is needed to cope with the problem and to reduce typewriting errors due to personal disparities such as hand shapes and typewriting habits. For this reason, the time-variant prediction algorithm is proposed to minimize typewriting errors, and the possibility of the developed keyglove system is also verified.

关键词： Humans Mobile computing Keyboards Computer interfaces Wearable computers Handwriting recognition Intelligent robots Speech recognition Intelligent control Service robots

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A modified Dynamic Window Approach in crowded indoor environment for intelligent transport robot

A modified Dynamic Window Approach in crowded indoor environ...

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International Conference on Control, Automation and Systems

作者： Baehoon Choi Beomseong Kim Euntai Kim KwangWoong Yang Department of Electrical and Electronic Engineering Yonsei University Division for Applied Robot Technology Korea Institute of Industrial Technology

ISBN: (纸本)9781467322478

We propose the modified dynamic window approach for indoor transport robot. The dynamic window approach is the popular collision avoidance algorithm that considers the heading direction of the robot, the distance to the obstacle, and the velocity of the robot. The objective function of the DWA thinks faster speed is better but it is very dangerous when there are many people around. They will feel discomfort with fast vehicle around them. This paper proposes that when the robot is in crowded place which means there are many dynamic obstacles around the robot, the robot move slow down to watch out the collision with them. It is implemented by using several fuzzy rules to determine the possible actions of the robot in DWA. Experiment results are given to validate our proposed method.

关键词： Dynamic window approach DWA Intelligent robot Motion planning

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Software architecture of human-like robot

Software architecture of human-like robot

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SICE Annual Conference

作者： Tae-Geun Lee Kwang-Woong Yang Moo-Sung Choi Un-Chol Shin Intelligent Robot Platform Research Team SoluBot Inc. Ansan South Korea Division for Applied Robot Technology Korea Institute of Industrial and Technology Ansan South Korea

Software architectures have been suggested for a non-industrial robot up to the present, however a few developer who working in the robot field are applying those to manufactured products. Such software architecture of the robot is not using with several reasons in the field of a robot in spite of excellent advantages. This paper proposes using a device management of the software architecture, which has a hierarchical structure, in a human-like robot. Especially, we applied to the rent business of the android platform, EveR1; the compound word of eve and robot. The device may be real mechanical parts like a sensor, motor, and camera or virtual parts like a motor arbiter, motion generator, and priority maker. The virtual parts are software components which are used in operating the android platform. The device management exists between hardware and software of a robot, and makes the hardware compatibility for applied to applications in the high layer of software. It is compatible due to separating similar functions of each device which is managed in the device management, and providing same abstract interfaces. For instance, an application developed by using a motor driver of one corporation is exchanged for a motor drive of the other corporation with minimal code modification.

关键词： Software architecture Humanoid robots robot sensing systems Hardware Application software Manufactured products Mechanical sensors robot vision systems Cameras Motor drives

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Metabolomic and transcriptomic study to understand changes in metabolic and immune responses in steers under heat stress

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Animal Nutrition 2022年第4期11卷 87-101页

作者： Jun Sik Eom Da Som Park Sang Jin Lee Bon-Hee Gu Shin Ja Lee Sang-Suk Lee Seon-Ho Kim Byeong-Woo Kim Sung Sill Lee Myunghoo Kim Institute of Agriculture and Life Science Gyeongsang National UniversityJinju52828Republic of Korea Department of Animal Science College of Natural Resources&Life SciencePusan National UniversityMiryang50463Republic of Korea Life and Industry Convergence Research Institute Pusan National UniversityMiryang50463Republic of Korea University-Centered Labs Gyeongsang National UniversityJinju52828Republic of Korea Ruminant Nutrition and Anaerobe Laboratory Department of Animal Science and TechnologySunchon National UniversitySuncheon57922Republic of Korea Division of Applied Life Science(BK21) Gyeongsang National UniversityJinju52828Republic of Korea

Heat stress(HS)damages livestock by adversely affecting physiological and immunological ***,fundamental understanding of the metabolic and immunological mechanisms in animals under HS remains elusive,particularly in *** understand the changes on metabolic and immune responses in steers under HS condition,we performed RNA-sequencing and proton nuclear magnetic resonance spectroscopy-based metabolomics on HS-free(temperature humidity index[THI]value:64.92±0.56)and HS-exposed(THI value:79.13±0.56)Jersey steer(n=8,body weight:559.67±32.72 kg).This study clarifies the metabolic changes in 3 biofluids(rumen fluid,serum,and urine)and the immune responses observed in the peripheral blood mononuclear cells of HS-exposed *** integrated approach allowed the discovery of HS-sensitive metabolic and immunological *** metabolomic analysis indicated that HS-exposed steers showed potential HS biomarkers such as isocitrate,formate,creatine,and riboflavin(P<0.05).Among them,there were several integrative metabolic pathways between rumen fluid and ***,HS altered mRNA expression and immune-related signaling pathways.A meta-analysis revealed that HS decreased riboflavin metabolism and the expression of glyoxylate and dicarboxylate metabolism-related ***,metabolic pathways,such as the hypoxia-inducible factor-1 signaling pathway,were downregulated in immune cells by HS(P<0.05).These findings,along with the datasets of pathways and phenotypic differences as potential biomarkers in steers,can support more in-depth research to elucidate the interrelated metabolic and immunological *** would help suggest new strategies to ameliorate the effects of HS,including disease susceptibility and metabolic disorders,in Jersey steers.

关键词： Heat stress Jersey steer Metabolome Transcriptome Immunity Metabolism

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Microscopic motion control of a parallel visual alignment stage

Microscopic motion control of a parallel visual alignment st...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： SangJoo Kwon Sang Moo Lee School of Aerospace and Mechanical Engineering Korea Aerospace University Goyang Korea Division of Applied Robot Technology Korea Institute of Industrial Technology Ansan Korea

This paper investigates motion control of a visual alignment stage with four parallel limbs for the planar alignments between mask and panel. The parallel alignment stage has the high load capacity but small moving range. Hence, the control performance much depends on how well the uncertainty at low velocities such as nonlinear friction can be compensated. The perturbation observer based control is so efficient to compensate the frictional uncertainty arising specifically in microscopic movement and as a result enables to achieve fine controlled motion. Experimental results in the visual alignment demonstrate the effectiveness of the suggested control method.

关键词： Microscopy Motion control Control systems Machine vision Aerospace industry Uncertainty Friction robotics and automation Aerospace control Aerospace engineering

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A Model-Driven Scrum Process for Service-Oriented Software Reengineering: mScrum4SOSR

A Model-Driven Scrum Process for Service-Oriented Software R...

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International Symposium on Computer Science and its Applications, CSA

作者： Sam Chung Dae Hee Won Seung-Ho Baeg Sangdeok Park Institute of Technology University of Washington Tacoma Tacoma WA USA Division of Applied Robot Technology Korea Institute of Industrial and Technology Ansan Gyeonggi South Korea

ISBN: (纸本)9781424449453;9781424449460

-The purpose of this paper is to propose a new service-oriented software reengineering process that is model-driven and Scrum-oriented, which we call Model-Driven Scrum for Service-Oriented Software Reengineering (mScrum4SOSR). This process is an integration of a popular agile software development process, Scrum, with the concept of UML as a blueprint or executable for. The mScrum4SOSR is applied to three development teams: a reverse engineering team and two forward engineering teams for service consumption and production. To comprehend internal operations of a legacy system, the reverse engineering team represents a high level abstraction of the system in visual models. Scrum is conducted to generate a sharable visual model at this reverse engineering phase. The model is subdivided into two models for service consumer and producer by identifying candidate services from the model of the legacy system. With the models and the product backlog, two Sprints for service consumer and producer start at the next forward software engineering phase in parallel. The development team of each Sprint shares the changes of the models and the Scrum Master maintains the synchronized version of the model for partially shippable target system during a Sprint. The process brings two main benefits to the SOSR teams: 1) we can seamlessly use an agile process, Scrum, for a reverse engineering team and two forward software engineering teams. And 2) the model-driven process complements the project management process Scrum by injecting one of the best software development practices, elevating the level of abstraction, into Scrum.

关键词： Reverse engineering Software engineering Programming Unified modeling language Production Project management Logic Web services Business Service robots

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