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IEEE International Conference on robotics and Automation (ICRA)

作者： Jinhyun Kim Woong Hee Shon Ho-Gil Lee Wan Kyun Chung Division of Applied Robot Technology Korea Institute of Industrial and Technology Ansan South Korea Robotics & Bio-Mechatronics Laboratory Pohang University of Science and Technology Pohang South Korea

To improve the maneuverability of underwater vehicles, accurate thruster control is required based on a precise thrust model. Especially, in real systems, the ambient flow velocity and angle effects on the thrust force are very important, because vehicles are continuously moving and/or hovering with thruster actions. In this paper, we execute preliminary experiments with the model containing ambient flow effects as CAR (critical advance ratio) and CIA (critical incoming angle). The distinguished characteristics of the above model is the three axial flow states classification. The whole thrust map is divided into three states according to the state of ambient flow velocity, angle, and propeller shaft velocity. The several controllers are tested using the three flow states information. The preliminary experimental results show the best performance can be obtained by the open loop control with accurate model, because the thrust force cannot be measured directly, so the force map from the propeller shaft velocity to thrust force plays important roll in control performance. However, the DOB (disturbance observer) with closed loop controller is realistic solution, because it can compensate various unknown disturbances in real systems

关键词： Underwater vehicles Open loop systems Force measurement Propellers Shafts Testing Velocity measurement Force control Velocity control Control systems

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Design and control of a dexterous micro manipulator for the accurate miniature electro device assembly

Design and control of a dexterous micro manipulator for the ...

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SICE Annual Conference

作者： S. H. Ryu B. J. Choi T. C. Phung J. C. Koo S. D. Park S. M. Lee H. R. Choi Department of Mechanical Engineering Sung Kyun Kwan University Suwon South Korea Division of Applied Robot Technology Korea Institute of Industrial and Technology Ansan South Korea

For the assemblies of miniature electronic or optic devices, precision micro manipulation for the accurate alignment is one of the principal challenges. Noting the mechanical misalignment of those precision devices normally results in failure of device functionality, it is necessary to develop an efficient tool for the identification and correction of the problem. Since the corrective activity of those devices usually accompanies some level of plastic deformation, a proper identification of force and deformation during the operation might be essential. Besides, since most of the devices have very dense population of tiny parts spread and arranged in a two-dimensional surface, during the corrective operation maintaining accessibility with a clear path would not be straightforward. Designing process of a manipulating system that accommodates these specific requirements is presented in the present article

关键词： robotic assembly Manipulator dynamics Strain measurement Force sensors Optical devices Plastics robots Control systems Actuators Design optimization

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An Effective Kalman Filter Localization Method for Mobile robots

An Effective Kalman Filter Localization Method for Mobile Ro...

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2006 IEEE/RSJ International Conference on Intelligent robots and Systems

作者： Sangjoo Kwon Kwangwoong Yang Sangdeok Park School of AeroSpace and Mechanical Engineering Hankuk Aviation University Goyang South Korea Division of Applied Robot Technology Korea Institute of Industrial and Technology Ansan South Korea

An effective Kalman filter localization method for mobile robots is investigated in terms of the robust Kalman filter with perturbation estimator. In the recursive algorithm, the perturbation estimator produces equivalent perturbations with respect to the nominal state equation and the action model of a mobile robot is adaptively modified with the perturbation estimates. The integral control property of the perturbation estimator enables a great reduction of the localization error, specifically when the odometric disturbance is large. The Kalman filter recursive equations including predictor, corrector, perturbation estimator, and the corresponding covariance propagation equations are formulated systematically. The effectiveness of the proposed scheme is verified through simulation and experimental results for a wheeled mobile robot

关键词： Mobile robots Recursive estimation Robustness Integral equations robot sensing systems Electronic mail State estimation Gaussian noise White noise Estimation error

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Robust mobile robot localization with combined Kalman filter-perturbation estimator

Robust mobile robot localization with combined Kalman filter...

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2005 IEEE/RSJ International Conference on Intelligent robots and Systems

作者： SangJoo Kwon KwangWoong Yang Sangdeok Park Youngsun Ryuh School of AeroSpace and Mechanical Engineering Hankuk Aviation University Goyang South Korea Division of Applied Robot Technology Korea Institute of Industrial and Technology Ansan South Korea

ISBN: (纸本)0780389123

In this paper, a robust localization method for mobile robot based on the combination of Kalman filter and perturbation estimator is presented. It remarkably enhances the robustness of localization performance, specifically when large odometric errors are occurred. The perturbation estimator in the combined Kalman filter (CKF) is to estimate systematic errors which perturbs the behavior of nominal state transition equation. Intrinsically, it has the property of integrating the innovation, i.e., the difference between measurement and predicted measurement and thus gives a chance of more reducing the gap between real states and their estimates. After formulation of the CKF recursion, we show how the design parameters can be determined and how much beneficial it is through simulation and experiment for a two-wheeled mobile robot under indoor GPS.

关键词： Robustness Mobile robots Kalman filters State estimation Service robots robot sensing systems Equations Global Positioning System Aerospace industry Technological innovation

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High Accurate Two-Dimensional Geo-Location System for Social Safety robot

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IFAC Proceedings Volumes 2008年第2期41卷 1675-1678页

作者： Sujin Kim Gon-Woo Kim Kyung-Tae Nam Sang-Moo Lee Joonhyuk Kang Woong-Hee Shon Jeahwan Kim School of Engineering Information and Communications University Division of Applied Robot Technology Korea Institute of Industrial Technology Advanced u-PAN Research Team Electronics and Telecommunications Research Institute (ETRI)

In this paper, we propose an efficient two-dimensional geo-location system for social safety robot, where its location is obtained by direction of arrival (DOA) and time of arrival (TOA) of the radio signal. The proposed system requires two reference signals while the conventional systems generally deploy more than three reference signals. For estimating TOA and DOA information together, we employ a multiple signal classification (MUSIC) algorithm. The simulation results show that the proposed geo-location system achieves accuracy within 3 meters error in 2 kilo-meters coverage which is constraint for mobile social safety robot.

关键词： MUSIC TOA DOA Location

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RIC (robust internal-loop compensator) based flight control of a quad-rotor type UAV

RIC (robust internal-loop compensator) based flight control ...

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2005 IEEE/RSJ International Conference on Intelligent robots and Systems

作者： S. Park D.H. Won M.S. Kang T.J. Kim H.G. Lee S.J. Kwon Division of Applied Robot Technology Korea Institute of Industrial and Technology Ansan South Korea School of AeroSpace and Mechanical Engineering Hankuk Aviation University Goyang South Korea

A QRT (quad-rotor type) hovering robot system is developed for quick detection and observation of the circumstances under calamity environment such as indoor fire spots. The UAV (unmanned aerial vehicle) is equipped with four propellers driven by each electric motor, an embedded controller, an INS (inertial navigation system) using three rate gyros and accelerometers, a CCD (charge coupled device) camera with wireless communication transmitter for observation, and an ultrasonic range sensor for height control. The developed hovering robot shows stable flying performances under the adoption of RIC (robust internal-loop compensator) based disturbance compensation and the vision based localization method. Although a model is incorrect, RIC method can design a controller by regarding the inaccurate part of the model and sensor noises as disturbances. The UAV can also avoid obstacles using eight IRs (infrareds) and four ultrasonic range sensors. This kind of micro UAV can be widely used in various calamity observation fields without danger of human beings under harmful environment.

关键词： Robust control Aerospace control Unmanned aerial vehicles Communication system control Control systems Charge-coupled image sensors robot vision systems Fires Propellers Electric motors

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Seabed Terrain 3D Reconstruction Using 2D Forward-Looking Sonar: A Sea-Trial Report From The Pipeline Burying Project ⋆

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IFAC-PapersOnLine 2019年第21期52卷 175-180页

作者： Sanming Song Yan Li Zhigang Li Zhiqiang Hu Shuo Li Gun Rae Cho Ji-Hong Li State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China Applied Technology Division Korea Institute of Robot and Convergence 39 Jigok-ro Nam-gu Pohang 709-784 Republic of Korea

In this short paper, we report some preliminary results on the seabed terrain reconstruction using the two-dimensional (2D) forward-looking sonar. In the underwater pipeline burying project, when the burying machine excavating the trench using the jetting device, the stirred turbid water sharply shorten the visual distance of optical camera. Researchers from Shenyang institute of Automation, Chinese Academy of Sciences (SIA, CAS) and korea institute of robot and convergence (KIRO) work together to reconstruct the 3D environment using the acoustic camera. The proposed reconstruction procedure mainly includes two parts: 3D point-cloud extraction for each sonar frame and point-cloud registration. With the former step, the elevation information, which is irreversely lost in the acoustic imaging process, is recovered by the shape-from-shading technology under the Lambert surface assumption. With the latter, a registration method based on symmetrical Kullback-Leibler divergence has been proposed to stitch the point clouds from each sonar image into a panoramic terrain map. The initial experiment results with the sea-trial datasets demonstrate that the proposed method is feasible for the practical underwater engineering.

关键词： Seabed terrain 3D reconstruction forward-looking sonar pipeline burying shape-from-shading point-cloud registration

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Facile Surface Functionalization of Electrospun Elastic Nanofibers Via Initiated Chemical Vapor Deposition for Enhanced Neural Cell Adhesion and Alignment

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Advanced Fiber Materials 2024年第5期6卷 1583-1595页

作者： Yerim Jang Soonjong Roh Younghak Cho Youngmee Jung Kangwon Lee Nakwon Choi Jin Yoo Hyejeong Seong Brain Science Institute Korea Institutes of Science and Technology(KIST)Seoul 02792Republic of Korea KU-KIST Graduate School of Converging Science and Technology Korea UniversitySeoul 02841Republic of Korea Biomaterials Research Center Korea Institutes of Science and Technology(KIST)Seoul 02792Republic of Korea Department of Applied Bioengineering Graduate School of Convergence Science and TechnologySeoul National UniversitySeoul 08826Republic of Korea Research Institute for Convergence Science Seoul National UniversitySuwon-siGyeonggi-do 16229Republic of Korea Division of Bio-Medical Science and Technology KIST SchoolKorea University of Science and Technology(UST)Seoul 02792Republic of Korea School of Electrical Electronic Engineering YU-KIST InstituteYonsei UniversitySeoul 03722Republic of Korea

An advanced approach for functionalizing the surfaces of electrospun poly(l-lactide-co-ε-caprolactone)(PLCL)nanofibers for biomedical applications is presented *** initiated chemical vapor deposition(iCVD),a coating of the copolymer p(PFMA-co-DVB)containing poly(pentafluorophenyl methacrylate)(PFMA)and divinylbenzene(DVB)was applied to the PLCL *** coating facilitated efficient immobilization of the biomolecules on the PLCL nanofiber surfaces,allowing precise adjustments to the polymer composition through modulation of the monomer flow *** resulting copolymer exhibited superior efficiency for immobilizing IgG,as confirmed by immunofluorescence intensity *** vitro studies conducted with different neural cell types demonstrated that the laminin-coated iCVD-functionalized PLCL nanofibers maintained their inherent biocompatibility while significantly enhancing cell *** exploiting the elastic nature of the PLCL nanofibers,cell elongation could be successfully manipulated by controlling the nanofiber alignment,as demonstrated by scanning electron microscopy and quantification of the immunofluorescence image *** findings highlight the potential of iCVD-modified PLCL nanofibers as versatile platforms for neural tissue engineering and various biomedical applications,allowing valuable biomaterial surface modifications for enhanced cellular interactions.

关键词： Electrospun nanofiber Initiated chemical vapor deposition Poly(l-lactide-co-ε-caprolactone) Post-surface modification Neural cells

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Effectiveness of robot exhibition through visitors experience: A case study of Nagoya Science Hiroba exhibition in Japan

Effectiveness of robot exhibition through visitors experienc...

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International Symposium on Micromechatronics and Human Science (MHS)

作者： Min-Gyu Kim Jaeryoung Lee Yuusuke Aichi Hiroki Morishita Munehiro Makino Manufacturing Robotics R&D Division Korea Institute of Robot and Convergence Pohang South Korea Dept. of Robotic Science and Technology Chubu University Kasugai Japan

ISBN: (纸本)9781509027866

This study presents an additional investigation of effectiveness of robot exhibition through visitors experience, with respect to the previous research which was performed in the robot museum in South korea. The survey research was performed in the temporal robot exhibition in Nagoya Science Hiroba 2016, Japan, targeting the local citizen who are most of the visitors of the exhibition. Sociability, social attraction and negative attitude toward robots were measured to analyze change of the perception about robots through visiting experience. The results showed that sociability and social attraction were significantly changed after experiencing robot exhibitions. However, the negative attitude showed no significant change. It was confirmed that sociability was changed through the visiting experience similar to the robot museum case. However, the social attraction was a significantly increased, and the negative attitude had no significant change, different with the result in the robot museum. It is supposed that since the robot exhibition provided much communicative opportunities to the visitors than the robot museum, the social attraction showed a significant change rather than the robot museum. Also, it is assumed that the cultural aspect in Japan, where robot is widely exposed to the public at present, affected no significant perceptual change on the negative attitude towards general robots.

关键词： robots Human-robot interaction Cultural differences Global communication Education IEEE Press Manufacturing

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Underwater Localization using Received Signal Strength of Electromagnetic Wave with Obstacle Penetration Effects

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IFAC-PapersOnLine 2019年第21期52卷 372-377页

作者： Daegil Park Kyungmin Kwak Jinhyun Kim Ji-Hong Li Wan Kyun Chung Underwater Robotics R&D Division Korea Institute of Robot and Convergence Pohang Korea Future Technology Department CJ Logistics Seoul Korea Department of Mechanical & Automotive Engineering Seoul National University of Science and Technology(SeoulTECH) Seoul Korea Department of Mechanical Engineering Pohang University of Science and Technology(POSTECH) Pohang Korea

In this paper, we discuss a range sensor model using EM wave attenuation for localizing in an underwater environment with obstacles. Because an acoustic sensor is unsuitable for environment with obstacles due to the multi-path effect and diffraction, we propose a alternative range estimation method using EM wave attenuation. By considering the penetration distortion effect with underwater distance-signal attenuation model, we defined a robust EM wave attenuation function in the environment with obstacles. We performed the several experiments in order to determine the calibration factors according to the material, and the obstacle model is developed. Also, we obtained a robust localization results using the obtained sensor model with obstacle penetration effects.

关键词： Underwater Positioning Electromagnetic wave Localization EM wave Sensor

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