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Heading Bias Estimation Algorithm for Autonomous Underwater Vehicles Considering Angular Accuracy

Journal of institute of Control, robotics and Systems 2025年第2期31卷 124-130页

作者： Choi, Kihwan Lee, Gwonsoo Lee, Phil-Yeob Kim, Ho Sung Kang, Hyungjoo Lee, Jihong Department of Mechatronics Engineering Chungnam National University Korea Republic of Research Institute of Future Mobility System Chungnam National University Korea Republic of Hanwha System Korea Republic of Korea Institute of Robot and Technology Convergence Korea Republic of

This paper describes a method for estimating the heading bias to improve the performance of the navigation algorithm for AUVs (Autonomous Underwater Vehicles). Various studies have been conducted to estimate heading bias, including approaches that use position data obtained from sensors providing absolute position information, such as the GPS (Global Positioning System), along with position data estimated through navigation algorithms. However, these studies have estimated bias without considering that the reliability of each GPS position varies depending on its relative location. Therefore, this paper proposes a method for heading bias estimation that involves estimating angular accuracy based on the distance between the initial position of bias estimation and GPS positions, GPS accuracy, and distance-to-angle conversion. Based on the estimated angular accuracy, GPS positions for bias estimation are selected, and the heading bias is estimated by applying optimization techniques to these selected GPS positions and their associated navigation-estimated positions. The effectiveness of the proposed algorithm is validated through experiments using sensor datasets acquired from real sea experiments. © ICROS 2025.

关键词： Autonomous underwater vehicles

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Performance Enhancement Technique for Position-based Alignment Algorithm in AUV’s Navigation

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Journal of institute of Control, robotics and Systems 2023年第9期29卷 740-747页

作者： Lee, Gwonsoo Choi, Kihwan Lee, Phil-Yeob Ho Sung, Kim Lee, Hansol Kang, Hyungjoo Lee, Jihong Department of Mechatronics Engineering of Chungnam National University Korea Republic of Hanwha System Korea Republic of Korea Institute of Robot and Technology Convergence Korea Republic of

This paper presents an improved approach for in-motion alignment based on position estimation to accurately determine the initial heading-angle of an autonomous underwater vehicle. The existing method for in-motion alignment is highly sensitive to errors from GPS reception and the localization algorithm, particularly in the vicinity of the starting point. Consequently, compensation values for the heading-angle obtained in the vicinity of the starting point are unreliable. To address this issue, this study analyzes the variance of the heading-angle compensation during the early stage of the alignment process, aiming to assess the reliability of the compensation value. By using variance as a criterion, the algorithm determines whether to continue the execution of the early stage in the alignment process. If the variance falls below a certain threshold, the algorithm calculates the correction value of the final heading-angle based on each correction value. The proposed algorithm is validated through practical experiments using sensor data collected from real-sea environments. The experimental results demonstrate an average improvement of 50.48% in localization performance with respect to the existing algorithm. Therefore, the proposed algorithm enhances the performance of the in-motion alignment algorithm. © ICROS 2023.

关键词： Alignment

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

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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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A Study on Trajectory Tracking of an ROV for Underwater Glider Recovery Based on Adaptive Backstepping Control Using a Command Filter

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Journal of institute of Control, robotics and Systems 2024年第11期30卷 1266-1276页

作者： Lee, Mun Haeng Kim, Sung Jae Lee, Jung Woo Suh, Jin Ho Department of Intelligent Robot Engineering Pukyong National University Korea Republic of The Industrial Science Technology Research Center Pukyong National University Korea Republic of Korea Institute of Robotics & Technology Convergence Korea Republic of Department of Mechanical System Engineering Pukyong National University Korea Republic of

This paper presents a path for a remotely operated vehicle (ROV) to retrieve an underwater glider and proposes a backstepping-based control method that utilizes a command filter and an adaptive term for trajectory tracking. The ROV path, which consists of diving, approaching, and ascending to reach the underwater glider while minimizing wave disturbances, is generated using a fifth-order polynomial trajectory generation method. To address the complexity of the backstepping method, the virtual control signal is replaced with a command filter signal. Additionally, a compensation mechanism is configured to suppress filter errors. An adaptive term based on Lyapunov stability is incorporated to compensate for lumped disturbances to enhance system control performance. The stability of the entire control system is proven through Lyapunov stability theory. To verify the performance of the proposed controller, simulations are conducted to track the configured path in a marine environment. This environment includes waves and ocean currents, with wave disturbances modeled based on the movement of water particles in waves. The simulation results demonstrate that the proposed controller achieves superior tracking performance and resilience against disturbances compared with the proportional-integral-differential controller. © 2024, institute of Control, robotics and Systems. All rights reserved.

关键词： Remotely operated vehicles

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Development of a Smart IoT Safety Platform for Preventing Accidents in High-Risk Industrial Sites 24

Development of a Smart IoT Safety Platform for Preventing Ac...

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2024 7th International Conference on robot Systems and Applications, ICRSA 2024

作者： Yoon, Jiyoung Kim, Cheolhwan Park, Yongteak Korea Polytechnics Yeongcheon Robot Campus Korea Republic of Institute of Advanced Convergence Technology Kyungpook National University Daegu Korea Republic of The Department of Robot IT the Robot Campus of Korea Polytechnics Robot Campus-ro 1 Gyeongsangbuk-do Yeongcheon38839 Korea Republic of

ISBN: (纸本)9798400717031

In the modern industrial society, activities across various industrial sectors play a crucial role in driving economic growth and technological advancement. However, these activities inevitably involve risks to the safety and health of workers. Accidents and injuries at industrial sites not only threaten the lives and well-being of workers but also lead to decreased productivity, legal issues, and financial losses for companies. Among different industries, construction and manufacturing sectors account for the highest proportion of industrial accidents. These accidents often occur due to workers’ carelessness and lack of awareness. This paper proposes a smart IoT safety platform to prevent safety accidents in construction and manufacturing sites. The smart IoT safety platform consists of IoT devices, network devices, and a control server. The IoT devices are designed to monitor various types of safety incidents, such as worker monitoring, entrapment accidents, gas leaks, collapses, and falls, using wearable or site-installed devices equipped with sensors like laser, IMU, gas, and cameras. The network devices include BLE Mesh installed on IoT devices and a LoRa Mesh network to transmit data to the control server. The control server collects and monitors data from the site and includes control functions to prevent safety accidents. The development of the smart IoT safety platform aims to create a safer work environment by preventing accidents and establishing a safety culture across the industry. This integration of advanced IoT technology in safety management is expected to significantly contribute to reducing industrial accidents and enhancing overall workplace safety. © 2024 Copyright held by the owner/author(s).

关键词： Losses

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Development of Mobile Manipulator System Providing Grounded Haptic Information During Gait Training for the Stroke

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Journal of institute of Control, robotics and Systems 2025年第4期31卷 265-268页

作者： Lee, Junyeong Lee, Hosu Kim, Minkyung Han, Jaeyoung Yoon, Jungwon Department of AI Convergence Gwangju Institute of Science and Technology Korea Republic of Department of Control and Robot Engineering & School of Aerospace Engineering Gyeongsang National University Korea Republic of Department of Physical Medicine and Rehabilitation Chonnam National University Hospital Korea Republic of

Effective gait training of the stroke can be performed by leveraging grounded haptic information obtain by touching an external immobile object. robotic systems with various preset curvatures allow users to undergo gait training without spatial restrictions, as well as straight-path gait training. We developed a mobile manipulator platform in which the handle is positioned along the preset gait-training path while the robot guides the user by providing grounded haptic information along the designated path as a rail. To verify the system’s functionality, experiments were conducted for various curvatures. Based on the results, the robot can guide the user along the defined track while providing grounded haptic information. Further investigation is required to verify the system’s effectiveness across a broad patient population. © ICROS 2025.

关键词： Electric grounding

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Precise Localization of Multiple-AUVs through Reliability Assessment of Relative Observations

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Journal of institute of Control, robotics and Systems 2022年第6期28卷 558-565页

作者： Lee, Gwonsoo Choi, Kihwan Lee, Phil-Yeob Kim, Ho Sung Lee, Hansol Kang, Hyungjoo Lee, Jihong Department of Mechatronics Engineering of Chungnam National University Korea Republic of Hanwha System Korea Republic of Korea Institute of Robot and Technology Convergence Korea Republic of

This paper describes a reliability assessment of relative observations for multiple autonomous underwater vehicles (multiple-AUVs). Swarm control and collision avoidance, the primary issues of a multiple-AUV system, intrinsically need precise localization of Multiple-AUVs, and relative observations of each autonomous underwater vehicle (AUV) are critical to improving localization precision. However, because relative observations are usually measured by ultrasonic sensors, the reliability of sensor data varies depending on the characteristics of each AUVs’ trajectories, as implied in previous our study. Therefore, this paper proposed a reliability assessment method based on the trajectories of each AUV and integrated the derived reliability of relative observations into the multiple-AUV localization algorithm. Consequently, localization performance with real sea experimental data is improved up to 77.4% compared with the previous independent navigation algorithm of each AUV and 60.6% compared with the previous study without the reliability assessment. We conclude that the proposed method is suitable for precise localization through relative observations. © ICROS 2022.

关键词： Autonomous underwater vehicles

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Inspection Methodology for Improving Wafer Quality in Semiconductor Production 9

Inspection Methodology for Improving Wafer Quality in Semico...

引用

Joint 9th International Conference on Digital Arts, Media and technology with 7th ECTI Northern Section Conference on Electrical, Electronics, Computer and Telecommunications Engineering, ECTI DAMT and NCON 2024

作者： Kwon, So-Young Kim, Young-Hyung Lee, Yong-Hwan Park, Jong-Ik Lee, Chang-Yong Kumoh National Institute of Technology Department of Electronic Engineering Gumi Korea Republic of Kumoh National Institute of Technology Defartment of It Convergence Gumi Korea Republic of Kumoh National Institute of Technology School of Electronic Engineering Gumi Korea Republic of Sejung Robot Gumi Korea Republic of

ISBN: (纸本)9798350318241

The edge grinding process refers to the process of polishing the edge of the wafer during the wafer manufacturing process. Visual inspection and rule-based vision inspection are used to detect defective conditions after the process. In the case of visual inspection, the detection rate of defects are different depending on the skill level of the operator, so the defect classification results may be inconsistent. When the rule-based method is used, defects may not be detected or may be over-detected. To solve this problem, this paper is proposed a method to develop an automated system for the grinding process through vision inspection using deep learning. The proposed method is expected to strengthen responses to low productivity and quality problems and improve the competitiveness of the semiconductor industry. Recently, the demand for automation equipment is increasing due to the growth of semiconductor wafer factories, and the methodology proposed in this paper is expected to make a positive contribution to this trend. © 2024 IEEE.

关键词： Defects

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The Power of Atmosphere: LLM-Based Social Task Generation of robots

The Power of Atmosphere: LLM-Based Social Task Generation of...

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International Conference on Ubiquitous robots (UR)

作者： Hanna Lee Hyo Jeong Lym Da-Young Kim Min-Gyu Kim Human Robot Interaction Center of Korea Institute of Robotics and Technology Convergence (KIRO) Pohang Korea

ISBN: (数字)9798350361070

ISBN: (纸本)9798350361087

In Human-robot Interaction (HRI), the ability of robots to understand social atmosphere is essential for the quality improvement of the interaction. However, robots have limitations in recognizing and performing appropriate behaviors for social atmosphere that are not externally revealed. In this study, based on Large Language Models (LLMs), we aimed to investigate whether adding atmosphere elements to robots' social behavior generation could enable robots to generate and perform more appropriate behaviors in social contexts. A total of 50 participants participated in the experiment. As a result of the experiment, a robot scenario that incorporates atmospheric elements showed significantly higher differences in terms of the robot's social behavior, sociability, and human-robot interaction, compared to a robot scenario without atmospheric elements. This study provides new insights into the importance of considering social context when setting prompting elements for LLM-based social robots. By adding social atmospheric elements, it is expected that robots will be able to improve human's understanding of social context and perform more natural and effective interactions.

关键词： Atmospheric modeling Large language models Social robots Task analysis robots

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Examination of an independently actuated multi-air pad mattress for preventing pressure ulcers

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Journal of institute of Control, robotics and Systems 2021年第10期27卷 695-702页

作者： Yang, Kyon-Mo Park, Min-Ro Koo, Jaewan Lee, Jong-Il Gwak, Donggi Lee, Seokjae Sohn, Dong-Seop Kim, Min-Gyu Seo, Kap-Ho Korea Institute of Robotics & Technology Convergence Korea Republic of Dept. of Robot and Smart System Engineering Kyungpook National University Korea Republic of Korea Republic of

This study examined the structure of an independently actuated multi-air pad mattress for preventing pressure ulcers, owing to lower body pressure, in specific locations of the body where pressure sores can occur. The contributions of this study are as follows: 1) The parameters were derived and simulations were performed to design air pad units of different sizes with similar heights. 2) The mattress was manufactured by examining the bending of the folding bed, with 36 air pads and three different sizes. 3) Each air pad was independently controlled to inflate, contract, and retain to reduce the pressure on specific body positions. 4) Finally, using the fabricated prototype, the proposed designs were experimentally verified. © ICROS 2021.

关键词： Diseases

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