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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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Determination of Surface Mechanical Properties Using a Hertzian Contact and Ultrasound Sensor

Determination of Surface Mechanical Properties Using a Hertz...

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2010 IEEE International Ultrasonics Symposium

作者： J. Armendariz A. Baltazar C. Treesatayapun Robotics and Advanced Manufacturing Program CINVESTAV Unidad-Saltillo Coahuila Mexico

ISBN: (纸本)9781457703829

Nondestructive monitoring of contact properties for biological and engineering materials is important in several engineering areas. Also, in robotics, manipulation of fragile objects requires precise determination of instantaneous contact area and forces with minimum intrusion. In this paper, a contact probe based on hertzian contact and ultrasonic energy transmission for characterization of surface properties is proposed. The probe is built from a solid semi-spherical head which is sonified from the top by an ultrasonic transducer with a center frequency of 1 MHz. Force range was 0-23N and displacements as small as 0.05 millimeters were reached with a proposed automatic control system. A quasi-static spring model to describe the interfacial properties at contact is studied. The results indicate that due to its high sensitivity, the probe could be used for measurements of surface mechanical response.

关键词： instant contact ultrasound force estimation surface properties CONTACT Contact Information Surface mechanical properties Nondestructive Testing CONTACT AREA center frequency Caste determination Sex Determination Processes ultrasonic transducers Engineering Materials Probes displacements Surface Properties Automatic control systems

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Development of an estimated force feedback controller based on hertzian contact and ultrasound

Development of an estimated force feedback controller based ...

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International Workshop on Robot Sensing (ROSE)

作者： Jorge Armendariz Chidentree Treesatayapun Arturo Baltazar Robotics and Advanced Manufacturing Program Cinvestav Unidad-Saltillo Coahuila Mexico

In this paper, the design of a novel force controller which combines a neuro-fuzzy algorithm and a new contact ultrasonic probe is proposed. The fuzzy rules emulated network (FREN) has a control algorithm structure based on fuzzy IF-THEN rules. The contact probe is integrated in a Cartesian robotic system with the FREN force control. The contact probe is equipped with a 1 MHz frequency ultrasonic transducer. The probe is constructed by a semi-spherical head and an ultrasonic transducer located at the top of the head. The contact between the probe and the medium is modeled by Hertz theory. The experimental results show that the proposed system exhibits high sensitivity for touching contact, instantaneous contact and reaction force estimation. To test the system, experiments were conducted in elastic and elastic-plastic materials. The results indicate that the proposed system is able to effectively control the contact force.

关键词： Force Probes Acoustics Force feedback Materials Robot kinematics

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Online support vector regression based actor-critic method

Online support vector regression based actor-critic method

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Annual Conference of Industrial Electronics Society

作者： Dong-Hyun Lee Jeong-Jung Kim Ju-Jang Lee Robotics Program KAIST Daejeon South Korea Department of Electrical Engineering KAIST Daejeon South Korea

This paper proposes a new algorithm for actor-critic method using online support vector regression(SVR), which can do incremental learning and automatically track variation of environment with time-varying characteristics. It gives good generalization properties to value function approximation and helps the critic converge fast. In addition, sample vectors in data set of the online SVR are used as center positions of actor's basis functions. Actor updates policy parameters with those functions using policy gradient algorithm. Throughout simulations, the feasibility and usefulness of the proposed method is demonstrated by comparison with other methods.

关键词： Support vector machines Function approximation Learning Mathematical model Equations Approximation algorithms

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Virtual and augmented medical imaging environments: Enabling technology for minimally invasive cardiac interventional guidance

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IEEE Reviews in Biomedical Engineering 2010年 3卷 25-47页

作者： Linte, Cristian A. White, James Eagleson, Roy Guiraudon, Grard M. Peters, Terry M. Biomedical Engineering Graduate Program University of Western Ontario Robarts Research Institute London ON N6A 5K8 Canada Imaging Research Laboratories Robarts Research Institute London Health Sciences Centre London ON N6A 5A5 Canada Department of Electrical and Computer Engineering University of Western Ontario Canadian Surgical Technologies and Advanced Robotics London ON N6A 5B9 Canada Canadian Surgical Technologies and Advanced Robotics London ON N6A 5A5 Canada

Virtual and augmented reality environments have been adopted in medicine as a means to enhance the clinician's view of the anatomy and facilitate the performance of minimally invasive procedures. Their value is truly appreciated during interventions where the surgeon cannot directly visualize the targets to be treated, such as during cardiac procedures performed on the beating heart. These environments must accurately represent the real surgical field and require seamless integration of pre- and intra-operative imaging, surgical tracking, and visualization technology in a common framework centered around the patient. This review begins with an overview of minimally invasive cardiac interventions, describes the architecture of a typical surgical guidance platform including imaging, tracking, registration and visualization, highlights both clinical and engineering accuracy limitations in cardiac image guidance, and discusses the translation of the work from the laboratory into the operating room together with typically encountered challenges. © 2008 IEEE.

关键词： Augmented reality

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Telepresence robot system for english tutoring

Telepresence robot system for english tutoring

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2010 IEEE Workshop on Advanced robotics and Its Social Impacts, ARSO 2010

作者： Kwon, Oh-Hun Koo, Seong-Yong Kim, Young-Geun Kwon, Dong-Soo Robotics Program Korea Advanced Institute of Science and Technology Taejon 305-701 Korea Republic of Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Taejon 305-701 Korea Republic of Rastech Taejon 305-500 Korea Republic of

ISBN: (纸本)9781424491230

This paper introduced a telepresence robot system for English tutoring. The system consists of the user system, the server system and the robot system. The robot is controlled by the collision prevention system, direct interface, server interface with assistant teacher and remote interface with native teacher. A remote native teacher had given lessons in English using this system for a month and several issues of telepresence robot system for remote lecture are found from the lecture. ©2010 IEEE.

关键词： 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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Visual motion observer-based pose control with panoramic camera via passivity approach

Visual motion observer-based pose control with panoramic cam...

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作者： Kawai, Hiroyuki Murao, Toshiyuki Fujita, Masayuki Department of Robotics Kanazawa Institute of Technology Ishikawa 921-8501 Japan Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Tokyo 140-0011 Japan Department of Mechanical and Control Engineering Tokyo Institute of Technology Tokyo 152-8550 Japan

ISBN: (纸本)9781424474264

This paper considers the vision-based estimation and control with a panoramic camera via passivity approach. First, a hyperbolic projection of a panoramic camera is presented. Next, using standard body-attached coordinate frames (the world frame, mirror frame, camera frame and object frame), we represent the body velocity of the relative rigid body motion (position and orientation). After that, we propose a visual motion observer to estimate the relative rigid body motion from the measured camera data. We show that the estimation error system with a panoramic camera has the passivity which allows us to prove stability in the sense of Lyapunov. After that, stability and L 2-gain performance analysis for the closedloop system are discussed. Finally, simulation and experimental results are shown in order to confirm the proposed method. © 2010 AACC.

关键词： Cameras

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Application of neuro-fuzzy PID controller for post chlorine process

Application of neuro-fuzzy PID controller for post chlorine ...

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15th International Symposium on Artificial Life and robotics, AROB '10

作者： Lee, Ho-Hyun Oh, Chang-Mok Lee, Ju-Jang Lee, An-Kyu Lee, Dong-Hoon Robotics Program Korea Advanced Institute of Science and Technology Daejeon Korea Republic of Electrical Engineering and Computer Science Korea Advanced Institute of Science and Technology Daejeon Korea Republic of Cheoung-choung Regional Head Office Korea Water Resources Corporation Daejeon Korea Republic of

ISBN: (纸本)9784990288044

Drinking water can be contaminated by microorganisms which can be re-grown in case of not controlling chlorine concentration well in water treatment plant (hereafter WTP). It can be harmful to public health. Most WTPs have used chlorine as disinfectant. It can be used in pre-chlorination, post-chlorination and re-chlorination. In postchlorination, it is injected after filtration to keep residual chlorine from being contaminated by microorganisms. Postchlorine process without re-chlorination is directly serviced to citizens. If the concentration is low, drinking water can be contaminated by bacterial re-growth. On the other hand, the high chlorine can lead to customer complaints about taste and odor. Therefore, it is necessary to predict chlorine decay in clear well to maintain desired chlorine levels. In this paper, it is shown that artificial neuro-fuzzy inference system could be used to model chlorine decay in the process and control residual chlorine better than present controller, in which cascade control is considered to compensate the error in the output. © 2010 ISAROB.

关键词： Chlorination

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