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REFERENCE LINKING PLATFORM OF KOREA S&T JOURNALS
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The Journal of Korea Robotics Society
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Journal DOI :
The Korea Robotics Society
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Volume & Issues
Volume 2, Issue 4 - Dec 2007
Volume 2, Issue 3 - Sep 2007
Volume 2, Issue 2 - Jun 2007
Volume 2, Issue 1 - Mar 2007
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Thruster Modeling for Underwater Vehicle with Ambient Flow Velocity and its Incoming Angle
Kim, Jin-Hyun ; Chung, Wan-Kyun ;
The Journal of Korea Robotics Society, volume 2, issue 2, 2007, Pages 109~118
The thruster is the crucial factor of an underwater vehicle system, because it is the lowest layer in the control loop of the system. In this paper, we propose an accurate and practical thrust modeling for underwater vehicles which considers the effects of ambient flow velocity and angle. In this model, the axial flow velocity of the thruster, which is non-measurable, is represented by ambient flow velocity and propeller shaft velocity. Hence, contrary to previous models, the proposed model is practical since it uses only measurable states. Next, the whole thrust map is divided into three states according to the state of ambient flow and propeller shaft velocity, and one of the borders of the states is defined as Critical Advance Ratio (CAR). This classification explains the physical phenomenon of conventional experimental thrust maps. In addition, the effect of the incoming angle of ambient flow is analyzed, and Critical Incoming Angle (CIA) is also defined to describe the thrust force states. The proposed model is evaluated by comparing experimental data with numerical model simulation data, and it accurately covers overall flow conditions within 2N force error. The comparison results show that the new model's matching performance is significantly better than conventional models'.
Design of Reactive Emotion Process for the Service Robot
Kim, Hyoung-Rock ; Kim, Young-Min ; Park, Jong-Chan ; Park, Kyung-Sook ; Kang, Tae-Woon ; Kwon, Dong-Soo ;
The Journal of Korea Robotics Society, volume 2, issue 2, 2007, Pages 119~128
Emotion interaction between human and robot is an important element for natural interaction especially for service robot. We propose a hybrid emotion generation architecture and detailed design of reactive process in the architecture based on insight about human emotion system. Reactive emotion generation is to increase task performance and believability of the service robot. Experiment result shows that it seems possible for the reactive process to function for those purposes, and reciprocal interaction between different layers is important for proper functioning of robot's emotion generation system.
Robust Position Tracking for Position-Based Visual Servoing and Its Application to Dual-Arm Task
Kim, Chan-O ; Choi, Sung ; Cheong, Joo-No ; Yang, Gwang-Woong ; Kim, Hong-Seo ;
The Journal of Korea Robotics Society, volume 2, issue 2, 2007, Pages 129~136
This paper introduces a position-based robust visual servoing method which is developed for operation of a human-like robot with two arms. The proposed visual servoing method utilizes SIFT algorithm for object detection and CAMSHIFT algorithm for object tracking. While the conventional CAMSHIFT has been used mainly for object tracking in a 2D image plane, we extend its usage for object tracking in 3D space, by combining the results of CAMSHIFT for two image plane of a stereo camera. This approach shows a robust and dependable result. Once the robot's task is defined based on the extracted 3D information, the robot is commanded to carry out the task. We conduct several position-based visual servoing tasks and compare performances under different conditions. The results show that the proposed visual tracking algorithm is simple but very effective for position-based visual servoing.
Development of a Small-sized Braille Cell for the Blind
Cho, Hyun-Cheol ; Huh, Seok-Haeng ; Song, Jae-Bok ;
The Journal of Korea Robotics Society, volume 2, issue 2, 2007, Pages 137~142
In an information-oriented society, visually impaired persons also should obtain the information with relative ease. They tend to receive the information of letters by tactile sensation through braille display systems. Several types of braille display systems have been suggested so far, but none of them have been widely used yet. The braille display system should provide multiple lines of braille units to improve the level of understanding. In this paper, we propose a cell type braille unit with
dots, each of which consists of a piezoelectric linear motor. A braille cell is small and lightweight enough to be portable, and it can be easily assembled in multiple lines. The preliminary tests using the proposed braille display system show that it can provide the information that can be well perceived by visually impaired persons.
Vision-based Human-Robot Motion Transfer in Tangible Meeting Space
Choi, Yu-Kyung ; Ra, Syun-Kwon ; Kim, Soo-Whan ; Kim, Chang-Hwan ; Park, Sung-Kee ;
The Journal of Korea Robotics Society, volume 2, issue 2, 2007, Pages 143~151
This paper deals with a tangible interface system that introduces robot as remote avatar. It is focused on a new method which makes a robot imitate human arm motions captured from a remote space. Our method is functionally divided into two parts: capturing human motion and adapting it to robot. In the capturing part, we especially propose a modified potential function of metaballs for the real-time performance and high accuracy. In the adapting part, we suggest a geometric scaling method for solving the structural difference between a human and a robot. With our method, we have implemented a tangible interface and showed its speed and accuracy test.
Dynamic Simulation of Underwater Vehicle-Manipulator Systems Using Principle of Dynamical Balance
Han, Jong-Hui ; Chung, Wan-Kyun ;
The Journal of Korea Robotics Society, volume 2, issue 2, 2007, Pages 152~160
In this paper, two schemes are introduced for dynamic simulation of underwater robotic systems. One is principle of dynamical balance, which is an easy and powerful tool for formulating dynamic equations of composite systems such as underwater vehicle-manipulator system. In the dynamic modeling, this principle gives us the closed-form of dynamic equations on matrix Lie group. The other is geometric integration algorithm, called 4-th order explicit Munthe-Kaas method. By this method, the derived differential equations can be integrated preserving geometric structure. Adopting these two schemes, dynamic simulation of underwater vehicle- manipulator system can be conducted more easily and more reliably.
Development of Mobile Robot for CAS inspection of Oil Tanker
Lee, Seung-Heui ; Son, Chang-Woo ; Eum, Yong-Jae ; Lee, Min-Cheol ;
The Journal of Korea Robotics Society, volume 2, issue 2, 2007, Pages 161~167
It is dangerous that an inspector overhauls defects and condition of the inner parts of an oil tanker because of many harmful gases, complex structures, and etc. However, these inspections are necessary to many oil tankers over old years. In this study, we proposed the design of mobile robot for inspection of CAS in oil tanker. The developed CAS inspection mobile robot has four modules, a measurement module of oil tanker's thickness, a corrosion inspection module, a climbing module of the surface on a wall, and a monitoring module. In order to get over at a check position, the driving control algorithm was developed. Magnetic wheels are used to move on the surface of a wall. This study constructed a communication network and the monitoring program to operate the developed mobile robot from remote sites. In order to evaluate the inspection ability, the experiments about performance of CAS inspection using the developed mobile robot have been carried out.
Development of Adaptive RCC Mechanism Using Double-Actuator Units
Lim, Hyok-Jin ; Kim, Byeong-Sang ; Kang, Byung-Duk ; Song, Jae-Bok ; Park, Shin-Suk ;
The Journal of Korea Robotics Society, volume 2, issue 2, 2007, Pages 168~177
In a number of fields, robots are being used for two purposes: efficiency and safety. Most robots, however, have single-actuator mechanism for each joint, where the tasks are performed with high stiffness. High stiffness causes undesired problems to the environment and robots. This study proposes redundant actuator mechanism as an alternative idea to cope with these problems. In this paper, Double-Actuator Unit (DAU) is implemented at each joint for applications of multi-link manipulators. The DAU is composed of two motors: the positioning actuator and the stiffness modulator, which enables independent control of positioning and compliance. A three-link manipulator with DAUs enables adaptive control of RCC. By modulating the joint stiffness of the manipulator and controlling the position of RCC, we can significantly reduce contact force during assembly tasks and surgical procedures.
Speed Property Evaluation of an Inchworm Type Linear Stage
Moon, Chan-Woo ;
The Journal of Korea Robotics Society, volume 2, issue 2, 2007, Pages 178~182
Precision stages are essential device for micro machines, fiber optic assembly systems, and biology instruments. In this paper, a precision inchworm type actuator for a linear stage is proposed and evaluated. An analytic method to design an inchworm type motor is proposed. Developed actuator provides fast motion compared with a commercial inchworm actuator, and can be used as an actuator for a stage in substitution for a conventional rotary actuator.
Optimal Path Planning of Mobile Robot for Multiple Moving Obstacles
Kim, Dae-Gwang ; Kang, Dong-Joong ;
The Journal of Korea Robotics Society, volume 2, issue 2, 2007, Pages 183~190
The most important thing for navigation of a mobile robot is to find the most suitable path and avoid the obstacles in the static and dynamic environment. This paper presents a method to search the optimal path in start space extended to time domain with considering a velocity and a direction of moving obstacles. A modified version of
algorithm has been applied for path planning in this work and proposed a method of path search to avoid a collision with moving obstacle in space-tim domain with a velocity and an orientation of obstacles. The velocity and the direction for moving obstacle are assumed as linear form. The simulation result shows that a mobile robot navigates safely among moving obstacles of constant linear velocity. This work can be applied for not only a moving robot but also a legged humanoid robot and all fields where the path planning is required.
State of R&D Projects for Intelligent Robots
Park, Hyun-Sub ; Koh, Kyoung-Chul ; Kim, Hong-Seok ; Lee, Ho-Gil ;
The Journal of Korea Robotics Society, volume 2, issue 2, 2007, Pages 191~195
Abstract MOCIE(Ministry of Commerce, Industry and Energy) handles 6 Projects for Intelligent Robot, whose budget is around 40 Million dollars per year. In this paper we have tried to analyze the state of robot technology of the projects. Each sub-projects has been divided according to the technological classification. Two major projects of Next Generation Growth Engine and 21C Frontier show different state each other. The former is focused on the product while the latter on the technology. Output of 21C Frontier should be linked to the Next Generation Growth Engine, otherwise, it will fail to advance. The project management handles only the quantitative performance such as business results, number of prototype, and number of patents and papers. Technological Capability is essential and it should be managed. This paper proposes efficient classification of robot technology and technology index.
Development Status and Industrial Requirements for Network-based Robots
Park, Kwang-Hyun ; Lee, Kwan-Woo ; Choi, Byoung-Wook ; Cho, Heung-Jae ; NamGoong, Hwe-Moon ; Park, Jin-Woo ; Oh, Sang-Rok ; Suh, Il-Hong ;
The Journal of Korea Robotics Society, volume 2, issue 2, 2007, Pages 196~204
In this paper, we are looking for requirements of software, hardware and application for use in network-based robots and also directions in building standardization and research activities by reviewing technical status of the robot industries developing robots. The questions are including awareness of RUPI(Robot Unifies Platform Initiative) activities, target market and applications, hardware specifications, software development technologies, and HRI(Human Robot Interaction). The RUPI committee creates standard and drives implementation software for network-based robots through industrial requirements as like of the results. Many robots have been developed and launched services based on RUPI 1.0 standards. Based on this achievement we are expanding RUPI standard to include thin and thick client robots. The results also show that which one is important and urgent technology in the sense of industrial robotic business.