|
Effects of STA-related Joint Angles in Variation of Segment-to-Joint Vector on Relative Position Estimation Accuracy between Body Segments |
|
Chang June Lee, Jung Keun Lee(Hankyong National University, Korea) |
| The basic method of estimating relative position is to combine segment orientations and segment-to-joint (S2J) vectors, where the latters are predetermined as constants. However, since this method has the issue that S2J vectors are variated by soft tissue artifacts (STAs), we have proposed a method for determining variable S2J vectors using a flexion angle of each joint as input data through regression. In this study, we investigate the effect of the selection of STA-related joint angles on the estimation accuracy of relative position. |
|
|
Experimental Study on a Mobility Platform of a Underwater Pole-Climbing Robot for Offshore Wind Turbine Substructures |
|
Jin Hwan Ko, Eun Cheol Im (Jeju national university, Korea) |
| The reduction of the energy production efficiency of offshore wind turbines can be caused by long shutdown period, which occurs when repair works take a longer time as compared to onshore wind turbines. Therefore, preventive maintenance measures are required to increase the production efficiency. Thus, we proposed a wheel-based underwater pole climbing robot (UPCR) platform with three advantages: high speed, good mobility and low power consumption, which was aimed at the inspection and maintenance of the substructures of the offshore wind turbines. Structurally, a self-locking system was adopted to the platform using a gripper module. As a result, the robot was able to continuously climb, and maintained its position on the pole without consuming energy. The results of this research show that the UPCR has basic capabilities required for the underwater work. |
|
|
Suggestion on the Practical Human Robot Interaction Design for the Autonomous Driving Disinfection Robot |
|
Bongsang Kim, Nahyun Kim(Hongik Univercity, Korea), Insung Kang(Smart Design Engineering, Korea), Myeonghun Sim, Jungeun Seok(Hongik University, Korea), Sehyun Lim(Kaywon University of Art & Design, Korea), Heechang Moon(Hongik University, Korea) |
| In this research, the design of robots performing disinfection tasks in subway stations is studied for interactions in which robots coexist with humans and facilitate disinfection tasks.Through this work, a designed subway disinfection robot system and an appearance design considering human-centered factors are proposed. It also designed practical Human-Robot Interaction elements such as displays, voice, and laser projectors, and presented ways to utilize them to respond to possible situations in the subway.
In particular, measures are shown to solve the structural problems of robots through human consideration and interaction in disinfection tasks and elevator boarding situations. |
|
|
Estimation of Optimal Moving Target of Mobile Robots by Using a Topological Map Update |
|
Woo-Jin Lee, Sang-Seok Yun(Silla University, Korea) |
| : In this paper, we propose a methodology for estimating the optimal moving destination for the mobile robot to autonomously perform the objects delivery service in an indoor environment. The process for position estimation is to create a generalized Voronoi graph composed of nodes and links from a grid map, and then perform object recognition through an object recognition module using an RGB-D sensor to extract object information and location information. Then, the obstacle shape and distance information are calculated using the laser sensor. From the extracted object position, size, and obstacle information, the optimal candidate area in which the robot can move is estimated, and the optim |
|
|
Development of 3Dimensional Precision Cutting Robot System using Plasma Cutter for Adjustment Pipe obtained Shape in the Shipyard |
|
In-Gyu Park(KIRO, Korea) |
| In this paper, the conventional manual cutting process of adjustment pipe is normalized by applying precision robot technology for the first time in the world. To this end, we propose and adjustment pipe cutting robot system capable of 3-Dimenstional precision cutting of adjustment pipe and analyze correlational motion. In addition, an arbitrary 3-dimensional ellipse cutting algorithm is derived. To verify the derived results, a robot system was implemented and experiments were performed. |
|
|
Implementation of a Mobile Multi-Target Search System with 3D SLAM and Object Localization in Indoor Environments |
|
Juwon Kim, Sunghyun Nam, Gunhee Oh, Seokyoung Kim, Sanghyeon Lee, Heoncheol Lee(Kumoh National Institute of Technology, Korea) |
| This paper addresses the problem of the recognition and localization of multiple targets while building a three-dimensional map using 3D SLAM in indoor environments. We make an implementation of a multi-target search system with a mobile robot and multiple sensors. Multiple targets are recognized by YOLO, and The 3D SLAM is implemented with LeGO-LOAM. The positions of the recognized multiple targets are described with the 3D map. The mobile multi-target search system was implemented on ROS and tested in multiple indoor environments. |
|