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Decentralized Supervision for the Cooperation of Heterogeneous Field Robots in an Orchard |
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Chanyoung Ju, Hyoung Il Son(Chonnam National University, Korea) |
| The use of large-scale dynamic robot systems for system modeling and controller design is challenging, but these systems are being actively studied in various research fields. In this study, we model a heterogeneous field robot system based on hybrid automata for the cooperation of heterogeneous field robots. We also propose a decentralized supervisory control architecture for the cooperative control of the field robots. To evaluate the proposed system, experiments were conducted using a physics-based simulator. The experimental results indicated that our decentralized supervisory control system realized the cooperation of heterogeneous field robots based on the designed constraints. |
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Genetic Algorithm-based Approach for Harvesting Robot Path Planning |
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Jaehwi Seol(Chonnam National University, Korea), Hyoung Il Son(Channom National Unviersity, Korea) |
| This paper proposed a genetic algorithm-based approach for the path planning of harvesting robots. Existing harvesting robots are limited in that they require a significant amount of time to harvest a single fruit. Therefore, it is necessary to plan the entire harvesting process from the initial state, to ensure short harvest times. Calculating the shortest path for a harvesting robot can be considered and solved as the most common traveling salesman problem (TSP), where the optimal path is calculated based on the genetic algorithm. |
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A Preliminary Result on Motion Planning for an Autonomous Tomato Harvesting Robot in 3D Reconstructed Environments |
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Yeongmin Kim(Chonnam National University, Korea), Giwan Lee, Jiyoung Choi, ayoung hong(chonnam national university, Korea) |
| A Preliminary Result on Motion Planning for an Autonomous Tomato Harvesting Robot in a 3D Reconstructed Environments |
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Two-Stepped Robot Motion Profile to Suppress Multi-mode Residual Vibration |
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Seong Youb Chung(Korea National University of Transportation, Korea), Yujin Lee(Korea Automobile Testing and Research Institute, Korea), Myun Joong Hwang(University of Seoul, Korea) |
| The acceleration/deceleration time is very important to suppress multi-modal vibration in robots. A method is previously proposed to determine the acceleration/deceleration time by combining the acceleration/deceleration times to reduce all resonant frequencies and proved that it is effective to reduce the residual vibration. However, the reduced amplitude of vibration was not significant. In this paper, we propose a new motion profile with two-stepped acceleration/deceleration to adapt multi-mode vibration and verify it through multi-modal residual vibration reduction experiments for thin beams with different natural frequencies. |
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Backstepping Control of Hydraulic System to Maintain the Korean Cabbage Harvester Cutting Position |
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Yonghyun Park, Hyoung Il Son(Chonnam National University, Korea) |
| This paper proposes a backstepping control of a hydraulic system to maintain the cutting position of Korean cabbage harvesters. Korean cabbage requires a high cutting accuracy during the cutting process. However, the environment of a farmland is highly volatile and difficult to predict; therefore, nonlinear control methods such as backstepping control are applied to reduce the degradation of hydraulic systems owing to their dynamic properties. This paper designs a mechanism that can control the cutting device of cabbage harvester for accurate cabbage harvesting. Furthermore, backstepping controller that considers the dynamic properties of the hydraulic system is adopted for attitude control. |
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Development of the Power Assist Mechanism for the Agricultural Exosuit |
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HuiChang Park, Yongjun Cho, Kwanhyung Park, Haeyong Yun(Korea Institute of Robot and Convergence, Korea) |
| With the decrease in the number of workers in the domestic agricultural population in Korea and the rapid aging of the population, the need for technology that utilizes robot technology to minimize the risk of disease and enable efficient work is emerging in the agricultural field. Thus, it is essential to develop a wearable suit that can feel the muscle strength support effect through comfortable wearing in various movements. In this paper, we propose a structure of a wearable suit system considering wearability and weight as a strength assisting device for preventing musculoskeletal disorders and a mechanism for assisting agricultural work, and verify its effectiveness through simulation. |
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