Kyoung-Taik Park

A Hierarchical Algorithm for Indoor Mobile Robot Localization Using RFID Sensor Fusion

This paper addresses a radio-frequency identification (RFID)-based mobile robot localization which adopts RFID tags distributed in a space. Existing stand-alone RFID systems for mobile robot localization are hampered by many uncertainties. Therefore, we propose a novel algorithm that improves the localization by fusing an RFID system with an ultrasonic sensor system. The proposed system partially removes the uncertainties of RFID systems by using distance data obtained from ultrasonic sensors. We define a global position estimation (GPE) process using an RFID system and a local environment cognition (LEC) process using ultrasonic sensors. Then, a hierarchical localization algorithm is proposed to estimate the position of the mobile robot using both GPE and LEC. Finally, the utility of the proposed algorithm is demonstrated through experiments.

Design and kinematics analysis of dual arm robot manipulator for precision assembly

The developed dual arm robot manipulator which consists of two industrial 6-DOF arms and one 2-DOF torso is introduced. This dual arm robot manipulator is designed for the assembly automation of the automotive parts. Each industrial 6-DOF arm can be used as a stand-alone type of industrial 6-DOF robot manipulator and as a part of dual arm manipulator at the same time. These structures help the robot maker which is willing to succeed in emerging market of dual arm robot have the high competition for the current industrial robot market and emerging market of dual arm robot at the same time. The research results of the design concept and kinematics analysis will be introduced.

Comparison between heterogeneous ant colony optimization algorithm and Genetic Algorithm for global path planning of mobile robot

We proposed a novel ACO algorithm to solve the global path planning problems in the previous paper, called Heterogeneous ACO (HACO) algorithm. In this paper, we compare the performance of HACO algorithm with the modified Genetic Algorithm (GA) for global path planning. The HACO algorithm differs from the Conventional ACO (CACO) algorithm for the path planning in three respects. First, we proposed modified Transition Probability Function (TPF) and Pheromone Update Rule (PUR). Second, we newly introduced the Path Crossover (PC) in the PUR. Finally, we also proposed the first introduction of the heterogeneous ants in the ACO algorithm. We apply the proposed HACO algorithm and modified GA to the general global path planning problems and compare the performance of these through the computer simulation.

Distributed Sensor Network Based on RFID System for Localization of Multiple Mobile Agents

This paper presents a distributed wireless sensor network for multiple mobile agents localization. Localization of mobile agents, such as mobile robots, humans, and moving objects, in an indoor space is essential for robot-robot interaction (RRI) and human-robot interaction (HRI). The standard localization system, which is based on sensors installed in the robot body, is not suitable for multiple agents. Therefore, the concept of sensor network, which uses wireless sensors distributed in a specified space, is used in this study. By analyzing related studies, two solutions are proposed for the localization of mobile agents including humans: a new hardware system and a new software algorithm. The first solution focuses on the architectural design of the wireless sensor network for multiple agent localization. A passive RFID system is used, and then the architecture of the sensor network is adapted to suit the target system. The second solution centers on a localization algorithm based on the sensor network. The proposed localization algorithm improves the accuracy in the multiple agent localization system. The algorithm uses the displacement conditions of the mobile agents and the recognition changes between the RFID tags and RFID reader. Through experiments using a real platform, the usefulness of the proposed system is verified.

Development of Welding Profile Sensor and Its Application

This paper describes the development of a welding profile sensor for the laser welding robot application. The sensor consists of a PC based vision camera and a stripe-type laser diode. All components are assembled into a compact module which can be attached to the end-effector of welding robots. The laser-stripe sensor can measure the profile of the welding object and obtain the seam line. Moreover, the working distance of the sensor can be varied. The robot, the seam tracking system, and CW Nd:YAG laser are used for the laser welding robot system. The simple control scheme of the whole system is also presented. The profile measurement and the seam tracking experiments were carried out to validate the operation of the system.

Intelligent vision sensor for the robotic laser welding

The intelligent sensory system is required to ensure the accurate welding performance. This paper describes the development of an intelligent vision sensor for the robotic laser welding. The sensor system includes a PC based vision camera and a stripe-type laser diode. A set of robust image processing algorithms are implemented. The laser-stripe sensor can measure the profile of the welding object and obtain the seam line. Moreover, the working distance of the sensor can be changed and other configuration is adjusted accordingly. The robot, the seam tracking system, and CW Nd:YAG laser are used for the laser welding robot system. The simple and efficient control scheme of the whole system is also presented. The profile measurement and the seam tracking experiments were carried out to validate the operation of the system.

Performance test of industrial dual arm robot

To experiment the performance characteristics of the developed dual-arm robot, the evaluation methods of motion characteristics of pose and path of dual-arm robot are studied and the results of performance evaluation are given. The evaluation method and item of motion performance such as payload, repeatability, maximum speed and position accuracy are studied and described. Because of the special provisions of repeatability of dual-arm robot are not given in ISO 9283, the evaluations of it are performed in based on the provisions of repeatability of single-arm robot. Generally, although there are no specifications of the position accuracy of robot movement, in this study the developed dual-arm robot is tested by using the provision of distance precision of ISO. Related to this, there are several problems of measurement of moving distance and definition of robot coordinate system. The evaluation method of payload is performed by measuring of the deflection of static payload because there is no special provision of payload in ISO. As there are no special provisions related to dual-arm robot in ISO 9283, the establishment of new provision of dual-arm robot is needed in near future.

The characteristics of deriving control of crane [deriving read driving]

This paper studies the lateral motion and yaw motion of a crane that is used for automated container terminals. Two types of driving wheel shape, cone and flat, are used. In the cone type, the lateral vibration and yaw motion of the crane are issued. In the flat type, the collision between the wheel-flange and rail or the fitting between wheel-flanges and rail is issued. To solve these problems, the lateral and yaw dynamic equations of the driving mechanism of two driving wheels are derived. Then control characteristics of the driving crane are also studied. In this study, the proposed model-based controller is used to control the lateral displacement and yaw angle of the crane. The efficiency of the proposed controller is confirmed and compared with a PD controller. The simulation results of the driving mechanism, using the Runge-Kutta Method, are also presented.

Position and compliance control of a manipulator with pneumatic muscles for enhanced safety

The safety of humans who work with robots is an important issue. Many studies have addressed related methods, but fundamental limits to meet safety requirements have been encountered owing to the absence of compliance in robot actuators. Pneumatic muscle is considered to be a basic actuator and offers the advantage of intrinsic elasticity to achieve joint compliance. In this study, joint compliance actuated by pneumatic muscle is actively utilized to enhance human safety during collisions. To this end, the authors present a novel approach to control compliance and associated positions independently with no cross-performance effects using pneumatic muscles. The proposed method is verified by simulation and experiments using a physical robot.

Sensor Guided Laser Welding Robot System

In order to obtain a good result in the laser welding process, the laser welding technology for manufacturing an automobile body is studied in this research. The robot, the seam tracking system, and CW Nd:YAG laser are used for the laser welding robot system. Especially, the development of the laser-stripe sensor is highlighted. The laser-stripe sensor can measure the profile of the welding object and obtain the gap and seam line. Moreover, the working distance of the sensor can be varied. The control scheme of the whole system is also presented. The profile and gap measurement and the seam tracking experiments were carried out to validate the operation of the system.