• Title/Summary/Keyword: Climbing Mechanism

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Wheel &Track Hybrid Mobile Robot Platform and Mechanism for Optimal Navigation in Urban Terrain (도심지형 최적주행을 위한 휠.무한궤도 하이브리드형 모바일 로봇 플랫폼 및 메커니즘)

  • Kim, Yoon-Gu;Kim, Jin-Wook;Kwak, Jeong-Hwan;Hong, Dae-Han;Lee, Ki-Dong;An, Jin-Ung
    • The Journal of Korea Robotics Society
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    • v.5 no.3
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    • pp.270-277
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    • 2010
  • Various robot platforms have been designed and developed to perform given tasks in a hazardous environment for the purpose of surveillance, reconnaissance, search and rescue, and etc. We have considered a terrain adaptive hybrid robot platform which is equipped with rapid navigation on flat floors and good performance on overcoming stairs or obstacles. Since our special consideration is posed to its flexibility for real application, we devised a design of a transformable robot structure which consists of an ordinary wheeled structure to navigate fast on flat floor and a variable tracked structure to climb stairs effectively. Especially, track arms installed in front side, rear side, and mid side are used for navigation mode transition between flatland navigation and stairs climbing. The mode transition is determined and implemented by adaptive driving mode control of mobile robot. The wheel and track hybrid mobile platform apparatus applied off-road driving mechanism for various professional service robots is verified through experiments for navigation performance in real and test-bed environment.

System Design and Control of an Autonomous Stair Climbing Robot

  • Kim, Dong-Hwan;Hong, Young-Ho;Kim, Sangsu;Jwa, Geun-Ho
    • 제어로봇시스템학회:학술대회논문집
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    • 2002.10a
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    • pp.104.3-104
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    • 2002
  • A quadruped stair robot introduced here plays a role in monitoring and moving some place where an operator can not reach or when he may not keep watching. It has several features that travels and poses variable position by four caterpillars and quadruped typed arms, transmits an image and command data via RF wireless and network communication. The robot can balance itself when it moves up and down on a slope by using the quadruped mechanism. The robot vision scans ahead before it moves, and the captured image is transferred to a main computer via a RF image module. The main computer analyzes the obstacle, and when it is found the obstacle, the robot avoids from the obstacle and keep moving f...

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Fuzzy linguistic control of arc welding process (퍼지 논리 제어기를 이용한 아크용접 공정제어)

  • 부광석;양완행;조형석
    • 제어로봇시스템학회:학술대회논문집
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    • 1990.10a
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    • pp.356-361
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    • 1990
  • This paper presents a new self organizing fuzzy linguistic control (SOFLC) strategy for application to an arc welding process control. The proposed SOFLC is based on on-line modification of the control rules according to the extent of deviation of the one step ahead predictive output of the process from the desired output. The Predictive output of the process is estimated by a fuzzy predictor which is updated from the input and output data of the process. The rule base of the fuzzy subsets describing the control rules is modified by the improving mechanism based on the hill climbing approach. Simulation results show that this proposed SOFLC improves the response of the process in presence of the variation of the process dynamic characteristics.

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The Measurement and Analysis of Cost Error in Simulated Annealing (시뮬레이티드 어닐링에서의 비용오류 측정 및 분석)

  • Hong, Cheol-Ui;Kim, Yeong-Jun
    • The Transactions of the Korea Information Processing Society
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    • v.7 no.4
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    • pp.1141-1149
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    • 2000
  • This paper proposes new cost error measurement method and analyzes the optimistic and pessimistic cost errors statistically which is resulted from an asynchronous parallel Simulated annealing (SA) in distributed memory multicomputers. The traditional cost error measurement scheme has inherent problems which are corrected in the new method. At each temperature the new method predicts the amount of cost error that an algorithm will tolerate and still converge by the hill-climbing nature of SA. This method also explains three interesting phenomenon of he cost error analytically. So the new cost error measurement method provides a single mechanism for the occurrence of cost error and its control.

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Analysis of step climbing and descending by tandem wheelchairs connected by passive link

  • Ikeda, Hidetoshi;Wang, Zhi-Dong;Takahashi, Takayuki;Nakano, Eiji
    • 제어로봇시스템학회:학술대회논문집
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    • 2001.10a
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    • pp.30.1-30
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    • 2001
  • This paper describes a new cooperative strategy for two wheelchairs to climb a step. These two wheelchairrobots are connected with a simple linkage mechanism between the rear of one wheelchair and the front of another. Two wheelchair robots climb a step one after the other. In this research, We did not use a method by Which a robot lifts up and supports its weight using any special actuator but a method of handling the robot's moment of rotation by the force of the link which come from the assisting robot. This method is especially influenced by the height of the two robot's link positions. So we study this method from the viewpoint of changing the two-link positions....

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EFFECT OF METHANOL EXTRACT OF CNIDII RHIZOMA ON THE FUNCTION OF RECEPTORS FOR GABA AND GLYCINE (천궁(Cnidii Rhizoma)의 메탄올 추출물이 GABA 및 Glycine 수용체에 미치는 영향)

  • Lee, Jong-Tae;Lee, Keung-Ho;Park, Jae-Hong
    • Journal of the korean academy of Pediatric Dentistry
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    • v.32 no.1
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    • pp.55-66
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    • 2005
  • Cnidii Rhizoma (CR) was subjected to extraction with 70% methanol and tested to determine whether it has anxiolytic activity in mouse by employing staircase and rotarod tests. In addition, to understand the mechanism of anxiolytic action, CR, picrotoxin, yohimbine, isoniazid and strychnine were utilized to deliniate the potential involvement of GABA and glycine receptors in the action of Cnidii Rhizoma. To gain insights into the safety of Cnidii Rhizoma extract, behavioral and MTT tests were carried out. The results were obtained as follows: 1. CR extract had little effect on climbing numbers in the stair case test. 2. CR extract had considerable anti-anxiety effects as evidenced by the reduction of rearing numbers in the stair case test. 3. CR extract had little effect on muscle relaxation. 4. Anxiolytic actions of CR extract appeared to be mediated by glycine receptor activation. 5. Cytotoxicity in the neuronal cell was not observed and no strange behaviors were found. In short, these results indicate that CR extract has the ability to exert anxiolytic activity, possibly by activating glycine receptor with little side effects in mouse.

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Development and Performance Evaluation of Hull Blasting Robot for Surface Pre-Preparation for Painting Process (도장전처리 작업을 위한 블라스팅 로봇 시스템 개발 및 성능평가)

  • Lee, JunHo;Jin, Taeseok
    • Journal of the Korean Institute of Intelligent Systems
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    • v.26 no.5
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    • pp.383-389
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    • 2016
  • In this paper, we present the hull blasting machine with vision-based weld bead recognition device for cleaning shipment exterior wall. The purpose of this study is to introduce the mechanism design of the high efficiency hull blasting machine using the vision system to recognize the weld bead. Therefore, we have developed a robot mechanism and drive controller system of the hull blasting robot. And hull blasting characteristics such as the climbing mechanism, vision system, remote controller and CAN have been discussed and compared with the experimental data. The hull blasting robots are able to remove rust or paint at anchor, so the re-docking is unnecessary. Therefore, this can save time and cost of undergoing re-docking process and build more vessels instead. The robot uses sensors to navigate safely around the hull and has a filter system to collect the fouling removed. We have completed a pilot test of the robot and demonstrated the drive control and CAN communication performance.

A Deformable Spherical Robot with Two Arms (두 팔을 가지는 변형 가능한 구형로봇)

  • Ahn, Sung-Su;Kim, Young-Min;Lee, Yun-Jung
    • Journal of Institute of Control, Robotics and Systems
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    • v.16 no.11
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    • pp.1060-1067
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    • 2010
  • In this paper, we present a new type of spherical robot having two arms. This robot, called KisBot, mechanically consists of three parts, a wheel-shaped body and two rotating semi-spheres. In side of each semi-sphere, there exists an arm which is designed based on slider-crank mechanism for space efficiency. KisBot has hybrid types of driving mode: rolling and wheeling. In the rolling mode, the robot folds its arms through inside of itself and uses them as pendulum, then the robot works like a pendulum-driven robot. In the wheeling mode, two arms are extended from inside of the robot and are contacted to the ground, then the robot works like a one-wheel car. The Robot arms can be used as a brake during rolling mode and add friction to the robot for climbing a slope during wheeling mode. We developed a remote controlled type robot for experiment. It contains two DC motors which are located in the center of each semi-sphere for main propulsion, two RC motors for each arm operation, speed controllers for each semi-sphere, batteries for main power source, and other mechanical components. Experiments for the rolling and wheeling mode verify the hybrid driving ability and efficiency of the our proposed spherical robot.

Two-module robotic pipe inspection system with EMATs

  • Lee, Jin-Hyuk;Han, Sangchul;Ahn, Jaekyu;Kim, Dae-Hyun;Moon, Hyungpil
    • Smart Structures and Systems
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    • v.13 no.6
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    • pp.1041-1063
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    • 2014
  • This work introduces a two-module robotic pipe inspection system with ultrasonic NDE device to evaluate the integrity of pipe structures. The proposed robotic platform has high mobility. The two module mobile robot platform overcomes pipe obstacle structures such as elbow, or T-branch joints by cooperative maneuvers. Also, it can climb up the straight pipeline at a fast speed due to the wheel driven mechanism. For inspection of pipe structure, SH-waves generated by EMAT are applied with additional signal processing methods. A wavelet transform is implemented to extract a meaningful and specific signal from the superposed SH-wave signals. Intensity ratio which is normalized the defect signals intensity by the maximum intensity of directly transmitted signals in the wavelet transforms spectrum is applied to evaluate defects quantitatively. It is experimentally verified that the robotic ultrasonic inspection system with EMAT is capable of non-destructive inspection and evaluation of defects in pipe structure successfully by applying signal processing method based on wavelet transform.

The Method of Vertical Obstacle Negotiation Inspired from a Centipede (지네를 모방한 수직 장애물 극복방법)

  • Yoon, Byung-Ho;Chung, Tae-Il;Koh, Doo-Yeol;Kim, Soo-Hyun
    • Journal of Institute of Control, Robotics and Systems
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    • v.18 no.3
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    • pp.193-200
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    • 2012
  • Mobility is one of the most important issues for search and rescue robots. To increase mobility for small size robot we have focused on the mechanism and algorithm inspired from centipede. In spite of small size, using many legs and flexible long body, centipede can overcome high obstacles and move in rough terrains stably. This research focused on those points and imitated their legs and body that are good for obstacle negotiation. Based on similarity of a centipede's legs and tracks, serially connected tracks are used for climbing obstacles higher than the robot's height. And a centipede perceives environments using antennae on its head instead of eyes. Inspired from that, 3 IR sensors are attached on the front, top and bottom of the first module to imitate the antenna. Using the information gotten from the sensors, the robot decides next behavior automatically. In experiments, the robot can climb up to 45 cm height vertical wall and it is 600 % of the robot's height and 58 % of the robot's length.