• Journal of Institute of Control, Robotics and Systems
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• v.17 no.6
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• pp.552-557
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• 2011

This paper presents experimental results on the energy-bounding approach to a rate-mode bilateral teleoperation control that can guarantee the robust system stability in variable time-delayed telecommunication environments. Previously, rate-mode energy bounding approach [15] was proposed and verified with experimental results using the simulated remote slave model. In this paper, a real experimental setup using an industrial robot (Denso) as a remote slave robot composed and conducted similar experiments with previous paper. In order to guarantee stability of the Denso when contacting with high impedance wall, velocity based impedance control modified by position based is used. Experimental results show that the rate-mode energy bounding approach can guarantee stable bilateral teleoperation system in the free and contact motion with variable time delay.

• 한국HCI학회:학술대회논문집
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• 2009.02a
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• pp.2068-2071
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• 2009

This paper presents a multiple degree-of-freedom (dof) energy bounding approach (EBA) to enhance directional transparency while guaranteeing stability for multiple-dof haptic interaction. It was observed that the passivity condition for multiple ports may lead to some oscillatory limit cycle behaviors in some coordinate directions even though the total sum of energy flow-in is positive, meaning that the system is passive. The passivity condition, therefore, needs to be applied to each coordinate in order to avoid oscillatory behavior by keeping each energy flow-in always positive. For guaranteeing passivity, which in turn, stability in each coordinates, the EBA is applied. For multiple-dof haptic interaction, however, the EBA in each coordinate may distort the direction of the force vector to be rendered since the EBA may cut down the magnitude of the force and torque vectors to be rendered in order to ensure the passivity. For avoiding this problem, a simple projection method is presented. The validity of the proposed algorithm is shown by several experiments.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.8
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• pp.789-794
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• 2014

This paper presents some real performance of two typical bilateral teleoperation benchmark tasks: peg-in-hole and surface tracking tasks. The tasks are performed by an energy-bounding algorithm in the master control and position-based impedance algorithm in the slave control. Performance is analyzed for the position-force tracking capabilities from free space motion to surface contacting motion. In addition, preliminary user performance is evaluated by measuring the completion time and maximum/average contact forces. The quality of the measured performance is also compared with that of other existing approaches.

• Steel and Composite Structures
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• v.46 no.1
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• pp.15-31
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• 2023

Organic solar cells utilized natural polymers to convert solar energy to electricity. The demands for green energy production and less disposal of toxic materials make them one of the interesting candidates for replacing conventional solar cells. However, the different aspects of their properties including mechanical strength and stability are not well recognized. Therefore, in the present study, we aim to explore the chaotic responses of these organic solar cells. In doing so, a specific type of organic solar cell constructed from layers of material with different thicknesses is considered to obtain vibrational and chaotic responses under different boundaries and initial conditions. A square plate structure is examined with first-order shear deformation theory to acquire the displacement field in the laminated structure. The bounding between different layers is considered to be perfect with no sliding and separation. On the other hand, nonlocal elasticity theory is engaged in incorporating the structural effects of the organic material into calculations. Hamilton's principle is adopted to obtain governing equations with regard to boundary conditions and mechanical loadings. The extracted equations of motion were solved using the perturbation method and differential quadrature approach. The results demonstrated the significant effect of relative glass layer thickness on the chaotic behavior of the structure with higher relative thickness leading to less chaotic responses. Moreover, a comprehensive parameter study is presented to examine the effects of nonlocality and relative thicknesses on the natural frequency of square organic solar cell structure.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.12 no.5
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• pp.2327-2347
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• 2018

Human actions can be recognized from depth sequences. In the proposed algorithm, we initially construct depth, motion maps (DMM) by projecting each depth frame onto three orthogonal Cartesian planes and add the motion energy for each view. The body part of the action (BPoA) is calculated by using bounding box with an optimal window size based on maximum spatial and temporal changes for each DMM. Furthermore, feature vector is constructed by using BPoA for each human action view. In this paper, we employed an ensemble based learning approach called Rotation Forest to recognize different actions Experimental results show that proposed method has significantly outperforms the state-of-the-art methods on Microsoft Research (MSR) Action 3D and MSR DailyActivity3D dataset.