• Journal of Magnetics
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• v.22 no.1
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• pp.162-167
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• 2017

Magnetic spiral-type microrobots, which are driven by a rotating magnetic field, have excellent locomotive abilities, whereas their medical applications are limited in the terms of function, such as the ability to drill in blood vessels. In this study, we propose a new robot with superior applications using a magnetic spiral-type machine. The proposed robot can be applied to stent transportation and installation without a catheter. In particular, the robot can be applied to the cardiovascular system, cerebrovascular disease, and nonvascular stent applications depending on the robot size. The robot consists of two independent spiral-type machines and four magnets in total. We controlled directions of thrust force of the two machines, respectively, for active locomotion with a task. We conducted a preliminary validation of the proposed robot for stent transportation and installation through experimental analyses.

• Proceedings of the KIEE Conference
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• 2003.11c
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• pp.1018-1021
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• 2003

This dissertation is reference to measure visual information about the configuration of magnetic field automatically and materialize the new magnetic field mapping system for the rapid and clear measure by using of the mediocrity orthogonal robot in the three- dimensional space required the measure of magnetic field concurrently. The measuring sensor is composed to be available for the measure of three-dimensional direction of magnetic field by vertically conjoining each of three hall sensors utilized of the hall effect and installed Gaussmeter, which is devised to receive the sensor result and the robot controller, away from the measuring robot in order to minimize the affection of magnetic field. Also, the controller and Gaussmeter are composed of Use interface, RS-232C and IEEE-488.2 communication. Interface system is written in NI's LabVIEW and composed to be able to set up a measuring area, the measuring number of times, two and three-dimensional graph, the velocity of robot and the magnetic field distribution graph of each element by inputting parameters. The materialized magnetic field mapping system expert the collection of the data easily and the effect of utilizing data.

• Journal of Sensor Science and Technology
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• v.19 no.3
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• pp.221-229
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• 2010

In recent studies, many methods have been studied for mobile robot using magnetic markers on its pathway. This is not influenced by the weather conditions, and makes possible to develop controller with low level processors and simple algorithms. However, the interval between magnets is restricted by the magnetic field intensity and it is impossible to get road information ahead. This paper suggests a method of widening markers and expressing the road information ahead using magnetic markers, and explains a sensor arrangement considering suggested methods. Also, magnetic field analysis was done to investigate the effects of widening magnetic markers with various environments. A small mobile robot was made to figure out the performance of suggested methods, and driving experiments were performed on the straight and curved road with magnetic markers. The results show that the robot moved the prearranged pathway with 0.5 cm lateral displacements and stopped at a stop line using magnetic information on the road.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.2
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• pp.132-138
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• 2009

In this paper, control of an omni-directional mobile robot is presented. Relying on encoder measurements to define the azimuth angle yields the dead-reckoned situation which the robot fails in localization. The azimuth angle error due to dead-reckoning is compensated and corrected by the magnetic compass sensor. Noise from the magnetic compass sensor has been filtered out. Kinematics and dynamics of the omni-directional mobile robot are derived based on the global coordinates and used for simulation studies. Experimental studies are also conducted to show the correction by the magnetic compass sensor.

• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.2
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• pp.214-219
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• 2007

In this paper, a new magnetic position sensing mettled for autonomous vehicle and robot guidance is presented. In autonomous vehicle and robot control, position sensing is an important task for the identification of their locations, such as the current position within a trajectory. The magnet based autonomous vehicle and robot was identified position via magnetic materials. In the magnetic sensing system, the Earth field is one of the largest disturbance. To removal of the Earth field, this paper proposes 1-dimensional magnetic field sensors array and develops precise petition sensing system using linear operating region of the magnetic field sensor. This proposal is verified a feasible magnetic position sensing system for autonomous vehicle and robot guidance by the experimental results.

• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.4
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• pp.506-510
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• 2007

Digital Magnetic Compass(DMC) has a robust feature against interference in the indoor environment better than compass which is easily disturbed by electromagnetic sources or large ferromagnetic structures. Ultrasonic Sensors are cheap and can give relatively accurate range readings. So they ate used in Simultaneous Localization and Mapping(SLAM). In this paper, we study the Simultaneous Localization and Mapping(SLAM) of mobile robot in the indoor environment with Digital Magnetic Compass and Ultrasonic Sensors. Autonomous mobile robot is aware of robot's moving direction and position by the restricted data. Also robot must localize as quickly as possible. And in the moving of the mobile robot, the mobile robot must acquire a map of its environment. As application for the Simultaneous Localization and Mapping(SLAM) on the autonomous mobile robot system, robot can find the localization and the mapping and can solve the Kid Napping situation for itself. Especially, in the Kid Napping situation, autonomous mobile robot use Ultrasonic sensors and Digital Magnetic Compass(DMC)'s data for moving. The robot is aware of accurate location By using Digital Magnetic Compass(DMC).

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.635-638
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• 2000

It is necessary to work on a vertical plane of workpiece in order to produce a large structure like a ship. These works can be automated by using the robot with permanent magnet wheels. We developed the permanent magnet wheel which can be used by a mobile robot and easily detached. We enhanced an adhesive power by restricting the occurrence direction of magnetic flow. And we also developed a method which weakens adhesive magnetic force by changing magnetic flow with metal pins. We used the load cell and the gaussmeter to measure the characteristics of the adhesive force and magnetic force. We obtained the result that the adhesive power is reduced to 1/3 of normal state by using 4 inducing pins.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.10
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• pp.1029-1034
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• 2006

In this paper, the tracking control of an automatic pipe cutting robot, called APCROM, with a magnetic binder is studied. Using magnetic force APCROM, a wheeled robot, binds itself to the pipe and executes unmanned cutting process. The gravity effect on the movement of APCROM varies as it rotates around the pipe laid in the gravitational field. In addition to the varying gravity effect other types of nonlinear disturbances including backlash in the driving system and the slip between the wheels of APCROM and the pipe also cause degradation in the cutting process. To maintain a constant velocity and consistent cutting performance, the authors adopt a repetitive learning controller (MRLC), which learns the required effort to cancel the tracking errors. An angular-position estimation method based on the MEMS-type accelerometer is also used in conjunction with MRLC to compensate the tracking error caused by slip at the wheels. Experimental results verify the effectiveness of the proposed control scheme.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.1
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• pp.143-149
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• 2002

Robot are necessary to automate the work on a vertical plane of work piece to produce a large structure like a ship, so that a permanent magnet wheel has been attempted to be used for a mobile robot. Its adhesive power was enhanced by restricting the occurrence direction of magnetic flow. Furthermore a method which weakened the adhesive force was developed for easy detachement of the wheel by changing magnetic flow with metal pin. To measure the characteristics of the adhesive and detaching farces, a load call and a gaussmeter were used. The result showed that the adhesive power was reduced to 1/3 of normal state by using 4 inducing pins.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.47 no.1
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• pp.67-75
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• 2010

This paper presents localization algorithm for mobile robot in outdoor environment. Outdoor environment includes the uncertainty on the ground. Magnetic sensor or IMU(Inertial Measurement Unit) has been used to estimate robot's heading angle. Two sensor is unavailable because mobile robot is electric car affected by magnetic field. Heading angle estimation algorithm for mobile robot is implemented using gyro sensor module consisting of 1-axis gyro sensors. Localization algorithm applied Extended Kalman filter that utilized GPS and encoder, gyro sensor module. Experiment results show that proposed localization algorithm improve considerably localization performance of mobile robots.