Korea Institute of Robot and Convergence KIRO

Yanggok, South Korea

Korea Institute of Robot and Convergence KIRO

Yanggok, South Korea

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Kim M.J.,Pohang University of Science and Technology | Lee W.,Pohang University of Science and Technology | Choi J.Y.,Korea Institute of Robot and Convergence KIRO | Park Y.S.,Korea Institute of Robot and Convergence KIRO | And 7 more authors.
Proceedings - IEEE International Conference on Robotics and Automation | Year: 2016

This paper proposes a passivity-based nonlinear disturbance observer (DOB) design for a powered upper-limb robot control. The proposed DOB allows for the nonlinearities of the robot dynamics, whereas the typical DOB designs cannot. Moreover, by virtue of the passivity property, human operator and environmental interactions can be embedded in the control loop. As a DOB, the proposed approach has a disturbance observation property that makes the actual robot behave like a nominal model selected by the user. Performance analysis proposes a gain tuning rule. In experimental validation, actual powered upper-limb robot is used to perform unknown payload carrying applications. © 2016 IEEE.


Li J.H.,Korea Institute of Robot and Convergence KIRO | Kim J.T.,Korea Institute of Robot and Convergence KIRO | Lee M.J.,Korea Institute of Robot and Convergence KIRO | Jee S.C.,Korea Institute of Robot and Convergence KIRO | And 5 more authors.
MTS/IEEE OCEANS 2015 - Genova: Discovering Sustainable Ocean Energy for a New World | Year: 2015

ROV trencher is a kind of ROV which trench the sea floor using specifically designed water jetting tool. For this trencher, maximization of trenching depth and trenching speed (or progress rate) are two of key performance, both of which directly depend on the proper design of jetting arm system. In this paper, we discuss some of optimal design considerations for water jetting arm system through laboratory experiments using sandy soil. First, we carry out jetting angle tests to investigate the relationships between jetting angle, traverse rate1, and trenching depth. And then, with fixed jetting angle, we carry out additional tests to investigate the relationship of jetting power vs. traverse rate vs. trenching depth, from which we can roughly assess the prototype trenching performance using Froude similarity. CFD simulation is also carried out to demonstrate the experiment results. In the case of cohesive clay soil, we assess the prototype trenching performance using existing jet trenching model [1],[2]. © 2015 IEEE.


Kim J.,Korea Electrotechnology Research Institute | Jin M.,Korea Institute of Robot and Convergence KIRO
Nonlinear Dynamics | Year: 2016

This paper presents an optimal chaos synchronization technique using particle swarm optimization (PSO) and time-delay estimation (TDE). Time-delay control (TDC), which uses the TDE to estimate and cancel the nonlinear terms in dynamics, is simple and robust, and has been recognized as a promising technique for chaos synchronization. The synchronization technique with TDC consists of three terms: a slave dynamics cancelation term using the TDE, a desired chaotic dynamics injection term, and a synchronization error dynamics describing term. In this paper, we propose the PSO algorithm for the gain of the last term, the slope of sliding surface of the synchronization error dynamics. An objective function is constructed using a sum of the absolute value of errors, and a set of particles is used to seek the optimal solution. We show that too small value of a gain results in weak robustness, and too large value of a gain worsens noise sensitivity. Our data suggest that an optimal gain set for minimizing synchronization errors of the TDC can be obtained through the proposed technique. The proposed technique can automatically find the optimized gain for the TDC in noisy environments although the estimation time-delay is altered significantly. The effectiveness of the proposed technique is verified through chaos synchronization simulations for secure communications. © 2016 Springer Science+Business Media Dordrecht


Li J.H.,Korea Institute of Robot and Convergence KIRO | Kim J.T.,Korea Institute of Robot and Convergence KIRO | Lee M.J.,Korea Institute of Robot and Convergence KIRO | Lee W.S.,Korea Institute of Robot and Convergence KIRO | And 4 more authors.
2014 Oceans - St. John's, OCEANS 2014 | Year: 2015

ROV trencher is a kind of heavy-duty work class ROV with high pressure water jetting tools cutting the sea floor and burying the cable. This ROV is mostly used for PLIB (post lay inspection and burial) operation. For a ROV trencher, usually there is a pair of jetting legs mounted at the bottom and stowed in a horizontal position in its rest mode. While burying cable in the sea floor, they are folded out by hydraulic cylinders, and cut the sea floor by jetting high pressure water and simultaneously bury the post laid cable. In this working process, there are various external forces acting on the vehicle. From control point of view, obviously there are some of optimal issues that of how we should construct the thrust system so that can minimize or maximize kinds of optimal criteria such as minimizing power consumption, or maximizing some of burial performances (burial depth, progress rate etc.). All of these conceptual design considerations for effective thrust system will be considered in this paper. © 2014 IEEE.


Li J.H.,Korea Institute of Robot and Convergence KIRO | Lee M.J.,Korea Institute of Robot and Convergence KIRO | Kim J.G.,Korea Institute of Robot and Convergence KIRO | Park S.K.,Korea Institute of Robot and Convergence KIRO | And 2 more authors.
Program Book - OCEANS 2012 MTS/IEEE Yeosu: The Living Ocean and Coast - Diversity of Resources and Sustainable Activities | Year: 2012

P-SURO II AUV is a hybrid vehicle which has been developing in KIRO since June in last year. In this paper, we propose a doppler velocity log (DVL) aiding inertial navigation system for this hybrid AUV. So far, DVL has been one of most common aiding device for underwater strap down inertial navigation system (SDINS) [1]. However, in practice, DVL may briefly dropout due to noise, uneven surfaces, and loss of lock when too close to a surface [2]. This kind of DVL dropout effect on the proposed INS is investigated through post-processing of navigation sensor raw measurement data acquired in the field test in a river. On the other hand, four vectored thrusters are mounted on the vehicle's horizontal plane, and their thrust vector control (TVC) problem is also discussed in the paper. © 2012 IEEE.


Hong S.-H.,Korea Institute of Robot and Convergence KIRO | Jung K.,Korea Institute of Robot and Convergence KIRO | Lee J.-Y.,Korea Institute of Robot and Convergence KIRO | Jeong M.-S.,Korea Institute of Robot and Convergence KIRO
2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013 | Year: 2013

In this paper, we present an embedded control system, which is developed for untethered in-pipe inspection robot to unpiggable natural gas pipelines. The design of the developed embedded control system and its verification for multiple platforms ensure that the developed embedded control system could be applied to various in-pipe inspection robots. In the future, we would improve the functionality, the reliability and durability of the developed embedded control system. © 2013 IEEE.


Hong S.-H.,Korea Institute of Robot and Convergence KIRO | Jung G.-B.,Korea Institute of Robot and Convergence KIRO | Lee J.-Y.,Korea Institute of Robot and Convergence KIRO | Jeong M.-S.,Korea Institute of Robot and Convergence KIRO | Choi J.-Y.,Korea Institute of Robot and Convergence KIRO
2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014 | Year: 2014

The pipeline inspection robots are being developed as manual or autonomous system and applied at home and abroad because examination in burial status is the most effective method in order to inspect pipeline under the ground. This inspection robot drives inside of pipeline and checks the pipeline status. In this paper, Sonde system is described which can confirm location of inspection robot at 10 meters below the ground using frequency generator when the robot is in the emergency situation. © 2014 IEEE.


Li J.H.,Korea Institute of Robot and Convergence KIRO | Lee M.J.,Korea Institute of Robot and Convergence KIRO | Kim J.T.,Korea Institute of Robot and Convergence KIRO | Park S.H.,Korea Institute of Robot and Convergence KIRO | And 2 more authors.
OCEANS 2013 MTS/IEEE - San Diego: An Ocean in Common | Year: 2013

P-SURO II is a hybrid AUV which can be operated in both of ROV and AUV modes [1]. In its AUV mode, the vehicle is supposed to carry out some of underwater missions such as inspection and maintenance of complex underwater structures which are usually difficult to be done by ROV or divers due to the cable system. To complete these missions, the vehicle is required to have high level of autonomy, where high accuracy navigation is the most important and basic requirement. In this paper, we present a high accuracy of hybrid inertial navigation method using image sonar in a water tank environment. Various water tank experimental studies are carried out to investigate the effectiveness of presented hybrid navigation method. Some of practical issues of applying image sonar for inertial navigation aiding are also discussed. © 2013 MTS.

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