A5079987132- Robotic Locomotion and Control
- Prosthetics and Rehabilitation Robotics
- Muscle activation and electromyography studies
- Robot Manipulation and Learning
- Robotic Path Planning Algorithms
- Modular Robots and Swarm Intelligence
- Underwater Vehicles and Communication Systems
- Robotics and Sensor-Based Localization
- Teleoperation and Haptic Systems
- Soft Robotics and Applications
- Robotics and Automated Systems
- Acoustic Wave Phenomena Research
- Stroke Rehabilitation and Recovery
- Speech and Audio Processing
- Gaze Tracking and Assistive Technology
- Biomimetic flight and propulsion mechanisms
- Non-Destructive Testing Techniques
- Vehicle Dynamics and Control Systems
- Robotic Mechanisms and Dynamics
- Control and Dynamics of Mobile Robots
- Teaching and Learning Programming
- Engineering Applied Research
- EEG and Brain-Computer Interfaces
- Cerebral Palsy and Movement Disorders
- Advanced Manufacturing and Logistics Optimization
Kyungpook National University
2016-2024
University of California, Los Angeles
2015-2016
UCLA Health
2015
Virginia Tech
2014
Texas A&M University
2012
This paper describes the development of an in-pipe inspection robot system designed for large-diameter water pipes. The is equipped with a Magnetic Flux Leakage (MFL) sensor module. intended pipes diameters ranging from 900 mm to 1200 mm. structure consists front and rear driving parts, module located centrally. powered by 22 motors, including eight wheels motors positioned at both bottom top propulsion. To ensure that robot’s center aligns pipeline during operation, lifting units have been...
The field of complex microfluidic channels is rapidly expanding toward with variable cross-sections (i.e., beyond simple rounded a constant diameter), as well whose trajectory can be outside single plane. This paper introduces the use three-dimensional (3D) printed soluble wax cast molds for rapid fabrication truly arbitrary polydimethylsiloxane (PDMS) that are not achieved through typical soft lithography. directly from computer-aided design files, followed by dissolution using solvent...
This study presents a new path planning method based on Fuzzy Analytic Hierarchy Process (FAHP) for mobile robot to be effectively operated through multi-objective decision making problem. Unlike typical AHP, the proposed FAHP has difference in using triangulation fuzzy number extent analysis derive weight vectors among considerations. framework finding optimal position this is defined with highest level (goal), middle (objectives), and lowest (alternatives). It analytically selects an as...
This paper presents the comparison for role of bi-articular and mono-articular actuators in human bipedal robot legs, particular hip knee joint, driving design a humanoid with inspirations from biological system. The various constraints both systems are also compared. Additional factors to robotic system identified incorporated process. To do this, dynamic simulation is used determine loading conditions forces power produced by each actuator under arrangements. It shown that while principles...
This paper describes Team THOR's approach to human-in-the-loop disaster response robotics for the 2015 DARPA Robotics Challenge (DRC) Finals. Under duress of unpredictable networking and terrain, fluid operator interactions dynamic disturbance rejection become major concerns effective teleoperation. We present a humanoid robot designed effectively traverse environment while allowing wide range manipulation abilities. To complement hardware, hierarchical software foundation implements network...
Recently, many mechanical components of vehicles are being replaced by electrical or electromechanical parts. This change leads to the reduced weight, higher fuel efficiency, and simpler diagnosis. In particular, a reliable robust brake control system has been focused. So, this article investigates that an application brain limbic system–based control, bio-inspired strategy, is suitable for dynamic uncertain driving conditions. To do end, parameters optimized through genetic algorithm....
This paper presents a robust bio-inspired sliding mode control approach, designed to achieve favourable tracking performance in class of robotic manipulators with uncertainties. To this end, brain emotional learning-based intelligent (BELBIC) is applied, adaptively adjust the input law control. The combined form provides an adjustment that effectively alleviates chattering effects Specifically, online parameters computed from parameter uncertainties and external disturbances help improve...
The present study describes the development of a wearable device designed to assist those who work in an unstructured posture. In manufacturing sector, industrial accidents have been steadily on rise due poor environments and excessive workloads imposed workers. Against this backdrop, aimed analyze various types work, especially performed postures by heavy industry workers, are frequently exposed high environments. Based analysis results, attempt was made develop shoulder muscle-assistive...
Robotics has been used as an attractive tool in diverse educational fields. A variety of robotic platforms have contributed to teaching practical embedded programming engineering students at universities. However, most only support content with a low level skills and are unlikely high programming. This association negatively affects students, such incomprehension, decreased participation, dissatisfaction course quality, etc. Therefore, this paper proposed new platform relevant curricula...
This paper presents an adaptive Fuzzy-PI control strategy that incorporates a humanoid's upper body rotational motion when controlling its redundant arm. Essentially, fuzzy logic interconnects two different dimensional information by utilizing angular momentum error at the torso to act ively adjust end-effector's parameters (PI) every loop. The results from simulations show tracking errors of proposed scheme is relatively smaller than those conventional method. These imply can partially...
A continuous high-throughput aerosol-based method for fabrication of antimicrobial air filters using natural nanoparticles was developed. We used the nebulization and electrospray methods deposition nanosized substances on pristine filter media. The roll-to-roll process introduced filters, generation dispersion equipment were high performance. present covers a area 4500 mm2 at one time with uniform deposition. characteristics airborne particles generated by evaluated scanning mobility...
This paper concerns the use of adaptive wave cancellation in a new multilayer smart skin sensor to attenuate primary low-frequency noise underwater. The proposed multilayered system is designed with piezoelectric actuator (Pb(In1/2Nb1/2)O3–Pb(Mg1/3Nb2/3)O3–PbTiO3 composite) and two layers polyvinylidene fluoride accelerate absorption. Furthermore, combination an control scheme time-delay signal separation method has potential provide absorber capability thereby enable respond environmental...
This study presents a new combinable multi-legged modular robot that mimics the structures of ants to expand physical capabilities legged robot. To do this, design is focused on exploring fusion two robotic platforms, and multi-legged, in which both body frame structure are designed be rectangular prism 3-DoF sprawling-type articulated leg structure, respectively. By imitating ants’ claws, hook-link as coupling mechanism proposed. includes platform’s development, experimental work locomotion...
In this work, we investigate the effect actuator position on theoretical energy consumption of an electrically powered bipedal robot. Specifically, considerable gains are possible through optimization placement relative to joints and their axes, in particular biarticular actuators, proposed. The losses electric actuators two most powerful inefficient a biped, hip knee, considered. standing or walking tasks biped’s legs within mathematical model, furthermore, imposing constraints is used...