A5089781956- Modular Robots and Swarm Intelligence
- Robotic Locomotion and Control
- Soft Robotics and Applications
- Robotic Path Planning Algorithms
- Robot Manipulation and Learning
- Biomimetic flight and propulsion mechanisms
- Adhesion, Friction, and Surface Interactions
- Advanced Sensor Technologies Research
- Control and Dynamics of Mobile Robots
- Radio Frequency Integrated Circuit Design
- Power Line Inspection Robots
- Prosthetics and Rehabilitation Robotics
- Virology and Viral Diseases
- Transportation and Mobility Innovations
- Evacuation and Crowd Dynamics
- Nuclear reactor physics and engineering
- Robotics and Sensor-Based Localization
- Microwave Engineering and Waveguides
- Nuclear Engineering Thermal-Hydraulics
- Advanced Power Amplifier Design
Daegu Gyeongbuk Institute of Science and Technology
2020-2025
This paper presents novel Gait Decomposition (GD) and Parameter Gradient (GPG) methods for enhancing snake robot control optimization. Snake robots face challenges in parameter tuning due to their complex dynamics the need preserve gait characteristics during control. GD fine-tunes parameters while maintaining prevent unintended changes application of serpenoid curves, typical robots. A key feature is use a motion matrix represent joint movements, ensuring preservation characteristics....
Snake robots are composed of multiple links and joints have a high degree freedom. They can perform various motions overcome terrains. need additional driving algorithms sensors that acquire terrain data in order to rough terrains such as grasslands slopes. In this study, we propose assistant mechanism (DAM), which assists locomotion without sensors. paper, confirmed the DAM prevents roll down on slope increases speed through dynamic simulation experiments. It was possible 27 degrees using...
The IAEA held the Robotics Challenge 2017 (IRC2017) to protect workers during inspections of spent nuclear fuel and improve work efficiency accuracy rates. To this end, we developed an unmanned surface vehicle (USV) system called check (SCV). SCV extracts tracks target through image processing, it is necessary find suitable parameters for SNF storage environment in advance. This preliminary takes time. It also difficult prepare which will proceed. In addition, if does not proceed as planned,...
Nuclear power plants play a pivotal role in the global energy infrastructure, fulfilling substantial share of world's requirements sustainable way. The management these facilities, especially handling spent nuclear fuel (SNF), necessitates meticulous inspections to guarantee operational safety and efficiency. However, prevailing inspection methodologies lean heavily on human operators, which presents challenges due potential hazards SNF environment. This study introduces design novel...
A nonlinear behavioural model of power amplifiers is proposed with an improved modelling method to fit up the alternate channels where noise contributions are dominant. From a memory polynomial incorporating effects (Ku and Kenney 2003 Ku, H. Kenney, J.S. 2003. Behavioral Modeling Nonlinear RF Power Amplifiers Considering Memory Effects. IEEE Transactions on Microwave Theory Techniques, 51: 2495–2504. [Crossref], [Web Science ®] , [Google Scholar]), considered for better modelling. The...
Jumping robots with a balance control mechanism using an inertial tail have been actively studied to overcome various obstacles. However, there no studies increase the stability of jumping robot's legs, which move rapidly during jumping, and reduce volume mechanism. In this paper, we focus on prototype guinea fowl robot improve rapid motion, introduce momentum wheel occupied addition, suggest basic study make continuous motion by change angle, height, distance. A theoretical analysis,...
Recent advances in control units and innovations battery technology have greatly improved the accessibility of personal mobility, also known as mobility. However, most mobility developed to date utilizes motorized wheels primary propulsion source. This approach is limited by fact that capability device heavily constrained road surface conditions. In this paper, we propose a new form address these issues. We devised an air cushion-based extend range devices reduce their dependence on novel...
We developed a guinea fowl jumping robot with one-axis momentum wheel mechanism passive hallux model. The Guinea was able to perform stable vertical due the linkage structure designed as Furthermore, we used in for making compact balance control that can body angle of robot. Through experiment, conventional uses inertial tail adjust air landing and jumping. However, case an tail, it has large volume disadvantage stability is highly reduced when collides obstacles shape tail. Moreover,...
This paper proposes Gait Decomposition (G.D), a method of mathematically decomposing snake movements, and Parameter Gradient (GPG), optimizing decomposed gait parameters. G.D is that can express the concisely from generating movement using curve function to motor control order when robot. Through this method, robot be intuitively classified into matrix, as well flexibly adjusting parameters required for generation. solve problem parameter tuning, which reason why it difficult practical use,...