Pub Date : 2023-11-30DOI: 10.5302/j.icros.2023.23.0076
Ye-Jin Choi, Seul Jung
This paper presents experimental studies of a solar panel cleaning task using a drone manipulator. The drone arm is designed to be foldable and lightweight for easy transport by the drone. A flexure mechanism was used to suppress vibration in a cleaning device attached to the end-effector of the drone arm. The foldable robot arm of the drone was implemented and uses hybrid force control to regulate contact force on a solar panel for the efficient cleaning task. Clustering algorithms were used to classify the groups to be cleaned for the efficient cleaning. Experimental studies of the cleaning solar panel with the foldable arm with a flexure system were conducted.
{"title":"Experimental Studies on Solar Panel Cleaning Task by a Foldable Robot Arm of a Drone","authors":"Ye-Jin Choi, Seul Jung","doi":"10.5302/j.icros.2023.23.0076","DOIUrl":"https://doi.org/10.5302/j.icros.2023.23.0076","url":null,"abstract":"This paper presents experimental studies of a solar panel cleaning task using a drone manipulator. The drone arm is designed to be foldable and lightweight for easy transport by the drone. A flexure mechanism was used to suppress vibration in a cleaning device attached to the end-effector of the drone arm. The foldable robot arm of the drone was implemented and uses hybrid force control to regulate contact force on a solar panel for the efficient cleaning task. Clustering algorithms were used to classify the groups to be cleaned for the efficient cleaning. Experimental studies of the cleaning solar panel with the foldable arm with a flexure system were conducted.","PeriodicalId":38644,"journal":{"name":"Journal of Institute of Control, Robotics and Systems","volume":"35 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136227452","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-11-30DOI: 10.5302/j.icros.2023.23.0118
Seunghoon Lee, Han-Sol Kim
This study presents a method for designing a platooning controller for multiple autonomous vehicles, including time delay. The platooning control system under consideration is represented as a linear state space equation with a time-delayed state variable. Subsequently, we derived stabilization conditions for the platooning control system to ensure string stability, in terms of linear matrix inequalities. When deriving stabilization conditions, we used two types of integral inequalities and compared their application. Finally, we verified and compared the performance of the designed platooning controller using simulation examples.
{"title":"A Linear Matrix Inequality-based Relaxed Time-delay Platooning Controller Design for Multiple Autonomous Vehicles","authors":"Seunghoon Lee, Han-Sol Kim","doi":"10.5302/j.icros.2023.23.0118","DOIUrl":"https://doi.org/10.5302/j.icros.2023.23.0118","url":null,"abstract":"This study presents a method for designing a platooning controller for multiple autonomous vehicles, including time delay. The platooning control system under consideration is represented as a linear state space equation with a time-delayed state variable. Subsequently, we derived stabilization conditions for the platooning control system to ensure string stability, in terms of linear matrix inequalities. When deriving stabilization conditions, we used two types of integral inequalities and compared their application. Finally, we verified and compared the performance of the designed platooning controller using simulation examples.","PeriodicalId":38644,"journal":{"name":"Journal of Institute of Control, Robotics and Systems","volume":"34 12","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136227457","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-11-30DOI: 10.5302/j.icros.2023.23.0113
Jun-Gyu Hwang, Joon-Goo Park
{"title":"A Base Station Placement Method For High-precision Positioning Using Reinforcement Learning","authors":"Jun-Gyu Hwang, Joon-Goo Park","doi":"10.5302/j.icros.2023.23.0113","DOIUrl":"https://doi.org/10.5302/j.icros.2023.23.0113","url":null,"abstract":"","PeriodicalId":38644,"journal":{"name":"Journal of Institute of Control, Robotics and Systems","volume":"34 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136227467","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-10-31DOI: 10.5302/j.icros.2023.23.0049
Hyun-Jeong Lee, Min-Cheol Lee, Moon-Sik Kim
Localization is one of the most important technologies of indoor service robots. The accumulated position error due to long-time driving makes it difficult to perform the location based service. In this paper, we propose a radio frequency identification (RFID) absolute positioning system that measures the position and direction of movement of the robot using only RFID information. When the robot is moving, the position error increases while the position measurement algorithm is updated, so in this paper, the position error is estimated and corrected to improve position accuracy.
{"title":"Absolute Position and Orientation Recognition Technology Using an RFID for Mobile Robots","authors":"Hyun-Jeong Lee, Min-Cheol Lee, Moon-Sik Kim","doi":"10.5302/j.icros.2023.23.0049","DOIUrl":"https://doi.org/10.5302/j.icros.2023.23.0049","url":null,"abstract":"Localization is one of the most important technologies of indoor service robots. The accumulated position error due to long-time driving makes it difficult to perform the location based service. In this paper, we propose a radio frequency identification (RFID) absolute positioning system that measures the position and direction of movement of the robot using only RFID information. When the robot is moving, the position error increases while the position measurement algorithm is updated, so in this paper, the position error is estimated and corrected to improve position accuracy.","PeriodicalId":38644,"journal":{"name":"Journal of Institute of Control, Robotics and Systems","volume":"35 6","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135769183","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-10-31DOI: 10.5302/j.icros.2023.23.0021
Myung-Sung Park, Joung-Han Lee
To ensure competitive advantage in the steelworks industry, the operation of the steam boiler used during the production process must be optimized. The by-product gas generated in a steel mill is used as a raw material for the steam boiler. As the amount of heat generated by the boiler depends on the process and raw materials used, the varying properties of the by-product gas lead to significant fluctuations in the amount of steam produced. This study proposes a method for correcting the calorific value of the raw material input to the boiler for stable steam production through an equation; further, the effectiveness of the method is verified by applying the correction equation to actual boiler operation.
{"title":"Control System Development and Demonstration to Improve Heat Storage Efficiency for Optimizing Steam Boiler Operation","authors":"Myung-Sung Park, Joung-Han Lee","doi":"10.5302/j.icros.2023.23.0021","DOIUrl":"https://doi.org/10.5302/j.icros.2023.23.0021","url":null,"abstract":"To ensure competitive advantage in the steelworks industry, the operation of the steam boiler used during the production process must be optimized. The by-product gas generated in a steel mill is used as a raw material for the steam boiler. As the amount of heat generated by the boiler depends on the process and raw materials used, the varying properties of the by-product gas lead to significant fluctuations in the amount of steam produced. This study proposes a method for correcting the calorific value of the raw material input to the boiler for stable steam production through an equation; further, the effectiveness of the method is verified by applying the correction equation to actual boiler operation.","PeriodicalId":38644,"journal":{"name":"Journal of Institute of Control, Robotics and Systems","volume":"35 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135769186","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-10-31DOI: 10.5302/j.icros.2023.23.0105
Donguk Yu, Hong-Seong Park
This paper proposes a mapping method between ROS (Robot Operating System) and the ISO TC299 WG6"s software information model standard for robot modules, providing interoperability, reusability, and interchangeability. To achieve this, this paper addresses issues such as the representation of data types for IO variables class and role relationships and data types in Services class, which are present in the current version of the information model, and provides solutions to complement them. It proposes mapping methods between the names, type structures, and type names of topics and services, which are used in ROS nodes, and IO variables class and Services class of the information model. To validate the proposed methods, an XML example for the IO variables and the Services classes for the information model is provided. Based on this example, related skeleton codes are generated for ROS nodes with topics and services. The generated skeleton codes are built and executed, and the information specified in the information model is compared to the results obtained from the execution of the generated codes, validating the proposed method.
{"title":"A Method of Mapping Between Information Model and ROS","authors":"Donguk Yu, Hong-Seong Park","doi":"10.5302/j.icros.2023.23.0105","DOIUrl":"https://doi.org/10.5302/j.icros.2023.23.0105","url":null,"abstract":"This paper proposes a mapping method between ROS (Robot Operating System) and the ISO TC299 WG6\"s software information model standard for robot modules, providing interoperability, reusability, and interchangeability. To achieve this, this paper addresses issues such as the representation of data types for IO variables class and role relationships and data types in Services class, which are present in the current version of the information model, and provides solutions to complement them. It proposes mapping methods between the names, type structures, and type names of topics and services, which are used in ROS nodes, and IO variables class and Services class of the information model. To validate the proposed methods, an XML example for the IO variables and the Services classes for the information model is provided. Based on this example, related skeleton codes are generated for ROS nodes with topics and services. The generated skeleton codes are built and executed, and the information specified in the information model is compared to the results obtained from the execution of the generated codes, validating the proposed method.","PeriodicalId":38644,"journal":{"name":"Journal of Institute of Control, Robotics and Systems","volume":"35 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135769187","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-10-31DOI: 10.5302/j.icros.2023.23.0095
Byung-Jin Kang, Jaehyun Bae, Daehyeon Kim, Kyunghoon Baek
Recently, artificial intelligence is being used in many business fields. In the field of image, it is used in many different forms, starting with simple object detection, tracking, synthetic image generation, and style conversion. In particular, the object detection field has already been applied and used in many fields such as national defense, product defect detection, and security thanks to tremendous development. However, current object detection models are mainly performed with RGB images. Due to this direction of research, a separate study is underway for a model for IR image. Because of this, the development of deep learning models for IR images is much slower than RGB images. In addition, due to the lack of IR image data, research on IR image deep learning models is becoming more and more laggy compared to other deep learning studies. This paper proposes that the model trained on RGB images shows excellent performance in IR images. The object detection deep learning model learns shape information by using feature extraction. Our results show that IR images showing the shape of an object and images learned as RGB images can be sufficiently inferred. As a result, the model trained with RGB images shows robustness even in IR images.
{"title":"A Study on Performance Evaluation of MWIR Image Detection Based on YOLO Model Using RGB Channel Image","authors":"Byung-Jin Kang, Jaehyun Bae, Daehyeon Kim, Kyunghoon Baek","doi":"10.5302/j.icros.2023.23.0095","DOIUrl":"https://doi.org/10.5302/j.icros.2023.23.0095","url":null,"abstract":"Recently, artificial intelligence is being used in many business fields. In the field of image, it is used in many different forms, starting with simple object detection, tracking, synthetic image generation, and style conversion. In particular, the object detection field has already been applied and used in many fields such as national defense, product defect detection, and security thanks to tremendous development. However, current object detection models are mainly performed with RGB images. Due to this direction of research, a separate study is underway for a model for IR image. Because of this, the development of deep learning models for IR images is much slower than RGB images. In addition, due to the lack of IR image data, research on IR image deep learning models is becoming more and more laggy compared to other deep learning studies. This paper proposes that the model trained on RGB images shows excellent performance in IR images. The object detection deep learning model learns shape information by using feature extraction. Our results show that IR images showing the shape of an object and images learned as RGB images can be sufficiently inferred. As a result, the model trained with RGB images shows robustness even in IR images.","PeriodicalId":38644,"journal":{"name":"Journal of Institute of Control, Robotics and Systems","volume":"15 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135769348","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-10-31DOI: 10.5302/j.icros.2023.23.0112
Bo-Sung Ko, Yong-Hun Kim, Joo-Han Lee, So-Jin Park, Seung Hyo Park, Jin Woo Song
We propose an idea of using VDM (Vehicle Dynamic Model) as a constraint of INS (Inertial Navigation System) for improving the long term navigation performance. In order to suppress long term INS error, a constrained Kalman filter is applied. Before developing the high precision INS with various sensors and techniques, M&S (Modeling & Simulation) step is performed to define and validate the necessary requirements of the development, which here in this research, the requirement of VDM quality is analyzed. M&S is constructed using a 6-DOF submarine dynamic model and a guidance-navigation control model. It is assumed that the navigation sensor is consisted with an inertial measurement unit, EM-Log (Electromagnetic Log), and DM (Depth Module). Monte-Carlo simulation results confirm the effectiveness of the VDM employed by the constrained Kalman filter and requirements for VDM error are also analyzed.
{"title":"Vehicle Dynamic Model Based Navigation Algorithm Requirement Analysis for Improving High Precision Inertial Navigation System","authors":"Bo-Sung Ko, Yong-Hun Kim, Joo-Han Lee, So-Jin Park, Seung Hyo Park, Jin Woo Song","doi":"10.5302/j.icros.2023.23.0112","DOIUrl":"https://doi.org/10.5302/j.icros.2023.23.0112","url":null,"abstract":"We propose an idea of using VDM (Vehicle Dynamic Model) as a constraint of INS (Inertial Navigation System) for improving the long term navigation performance. In order to suppress long term INS error, a constrained Kalman filter is applied. Before developing the high precision INS with various sensors and techniques, M&S (Modeling & Simulation) step is performed to define and validate the necessary requirements of the development, which here in this research, the requirement of VDM quality is analyzed. M&S is constructed using a 6-DOF submarine dynamic model and a guidance-navigation control model. It is assumed that the navigation sensor is consisted with an inertial measurement unit, EM-Log (Electromagnetic Log), and DM (Depth Module). Monte-Carlo simulation results confirm the effectiveness of the VDM employed by the constrained Kalman filter and requirements for VDM error are also analyzed.","PeriodicalId":38644,"journal":{"name":"Journal of Institute of Control, Robotics and Systems","volume":"35 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135769184","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-10-31DOI: 10.5302/j.icros.2023.23.0102
Soo-Ho Jang, Sookwang Lee, Jaehwan Lee
The local node connectivity of a graph indicates its stability and robustness as well as the importance of its vertices. This study presents the process and results of designing local node connectivity computation algorithms for graphs using parallel processing in GPGPU (General-Purpose computing on Graphics Processing Units). These algorithms focus on reducing latency by optimizing the computation for finding the shortest paths. Here, the algorithms “Variable Threads” and “Fixed Threads” are proposed and compared with a CPU-based baseline algorithm. Experimental results show that the GPU-based approach achieved latency reductions of up to 37% and 15% in sparse and dense graphs, respectively. These findings elucidate the effectiveness of parallel processing on GPUs for improving the efficiency of local node connectivity computations.
图的局部节点连通性表明图的稳定性和鲁棒性，以及图中顶点的重要性。本文介绍了在GPGPU (General-Purpose computing on Graphics processing Units)中使用并行处理设计图形局部节点连通性计算算法的过程和结果。这些算法的重点是通过优化寻找最短路径的计算来减少延迟。本文提出了“可变线程”和“固定线程”算法，并与基于cpu的基准算法进行了比较。实验结果表明，基于gpu的方法在稀疏图和密集图上的延迟分别减少了37%和15%。这些发现阐明了gpu并行处理对于提高本地节点连通性计算效率的有效性。
{"title":"Research on the Optimization of Local Node Connectivity Computation Using GPGPU","authors":"Soo-Ho Jang, Sookwang Lee, Jaehwan Lee","doi":"10.5302/j.icros.2023.23.0102","DOIUrl":"https://doi.org/10.5302/j.icros.2023.23.0102","url":null,"abstract":"The local node connectivity of a graph indicates its stability and robustness as well as the importance of its vertices. This study presents the process and results of designing local node connectivity computation algorithms for graphs using parallel processing in GPGPU (General-Purpose computing on Graphics Processing Units). These algorithms focus on reducing latency by optimizing the computation for finding the shortest paths. Here, the algorithms “Variable Threads” and “Fixed Threads” are proposed and compared with a CPU-based baseline algorithm. Experimental results show that the GPU-based approach achieved latency reductions of up to 37% and 15% in sparse and dense graphs, respectively. These findings elucidate the effectiveness of parallel processing on GPUs for improving the efficiency of local node connectivity computations.","PeriodicalId":38644,"journal":{"name":"Journal of Institute of Control, Robotics and Systems","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135769188","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-10-31DOI: 10.5302/j.icros.2023.23.0117
Jeonghoon Kwak, Heeseok Shin, Hyewon Yoon, Jangseok Oh, Kap-Ho Seo, Kyungsook Lee
The Agricultural Products processing Center (APC) in Korea performs various tasks such as pre-cooling, sorting, packaging, and storage during the production of agricultural goods. To address the issue of dust occurring during the production processes at the APC, cleaning robots are employed. These robots are equipped to recognize the APC environment and perform cleaning tasks according to a specified pattern. However, variations in dust levels may lead to differences in cleaning effectiveness. Manufacturing Execution Systems (MES) can record the flow of agricultural products during production processes; this information can be utilized to predict dust areas and levels. The present study proposes a method based on MES to efficiently address the issue of dust at the APC. By setting the locations of the equipment within the APC and their respective discharge capacities for contaminants, and by considering the discrepancy between the input and output quantities of raw materials, the dust levels at various locations can be predicted. Based on the prediction, specific cleaning areas can be assigned to multiple cleaning robots. The utilization of MES can thus significantly increase the efficiency of multiple cleaning robots, ranging from 3% to as high as 22%.
{"title":"Divide Cleaning Area Method for Multi-cleaning Robots Using Manufacturing Execution Systems Based on Contamination-level Estimation","authors":"Jeonghoon Kwak, Heeseok Shin, Hyewon Yoon, Jangseok Oh, Kap-Ho Seo, Kyungsook Lee","doi":"10.5302/j.icros.2023.23.0117","DOIUrl":"https://doi.org/10.5302/j.icros.2023.23.0117","url":null,"abstract":"The Agricultural Products processing Center (APC) in Korea performs various tasks such as pre-cooling, sorting, packaging, and storage during the production of agricultural goods. To address the issue of dust occurring during the production processes at the APC, cleaning robots are employed. These robots are equipped to recognize the APC environment and perform cleaning tasks according to a specified pattern. However, variations in dust levels may lead to differences in cleaning effectiveness. Manufacturing Execution Systems (MES) can record the flow of agricultural products during production processes; this information can be utilized to predict dust areas and levels. The present study proposes a method based on MES to efficiently address the issue of dust at the APC. By setting the locations of the equipment within the APC and their respective discharge capacities for contaminants, and by considering the discrepancy between the input and output quantities of raw materials, the dust levels at various locations can be predicted. Based on the prediction, specific cleaning areas can be assigned to multiple cleaning robots. The utilization of MES can thus significantly increase the efficiency of multiple cleaning robots, ranging from 3% to as high as 22%.","PeriodicalId":38644,"journal":{"name":"Journal of Institute of Control, Robotics and Systems","volume":"34 12","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135769189","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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