TB3 Human-Centered Robotics on Field and Bio-Medical Rehabilitation
Time : 15:20~16:50
Room : Ruby
Chair : Prof.Seul Jung (Chungnam National University, Korea)
15:20~15:35        TB3-1
On Realizing Robust Box-Pushing Tasks for Two Mobile Robots

Min Jeong Kim, Jung-Min Yang(Kyungpook National University, Korea)

The box-pushing problem for mobile robots is referred to as pushing a selected box to a target point in robot environments. As one of practical tasks for multirobots, box-pushing has attracted considerable attention in the field of robotics research since the 1990s. In this paper, we consider the box-pushing problem by dual mobile robots.
15:35~15:50        TB3-2
Design of a Real-Time State Observer for Joint Acceleration of a Robot Manipulator(KOBOKER)

Sang Deok Lee, Seul Jung(Chungnam National University, Korea)

In this paper, a real-time state observer (RT-SOB) is designed for the estimation of joint acceleration of a robot manipulator called KOBOKER(Korean Robot Worker). The proposed RT-SOB estimates the joint acceleration in real time fashion without using a sensor. The model is estimated based on input commanded current data and the output measured angle data in the discrete time domain. Then the model is used in the state observer to estimate the acceleration. The RT-SOB is simple and the estimated acceleration is not noisy. Experimental studies are conducted to demonstrate the performance. The e
15:50~16:05        TB3-3
Design of triggering mechanism for capsule endoscope

Seonggun Joe, Hyeongseok Kang, Dongkyu Lee(Korea Aerospace University, Korea), Byungjeon Kang, Jong-Oh Park(Chonnam University, Korea), Byungkyu Kim(Korea Aerospace University, Korea)

In this paper, we propose a novel triggering mechanism to activate functional tools such as drug delivery and tattooing procedure reflecting limited volume of capsule endoscope. The mechanism consists of a nut fabricated by low-melting metal, a heating wire and a conical spring. To verify feasibility, acting force on the nut is measured and proper conical spring is selected. Then, triggering time is estimated based on numerical simulation and theoretical analysis. Lastly, operating test is conducted, and the mechanism is normally activated within 3.42 s with low input power of 12.5 W.
16:05~16:20        TB3-4
Improved Anytime Path Planning and Replanning Algorithm for Real-time UAV Operation

Aye Aye Maw, Maxim Tyan, Jae-Woo Lee(Konkuk University, Korea), Dong Sik Kim(Pohang University, Korea)

Path planning and replanning for aerial robots in the real-world environment involves dealing with several challenges which were not faced in many simple domains. In this research present a robust and reliable path planning and replanning algorithm for an Unmanned Aerial Vehicle on unknown and complex environment.And then, this paper mainly discusses about an anytime graph-based path planning and replanning algorithm which is improved Anytime Dynamic A (iADA*),unable to find the best path with the given the available time to replan paths sufficiently and safety for real-time operation.

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