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Development of Cable-Driven Parallel Robot for 8 m High-Racks Logistics Automation System |
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Min-Cheol Kim, Chang-Sei Kim(Chonnam National University, Korea) |
| Recently, various studies on logistics automation systems using new digital technologies such as robots, AI,
and big data have been conducted in the industrial field due to the increase in the volume of goods in the global logistics market. In addition, to increase space efficiency, research on stacker cranes with rigid links is being conducted. However, it has the disadvantage of having a rigid structure, which consumes a lot of energy and makes it difficult to install/decompose the necessary for repair. To overcome this shortcoming, this paper proposed a system that performs logistics automation tasks at 8 m high-rack using a Cable-Driven Parallel Robot (CDPR) |
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Development of Disturbance Observer-based Sliding Mode Controller for Multiple Electromagnets Actuator |
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Han-Sol Lee, Yeongoh Ko, Chang-Sei Kim(Chonnam National University, Korea) |
| Recently, wireless manipulation techniques such as magnetic actuation, optical actuation, and ultrasound-based actuation have been extensively studied for biomedical applications. Since magnetic actuation is the most reliable method to actuate small-scale magnetic objects, it is applied in non- and minimally invasive therapies. Here we design a sliding mode controller in the outer loop and a disturbance observer in the inner loop. The proposed controller works as a force compensator, estimating the focused disturbance via DOB and compensating via SMC operator. The performance is evaluated through three-dimensional simulations and driving experiments of magnetic particle manipulation. |
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Simulation-driven Motion Control of a One-Legged Hopping Robot |
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Sejeong Kim, Myungjin Jung, Hyunmin Choi, Min-Cheol Kim, Chang-Sei Kim(Chonnam National University, Korea) |
| In this study, toward ease of control, we propose a one-legged robot and demonstrated a stable hopping motion. The robot has three degrees of freedom, and the shape was conceived from the legs of animals. We implement the robot in a virtual space and obtain the robot motion that can perform stable hopping motion where kinematic analysis and motion planning are performed. For the simultaneous control of multiple motors, a CAN-BUS communication network is designed. |
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Field Evaluation of a Path Planning and Coordination Algorithm for Heterogeneous Tasks of Multiple UGVs in Agriculture |
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Yuseung Jo, Hyoung Il Son(Chonnam National University, Korea) |
| We propose a path planning and coordination algorithm for heterogeneous tasks of multiple UGVs in agriculture. The proposed algorithm maximizes the efficiency of agricultural tasks by considering the heterogeneous tasks of agriculture. To evaluate the proposed algorithm, field experiments in agricultural environments were conducted. For the field experiment, a multi-robot system that consisted of multiple SLAM and navigation systems was constructed including a feedback loop based on the drive completion message. For the verification of proposed algorithms and systems, a preliminary experiment was constructed in agricultural-like environments. |
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Computer Vision-based Robust Visual Servoing to Detect Oscillating Pedicel in Harvesting Robot |
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Yonghyun Park, Changjo Kim, Hyoung Il Son(Chonnam National University, Korea) |
| This study presents a robust visual servoing (RVS) system enhanced with image stabilization (IS) and rapid pedicel detection for automated cucumber harvesting in challenging field conditions. The RVS features a manipulator on a mobile platform with a hand-eye camera for visual insights. IS counters motion blur, ensuring consistent object detection, while our pedicel detection boosts harvesting efficiency and accuracy. Tested in two Korean cucumber farms, the system was assessed using metrics like precision, recall, and F1-score. The combined use of IS and rapid pedicel detection led to marked improvements in all metrics, emphasizing their importance in precise and efficient harvesting. |
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Automatic Detection of Patient’s Posture to Determine an Ultrasound Probe Location for Echocardiography using a 3D Camera and a Robotic Arm |
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Yang Yang, Siheon An, Seong Young Ko(Chonnam National University, Korea) |
| This paper proposes an automatic detection of a patient’s posture to determine an ultrasound probe location for echocardiography using a 3D camera and a 7-axis robotic arm. To consider the clinical operating environment explicitly, we put the patient model in a side-lying state and collect point cloud data from different viewpoints to monitor the body surface more accurately. This method makes the acquisition of ultrasound images more stable, and the diagnostic efficiency improved. In the future, we will integrate this technology into our robotic heart ultrasound detection algorithm to help the inspectors diagnose patients more accurately. |
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