• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2765-2770
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• 2003

This paper introduces a novel control algorithm, energy bounding algorithm, for stable haptic interaction. The energy bounding algorithm restricts energy generated by zero-order hold within consumable energy by physical damping that is energy consumption element in the haptic interface. The passivity condition can always be guaranteed by the energy bounding algorithm. The virtual coupling algorithm restricts the actuator force with respect to the penetration depth and restricts generated energy. In contrast, energy bounding algorithm restricts the change of actuator force with respect to time and restricts generated energy by zero-order hold. Therefore, much stiffer contact simulation can be implemented by the energy bounding algorithm. Moreover, the energy bounding algorithm doesn’t is not computationally intensive and the implementation of it is very simple.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.6
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• pp.552-557
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• 2011

This paper presents experimental results on the energy-bounding approach to a rate-mode bilateral teleoperation control that can guarantee the robust system stability in variable time-delayed telecommunication environments. Previously, rate-mode energy bounding approach [15] was proposed and verified with experimental results using the simulated remote slave model. In this paper, a real experimental setup using an industrial robot (Denso) as a remote slave robot composed and conducted similar experiments with previous paper. In order to guarantee stability of the Denso when contacting with high impedance wall, velocity based impedance control modified by position based is used. Experimental results show that the rate-mode energy bounding approach can guarantee stable bilateral teleoperation system in the free and contact motion with variable time delay.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.8
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• pp.789-794
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• 2014

This paper presents some real performance of two typical bilateral teleoperation benchmark tasks: peg-in-hole and surface tracking tasks. The tasks are performed by an energy-bounding algorithm in the master control and position-based impedance algorithm in the slave control. Performance is analyzed for the position-force tracking capabilities from free space motion to surface contacting motion. In addition, preliminary user performance is evaluated by measuring the completion time and maximum/average contact forces. The quality of the measured performance is also compared with that of other existing approaches.

• 한국HCI학회:학술대회논문집
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• 2009.02a
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• pp.2068-2071
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• 2009

This paper presents a multiple degree-of-freedom (dof) energy bounding approach (EBA) to enhance directional transparency while guaranteeing stability for multiple-dof haptic interaction. It was observed that the passivity condition for multiple ports may lead to some oscillatory limit cycle behaviors in some coordinate directions even though the total sum of energy flow-in is positive, meaning that the system is passive. The passivity condition, therefore, needs to be applied to each coordinate in order to avoid oscillatory behavior by keeping each energy flow-in always positive. For guaranteeing passivity, which in turn, stability in each coordinates, the EBA is applied. For multiple-dof haptic interaction, however, the EBA in each coordinate may distort the direction of the force vector to be rendered since the EBA may cut down the magnitude of the force and torque vectors to be rendered in order to ensure the passivity. For avoiding this problem, a simple projection method is presented. The validity of the proposed algorithm is shown by several experiments.

• The Journal of Korea Robotics Society
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• v.1 no.2
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• pp.135-141
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• 2006

This paper presents offline estimation of equivalent physical damping parameter in haptic interaction systems where damping is the most important parameter for stability. Based on the previous energy bounding algorithm, an offline procedure is developed in order to estimate the physical damping parameter of a haptic device by measuring energy flow-in to the haptic device. The proposed method does not use force/torque sensor at the handgrip. Numerical simulation and experiments verified effectiveness of the proposed method.

• Nuclear Engineering and Technology
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• v.54 no.4
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• pp.1195-1205
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• 2022

Recent developments on spectral diffusion algorithms, i.e., algorithms which exploit the projection of the solution on the eigenfunctions of the Laplacian operator, demonstrated their effective applicability in fast transient conditions. Nevertheless, the numerical error introduced by these algorithms, together with the uncertainties associated with model parameters, may impact the reliability of the predictions on short-lived volatile fission product release from nuclear fuel. In this work, we provide an upper bound on the numerical error introduced by the presented spectral diffusion algorithm, in both constant and time-varying conditions, depending on the number of modes and on the time discretization. The definition of this upper bound allows introducing a methodology to a priori bound the numerical error on short-lived volatile fission product retention.

• 한국HCI학회:학술대회논문집
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• 2009.02a
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• pp.2076-2077
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• 2009

본 논문은 시간 지연 및 데이터 손실이 존재하는 양방향 원격 조작 시스템의 안정성을 확보하기 위해 에너지 제한 알고리즘을 적용한다. 다양한 실험 결과, 자유 공간 실험에서는 단방향 2.5 초까지의 시변 시간 지연(variable time delay), 벽 접촉 실험에서는 단방향 0.3 초까지의 시변 시간 지연에 대해 전체 시스템이 안정적으로 거동하는 것을 확인하였다. 또한 데이터 손실 발생 시 이전 데이터를 유지하는 방법을 이용하여 에너지 제한 알고리즘을 적용하면 90%까지의 데이터 손실이 발생할 경우에도 시스템의 안정성을 보장할 수 있음을 확인하였다.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.12 no.5
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• pp.2327-2347
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• 2018

Human actions can be recognized from depth sequences. In the proposed algorithm, we initially construct depth, motion maps (DMM) by projecting each depth frame onto three orthogonal Cartesian planes and add the motion energy for each view. The body part of the action (BPoA) is calculated by using bounding box with an optimal window size based on maximum spatial and temporal changes for each DMM. Furthermore, feature vector is constructed by using BPoA for each human action view. In this paper, we employed an ensemble based learning approach called Rotation Forest to recognize different actions Experimental results show that proposed method has significantly outperforms the state-of-the-art methods on Microsoft Research (MSR) Action 3D and MSR DailyActivity3D dataset.

• 한국HCI학회:학술대회논문집
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• 2009.02a
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• pp.45-51
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• 2009

In this paper, a transparency analysis and network-adaptive transport scheme are proposed in order to improve transparency of EBA-based force-reflecting teleoperation. EBA guarantees stability of force-reflecting teleoperation over network delay and loss but has limitation that it cannot overcome transparency deterioration of haptic interactions. The proposed transparency analysis quantifies the force feedback distortion caused by network delay and loss. Based on the analysis, the proposed haptic data synchronization and transmission rate control schemes adapt synchronization delay and transmission rate to current network state for more transparent haptic interaction. Through Matlab/Simulink simulations, it is confirmed that the proposed analysis provides an acceptable quantification method about haptic interaction quality and that the proposed haptic data transport scheme effectively improves haptic interaction quality with respect to network delays and losses.