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Hoai-Nhan Nguyen,Hee-Jun Kang(강희준) 제어로봇시스템학회 2014 제어·로봇·시스템학회 논문지 Vol.20 No.12
There have been many autonomous robot calibration methods which form closed loop structures through the various attached sensors and mechanical fixtures. Single point calibration among them has been used for on-site calibration due to its convenience of implementation. The robot can reach a single point with infinitely many configurations so that single point calibration algorithm can be set up and easily implemented relative to the other methods. However, it is not still easy to drive the robots’ sharp edge to its corresponding edge of the fixture. This is error-prone process. In this paper, we propose a 3 dimensional small displacement measuring sensor and a robot calibration algorithm based on this sensor. This method relieves the difficulty of matching two edges in the single point calibration and improves the resulting robot accuracy. Simulated study is carried out on a Hyundai HA06 robot to show the effectiveness of the proposed method over the single point calibration. And also, the resulting robot accuracy is compared with that from 3D laser tracker based calibration to show the dependency of robot accuracy on range of the workspace where the measurement data are collected.
A CMOS Impulse Radio Ultra-Wideband Receiver for Inner/Inter-chip Wireless Interconnection
Nguyen, Chi Nhan,Duong, Hoai Nghia,Dinh, Van Anh Institute of Korean Electrical and Electronics Eng 2013 전기전자학회논문지 Vol.17 No.2
This paper presents a CMOS impulse radio ultra-wideband (IR-UWB) receiver implemented using IBM 0.13um CMOS technology for inner/inter-chip wireless interconnection. The IR-UWB receiver is based on the non-coherent architecture which removes the complexity of RF architecture (such as DLL or PLL) and reduces power consumption. The receiver consists of three blocks: a low noise amplifier (LNA) with active balun, a correlator, and a comparator. Simulation results show the die area of the IR-UWB receiver of 0.2mm2, a power gain (S21) of 12.5dB, a noise figure (NF) of 3.05dB, an input return loss (S11) of less than -16.5dB, a conversion gain of 18dB, a NFDSB of 22. The receiver exhibits a third order intercept point (IIP3) of -1.3dBm and consumes 22.9mW of power on the 1.4V power supply.
Novel online routing algorithms for smart people-parcel taxi sharing services
Son Nguyen Van,Nhan Vu Thi Hong,Dung Pham Quang,Hoai Nguyen Xuan,Behrouz Babaki,Anton Dries 한국전자통신연구원 2022 ETRI Journal Vol.44 No.2
Building smart transportation services in urban cities has become a worldwide problem owing to the rapidly increasing global population and the development of Internet-of-Things applications. Traffic congestion and environmental concerns can be alleviated by sharing mobility, which reduces the number of vehicles on the road network. The taxi-parcel sharing problem has been considered as an efficient planning model for people and goods flows. In this paper, we enhance the functionality of a current peopleparcel taxi sharing model. The adapted model analyzes the historical request data and predicts the current service demands. We then propose two novel online routing algorithms that construct optimal routes in real-time. The objectives are to maximize (as far as possible) both the parcel delivery requests and ride requests while minimizing the idle time and travel distance of the taxis. The proposed online routing algorithms are evaluated on instances adapted from real Cabspotting datasets. After implementing our routing algorithms, the total idle travel distance per day was 9.64% to 12.76% lower than that of the existing taxi-parcel sharing method. Our online routing algorithms can be incorporated into an efficient smart shared taxi system.
Simultaneous Identification of Joint Compliance and Kinematic Parameters of Industrial Robots
Zhou, Jian,Nguyen, Hoai-Nhan,Kang, Hee-Jun Korean Society for Precision Engineering 2014 International Journal of Precision Engineering and Vol.15 No.11
Owing to the flexibility of robot joints and links, the industrial robot can hardly achieve the specified accuracy to perform tasks when a payload is attached at its end-effector. Hence, compliance errors due to the deflections of robot joints and links should be identified and compensated as well as kinematic errors to improve the positioning accuracy of the industrial robot. Assuming the links of the robot are much stiffer than its actuated joints, compliance errors mainly come from the joint deflections. This paper presents a new algorithm for robot calibration, which simultaneously identifies joint compliance and kinematic parameters of industrial robots through a comprehensive error model consisting of kinematic errors and compliance errors. The identified parameters are used to compensate kinematic errors and compliance errors in industrial robots. The proposed calibration algorithm is implemented on a 6 degree of freedom serial robot (Hyundai YS100) to show its effectiveness.
Simultaneous Identification of Joint Compliance and Kinematic Parameters of Industrial Robots
Jian Zhou,Hee-JunKang,Hoai-Nhan Nguyen 한국정밀공학회 2014 International Journal of Precision Engineering and Vol. No.
Owing to the flexibility of robot joints and links, the industrial robot can hardly achieve the specified accuracy to perform tasks whena payload is attached at its end-effector. Hence, compliance errors due to the deflections of robot joints and links should be identifiedand compensated as well as kinematic errors to improve the positioning accuracy of the industrial robot. Assuming the links of therobot are much stiffer than its actuated joints, compliance errors mainly come from the joint deflections. This paper presents a newalgorithm for robot calibration, which simultaneously identifies joint compliance and kinematic parameters of industrial robotsthrough a comprehensive error model consisting of kinematic errors and compliance errors. The identified parameters are used tocompensate kinematic errors and compliance errors in industrial robots. The proposed calibration algorithm is implemented on a 6degree of freedom serial robot (Hyundai YS100) to show its effectiveness.