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104 results on '"Yi, Hak"'

1. Development of In-Pipe Inspection Robot for Large-Diameter Water Pipe

Author

Jeon, Kwang-Woo, Chung, Hyun-Joon, Jung, Eui-Jung, Park, Sung-Ho, Son, So-Eun, Bae, Jong-Ho, Chung, Goo-Bong, Yi, Hak, Kacprzyk, Janusz, Series Editor, Gomide, Fernando, Advisory Editor, Kaynak, Okyay, Advisory Editor, Liu, Derong, Advisory Editor, Pedrycz, Witold, Advisory Editor, Polycarpou, Marios M., Advisory Editor, Rudas, Imre J., Advisory Editor, Wang, Jun, Advisory Editor, Lee, Soon-Geul, editor, An, Jinung, editor, Chong, Nak Young, editor, Strand, Marcus, editor, and Kim, Joo H., editor

Published
2024
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9. Development of an In-Pipe Inspection Robot for Large-Diameter Water Pipes.

Author

Jeon, Kwang-Woo, Jung, Eui-Jung, Bae, Jong-Ho, Park, Sung-Ho, Kim, Jung-Jun, Chung, Goobong, Chung, Hyun-Joon, and Yi, Hak

Subjects
MAGNETIC flux leakage, PIPE, PIPELINE inspection, ELECTRIC propulsion, ROBOT design & construction, ROBOTS, MOBILE robots, WIRELESS communications
Abstract

This paper describes the development of an in-pipe inspection robot system designed for large-diameter water pipes. The robot is equipped with a Magnetic Flux Leakage (MFL) sensor module. The robot system is intended for pipes with diameters ranging from 900 mm to 1200 mm. The structure of the in-pipe inspection robot consists of the front and rear driving parts, with the inspection module located centrally. The robot is powered by 22 motors, including eight wheels with motors positioned at both the bottom and the top for propulsion. To ensure that the robot's center aligns with that of the pipeline during operation, lifting units have been incorporated. The robot is equipped with cameras and LiDAR sensors at the front and rear to monitor the internal environment of the pipeline. Pipeline inspection is conducted using the MFL inspection modules, and the robot's driving mechanism is designed to execute spiral maneuvers while maintaining contact with the pipeline surface during rotation. The in-pipe inspection robot is configured with wireless communication modules and batteries, allowing for wireless operation. Following its development, the inspection robot underwent driving experiments in actual pipelines to validate its performance. The field test bed used for these experiments is approximately 1 km in length. Results from the driving experiments on the field test bed confirmed the robot's ability to navigate various curvatures and obstacles within the pipeline. It is posited that the use of the developed in-pipe inspection robot can reduce economic costs and enhance the safety of inspectors when examining aging pipes. [ABSTRACT FROM AUTHOR]

Published
2024
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11. Team THOR’s Entry in the DARPA Robotics Challenge Finals 2015

Author

McGill, Stephen G., Yi, Seung-Joon, Yi, Hak, Ahn, Min Sung, Cho, Sanghyun, Liu, Kevin, Sun, Daniel, Lee, Bhoram, Jeong, Heejin, Huh, Jinwook, Hong, Dennis, Lee, Daniel D., Siciliano, Bruno, Series Editor, Khatib, Oussama, Series Editor, Amato, Nancy, Advisory Editor, Brock, Oliver, Advisory Editor, Bruyninckx, Herman, Advisory Editor, Burgard, Wolfram, Advisory Editor, Chatila, Raja, Advisory Editor, Chaumette, Francois, Advisory Editor, Chung, Wan Kyun, Advisory Editor, Corke, Peter, Advisory Editor, Dario, Paolo, Advisory Editor, De Luca, Alessandro, Advisory Editor, Dillmann, Rüdiger, Advisory Editor, Goldberg, Ken, Advisory Editor, Hollerbach, John, Advisory Editor, Kavraki, Lydia E, Advisory Editor, Kumar, Vijay, Advisory Editor, Nelson, Bradley J., Advisory Editor, Park, Frank Chongwoo, Advisory Editor, Salcudean, S. E., Advisory Editor, Siegwart, Roland, Advisory Editor, Sukhatme, Gaurav S, Advisory Editor, Spenko, Matthew, editor, Buerger, Stephen, editor, and Iagnemma, Karl, editor

Published
2018
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13. RoboCup 2015 Humanoid AdultSize League Winner

Author

Yi, Seung-Joon, McGill, Stephen, Jeong, Heejin, Huh, Jinwook, Missura, Marcell, Yi, Hak, Ahn, Min Sung, Cho, Sanghyun, Liu, Kevin, Hong, Dennis, Lee, Daniel D., Goos, Gerhard, Series Editor, Hartmanis, Juris, Founding Editor, Hutchison, David, Editorial Board Member, Kanade, Takeo, Editorial Board Member, Kittler, Josef, Editorial Board Member, Kleinberg, Jon M., Editorial Board Member, Mattern, Friedemann, Editorial Board Member, Mitchell, John C., Editorial Board Member, Naor, Moni, Editorial Board Member, Pandu Rangan, C., Editorial Board Member, Terzopoulos, Demetri, Editorial Board Member, Tygar, Doug, Editorial Board Member, Weikum, Gerhard, Series Editor, Almeida, Luis, editor, Ji, Jianmin, editor, Steinbauer, Gerald, editor, and Luke, Sean, editor

Published
2015
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19. Time Efficiency Improvement in Quadruped Walking with Supervised Training Joint Model.

Author

Yeoh, Chin Ean, Ahn, Min Sung, Choi, Soomin, and Yi, Hak

Subjects
MACHINE learning, FITNESS walking, SUPERVISED learning, ROBOTS
Abstract

To generate stable walking of a quadruped, the complexity of the configuration of the robot involves a significant amount of optimization that decreases to its time efficiency. To address this issue, a machine learning method was used to build a simplified control policy using joint models for the supervised training of quadruped robots. This study considered 12 joints for a four-legged robot, and each joint value was determined based on the conventional method of walking simulation and prepossessed, equaling 2508 sets of data. For data training, the multilayer perceptron model was used, and the optimized number of epochs used to train the model was 5000. The trained models were implemented in robot walking simulations, and they improved performance with an average distance error of 0.0719 m and a computational time as low as 91.98 s. [ABSTRACT FROM AUTHOR]

Published
2023
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21. RoboCup 2015 Humanoid AdultSize League Winner

Author

Yi, Seung-Joon, primary, McGill, Stephen, additional, Jeong, Heejin, additional, Huh, Jinwook, additional, Missura, Marcell, additional, Yi, Hak, additional, Ahn, Min Sung, additional, Cho, Sanghyun, additional, Liu, Kevin, additional, Hong, Dennis, additional, and Lee, Daniel D., additional

Published
2015
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33. Development of Haptic System for Virtual Wall Collision

Author

Oh Chae Youn and Yi Hak

Subjects
0209 industrial biotechnology, Virtual wall, 020303 mechanical engineering & transports, 020901 industrial engineering & automation, 0203 mechanical engineering, Computer science, Development (differential geometry), 02 engineering and technology, Collision, Simulation, Haptic technology
Published
2016

34. The Effect of a Platykurtic Excitation Signal on Fatigue Life

Author

Yi Hak and Oh Chae Youn

Subjects
020303 mechanical engineering & transports, Excitation signal, Materials science, 0203 mechanical engineering, Acoustics, 020101 civil engineering, 02 engineering and technology, 0201 civil engineering
Published
2016

45. Team THOR's Entry in the DARPA Robotics Challenge Finals 2015

Author

McGill, Stephen G., primary, Yi, Seung‐Joon, additional, Yi, Hak, additional, Ahn, Min Sung, additional, Cho, Sanghyun, additional, Liu, Kevin, additional, Sun, Daniel, additional, Lee, Bhoram, additional, Jeong, Heejin, additional, Huh, Jinwook, additional, Hong, Dennis, additional, and Lee, Daniel D., additional

Published
2016
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