Author name cluster

S. Kim

Possible papers associated with this exact author name in Arrow. This page groups case-insensitive exact name matches and is not a full identity disambiguation profile.

6 papers

2 author rows

IROS Conference 2012 Conference Paper

Autonomy for mobility on demand

Zhuang Jie Chong
Baoxing Qin
Tirthankar Bandyopadhyay
Tichakorn Wongpiromsarn
Brice Rebsamen
P. Dai
S. Kim
Marcelo H. Ang

We present an autonomous vehicle providing mobility-on-demand service in a crowded urban environment. The focus in developing the vehicle has been to attain autonomous driving with minimal sensing and low cost, off-the-shelf sensors to ensure the system's economic viability. The autonomous vehicle has successfully completed over 50 km handling numerous mobility requests during the course of multiple demonstrations. The video provides an overview of our approach, with special comments on our localization and perception modules showcasing one such request being serviced.

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ICRA Conference 1997 Conference Paper

Kinematic design of a six degree-of-freedom in-parallel manipulator for probing task

J. H. Shim
J. Y. Park
Dong-Soo Kwon
Hyung Suck Cho
S. Kim

This paper presents a kinematic analysis of a parallel manipulator for the probing task application that requires high bandwidth, active compliance, anal high precision. Based on the concept of macro/micro manipulators, the parallel manipulator serves as a wrist of a macro manipulator. The developed manipulator is a class of in-parallel platforms with 3 prismatic-revolute-prismatic-spherical (PRPS) joints chain geometry. The main advantages of this manipulator, compared with the typical Stewart platform type, are the capability of pure rotation generation and the easy prediction of the moving platform motion. The purpose of this paper is to develop an efficient kinematic model which can be used for real-time control and to propose systematic methods to design the manipulator considering the workspace, manipulability, resistivity, and existence conditions of the forward kinematic solution. A series of simulation have been carried out to show the kinematic characteristics and performance of the mechanism. A prototype manipulator has been built based on the kinematic design analysis.

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IROS Conference 1996 Conference Paper

A new omnidirectional image sensing system for assembly (OISSA)

Wansoo Kim
Hyung Suck Cho
S. Kim

In contrast to objects of relatively simple shapes, it is difficult to extract geometrical informations from objects of complicated shapes and thus their assembly requires complete information about a misalignment between mating parts. This motivates development of a new sensing method for detecting the misalignment. In this paper, we propose a new omnidirectional image sensing system for assembly of parts with complicated shapes. It is shown that the system consisting of multiple mirrors and a camera can effectively acquire the coaxial 2n view of the misalignment.

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ICRA Conference 1996 Conference Paper

A new probing system for the in-circuit test of a PCB

J. H. Shim
Hyung Suck Cho
S. Kim

A new probing mechanism and an active compliance control algorithm have been developed for the in-circuit test of a PCB. Commercially available robotic probing devices are incapable of controlling contact force generated when a rigid probe contacts with a solder joint at high speed. This uncontrollable excessive contact force makes some defects on the surface of the solder joint, which is plastically deformable over some limited contact force. This force also makes unstable contact motions resulting in unreliable test data To overcome these problems, the authors propose that serially connected macro and micro actuators with active compliance provide the best potential for the safe and reliable in-circuit test. Moreover, the depth of penetration on a solder joint can be regulated after contact. This paper describes the design characteristics, modeling, and control scheme about the newly proposed devices. The comparison of conventional passive compliance and force feedback control methods with the proposed control scheme for the contact force control is presented. The experimental results clearly show the effectiveness of the proposed system.

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EAAI Journal 1996 Journal Article

Pattern classification of solder joint images using a correlation neural network

J.H. Kim
H.S. Cho
S. Kim

This paper presents a method of classifying solder joints on printed-circuit boards (PCB), using a neural-network approach. Inherently, the surface of the solder joints is curved, tiny and specularly reflective; it induces a difficulty of taking good images of the solder joints. The shapes of the solder joints tend to vary greatly with soldering conditions; solder joints, even when classified into the same soldering quality, have very different shapes. Furthermore, the position of the joints is not consistent within a registered solder pad on the PCB. Due to these aspects, it has been difficult to determine the visual features and classification criteria for automatic solder-joint inspection. In this research, the solder joints, imaged by using a circular, tiered illumination system of three colored lamps, are represented as red, green and blue colored patterns, showing their surface-slopes. Cross-correlation and auto-correlation of the colored patterns are used to classify the 3D shapes of the solder joints by their soldering qualities. To achieve this, a neural network is proposed, based on a functional link net, with two processing modules. The first preprocessing module is designed to implement the calculation of the correlations in functional terms. The subsequent, trainable module classifies the solder joints, based upon the capability learned from a human supervisor. The practical feasibility of the proposed method is demonstrated by testing numerous commercially manufactured PCBs.

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ICRA Conference 1988 Conference Paper

A new architecture for direct drive robots

H. Kazerooni
S. Kim

A practical architecture, using a four-bar-linkage, is considered for the University of Minnesota direct-drive robot. This statically-balanced direct-drive robot has been constructed for stability analysis of the robot in constrained manipulation. As a result of the elimination of the gravity forces (without any counterweights), smaller actuators and consequently smaller amplifiers were chosen. The motors yield acceleration of 5g at the end point without overheating. High torque, low speed, brushless AC synchronous motors are used to power the robot. Graphite epoxy composite material is used for the construction of the robot links. A four-node parallel processor is used to control the robot. The dynamic tracking accuracy with the computed torque method as a control law has been derived experimentally. >

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