Kanchanok Kraisoda

Bio: Kanchanok Kraisoda is an academic researcher from King Mongkut's Institute of Technology Ladkrabang. The author has contributed to research in topics: Electronic circuit & Op amp integrator. The author has an hindex of 1, co-authored 1 publications receiving 23 citations.

Pulse Induction Metal Detector Using Sample and Hold Method

Abstract: This paper presents the Pulse Induction Metal Detector Using Sample and Hold Method. The proposed method is to measure output voltage from search coil. The system consists of the pulse generator circuit, amplifier circuit, integrator circuit, three mono-stable circuits, sample and hold circuit, comparator circuit and display circuit. The voltage output signal of the proposed technique is proportional to size, shape and type of metal target. The metal target with differential size was used in our experiment as an illustrative case study. Experimental results show that the proposed method can detect metal with satisfied sensitivity and good linearity.

Development of an unmanned coal mining robot and a tele-operation system

Abstract: The typical underground coal mine in Korea is an extremely harsh environment for workers due to high temperature, humidity, and harmful dusts. In such environment, a remotely operated robot can be of great help to alleviate the work load of miners. As a joint effort, KAIST, Hydraumatics Co., and Korea Coal Corporation have developed a mining robot and a tele-operation system to operate the robot from a safe remote place. In this paper, we present the design of the robot mechanism and the sensing algorithms for localization and elevation mapping. The robot is hydraulically powered to drive the track and the cylinders in the excavation mechanism. The robot is equipped with two cameras, two laser scanners, and many other sensors so that the human operator can perform various tasks such as shoveling and breaking at a remotely located console. The data from various sensors are fused together to provide the human operators with enhanced visual cues as well as the pose information of the robot and its boom/arm/bucket linkage. The robot has been recently deployed in an active coal mine to evaluate its effectiveness in the real environment and demonstrated its feasibility as a viable aid to assist mining workers.

Dynamics and stable gait planning of a quadruped robot

Abstract: In this paper, dynamics and gait planning of a quadruped robot is discussed. To this end, using Lagrangian method the equations of motion are first derived. Then, an approach is proposed to eliminate the terms corresponding to the constraints caused by the feet on the ground. The obtained dynamics model is validated using Matlab SimMechanics. Finally, gait planning of the robot is developed such that the robot can walk with a given speed over a flat terrain while the robot center of mass remains inside the support polygon. Obtained results reveal stable walking of a quadruped robot based on the proposed approach.

The Direct Strain Feedback With PID Control Approach For A Flexible Manipulator

Abstract: Flexible manipulator (FM) is a robotic arm that can accomplish different tasks and the arm is a lightweight type, which means at least one dimension of their cross section is relatively small compared to their length. This project presents the development of direct strain feedback (DSFB) with PID controller for vibration control of a FM system. Strain gauge is the main sensor used as a strain measurement for giving a feedback to the system. The strain measurement also has been used as a displacement sensor at the endpoint of the link. The displacement was used to observe the performance of the system. The performances of the controllers are assessed in terms of the input tracking capability (desired position) and vibration reduction as compared to original system. Finally, the DSFB with PID has been implemented to achieve the desired performance.

Development of a two-wheeled mobile tilting & balancing (MTB) robot

Abstract: Two wheeled mobile balancing robot is a kind of under-actuation system that can maintain its posture and drive the robot with only two wheels In order to overcome the limitation in turning velocity due to the centrifugal force effect, this paper proposes a tilting balancing mechanism which is to offset the centrifugal force by active tilting motions The newly suggested two-wheeled mobile tilting and balancing robot (MTB) can prevent unnecessary slowdowns in turning motions and increase passenger's riding feelings To validate the tilting effect, the equation of motion of the MTB robot is derived and analyzed and the hardware design is followed

Direct yaw moment control of front drive type electric wheelchair with free-casters

Abstract: Electrical wheelchair has been used as a convenient transport device for elderly and handicapped persons. Recently, front drive type electric wheelchair has been focused on, with which handicapped person get on it from a bed easily. However, the front drive type wheelchair is difficult to run straight not only on slope but also on flat floor because of its over-steering characteristic. If wheelchair can be driven by easy stick operation, it will be a comfortable function for handicap persons. In this paper, we propose a new wheelchair control method which provides under-steering characteristic and also realizes comfortable function, i.e. driving with same easy stick operation like the traditional rear drive type wheelchair. First, dynamic model of the wheelchair is outlined. Next, yaw rate control method based on internal model control (IMC) is proposed. Finally, the effectiveness of proposed method is confirmed by driving simulations on slope.