Chotiprayanakul, Pholchai

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Chotiprayanakul, Pholchai
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Chotiprayanakul, P.
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pholchai.ch@kmitl.ac.th

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    Item type:Publication,
    Decentralized control of cooperative robotics system using neural networks for the purpose of an object balancing flat plate tasks
    (2020-02-01)
    Jaisumroum, Nattapon
    ;
    Chotiprayanakul, Pholchai
    ;
    Sriseubsai, Wipoo
    In this article, the manipulation to handle the object on a plate using neural networks, design of 1-DOF robot arm under cooperative control, will be explained. The robot's system specifies the object position and velocity, an assignment oriented components for cooperative control. The novelty of this experiment is that under the decentralized control, the robot estimates the position and speed of the object for control end-effector of robot arm using the camera to track position and speed of the object according to training and assigned collaborative tasks which differ from other experiments that use sensors. The experiment includes three robot manipulators which were capable balancing the objects on flat plate with dataset to training and control servo motor assigned to the corresponding position and the end-effector in decentralized to control robotics. Overall, neural network method can be a training scheme using a cooperative robotics in a decentralized control.
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    Item type:Publication,
    Human-robot-environment interaction interface for robotic grit-blasting of complex steel bridges
    (2012-11-01)
    Chotiprayanakul, P.
    ;
    Liu, D. K.
    ;
    Dissanayake, G.
    This paper presents a human-robot-environment interaction (HREI) interface using haptic feedback for a grit-blasting robot operating in close proximity to a complex steel bridge structure. The productivity requirements dictate the need for efficient algorithms for mapping, exploration, and collision-free motion planning. While a large portion of the grit-blasting operation can be automated, a tele-operation is essential to deal with some difficult to access sections such as edges, complex corners, and surfaces which can only be approached through hole. A 3-dimensional virtual force field (3D-VF <sup>2</sup>) method is developed for capturing the relationship between the robot and its environment. A novel haptic force generation method and a workspace mapping algorithm allow intuitive interaction between the operator and the robot through haptic feedback. The strategies presented are verified in extensive simulations and experiments conducted on a steel bridge with a prototype grit-blasting robot. © 2012 Elsevier B.V.
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    Investigating multiple human performance measures in teleoperation task: A translation task in a tele-sandblasting maintenance system
    (2018-05-01)
    Jientrakul, Ranon
    ;
    Yuangyai, Chumpol
    ;
    Cheng, Chen Yang
    ;
    Chotiprayanakul, Pholchai
    ;
    Limnararat, Sunpasit
    In sandblasting tasks for complex steel structure maintenance, teleoperation is required to keep humans away from occupational risk and hazard. On the other hand, teleoperation typically degrades system-human performances, resulting in poor product quality and must be designed such that the performances remain as high as possible. However, designing the teleoperation system regarding to a single performance measure may lead to an improper design. In this article, we propose two novel loss-function-based human-performance measures to incorporate with a widely used performance measure, movement time, to thoroughly represent performance: unfinished surface and damaged surface. We aim to investigate the effects of two main design parameters, viewing distance and path width. The results show that only path width is significant for overall performances. Furthermore, the effect of gender is significant such that men outperform women in cleaning the surface. Finally, the optimal setting conditions are suggested to achieve their optimal performances.