• 제어로봇시스템학회논문지
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• 제11권1호
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• pp.34-40
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• 2005

In this paper, we describe the modeling for the 3D robot laser scanning system consisting of a laser stripe projector, camera, and 5-DOF robot and propose its calibration method. Nonlinear radial distortion in the camera model is considered for improving the calibration accuracy. The 3D range data is calculated using the optical triangulation principle which uses the geometrical relationship between the camera and the laser stripe plane. For optimal estimation of the system model parameters, real-coded genetic algorithm is applied in the calibration process. Experimental results show that the constructed system is able to measure the 3D position within about 1mm error. The proposed scheme could be applied to the kinematically dissimilar robot system without losing the generality and has a potential for recognition for the unknown environment.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2008년도 추계학술대회 논문집
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• pp.155-156
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• 2008

• 제어로봇시스템학회논문지
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• 제17권7호
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• pp.697-703
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• 2011

This article describes a snake robot with 2-DOF actuator modules. The 2-DOF actuator modules make the snake robot move in the 3D space so that the snake robot can cross obstacles and rough terrain. Each 2-DOF actuator module is designed to have high torque output and an embedded controller. A cross bracket connecting the modules is designed be able to support the weight of two actuator modules. The developed snake robot shows 3-D motions such as side winding, standing/monitoring, and can climb in a narrow pipe with high torque modules. The snake robot moves fast with passive wheels in a plane while crossing obstacles.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2009년도 제40회 하계학술대회
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• pp.1825_1826
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• 2009

This paper is proposed to make a virtual reality 3D operation model including a robot model and an environment model for a robot contest. First of all, we make the robot model using Open Dynamics Engine(ODE), and the environment model similar to the robot contest. These ODE models are programmed by the C-language. Lastly, we perform simulations to verify the robot model and the environment model. As a result, it shows the possibility of models for the robot contest.

• 한국컴퓨터정보학회:학술대회논문집
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• 한국컴퓨터정보학회 2018년도 제58차 하계학술대회논문집 26권2호
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• pp.389-390
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• 2018

본 논문에서는 3차원 복원을 위한 특징점 추출 및 매칭에 대한 보다 정확한 방법을 제안한다. 이 방법은 컴퓨터 비전의 기본이 되는 분야로 복원뿐 만 아니라 SLAM과 같은 지도 작성 및 자율 운행에도 필요한 방법이다. 본 연구는 3차원 물체 복원을 위해서 사용하는 방법 중 하나인 Column space fitting(CSF)을 이용하여 turntable-image data에 적용하여 성능을 평가하여 정확성을 검증을 한다. 오늘날 3D scanner를 이용하여 물체를 3차원 모델을 획득하고 3D프린터를 이용하여 다양한 분야에 적용한다. 그러나 고가의 장비이기 때문에 접근성이 떨어진다. 본 연구는 영상들만을 가지고 기하학적 계산을 통해 3차원 모델을 획득한다. 본 연구결과는 기존의 방법인 KLT 알고리즘과 비교하여 RMSE의 값을 약 5배를 줄이는 성능 향상을 보인다.

• 제어로봇시스템학회논문지
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• 제18권4호
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• pp.365-370
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• 2012

Most path planning algorithms for a marine robot in the ocean environment have been developed without considering the robot's heading angle. As a result, the robot has a difficulty in following the path correctly. In this paper, we propose a limit-cycle circle set that applies to the $Theta^*$ algorithm. The minimum turning radius of a marine robot is calculated using a limit-cycle circle set, and circles of this radius is used to generate a configuration space of an occupancy grid map. After applying $Theta^*$ to this configuration space, the limit-cycle circle set is also applied to the start and end nodes to find the appropriate path with specified heading angles. The benefit of this algorithm is its fast computation time compared to other 3-D ($x,y,{\theta}$) path planning algorithms, along with the fact that it can be applied to the 3-D kinematic state of the robot. We simulate the proposed algorithm and compare it with 3-D $A^*$ and 3-D $A^*$ with post smoothing algorithms.

• 공학교육연구
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• 제19권6호
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• pp.49-56
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• 2016

The Human Robot Interface (HRI) based on 3D depth sensor on the docent robot is developed and the localization algorithm based on extended Kalman Filter (EKFLA) are proposed through the capstone design by graduate students in this paper. In addition to this, the performance of the proposed EKFLA is also analyzed. The developed HRI system consists of the route generation and localization algorithm, the user behavior pattern awareness algorithm, the map data generation and building algorithm, the obstacle detection and avoidance algorithm on the robot control modules that control the entire behaviors of the robot. It is confirmed that the improvement ratio of the localization error in EKFLA on the scenarios 1-3 is increased compared with the localization algorithm based on Kalman Filter (KFLA) as 21.96%, 25.81% and 15.03%, respectively.

• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2023년도 가을학술발표대회논문집
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• pp.263-264
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• 2023

3D printing technology is recognized as a core technology that will lead the next generation, and is a field that can have a large ripple effect if it innovates the existing construction production method. Therefore, this study deals with the development of a 3d printing system using an articulated robot for construction purposes. In this system, ABB robot was used to control the developed cement gun accurately. The system is composed of mixer to mix cementitious materials, pump to transfer the materials, abb robot to motion control and cement gun to extrude the materials to print required construction parts. Using the system developed in this study, a suitable mix ratio of cementitious materials was found and successively printed a 1m high structure that demonstrated possibility of printing structures using 3d printer. In the future, we plan to build a foundation for automated construction through research on construction methods and materials that can be continuously layered for the system.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.1731-1734
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• 2003

We propose a unmaned integrating control system based-on Windows XP version Off-Line Programming System which can simulate a Robot model in 3D Graphics space in this paper. The robot with 4 and 6 axes modeled SM5 and AM1 respectively were adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed off-line program. The interface between users and the off-line programming system in the Windows XP's graphic user interface environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, by silicon Graphics, Inc. were utilized for 3D Graphics.

• 로봇학회논문지
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• 제4권1호
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• pp.74-80
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• 2009

This paper presents a remote monitoring and simulation system for a building cleaning mobile robot. It provides a tool of convenient 3D graphical map construction including network camera image viewer and status information of the robot. The 3D map is reconstructed from existing 2D building CAD data with DXF format using OpenGL graphic API. Through this system, it is possible to monitor and control the cleaning mobile robot from remote place. A practical experiment is performed to show the reliability and convenience of the monitoring system. The proposed system is expected to give efficient way of control and monitoring to building cleaning mobile robot.