• KIPS Transactions on Computer and Communication Systems
• /
• v.2 no.7
• /
• pp.277-282
• /
• 2013

Recently, there is a growing need for an open software platform where developers easily write intelligent motion control applications for smart cars, smart robots, smart factories, and so on. To this end, a general-purpose operating system with rich functionalities and various hardware supports can be a candidate for such a platform, but it is known to have limitations in guaranteeing the responsiveness of individual applications. In this paper, to assess the suitability of Linux to be such a platform, we evaluate the real-time performance of Xenomai-patched Linux on an ARM-based processor Exynos4210 with motion control applications. Experimental results show that it is possible to stably provide motion cycle times below 1ms to such applications even with background workloads.

• KIISE Transactions on Computing Practices
• /
• v.21 no.3
• /
• pp.173-182
• /
• 2015

Motion control systems are widely deployed in various industrial automation processes. The motion controller, which is a key element of motion control systems, has stringent real-time constraints. The controller must provide a short and deterministic control message transmission cycle, and minimize the actuation deviation among motor drives. To meet these requirements, hardware-based proprietary controllers have been prevalent. However, since it is becoming difficult for such an approach to meet increasing needs of system interoperability and scalability, nowadays, software-based universal motion controllers are regarded as their substitutes. Recently, embedded motion controller solutions are gaining attention due to low cost and relatively high performance. In this paper, we designed and implemented an embedded motion controller on an ARM-based evaluation board by using Xenomai real-time kernel and other open source software components. We also measured and analyzed the performance of our embedded controller under a realistic test-bed environment. The experimental results show that our embedded motion controller can provide relatively deterministic performance with synchronized control of three motor axis at 2 ms control cycle.

• Journal of KIISE:Computing Practices and Letters
• /
• v.8 no.3
• /
• pp.261-267
• /
• 2002

In SOC(System On a Chip) designs, reducing time and cast for design verification is the most critical to improve the design productivity. this is mainly because the designs require co-verifying HW together with SW, which results in the increase of verification complexity drastically. In this paper, to cope with the verification crisis in SOC designs, we propose a new verification methodology, so called integrated co-verification, which lightly combine both co-simulation and co-emulation in unified and seamless way. We have applied our integrated co-verification to ARM/AMBA platform-based co-verification environment with a commercial co-verification tool, Seamless CVE, and a physical prototyping board. The experiments has shown clear advantage of the proposed technique over conventional ones.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.20 no.3
• /
• pp.311-317
• /
• 2010

In the paper, we propose an improved mobility method of modular robots by physical docking in the uneven environments. The modular robot system consists of autonomous docking device, 3 DOF robotic arm, motion controller, and main controller. Real-time location and direction of the robot are estimated using inner GPS and they are used to control direction and path of each robot for physical docking between modular robots. We design a navigation algorithm of modular robot using physical docking and cooperative navigation in the environment with broken road and low stair. The proposed method is verified by navigation experiments of three developed modular robots in the uneven environments.

• Journal of Biomedical Engineering Research
• /
• v.40 no.5
• /
• pp.206-214
• /
• 2019

Surgical methods and associated precision systems have been developed, but surgical procedures that require precise location and fine manipulation of the lesion remain a limitation. The combination of precision robot manipulation technology and 3D medical image navigation technology overcomes the limitations of minimally invasive surgery (MIS) and enables a more stable and successful operation. Surgical robots are surgical robots such as da Vince, and surgical robots using industrial robotic arms. There are various developments and researches of medical robots. In recent medical robot development, a new type of surgical robot based on an industrial robot arm capable of easily replacing the end effector according to the user's needs is being actively developed at home and abroad. Therefore, in this study, we developed safety and performance evaluation guideline for micro - surgical robots based on open robot platform using general purpose robot arm to help quality control of the medical device.

• Journal of the Institute of Convergence Signal Processing
• /
• v.21 no.3
• /
• pp.101-106
• /
• 2020

The utilization of virtual reality is increasing not only in games but also in medical care such as rehabilitation. Due to the convenience, the motion of the upper limb is detected using a non-contact method using video or a handheld type mouse, etc. In this paper, we implemented a glove which can measure finger movements and upper limb movements by using flex sensors whose resistance value changes according to the degree of folding and inertial sensors which can obtain direction information in space. We showed the upper arm movements including finger movements with signals obtained from the implemented glove on the open software platform, Processing. The sensitivity of each finger movement was 0.5deg, and the sensitivity of the upper limb motion was 0.6deg.

• Journal of Advanced Navigation Technology
• /
• v.27 no.1
• /
• pp.139-145
• /
• 2023

When a doctor examines a patient in a hospital, the doctor directly checks the patient's condition and conducts a face-to-face diagnosis through dialogue with the patient. However, it is often difficult for doctors to directly treat patients. Recently, several types of telemedicine systems have been developed. However, the systems have lack of capabilities to observe heart disease, neck condition, skin condition, inside ear condition, etc. To solve this problem, in this paper, an interactive telemedicine robot system with autonomous driving in a room capable of visual examination and auscultation of patients is developed. The developed robot can be controlled remotely through the WebRTC platform to move toward the patient and check a patient's condition under the doctor's observation using the multi-joint robot arm. The video information, audio information, patient's heart sound, and other data obtained remotely from patients can be transmitted to a doctor through the web RTC platform. The developed system can be applied to the various places where doctors are not possible to attend.

• Proceedings of the KSME Conference
• /
• 2004.11a
• /
• pp.579-584
• /
• 2004

In this paper, we present the mechanical, electrical system design and system integration of controllers including sensory devices of the humanoid, KHR-2 (KAIST Humanoid Robot - 2). We have developed KHR-2 since 2003. Total number of DOF of KHR-2 is 41. Each arm including a hand has 11 DOF and each leg has 6 DOF. Head and trunk also has 6 DOF and 1 DOF respectively. In head, two CCD cameras are used for eye. To control all axes efficiently, distributed control architecture is used to reduce computation burden of main controller and to expand devices easily. So we developed the sub-controller as a servo motor controller and a sensor interfacing devices using microprocessor. The main controller attached its back communicates with sub-controllers in real-time by CAN (Controller Area Network) protocol. We used Windows XP as its OS (Operation System) for fast development of main control program and easy extension of peripheral devices. And RTX HAL extension commercial software is used to realize the real-time control in Windows XP environment.

• The Journal of Korea Robotics Society
• /
• v.15 no.2
• /
• pp.197-204
• /
• 2020

In this paper, we present a learning platform for robotic grasping in real world, in which actor-critic deep reinforcement learning is employed to directly learn the grasping skill from raw image pixels and rarely observed rewards. This is a challenging task because existing algorithms based on deep reinforcement learning require an extensive number of training data or massive computational cost so that they cannot be affordable in real world settings. To address this problems, the proposed learning platform basically consists of two training phases; a learning phase in simulator and subsequent learning in real world. Here, main processing blocks in the platform are extraction of latent vector based on state representation learning and disentanglement of a raw image, generation of adapted synthetic image using generative adversarial networks, and object detection and arm segmentation for the disentanglement. We demonstrate the effectiveness of this approach in a real environment.

• The Journal of Korea Robotics Society
• /
• v.5 no.3
• /
• pp.270-277
• /
• 2010

Various robot platforms have been designed and developed to perform given tasks in a hazardous environment for the purpose of surveillance, reconnaissance, search and rescue, and etc. We have considered a terrain adaptive hybrid robot platform which is equipped with rapid navigation on flat floors and good performance on overcoming stairs or obstacles. Since our special consideration is posed to its flexibility for real application, we devised a design of a transformable robot structure which consists of an ordinary wheeled structure to navigate fast on flat floor and a variable tracked structure to climb stairs effectively. Especially, track arms installed in front side, rear side, and mid side are used for navigation mode transition between flatland navigation and stairs climbing. The mode transition is determined and implemented by adaptive driving mode control of mobile robot. The wheel and track hybrid mobile platform apparatus applied off-road driving mechanism for various professional service robots is verified through experiments for navigation performance in real and test-bed environment.