• Proceedings of the KIEE Conference
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• 2005.10b
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• pp.587-590
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• 2005

Reactive plans for a box-pushing task of a mobile robot are automatically built up, where sequential action plans are found in a configuration space by A* algorithm for various initial configurations. Then, conjunction of conditions to associate with a same behavior are found by a back tracking algorithm. And corresponding reactive plans are generated. Finally, a clustering technique is applied to identify which reactive plan should be applied for a given perceptual condition. Several simulation results are shown to justify our proposed approach.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.161.2-161
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• 2001

To achieve a cooperative work between human and robot, it is thought helpful to estimate the states of human mind, which originates his behavior. In this paper, human mind was considered to modify instinctive desires according to the conditions of external world surrounding the instinct. A simple human mind model was designed so that it finds a balance between instinctive desire and restriction from the external world. The external world is divided into three sub-worlds like subject´s whole body, its partner and concerned periphery. Proposed mind model has three-layers construction. Each of the layer tries to find a balance between desire and restriction from external world. In each layer, the role of finding the balance was expressed by an identical optimal control minimizing a performance index function of quadratic form with a weight factor, which is rearranged and named ...

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2003.10a
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• pp.213-218
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• 2003

The equipment of industrial robot in manufacturing and assembly lines has rapidly increased. In order to achieve high productivity and flexibility, it becomes very important to develop the visual feedback control system with Off-Line Programming System(OLPS). We can save much efforts and time in adjusting robots to newly defined workcells by using OLPS. A proposed visual calibration scheme is based on position-based visual feedback. The calibration program firstly generates predicted images of objects in an assumed end-effector position. The process to generate predicted images consists of projection to screen-coordinates, visible range test and construction of simple silhouette figures. Then camera images acquired are compared with predicted ones for updating position and orientation data. Computation of error is very simple because the scheme is based on perspective projection which can be also expanded to experimental results. Computation time can be extremely reduced because the proposed method does not require the precise calculation of tree-dimensional object data and image Jacobian.

• 제어로봇시스템학회:학술대회논문집
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• 1999.10a
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• pp.292-297
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• 1999

Evolving in artificial agent is an extremely difficult problem, but on the other hand, a challenging task. At present the studies mainly centered on single agent learning problem. In our case, we use simulated soccer to investigate multi-agent cooperative learning. Consider the fundamental differences in learning mechanism, existing reinforcement learning algorithms can be roughly classified into two types-that based on evaluation functions and that of searching policy space directly. Genetic Programming developed from Genetic Algorithms is one of the most well known approaches belonging to the latter. In this paper, we give detailed algorithm description as well as data construction that are necessary for learning single agent strategies at first. In following step moreover, we will extend developed methods into multiple robot domains. game. We investigate and contrast two different methods-simple team learning and sub-group loaming and conclude the paper with some experimental results.

• Journal of the Korean Society of Industry Convergence
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• v.18 no.3
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• pp.150-156
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• 2015

In this paper, it was proposed a new technology to improve the performance of the remote control in virtual reality applications. The operator must know the information of surroundings of the robot, collision possibility of the equipment, and force feedback of the manipulator. The time delay problem occurs in the tele-operating and it causes vibration and expressive power of the manipulator owing to bidirectional force feedback. We presented a new control method to control of the teleoperating system based on serial bus. The reliability is evaluated by simulation.

• Journal of Drive and Control
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• v.12 no.4
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• pp.41-47
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• 2015

Hydraulic manipulators have been widely used in many different fields due to their high force/torque to inertia ratio. The increased speed of hydraulic manipulators requires solutions to problems ranging from mechanical design to the need to determine a robot model suitable for model-based control. As a solution, this paper presents the integration of SolidWorks with Simscape for designing and controlling hydraulic manipulators. The integration provides a platform for the rapid control prototyping of a hydraulic robot without the need to build actual prototypes. The mechanical drawings of a manipulator are first created using Solidworks and are then imported into Simscape, where the manipulator is represented by connected block diagrams based on the principle of physical modeling. Simulation examples for a 3D manipulator made by KNR SYSTEM INC are verified to show the effectiveness of the presented platform.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.25 no.6
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• pp.452-457
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• 2016

Single screw compressors are widely used in the fields of air/gas compression, refrigeration, and chemical fluid transportation systems. A single-screw compressor is composed of a screw rotor and two gate rotors located at both sides. This simple construction enables low rotational speed of the rotor, efficient compression with low noise, low vibration, and long bearing life. Despite these merits, the design method of single-screw compressors is not well known. To accelerate the industrial application of single-screw compressors, a design method using coordinate transformation is presented in this paper, and a tool trajectory is established for machining. Finally, the screw rotor, which is machined using the proposed method, is presented.

• Proceedings of the KIEE Conference
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• 2002.07d
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• pp.2451-2453
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• 2002

In this paper, we present an infrared sensors aided map building method for mobile robot using genetic algorithm and fuzzy logic. Existing Bayesian update model using ultrasonic sensors only has a problem of the quality of map being degraded in the wall with irregularity which is caused by the wide beam width of sonar waves and Gaussian probability distribution. In order to solve this problem we propose an improved method of map building using supplementary infrared sensors. In the method, wide beam width of sonar waves is divided by infrared sensors and probability is distributed according to infrared sensors' information using fuzzy logic and genetic algorithm.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.16 no.6
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• pp.37-42
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• 2007

The purpose of this research is stability estimation of plant structure through classification and recognition about welding flaw in SWP(Spiral Welding Pipe). And, In this research, we used nondestructive test based on ultrasonic test as inspection method, and made up 2-axes inspection robot in order to control of ultrasonic probe on the SWP surface, and programmed to image processing and probabilistic neural network(PNN) classifying code by MATLAB programming. Through this process, we proved efficiency on the system of SWP stability Estimation.

• Journal of Drive and Control
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• v.14 no.4
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• pp.23-28
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• 2017

Time-delay control with internal model (TDCIM) is the controller for robot manipulators that applies the time-delay estimation and the concept of internal model control (IMC). TDCIM is robust against unknown dynamics and non-linear friction like coulomb friction and static friction. It is simple and computationally efficient. This study presents the relationship between the discrete TDCIM and the discrete PID controller. The PID controller is the most popular control law in the real application. But often the PID controller can be difficult to achieve the desired level of control performance. The result in this study provides a good candidate solution to these situations.