• Journal of the Korean Institute of Intelligent Systems
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• v.8 no.5
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• pp.39-44
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• 1998

Determining the absolute location of a mobile robot is essential in the navigation of a mobile robot. In this paper, a method to determine the position of a mobile robot through the visual image of a landrnark using neural networks is proposed. In determining the position of a mobile robot on the world coordinate, there is a position error because of uncertainty in pixels, incorrect camera calibration and lens distortion. To reduce the errors, a method using a BPNN(Back Propagation Neural Network) is proposed. The experimental results are presented to illustrate the superiority of the proposed method when comparing with the conventional methods.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.8
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• pp.810-815
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• 2010

This paper proposes a vision/DR integrated navigation system using distance between wheels of the vehicle and a gyroscope. In order to show the validity of the proposed vision/DR integrated navigation system, experiments were performed for a trajectory of a mobile robot. Experimental results show that the proposed vision/DR integrated navigation system gives better navigation performance than a vision/DR integrated navigation system using only distance between wheels of the vehicle.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.7
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• pp.683-687
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• 2009

Track jump control is a random access strategy for short distance movement. The most common track jump scheme is a bang-bang control of a kick and brake manner. In a conventional track jump scheme, a track-following compensator is turned off during kick and brake periods, and restarted at a target track for track pull-in. The inevitable controller switching with non-zero initial condition results in undesirable transient response, and excessive overshoot in the transient response causes track pull-in failure. In this paper, a new track jump scheme is proposed for enhancing track jump stability. Instead of control switching, internal states of a track-following controller are artificially manipulated for kick and brake actions in a digital control environment. Experimental results are provided in comparison with conventional track jumps.

• Proceedings of the IEEK Conference
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• 2002.06b
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• pp.73-76
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• 2002

In this paper we present an integrated Hail sensor It for fan motors, fabricated in industrial bipolar process. As a discrete Hall sensor and signal processing circuitry In the fan motor system were Integrated into single chip a temperature dependence of Hall sensitivity and Hall offset voltage can be compensated and cancelled by on-chip circuitry. We Propose a novel temperature compensation of Hall sensitivity with negative temperature coefficient (TC) using the differential amplifier gain with Positive TC. After a package of the chip was sealed using a plastic Package 20 Pins, the thermal and magnetic characteristics were investigated. The obtained experimental results are in agreement with analytical predictions and have more excellent performance than\ulcorner conventional the fan motor system using discrete Hall sensor.

• Journal of the Korean Institute of Telematics and Electronics D
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• v.34D no.11
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• pp.64-69
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• 1997

We have shown that the Hough transform filter can be easily obtained by repeatedly recording one line segment pattern holographically by use of rotational multiplexing. With this filter, one can get resutls of the hough transform in the time of light propagation. To demonstrate our method experimentally, the hough transform filter for 18 different rottion angles was recorded, and experimental transform results were compared with simulated ones for a few input patterns. By introducing a compensation process for the non-uniformity of both the input plane wav eand the diffraction efficiency of each hologram. It is possible to get more precise transform results.

• Journal of the Korean Institute of Telematics and Electronics T
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• v.36T no.4
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• pp.53-59
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• 1999

In this paper, a bi-directional UPS with the performance of active power filter has been proposed. The operation of the proposed system can be divided into two modes, such as the active power filter mode and the battery back-up power mode. To improve the transient response for the effective compensation of harmonics and reactive power in active power filter mode, a novel closed-loop control strategy is used to calculate the reference current instantaneously. Finally, the performance of proposed UPS is verified by the simulation and experimental results.

• Transactions of the Korean Society of Mechanical Engineers
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• v.17 no.2
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• pp.407-415
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• 1993

This report presents an automatic measurement method of 3-dimensional profiles of free-formed surfaces, by using a touch a touch-trigger contact probe along with a conventional coordinate measuring machine. The method proceeds in three steps; The surface profile under consideration is traced by the probe in an automatic manner, and then its measured data is compensated by considering the actual probe radius. Finally the compensated data is rearranged in the form suitable for the further processings of CAD/CAM applications. Some experimental results are discussed to verify the validity of the method suggested in this study.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.893-898
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• 2003

Coulomb friction is an important factor for precise position tracking control systems. The control systems with friction causes the steady state error because of being sensitive to the change of system condition and highly nonlinear characteristics. To overcome these problems, we use an estimation scheme of Coulomb friction to experiment for it's compensating. The estimated factor for Coulomb friction is used as a feed-forward compensator to improve the tracking performance of ball-screw systems. The tracking performance was improved by compensating the estimated friction torque in the feed-forward term. And, the sliding mode control which is derived from the Lyapunov stability theorem is applied for robust stability and reducing chattering. The experimental results show that the sliding mode controller with adaptive friction compensator has a good tracking performance compared with the friction uncompensated controller.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.810-815
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• 2003

This research is concerned with the development of an Internet-based robot system, which is insensitive to the unpredictable Internet time delay. For that purpose, a simple mobile robot system that moves in response to the user' direct control on the Internet has been built. The time delay in data transmission is a big problem for the construction of this kind of system. Therefore, the PPS (Position Prediction Simulator) is suggested and implemented to compensate for the time delay problem of the Internet. The simulation and experimental result show that the distance error can be reduced using the developed PPS.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.7 no.4
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• pp.130-135
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• 1998

This paper deals with a position control problem of a hydraulic proportional position control system using a friction compensation control. There are many nonlinearities in hydraulic systems. With only proportional controller, response is slow and steady-state error cannot be compensated properly. Controller designed in this paper achieves fast transient response through the velocity and acceleration feedback and good steady-state response through the friction compensator. A/D and D/A board is employed for data acquisition and manipulation. The experimental results are compared with computer simulation results using Matlab.