• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2002.04a
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• pp.469-474
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• 2002

The Field Robot means the machinery applied for outdoor tasks in construction, agriculture and undersea etc. In this study, to field-robotize a hydraulic excavator that is mostly used in construction working, we have developed an automatic excavation system and adaptive control system. A model- reference adaptive controller has been designed on the model that is obtained through off-line System Identification. It is illustrated by computer simulations that the proposed control system gives good performances in the trajectory tracking control and adaptation to parameter variation.

• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.4
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• pp.476-480
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• 2012

In this paper, artificial potential field(APF) is applied to formation control for the leader-following swarm robot. Furthermore, APF is constructed by applying the electrical field model. Moreover, to model the obstacle effectively, each obstacle has different form due to the electrical field equation. The proposed method is formed as two sub-objective: path planning for the leader-robot and following-robots following the leader-robot. Finally, simulation example is given to prove the validity of proposed method.

• The Journal of Korea Robotics Society
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• v.17 no.4
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• pp.431-437
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• 2022

This paper deals with a study on the automatic depalletizing robot for parcels loaded in rolltainer of domestic postal distribution centers. Specifically, we proposed a robot system that detect parcels loaded in a rolltainer with a 3D camera and perform de-palletizing using a cooperative robot. In addition, we developed the task flow chart for parcel de-palletizing and the method of retreat motion generation in the case of collision with rolltainer. Then, we implemented the proposed methods to the robot's controller by developing robot program. The proposed robot system was installed at the Anyang Post Distribution Center and field tests were completed. Field tests have shown that the robotic system has a success rate of over 90% for depalletizing task. And it was confirmed that the average tact time per parcel was 7.3 seconds.

• Proceedings of the Korea Contents Association Conference
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• 2007.11a
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• pp.599-602
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• 2007

Generally, the mobile robot navigation with obstacle avoidance is one of the key issues to be looked into for successful applications of autonomous mobile robots. In this paper, the Univector field based method is proposed for mobile robot to accomplish the obstacle avoidance and the robot orientation at the target position. Univector field method guarantees the desired posture of the robot at the target position. But it is not effective Univector to avoid obstacles. To solve this problem, modified univector field is used. With this proposed method, robot navigation task becomes easier and effectively.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.9
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• pp.771-778
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• 2004

Recently, various applications of robot system become more popular in accordance with rapid development of computer hardware/software, artificial intelligence, and automatic control technology. Formerly robots mainly have been used in industrial field, however, nowadays it is said that the robot will do an important role in the home service application. To make the robot more useful, we require further researches on implementation of natural communication method between the human and the robot system, and autonomous behavior generation. The gesture recognition technique is one of the most convenient methods for natural human-robot interaction, so it is to be solved for implementation of intelligent robot system. In this paper, we describe the state-of-the-art of advanced gesture recognition technologies for intelligent robots according to three methods; sensor based method, feature based method, appearance based method, and 3D model based method. And we also discuss some problems and real applications in the research field.

• Journal of Mechanical Science and Technology
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• v.19 no.10
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• pp.1864-1874
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• 2005

This paper describes a wearable multi-modal user interface design and its implementation for a teleoperated field robot system. Recently some teleoperated field robots are employed for hazard environment applications (e.g. rescue, explosive ordnance disposal, security). To complete these missions in outdoor environment, the robot system must have appropriate functions, accuracy and reliability. However, the more functions it has, the more difficulties occur in operation of the functions. To cope up with this problem, an effective user interface should be developed. Furthermore, the user interface is needed to be wearable for portability and prompt action. This research starts at the question: how to teleoperate the complicated slave robot easily. The main challenge is to make a simple and intuitive user interface with a wearable shape and size. This research provides multi-modalities such as visual, auditory and haptic sense. It enables an operator to control every functions of a field robot more intuitively. As a result, an EOD (explosive ordnance disposal) demonstration is conducted to verify the validity of the proposed wearable multi-modal user interface.

• Journal of Ocean Engineering and Technology
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• v.30 no.5
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• pp.381-388
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• 2016

An underwater glider makes it easy to explore a wide area with low power. However, an underwater glider is difficult to use for rapid collection, because the surfacing location cannot be predicted after a dive. Thus, simulation research is needed to predict the swimming path. In this paper, based on research, a linearized equation is derived for the drag coefficient at each angle of attack by assuming the boundary conditions for the Slocum underwater glider and performing a computational flow analysis.

• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.2
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• pp.214-219
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• 2007

In this paper, a new magnetic position sensing mettled for autonomous vehicle and robot guidance is presented. In autonomous vehicle and robot control, position sensing is an important task for the identification of their locations, such as the current position within a trajectory. The magnet based autonomous vehicle and robot was identified position via magnetic materials. In the magnetic sensing system, the Earth field is one of the largest disturbance. To removal of the Earth field, this paper proposes 1-dimensional magnetic field sensors array and develops precise petition sensing system using linear operating region of the magnetic field sensor. This proposal is verified a feasible magnetic position sensing system for autonomous vehicle and robot guidance by the experimental results.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.43 no.2
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• pp.329-338
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• 1994

This paper presents a novel method of path planning for a quadruped walking robot on irregular terrain. In the previous study on the path planning problem of mobile robots, it has been usually focused on the collision-free path planning for wheeled robots. The path planning problem of legged roboth, however, has unique aspects from the point of viw that the legged robot can cross over the obstacles and the gait constraint should be considered in the process of planning a path. To resolve this unique problem systematically, a new concept of the artificial intensity field of light is numerically constructed over the configuration space of the robot including the transformed obstacles and a feasible path is sought in the field. Also, the efficiency of the proposed method is shown by various simulation results.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.58 no.1
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• pp.15-19
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• 2009

This paper presents the potential field for mobile robot path planning. The proposed repulsive potential has weighted parts, which consists of conventional repulsive potential and goals nonreachable with obstacles nearby repulsive potential. It ensures the global minimum of the total potential when the robot approaches goals near obstacle and the robot passes the adjacent obstacles. Simulation results shows that the proposed potential is better than conventional potentials.