• 한국정밀공학회지
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• 제11권4호
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• pp.88-98
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• 1994

A new local path planning algorithm for free-ranging robots is proposed. Considering that a laser range finder has the excellent resolution with respect to angular and distance measurements, a simple local path planning algorithm is achieved by a directional weighting method for obtaining a heading direction of nobile robot. The directional weighting method decides the heading direction of the mobile robot by estimating the attractive resultant force which is obtained by directional weighting function times range data, and testing whether the collision-free path and the copen parthway conditions are satisfied. Also, the effectiveness of the established local path planning algorithm is estimated by computer simulation in complex environment.

• Nuclear Engineering and Technology
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• 제34권6호
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• pp.553-565
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• 2002

In this paper, the robust control scheme with the improved control performance within the boundary layer is proposed. In the control scheme, the robust controller based on the traditional variable structure control method is modified to have the adaptation within the boundary layer. From this controller, the width of the boundary layer where the robust control input is smoothened out can be given by an appropriate value. But the improved control performance within the boundary layer can be achieved without the so-called control chattering because the role of adaptive control is to compensate for the uncovered portions of the robust control occurred from the continuous approximation within the boundary layer Simulation tests for circular navigation of an underwater wall-ranging robot developed for inspection of wall surfaces in the research reactor, TRIGA MARK III, confirm the performance improvement. Notational Conventions Vectors are written in boldface roman lower-case letters, e.g., x and y. Matrices are written in upper-case roman letters, e.g., G and B. And ∥.∥ means the Euclidean norm.

• 대한임베디드공학회논문지
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• 제9권5호
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• pp.299-305
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• 2014

In this paper, a simple version of the hybrid navigation system using Kalman filter is proposed. The implemented hybrid navigation system is composed of a GPS to measure the position and the velocity, and a IMU(inertial measurement unit) to measure the acceleration and the posture of a mobile robot. A discrete Kalman filter is applied to provide the position of the robot by fusing both of the sensor data. When GPS signal is available, the navigation system estimates the position of the robot from the Kalman filter using position and velocity from GPS, and acceleration from IMU. During the interval until next GPS signal arrives, the system calculates the position of the robot using acceleration from IMU and velocity obtained at the previous step. Performance of the navigation system is verified by comparing the real path and the estimated path of the mobile robot. From experiments, we conclude that the navigation system is acceptable for the mobile robot.

• 한국산업융합학회 논문집
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• 제22권2호
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• pp.209-218
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• 2019

This study proposes a new approach to Control the Orientation and position based on obstacle avoidance technology by multi sensors fusion and autonomous travelling control of mobile robot system for implimentation of Smart FA. The important focus is to control mobile robot based on by the multiple sensor module for autonomous travelling and obstacle avoidance of proposed mobile robot system, and the multiple sensor module is consit with sonar sensors, psd sensors, color recognition sensors, and position recognition sensors. Especially, it is proposed two points for the real time implementation of autonomous travelling control of mobile robot in limited manufacturing environments. One is on the development of the travelling trajectory control algorithm which obtain accurate and fast in considering any constraints. such as uncertain nonlinear dynamic effects. The other is on the real time implementation of obstacle avoidance and autonomous travelling control of mobile robot based on multiple sensors. The reliability of this study has been illustrated by the computer simulation and experiments for autonomous travelling control and obstacle avoidance.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.1-7
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• 1993

In this paper we propose the new adaptive control algorithm by using S-G algorithm based on the error equations derived by Slotine. We verify the validity of the proposed controller and convergence of three type parameter estimation law based on S-G algorithm from the computer simulation.

• 한국기계가공학회지
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• 제21권6호
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• pp.30-35
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• 2022

This study has focused on the reliability evaluation of FCT inspection automation equipment for electric rice. To evaluate the reliability of FCT inspection automation equipment, voice analysis, Gray/R/G/B channel experiment, FND segment experiment, and robot position repeatability were performed. In the voice analysis experiment, the comparison value between the recorded and digital output waves was over 99%, indicating a very high result. It was confirmed that both the gray/R/G/B experiment using vision and the FND segment could confirm the output value of the product through vision. The position repeatability of the robot is also excellent, so it is concluded that the inspection effect through the FCT automation system will be excellent.

• 정보교육학회논문지
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• 제11권2호
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• pp.195-203
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• 2007

유비쿼터스 컴퓨팅 기술과 로봇 기술의 발달과 함께 지능형 로봇은 여러 분야에서 활용되고 있고, 점차 그 범위가 확대될 것으로 예견된다. 많은 서비스 로봇들 중에서 교육용 로봇을 이용한 r-Learning의 개념과 함께 다양한 필드 스터디가 이루어지고 있다. 현재 교사 보조 로봇은 곧 실용화를 앞두고 많은 HRI 연구가 요구되는데, 본 연구에서는 로봇의 교수 스타일에 따라 학생의 반응을 살펴보고자 하였다. 이를 위하여 초등학교 6학년 평균키의 양팔이 달린 교사보조 로봇 프로토 타입을 제작하고, 동일한 영어단원에 대하여 두 가지 교수 스타일(명랑, 진지)의 컨텐츠를 개발하여 탑재한 후 초등학생 3학년을 대상으로 흥미도, 성취도, 집중도가 어떻게 다른지를 실험 비교하였다. 실험 결과, 학생의 흥미도는 명랑한 로봇과 함께 수업한 집단이 높았지만, 성취도는 로봇의 스타일과 유의미한 관계가 없었으며, 집중도는 진지한 교수 스타일의 로봇과 함께한 그룹의 시간이 길었다. 이러한 결과는 교사보조 로봇의 컨텐츠를 제작함에 있어, 중요한 가이드라인이 될 것이다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.1232-1235
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• 2005

In recent years, as the robot technology is developed the researches on the artificial muscle actuator that enable robot to move dextrously like biological organ become active. The widely used materials for artificial muscle are the shape memory alloy and the electroactive polymer. These actuators have the higher energy density than the electromechanical actuator such as motor. However, there are some drawbacks for actuator. SMA has the hysterical dynamic characteristics. In this paper the segmented binary control for reducing the hysteresis of SMA is proposed and the simulation of anthropomorphic robotic hand is performed using ADAMS.

• Journal of Mechanical Science and Technology
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• 제17권11호
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• pp.1693-1703
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• 2003

This paper presents a new local obstacle avoidance method for indoor mobile robots. The method uses a new directional approach called the Lane Method. The Lane Method is combined with a velocity space method i.e., the Curvature-Velocity Method to form the Lane-Curvature Method (LCM). The Lane Method divides the work area into lanes, and then chooses the best lane to follow to optimize travel along a desired goal heading. A local heading is then calculated for entering and following the best lane, and CVM uses this local heading to determine the optimal translational and rotational velocities, considering some physical limitations and environmental constraint. By combining both the directional and velocity space methods, LCM yields safe collision-free motion as well as smooth motion taking the physical limitations of the robot motion into account.

• 한국멀티미디어학회논문지
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• 제17권7호
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• pp.787-796
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• 2014

Many mobile robot navigation methods utilize laser scanners, ultrasonic sensors, vision camera, and so on for detecting obstacles and path following. However, human utilizes only vision(e.g. eye) information for navigation. In this paper, we study a mobile robot control method based on only the camera vision. The Gaussian Mixture Model and a shadow removal technology are used to divide the foreground and the background from the camera image. The mobile robot uses a combined CAMSHIFT and KLT feature tracker algorithms based on the information of the foreground to follow a person. The algorithm is verified by experiments where a person is tracked and followed by a robot in a hallway.