• International Journal of Fuzzy Logic and Intelligent Systems
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• v.16 no.3
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• pp.216-223
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• 2016

This paper proposes a new controller design method for a fork-type lifter (FTL) of a transportation mobile robot. The transportation robot needs to pick up a package from a stack on a storage shelf and move on by a planned path in a logistics center environment. The position of the storage shelf is recognized by reading a QR code on the floor, and using this position, the robot can move to reach the storage shelf and pick up the package. PID controllers and an adaptive controller are designed to control the velocity of two wheels and the position of the FTL. An adaptive controller for the lifter is designed to elevate up and down on a slideway to the correct height position of the package on the stack of the storage shelf. The simulation results show that the PID controllers can respond smoothly to the desired angular velocity and the adaptive controller can adapt quickly and correctly to the desired height.

• Journal of the Korean Institute of Intelligent Systems
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• v.20 no.4
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• pp.497-502
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• 2010

The accurate estimation of position and direction of the mobile robot is essential for preparing precise movement and works in the inner complex environment. In this paper, we propose a robust estimation method of location and direction using the velocity of mobile robot in the inner GPS environment. The estimation using the inner GPS with ultrasonic sensors have to consider with various acoustic noise and sensor errors. We design a robust estimation method using a membership function based on uncertainty of the obtained information and robot velocity. The simulation results of the proposed method show effectiveness in the contaminated environment with position errors.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2007.06a
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• pp.375-378
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• 2007

This paper describes indoor location estimation intelligent robot. It is loaded indoor location estimation function using RSSI based indoor location estimation system and wireless sensor networks. Spartan III(Xilinx, U.S.A.) is used as a main control device in the mobile robot and the current direction data is collected in the indoor location estimation system. The data is transferred to the wireless sensor network node attached to the mobile robot through Zigbee/IEEE 802.15.4, a wireless communication. After receiving it, with the data of magnetic compass the node is aware of and senses the direction the robot head for and the robot moves to its destination. Indoor location estimation intelligent robot is can be moved efficiently and actively without obstacle on flat ground to the appointment position by user.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2051-2056
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• 2003

In this paper, a tele-manipulation in explosive ordnance disposal(EOD) applications is discussed. The ROBHAZ-DT2 is developed as a teleoperated mobile manipulator for EOD. In general, it has been thought that the robot must have appropriate functions and accuracy enough to handle the complicated and dangerous mission. However, the research on the ROBHAZ-DT2 revealed that the teleoperation causes more restrictions and difficulties in EOD mission. Thus to solve the problem, a novel user interface for the ROBHAZ-DT2 is developed, in which the operator can interact with various human senses (i.e. visual, auditory and haptic sense). It enables an operator to control the ROBHAZ-DT2 simply and intuitively. A tele-manipulation control scheme for the ROBHAZ-DT2 is also proposed including compliance control via force feedback. It makes the robot adapt itself to circumstances, while the robot faithfully follows a command of the operator. This paper deals with a detailed description on the user interface and the tele-manipulation control for the ROBHAZ-DT2. An EOD demonstration is conducted to verify the validity of the proposed interface and the control scheme.

• The KIPS Transactions:PartB
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• v.13B no.2 s.105
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• pp.179-186
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• 2006

A user interface that connects a user to intelligent robots needs to be designed for executing them efficiently. In this paper, it is analyzed how to organize a mobile terminal based user interface according to the function and level of autonomy of intelligent robots and the user interface of PDA (Personal Digital Assistant) and smart phone is developed for controlling intelligent robots remotely. In the image-based user interface, a user can see the motion of a robot directly and control the robot. In the map-based interface, the quantity of transmission information is reduced and therefore a user can control the robot with a small delay of transmission time.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.1
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• pp.49-54
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• 2011

In this paper, we represent a mobile robot which can recognize chemical odor, measure concentration, and track its source indoors. The mobile robot has the function of smell that can sort several gases in experiment such as ammonia, ethanol, and their mixture with neural network algorithm and measure each gas concentration with fuzzy rules. In addition, it can not only navigate to the desired position with vision system by avoiding obstacles but also transmit odor information and warning messages earned from its own operations to other nodes by multi-hop communication in wireless sensor network. We suggest the way of odor sorting, concentration measurement, and source tracking for a mobile robot in wireless sensor network using a hybrid algorithm with vision system and gas sensors. The experimental studies prove that the efficiency of the proposed algorithm for odor recognition, concentration measurement, and source tracking.

• Journal of the Korean Institute of Intelligent Systems
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• v.23 no.3
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• pp.202-207
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• 2013

In the paper, we design a autonomous mobile robot for freight transportation and propose an operation method of the robot in the warehouse. In order to implement autonomous navigation, it is needed to recognize the position of the robot and track the path to the target. Previous methods are hard to change the workspace environment and need high cost to install and keep a maintenance of the system. The lifter of freight transportation robot is designed to load and unload a baggage through up and down motion. Also, ultrasonic sensor, RFID, QR-code and camera sensor is used to carry out various functions while the robot navigates in the various environment. We design an operation method of the mobile robot in order to effectively arrive a goal position and transport a freight. The proposed methods are verified through various experiments.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2008.04a
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• pp.101-103
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• 2008

본 논문에서는 모듈 기반형 교육용 이동 로봇을 구현하였다. 구현한 교육용 로봇은 앞으로 로봇설계에서 요구하는 "모듈화" 개념에 기반하여 설계하고 구현하였으며 사용자의 요구에 따라 필요한 요소들 추가적으로 부착할 수 있는 시스템으로 구성하였다.

• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.2
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• pp.171-177
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• 2004

In this paper, we propose a cognition-based navigational algorithm for mobile robots in dynamic environments. The proposed algorithm consists of two main stages: (i) the fuzzy logic-based perception stage that constructs knowledge from the sensory data for subsequent usage in reasoning, and (ii) the planning stage that identifies the path between a starting and a goal position within its environment on the basis of the knowledge base on the environment and information from the perception stage. A mobile robot reasons places and moves to goal using ambiguous information and ambiguous knowledge through ‘perception’ and ‘planning’. We provide computer simulation results for a mobile robot in order to show the validity of the proposed algorithm.

• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.4
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• pp.396-401
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• 2004

Recently a framework for the cognition-based navigational planning of a mobile robot on dynamic environment has been proposed, and simulation results applied it to the static environment been presented [1]. In this paper, we propose a linguistic map-based framework for the navigational planning of mobile robots, which is applicable to the dynamic environment including not only static obstacles but also dynamic obstacles such as temporal-spatio obstacles, by extending Lee et al. 's framework, and provide computer simulation results obtained by applying to a mobile robot on the dynamic environment in order to show the validity of the proposed algorithm.