• Journal of the Korean Institute of Intelligent Systems
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• v.26 no.5
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• pp.396-401
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• 2016

Owing to developments in the internet of things, many products have developed and various researches have processed. Smart home systems in Internet of things area are receiving attention from many people than the other areas. Autonomous mobile robots perform various parts in many industries. In this paper, a smart housekeeping robot was implemented using internet of things and an autonomous mobile robot. In order to make a smart housekeeping robot, Raspberry Pi, wireless USB camera, and uBrain robot of Huins Corp. is used. To control the robot, cell-phone connected with IP of Raspberry Pi, and then Raspberry Pi connected with uBrain robot using Bluetooth. a smart housekeeping robot was controlled using commands of a cell-phone application. If some user wants to move a robot automatically, we implemented that a robot can be chosen an autonomous driving mode from the user. In addition, we checked a realtime video using a cell-phone and computer. This smart housekeeping robot can help user check their own homes in real time.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1921-1926
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• 2003

We build a local minimum free motion planning for mobile robots considering dynamic environments by simple sensor fusion assuming that there are unknown obstacles which can be detected only partially at a time by proximity sensors and can be cleaned up or moved slowly (dynamic environments). Potential field is used as a basic platform for the motion planning. To clear local minimum problem, the partial information on the obstacles should be memorized and integrated effectively. Sets of linked line segments (SLLS) are proposed as the integration method. Then robot's target point is replaced by virtual target considering the integrated sensing information. As for the main proximity sensors, we use laser slit emission and simple web camera since the system gives more continuous data information. Also, we use ultrasonic sensors as the auxiliary sensors for simple sensor fusion considering the advantages in that they give exact information about the presence of any obstacle within certain range. By using this sensor fusion, the dynamic environments can be dealt easily. The performance of our algorithm is validated via simulations and experiments.

• Journal of Broadcast Engineering
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• v.24 no.3
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• pp.395-400
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• 2019

The CBS and the AEAS functionalities are defined in cellular systems and T-DMB systems, respectively. In the case that communication facilities are disabled in indoor environments, it is impossible for the residents to receive the emergency messages. In this paper, a novel collaborative technology of intelligent mobile robots is proposed, which relies on cooperative communications among the intelligent mobile robots. In order to improve the performance, the intelligent mobile robots exploit their location information. Simulation results confirm that the proposed method is very suitable for reliable emergency alert broadcast.

• Journal of the Korean Institute of Intelligent Systems
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• v.27 no.2
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• pp.89-98
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• 2017

The control moment gyroscope(CMG) can be used for essential balancing control of a one-wheeled mobile robot. A single-gimbal CMG has a simple structure and can supply strong restoring torque against external disturbances. However, the CMG generates unwanted directional torque also besides the restoring torque; the unwanted directional torque causes instability in the one-wheeled robot control system that has high rotational degrees of freedom. This study proposes a control system for a one-wheeled mobile robot by using a CMG scissored pair to eliminate the unwanted directional torque. The well-known LQR control algorithm is designed for robustness against modeling error in the dynamic motion equations of a one-wheeled robot. Computer simulations for 3D nonlinear dynamic equations are carried out to verify the proposed control system with the CMG scissored pair and the LQR control algorithms.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1997.10a
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• pp.283-286
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• 1997

일반적으로 직진 경로를 주행하는 이동로봇의 오차 보정을 위해서는 PI 제어기의 계수 보정이 필요하다. 본 논문에서는 직진 경로를 주행하는 이동로봇의 양쪽 바퀴에서 얻어진 엔코더의 값으로 측정하고, 측정되어진 엔코더의 값을 이용하여 방향과 움직임의 오차를 보정해주는 알고리즘을 PI제어기와 유전알고리즘을 사용하여 최적의 파라미터를 구할 수 있는 방법을 제안하였다.

• Journal of the Korean Institute of Intelligent Systems
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• v.20 no.4
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• pp.469-475
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• 2010

This paper presents controller design of a two wheeled mobile inverted pendulum robot for one man transportation vehicle. Since the overall mass is varying with different drivers, suitable controller gains are obtained through experimental studies. Variation of the center of gravity due to different masses also affects stable balancing control. Thus, the desired balancing angle si required to be modified with respect to different masses. To measure masses for different drivers, a weight scale is used and those data are used for balancing control through communication. The gain scheduling method of using data obtained from experimental studies allows the robot to have stable balancing performances.

• Journal of IKEEE
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• v.17 no.1
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• pp.44-50
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• 2013

This paper proposed the implementation of haptic-based robot which is following a human by using fundamental sensors on robot arms without additional sensors. Joints in the robot arms have several motors, and their angles can be read out by these motors when a human pushes or pulls the robot arms. So these arms can be used as haptic sensors. The implemented robot follows a human by interacting with robot arms and human hands, as a human follows a human by hands.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.16 no.2
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• pp.201-206
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• 2016

Aircraft have a cross axis of the three each other for maintenance of aircraft position. It is called roll axis, pitch axis and yaw axis. Attitude reference system is a sensor for detecting a change of the three axis. In this paper, mobile robot platform install part of Pan-tilt and HMD attitude reference system, because of we use control camera. The acceleration sensor is very weak a lot of noise to vibration, also problem with data from process of mapping to the data problems to arise. However to solve this problem, we removed the average filter and Cosine Interpolation for Pan-tilt. Using capacity evaluation for outdoor environment for we are proposing. Mobile robot has HMD and equipped Pan-tilt. We control mobile robot camera. In this experiment result is little bit delay happening, however Pan-tilt camera is relatively stable control checking. Also, we will checking any terrain and slopes is no problem for mobile robot driving skills.

• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.1
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• pp.52-57
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• 2007

This paper presents the design of intelligent moving machine control system using a real time speech recognition. The proposed moving machine control system is composed of four separated module, which are main control module, speech recognition module, servo motor driving module and sensor module. In main control module with microprocessor(80C196KC), one part of the artificial intelligences, fuzzy logic, was applied to the proposed intelligent control system. In order to improve the non-linear characteristic which depend on an user's weight and variable environment, encoder attached to the servo motors was used for feedback control. The proposed system is tested using 9 words lot control of the mobile robot, and the performance of a mobile robot using voice and joystick command is also evaluated.

• Proceedings of the KIEE Conference
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• 1998.07g
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• pp.2348-2350
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• 1998

The hybrid control system for a wheeled mobile robot with nonholonomic constraints to perform a cluttered environment maneuver is proposed. The proposed hybrid control system consists of a continuous state system for the trajectory control, a discrete state system for the motion and orientation control, and an interface control system for the interaction process between the continuous dynamics and the discrete dynamics The continuous control systems are modeled by the switched systems with the control of driving wheels, and the digital automata for motion control are modeled and implemented by the abstracted motion of mobile robot. The motion control tasks such as path generation, motion planning, and trajectory control for a cluttered environment are investigated as the applications by simulation studies.