• Proceedings of the Korean Institute of Intelligent Systems Conference
• /
• 1998.10a
• /
• pp.354-360
• /
• 1998

In general, it is very difficult to find optimal fuzzy rules by experience when a system is dynamical and/or complex. Futhermore proper fuzzy partitioning is not deterministic and there is no unique solution. Therefore we propose a new design method of an optimal fuzzy logic controller, that is a co-evolutionary genetic algorithm finding optimal fuzzy rule and proper membership functions at the same time. We formalize the relation between fuzzy rules and membership functions in terms of fitness. We review the typical approaching methods to co-evolutionary genetic algorithms , and then classify them by fitness relation matrix. Applications of the proposed method to a path planning problem of autonomous mobile robots when moving objects exist are presented to demonstrate the performance and effectiveness of the method.

• Proceedings of the Korean Institute of Intelligent Systems Conference
• /
• 1993.06a
• /
• pp.1410-1413
• /
• 1993

This paper presents the application of fuzzy control to three links of a Rhino robot and compares its performance to traditional PD control. The dynamics of motion of robot links are governed by nonlinear differential equations. The fuzzy controller, being an adaptive technique, gives better performance than the traditional linear PD controller over a typical operational range. The fuzzy controller reaches the desired position with no overshoot, which is unlikely with the PD controller.

• Journal of Institute of Control, Robotics and Systems
• /
• v.4 no.5
• /
• pp.666-673
• /
• 1998

To increase reliability and performance of an IMS(Intelligent Manufacturing System), fault tolerant control based on an accurate fault diagnosis is needed. In this paper, robot FDI(fault detection and identification) is proposed for IMS where the robot is controlled with state estimates of a nonlinear filter using a mathematical robot model. The Chi-square test and GLR(General likelihood ratio) test are applied for fault detection and fault size is estimated by a proposed bias filter. Performance of the proposed algorithm is tested by simulation for studies.

• Journal of the Korean Society for Precision Engineering
• /
• v.26 no.9
• /
• pp.38-44
• /
• 2009

• Journal of the Korean Society for Precision Engineering
• /
• v.26 no.9
• /
• pp.7-13
• /
• 2009

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.146.2-146
• /
• 2001

Recently, a need of non-industrial robot, such as service, medical, entertainment and house-keeping robot, has been increased. Therefore, the capability of robot which can do intelligent behavior like interaction with men and its environment become more prominent than the capability of executing simple repetitive task. To implement an intelligent robot which provides intelligent behavior, an effective system architecture including perception, learning, reasoning and action part is necessary. Control architectures for intelligent robot can be divided into two different classes. One is deliberative type controller which is applicate to high level intelligence like environment ...

• The Journal of Korea Robotics Society
• /
• v.15 no.3
• /
• pp.221-232
• /
• 2020

In a four-wheel independent drive platform, four wheels and motors are connected directly, and the rotation of the motors generates the power of the platform. It uses a skid steering system that steers based on the difference in rotational power between wheel motors. The platform can control the speed of each wheel individually and has excellent mobility on dirt roads. However, the difficulty of the straight-running is caused due to torque distribution variation in each wheel's motor, and the direction of rotation of the wheel, and moving direction of the platform, and the difference of the platform's target direction. This paper describes an algorithm to detect the slip generated on each wheel when a four-wheel independent drive platform is traveling in a harsh environment. When the slip is detected, a compensation control algorithm is activated to compensate the torque of the motor mounted on the platform to improve the trajectory tracking performance of the platform. The four-wheel independent drive platform developed for this study verified the algorithm. The wheel slip detection and the compensation control algorithm of the platform are expected to improve the stability of trajectory tracking.

• Nuclear Engineering and Technology
• /
• v.56 no.1
• /
• pp.64-69
• /
• 2024

According to the market research report, the nuclear decommissioning services market is currently experiencing considerable growth, with a projected Compound Annual Growth Rate (CAGR) of nearly 13% during the 2020-2024 forecast period. This expansion is primarily fueled by the advancement of Industry 4.0, in conjunction with the emergence of cutting-edge technologies such as the Internet of Things, big data, artificial intelligence, and 5G. Even though the fact that robots have already been utilized in the nuclear industry, their adoption has been hindered by conservative regulations. However, the nuclear decommissioning market presents an opportunity for the advancement of robotics technology. The British have already invested heavily in encouraging the use of intelligent robots for nuclear decommissioning, and other countries, such as Taiwan, should follow suit. Taiwan's flourishing robotics development industry in manufacturing, logistics, and other domains can be leveraged to introduce advanced robotics in the decommissioning of its nuclear power plants. By doing so, Taiwan can establish itself as a competitive player in the nuclear decommissioning services market for the next two decades.

• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.1048-1053
• /
• 2005

This paper presents design and integration of the ROBHAZ-DT3, which is a newly developed mobile robot system with chained double-track mechanisms. A passive adaptation mechanism equipped between the front and rear body enables the ROBHAZ-DT3 to have good adaptability to uneven terrains including stairs. The passive adaptation mechanism reduces energy consumption when moving on uneven terrain as well as its simplicity in design and remote control, since no actuator is necessary for adaptation. Based on this novel mobile platform, a rescue version of the ROBHAZ-DT3 with appropriate sensors and a semi-autonomous mapping and localization algorithm is developed to participate in the RoboCup2004 US-Open: Urban Search and Rescue Competition. From the various experiments in the realistic rescue arena, we can verify that the ROBHAZ-DT3 is reliable in traveling rugged terrain and the proposed mapping and localization algorithm are effective in the unstructured environment with uneven ground. The another application is an military robot for an EOD(Explosive Ordnance Disposal) and reconnaissance mission. The military version of the ROBHAZ-DT3 with a water disrupter, a thermal scope and a long distance wireless communication device is developed and sent to the area of military tactics in Iraq. Consequently, the feasibility of the military version of ROBHAZ-DT3 is verified.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.35 no.7
• /
• pp.737-743
• /
• 2011

Service robots are equipped with various sensors such as vision camera, sonar sensor, laser scanner, and microphones. Although these sensors have their own functions, some of them can be made to work together and perform more complicated functions. AudioFvisual fusion is a typical and powerful combination of audio and video sensors, because audio information is complementary to visual information and vice versa. Human beings also mainly depend on visual and auditory information in their daily life. In this paper, we conduct two studies using audioFvision fusion: one is on enhancing the performance of sound localization, and the other is on improving robot attention through sound localization and face detection.