• Journal of Institute of Control, Robotics and Systems
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• v.17 no.2
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• pp.88-92
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• 2011

This paper looks at the development of the visual system of robots, and the development of image processing algorism to measure the size of an object and the distance from robot to an object for the visual system. Robots usually get the visual systems with a camera for measuring the size of an object and the distance to an object. The visual systems are accurately impossible the size and distance in case of that the locations of the systems is changed and the objects are not on the ground. Thus, in this paper, we developed robot's visual system to measure the size of an object and the distance to an object using two cameras and two-degree robot mechanism. And, we developed the image processing algorism to measure the size of an object and the distance from robot to an object for the visual system, and finally, carried out the characteristics test of the developed visual system. As a result, it is thought that the developed system could accurately measure the size of an object and the distance to an object.

• Journal of Institute of Control, Robotics and Systems
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• v.3 no.2
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• pp.169-178
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• 1997

This paper presents a new solution approach to moving obstacle avoidance problem of a robot. A new concept, avoidability measure(AVM) is defined to describe the state of a pair of a robot and an obstacle regarding the collision between them. As an AVM, virtual distance function(VDF) is derived as a function of three state variables: the distance from the obstacle to the robot, outward speed of the obstacle relative to the robot, and outward speed of the robot relative to the obstacle. By keeping the virtual distance above some positive limit value, the robot avoids the obstacle. In terms of the VDF, an artificial potential is constructed to repel the robot away from the obstacle and to attract the robot toward a goal location. At every sampling time, the artificial potential field is updated and the force driving the robot is derived from the gradient of the artificial potential field. The suggested algorithm drives the robot to avoid a moving obstacle in real time. Since the algorithm considers the mobility of the obstacle and robot as well as the distance, it is effective for moving obstacle avoidance. Some simulation studies show the effectiveness of the proposed approach.

• International conference on construction engineering and project management
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• 2022.06a
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• pp.705-711
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• 2022

Roadway lighting is an integral element of a highway system. Luminaires on roadways provide viewing conditions for drivers and pedestrians during nighttime in order to improve safety. It is time-consuming and labor-intensive to manually measure roadway illuminance at predetermined spots with a handheld illuminance meter. To improve the efficiency of illuminance measurement, a remote-control electrical cart and a drone were utilized to carry an illuminance meter for the measurements. The measurements were performed on the marked grid points along the pavement. To measure the illuminance manually, one person measures illuminance at each grid point with the handheld meter and another person records the illuminance value. To measure the illuminance with the remote-control cart, the illuminance meter is attached to the cart and it measures illuminance values continuously as the cart moves along the grid lines. With the drone, the meter records the illuminance continuously as the drone carries the meter and flies along the grid line. Because the drone can fly at different heights, the measurements can be done at different altitudes. The illuminance measurements using the cart and the drone are described in detail and compared with manual measurements in this paper. It is shown through this study that automated measurements can greatly improve the efficiency of roadway illuminance data measurements.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.20 no.42
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• pp.73-85
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• 1997

In the product liability age the demand on quality is extremely high and inspection and test are automated. The process capability indices $C_p, {\;}C_{pk}$ and p control chart widely used to provide unitless measure of process performance and process control. Traditional process capability indices $C_p, {\;}C_{pk}$ do not represent the process variation from target value. The convention p chart for control of fraction nonconforming becomes inadequate when the fraction nonconforming becomes very small such as PPM level production system. This paper proposes process performance measure considering quadratic loss function and cumulative counts control chart for control of PPM level production system.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.469-475
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• 1991

In this paper, we suggest the exact perturbation analysis(Exact_PA) technique with respect to the buffer storage in tandem queueing networks, through which the optimal buffer storage design problem is considered. The discrete event dynamic equations for the departure time of a customer are presented together with the basic properties of Full Out(FO) and No Input(NI) with respect to the buffer storage. The new perturbation rules with respect to the buffer storage are suggested, from which the exact perturbed path can be obtained. The optimal buffer storage problem is presented by introducing a performance measure consisting of the throughput and the buffer storage cost. An optimization algorithm maximizing this performance measure is derived by using the Exact_PA technique. The proposed perturbation analysis technique and the optimization algorithm are validated by numerical examples.

• Journal of Korea Society of Digital Industry and Information Management
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• v.10 no.1
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• pp.55-60
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• 2014

Today, there is increasing the elderly population in rural community, and people of returning from the urban to the rural community are demand to be of high value-added agriculture. In this time, there are required to regularization, standardization, automation, for getting of production of high value crops. In this paper, we are study for automation cultivation control system design for produce high-value crops. this system were designed of two parts that one part is measure and control unit, another part is server part for database and server side control. the main controller for measurement and control is used MC9S08AW60, server for Database and server-side control was using MySQL with CentOS. The source code of control program was coding C and compile with GCC. the functions of measurement and control unit are digital input and output each 8channels and can be scan-able of 20 Bit with 2CH/Sec. Analog Output were designed that can be output of 4-20mA or 0-5V on 4channel. The Digital input and output part were designed 8-channel, and using the high speed photo coupler and relays. We showed that system is possible to measure a 20bit data width, 2Ch/sec as 8 channel analog signals.

• Journal of applied mathematics & informatics
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• v.7 no.2
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• pp.453-465
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• 2000

In this paper, a new method for finding the approximate solution of a second order nonlinear partial differential equation is introduced. In this method the problem is transformed to an equivalent optimization problem. them , by considering it as a distributed parameter control system the theory of measure is used for obtaining the approximate solution of the original problem.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.107.5-107
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• 2002

In this paper, a kinematic optimal design of a new paralleltype rolling mill based upon two Stewart platforms manipulator is investigated. The objective of this new parallel-type rolling mill is to permit an integrated control of the strip thickness, strip shape, pair crossing angle, uniform wear of the rolls, and tension of the strip. A manipulability measure, as the ratio of the manipulability ellipsoid volume and the condition number of a split Jacobian matrix, is defined. Two kinematic parameters, the radius of the base and the angle between two neighboring joints, are optimally designed by maximizing the global manipulability measure in the entire workspace.

• Journal of applied mathematics & informatics
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• v.30 no.1_2
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• pp.1-14
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• 2012

In this paper, the problem of determining the optimal car-deriving strategy has been examined. In order to find the optimal driving strategy, we have modified a method based on measure theory. Further, we demonstrate that the modified method is an efficient and practical algorithm for dealing with optimal control problems in a canonical formulation.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.1
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• pp.37-43
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• 2003

A faster autofocusing method is proposed. The searching speed of microscope camera is limited by the long focusing time due to too much sampled digital image data. The improvement of autofocusing speed based on the down sampling is discussed analytically and is proved by experiments. The anticipated aliasing is found negligible in shilling rate of focus measure.