• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.507-510
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• 1996

In this paper we present the multi-agent robot system developed for participating in micro robot soccer tournament. The multi-agent robot system consists of micro robot, a vision system, a host computer and a communication module. Mcro robot are equipped with two mini DC motors with encoders and gearboxes, a R/F receiver, a CPU and infrared sensors for obstacle detection. A vision system is used to recognize the position of the ball and opponent robots, position and orientation of our robots. The vision system is composed of a color CCD camera and a vision processing unit. Host computer is a Pentium PC, and it receives information from the vision system, generates commands for each robot using a robot management algorithm and transmits commands to the robots by the R/F communication module. And in order to achieve a given mission in micro robot soccer game, cooperative behaviors by robots are essential. Cooperative work between individual agents is achieved by the command of host computer.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.111.3-111
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• 2001

Automative system and robot are operated by motor. Recently, automative system and robot need correct operation and control for precise task. Therefore they need precise motor control technology. In present, controller needs precise motor control technology in automative system and robot. Usual step motor driver that has 200 steps per revolution is not proper. So we need micro step motor driver that is more precise then usual step motor driver. In this paper, micro step motor driver is used for precise control of step motor. The goal is precise operation and location control. This micro step motor driver is A3972SB that is made in Alloegro Company. It has serial port that receives two 6-bits linear DAC value. Almost all systems generate DAC value with micro processer and ...

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.103.1-103
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• 2001

This paper presents the development of a micro gripper for grasping miniature sized parts in micro-assembly. Particularly, we have paid attention to the problem of manipulating objects of a well defined size range: the one between 1 mm and 0.1mm. In fact, objects larger than 1 mm can be easily handled by conventional precise grippers, while objects smaller than 1 $\mu\textrm{m}$ can be manipulated with special tools like AFM or STM. In this range, we can distinguish between mechanical and biological objects. We have focused our gripping research on the micro mechanical objects. We started from a f degree of freedom planar configuration. The structure of the micro gripper was a type of the elastic flexure hinge and was fabricated in ...

• 제어로봇시스템학회:학술대회논문집
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• 1988.10b
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• pp.964-968
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• 1988

In mechanical systems in which the dynamics of armatures is dominated by electrostatic forces, motions will generally be unstable. This paper deals with the control problems of this kind of micro electrostatic device systems. In these systems, the mass of micro mechanical parts is so small that the inertia term in the equation of motion is negligible. However, nonlinear terms, such as friction and driving force, become dominant. The purpose of this paper is to realize the stable motion without delay and, overshoot etc. A micro-mechanical system used in this paper consists of a plane wafer with striped electrodes converted with an insulation layer and thin cylindrical roller is placed over on it. The performance of motions is confirmed by some simulations.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.1327-1331
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• 1990

A new dual loop controller using color LCD bar graphs with LED back lights has been developed. An optional memory card is used to load or save the controller configuration, which may be a preprogrammed standard package or a user-programmed configuration, in addition to the built-in functions ready for user selection. The bar-graph display is selectable for single-loop or dual-loop use. A high grade of self-tuning functions using a modeling technique is built-in as standard. The controller can accommodate optional plug-in modules for thermocouples, communication, etc. All the options are fully field upgradable.

• International Journal of Control, Automation, and Systems
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• v.2 no.2
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• pp.135-143
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• 2004

Recently, high throughput screening for microorganisms with desired characteristics from a large heterogeneous population has become possible. Single cell separation has taken on increasing significance in recent years, and several different methods have been proposed so far. In this paper, we introduce several cell manipulation methods aiming at single cell separation and investigation. At first, methods for the separation of microorganisms are classified. Then, we introduce two different approaches, that is, (1) indirect manipulation using laser trapped microtools and (2) thermal gelation.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.64.2-64
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• 2001

In this paper, fabricated is a motion capture and attitude detection system for Head Mounted Display HMD composed of three low-price and low-grade micro gyroscopes and a micro-controller, To calculate attitude of a body, modified INS algorithm is used. Because the micro gyroscope has much bias drift error, scale factor error, and run-to-run bias error, the motion of a body can not be measured exactly if the general INS algorithm and micro gyroscopes are used. To reduce the errors, three accelerometers can be used. In this case, however, the size and power consumption become too large to use in HMD system. The modified INS algorithm use the grid map and the characteristics of the human motions.

• The Journal of Korea Robotics Society
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• v.9 no.3
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• pp.154-159
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• 2014

The Global Positioning System (GPS) is widely used to aid the navigation of aerial vehicles. However, the GPS cannot be used indoors, so alternative navigation methods are needed to be developed for micro aerial vehicles (MAVs) flying in GPS-denied environments. In this paper, a real-time three-dimensional (3-D) indoor navigation system and closed-loop control of a quad-rotor aerial vehicle equipped with an inertial measurement unit (IMU) and a low-cost light detection and ranging (LIDAR) is presented. In order to estimate the pose of the vehicle equipped with the two-dimensional LIDAR, an octree-based grid map and Monte-Carlo Localization (MCL) are adopted. The navigation results using the MCL are then evaluated by making a comparison with a motion capture system. Finally, the results are used for closed-loop control in order to validate its positioning accuracy during procedures for stable hovering and waypoint-following.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.7
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• pp.616-623
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• 2007

A dual micro gas sensor array was fabricated using nano sized $SnO_2$ thin films which had good sensitivities to CO and combustible gases, or $H_2S$ gas for air quality sensors in automobile. The already existed air quality sensor detects oxidizing gases and reducing gases, the air quality sensor(AQS), located near the fresh air inlet detected the harmful gases, the fresh air inlet door/ventilation flap was closed to reduce the amount of pollution entering the vehicle cabin through HVAC(heating, ventilating, and air conditioning) system. In this study, to make $SnO_2$ thin film AQS sensor, thin tin metal layer between 1000 and $2000{\AA}$ thick was oxidized between 600 and $800^{\circ}C$ by thermal oxidation. The gas sensing layers such as $SnO_2$, $SnO_2$(pt) and $SnO_2$(+CuO) were patterned by metal shadow mask for simple fabrication process on the silicon substrate. The micro gas sensors with $SnO_2$(+Pt) and $SnO_2$(CuO) showed good selectivity to CO gas among reducing gases and good sensitivity to $H_2S$ that is main component of bad odor, separately.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1945-1948
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• 2004

This paper describes the design and construction of a micro robotic system addressing such important aspects as versatility and low cost for rapid development and test of new control algorithm. The design and structure of micro robots are presented in detail. The supervision oriented concept is designed for controlling a group of micro robots. In this concept, the vision system recognizes the environment and the host computer decides the micro robot action based on the information from the vision system. In addition, the micro robots can be implemented cheaply and small in size because the structure of supervision oriented system is simplest. The experimental results and the performance of the proposed micro robotic system are discussed.