• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.330-330
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• 2000

In this paper, as an entertainment robot the implementation of boxing robot system is presented for mechatronics education. In order for students to learn robot as a mechatronics system, boxing robot is a good model. The boxing robot consists of three parts: two link arms for punching, controller for actuating wheeled mobile robot, infrared rays sensors for the detection of he other robot and ring. The strategic algorithm for playing boxing is presented as wel as simple game rules.

• Proceedings of the IEEK Conference
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• 2006.06a
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• pp.907-908
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• 2006

We describe a method for localizing a mobile robot in its working environment using a vision system and Virtual Reality Modeling Language (VRML). The robot identifies landmarks in the environment, using image processing and neural network pattern matching techniques, and then its performs self-positioning with a vision system based on a well-known localization algorithm. After the self-positioning procedure, the 2-D scene of the vision is overlaid with the VRML scene. This paper describes how to realize the self-positioning, and shows the overlap between the 2-D and VRML scenes. The method successfully defines a robot's path.

• The Journal of the Korea institute of electronic communication sciences
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• v.5 no.5
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• pp.534-540
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• 2010

In this paper, we propose the mathematical algorithm for collision avoidance between the robots and for the obstacle avoidance during the operation of the several chaotic robotics. For the useful formation control and as one of the method to provide command structure of communication between the robots, we also propose the synchronization method between the robotic system and confirmed the result with the computer simulation.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.4 no.3
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• pp.341-346
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• 2004

Nowadays, versatile robots are developed around the world. Novel algorithms are needed for controlling such robots. A 2-Layer fuzzy controller can deal with many inputs as well as many outputs, and its overall structure is much simpler than that of a general fuzzy controller. The main problem encountered in fuzzy control is the design of the fuzzy controller. In this paper, the fuzzy controller is designed by the schema co-evolutionary algorithm. This algorithm can quickly and easily find a global solution. Therefore, the schema co-evolutionary algorithm is used to design a 2-layer fuzzy controller in this study. We apply it to a mobile robot and verify the efficacy of the 2-layer fuzzy controller and the schema co-evolutionary algorithm through the experiments.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.70-74
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• 1998

This paper describes a method for recognition of two-dimensional position of an object by use of aerial ultra-sonic sensor and signal processing technique, which would become a help for blind person or self-mobile robot. First, we have developed a method for measuring the time difference between the transmitted and the received burst wave by use of one ultrasonic transmitter and three receivers. Secondly, a new method is developed for measuring the distance to an object by use of M-sequence correlation method. Thirdly, a measurement method to obtain the position of an object is described by use of phase-arrayed ultrasonic sensor, which gives us a wide-range position determination in a short time.

• International Journal of Control, Automation, and Systems
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• v.6 no.1
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• pp.62-75
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• 2008

Vision-based simultaneous localization and map building using a single camera, while compelling in theory, have not until recently been considered extensive in the practical realm of the real world. In this paper, we propose a simple framework for the monocular SLAM of an indoor mobile robot using natural line features. Our focus in this paper is on presenting a novel approach for modeling the landmark before integration in monocular SLAM. We also discuss data association improvement in a particle filter approach by using the feature management scheme. In addition, we take constraints between features in the environment into account for reducing estimated errors and thereby improve performance. Our experimental results demonstrate the feasibility of the proposed SLAM algorithm in real-time.

• Journal of Information Processing Systems
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• v.8 no.3
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• pp.471-482
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• 2012

For disaster exploration and surveillance application, this paper aims to present a novel application of a multi-robot agent based on WSN and to evaluate a multi-hop communication caused by the robotics correspondingly, which are used in the uncertain and unknown subterranean tunnel. A Primary-Scout Multi-Robot System (PS-MRS) was proposed. A chain topology in a subterranean environment was implemented using a trimmed ZigBee2006 protocol stack to build the multi-hop communication network. The ZigBee IC-CC2530 modular circuit was adapted by mounting it on the PS-MRS. A physical experiment based on the strategy of PS-MRS was used in this paper to evaluate the efficiency of multi-hop communication and to realize the delivery of data packets in an unknown and uncertain underground laboratory environment.

• Proceedings of the KSRS Conference
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• 2002.10a
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• pp.578-578
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• 2002

Thermal infrared imaging is a highly promising technology for condition monitoring and predictive maintenance of electronic, electrical and mechanical elements in nuclear power plants. However, conventional low-cost infrared imaging systems suffer from poor spatial resolution compared to commercial CCD cameras. This paper describes an approach to enhance inspection performances for calandria reactor area of Wolsung nuclear power plant through the technique of superimposing thermal infrared image into real CCD image. In the occurrence of thermal abnormalities on observation points and areas of calandria reactor area, unusual hot image taken from thermal infrared camera is mapped upon real CCD image. The performance of the technique has been evaluated in the experiment carried out at Wolsung nuclear power plant in the overhaul period. The results show that localizations of thermal abnormalities on calandria reactor face can be estimated accurately.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.47.3-47
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• 2001

This paper describes the control of a health care robot (called Welfare Liferobot) with voice commands. The welfare liferobot is an intelligent autonomous mobile robot with its own control system on-board and the set of sensors to perceive an environment. It is a natural way to control the welfare liferobot by use of voice command for the usage of keyboard and mouse may present a difficult problem to the elderly and the handicapped. Voice input as the main control modality can offer many advantages. A set of oral commands is included, and each command has its associated function. These control words (commands) have to be chosen by user. Each time a voice command is recognized by the robot, it executes the pre-assigned action ...

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.59.4-59
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• 2001

In this paper, wireless interface of the motion between human and robot is implemented. The idea is that if a human who is equiped with device including accelerometer and rate-gyro sensor move his/her arm, then the robot follows human motion. The robot is designed as wheeled type mobile robot with two link arms. The robot´s basic movements such as forward, backward, left, right movement can be controlled from foot sensor which human steps on. Arm movements can be controlled by arm motion of human motion. In order to detect human motion, sensor data analysis from gyro and accelerometer has to be done. Data from sensors are transferred through wireless communication to activate the robot.