• 한국공작기계학회논문집
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• 제10권1호
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• pp.36-42
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• 2001

In this paper, PSD(Position Sensitive Detector) sensor system that estimates position for moving objects in 2D plane is developed. PSD sensor is used to measure the position the position of and incidence light in real-time. To get the position of light source of moving target, a new parameter calibration algorithm and neural network technique are proposed and applied. Real-time position measurements of the mobile robot with light source is examined to validate the proposed method. It is shown that the proposed technique provides accurate position estimation of the moving object.

• 대한임베디드공학회논문지
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• 제9권2호
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• pp.67-73
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• 2014

When a mobile robot performs in unknown environments, a location identification is an essential task. In this paper, we propose a location identification system that uses a sensor space without additional devices on the robot. Also the sensor space consists of a matrix of CDS sensor; when a robot was positioned on the CDS sensor, we can estimate the coordinate of the location by sensing a light. Based on KS illumination standard, experiments are performed in various environments. By evaluating the experimental results, we can show that the proposed system can be applicable to the location identification system of a moving robot.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
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• pp.526-528
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• 2004

This paper focuses on planning strategies for object interception, especially with minimum time. Herein, the goal is for robot to intercept object with minimum time on a conveyor line that flows to x-axis with respect to world coordinate system. In order to do it, conveyor system needs the algorithms for minimizing time. This objective is achieved by solving about two problems: selection of a minimum-time interception point and planning of an optimal robot trajectory. Herein, the first problem is formulated a minimization of the robot-object interception time.

• 공학교육연구
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• 제15권5호
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• pp.93-97
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• 2012

Most of ubiquitous computing devices such as stereo camera, ultrasonic sensor based MIT cricket system and other wireless sensor network devices are widely applied to the 2 Dimensional(2D) localization system in today. Because stereo camera cannot estimate the optimal location between moving node and beacon node in Wireless Personal Area Network(WPAN) under Non Line Of Sight(NLOS) environment, it is a great weakness point to the design of the 2D localization system in indoor environment. But the conventional 2D triangulation scheme that is adapted to the MIT cricket system cannot estimate the 3 Dimensional(3D) coordinate values for estimation of the optimal location of the moving node generally. Therefore, the 3D triangulation scheme based on the space segmentation in WPAN is suggested in this paper. The measuring data in the suggested scheme by computer simulation is compared with that of the geographic measuring data in the AutoCAD software system. The average error of coordinates values(x,y,z) of the moving node is calculated to 0.008m by the suggested scheme. From the results, it can be seen that the location correctness of the suggested scheme is very excellent for using the localization system in WPAN.

• 한국산학기술학회논문지
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• 제11권1호
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• pp.96-100
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• 2010

본 논문에서는 적외선 센서와 초음파 센서를 동시에 사용하여 이동하는 표적의 위치를 실시간으로 추적하는 위치추적 시스템을 설계하였다. 위치 추적 시스템은 2 개의 적외선 센서를 이용하여 표적이 감시영역에 침입하는 것을 확인하고, 4 개의 초음파 센서를 이용해서 각 센서에서 표적까지의 거리를 탐지하여 이동하는 표적의 위치좌표 (x,y)를 구하였다. 특히 초음파 센서가 가지고 있는 안테나의 빔폭 특성 때문에 4 개 센서 중 2개 센서에만 표적이 탐지될 경우에도 표적의 위치를 정확하게 결정하는 방법을 제시하였다. 또한 개발된 알고리즘을 설계된 시스템에 장착하여 시험한 결과 감시시스템이 실험실 내에서 실시간 정확하게 구동하는 것을 확인하였다.

• 디지털산업정보학회논문지
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• 제8권2호
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• pp.95-104
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• 2012

In this paper, an estimation of person height and 3D location of a moving person by using the pan/tilt-embedded stereo tracking system is suggested and implemented. In the proposed system, face coordinates of a target person is detected from the sequential input stereo image pairs by using the YCbCr color model and phase-type correlation methods and then, using this data as well as the geometric information of the stereo tracking system, distance to the target from the stereo camera and 3-dimensional location information of a target person are extracted. Basing on these extracted data the pan/tilt system embedded in the stereo camera is controlled to adaptively track a moving person and as a result, moving trajectory of a target person can be obtained. From some experiments using 780 frames of the sequential stereo image pairs, it is analyzed that standard deviation of the position displacement of the target in the horizontal and vertical directions after tracking is kept to be very low value of 1.5, 0.42 for 780 frames on average, and error ratio between the measured and computed 3D coordinate values of the target is also kept to be very low value of 0.5% on average. These good experimental results suggest a possibility of implementation of a new stereo target tracking system having a high degree of accuracy and a very fast response time with this proposed algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.1034-1039
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• 1991

A robot motion planning algorithm for time-varying obstacle avoidance is proposed. The robot motion planning problem is replaced with the optimization problem by using the distance function with the divided configuration space. To divide the configuration space, the polar coordinate system is used. For each divided configuration space, the admissible region where the robot can reach without collisions is obtained using the distance function. For an object moving in a plane, the admissible region is described by linear constraints on the polar coordinate system. A numerical algorithm that solves the optimization problem is shown and the computer simulation is carried out.

• 제어로봇시스템학회논문지
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• 제22권1호
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• pp.66-73
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• 2016

An Inertial Measurement Unit (IMU)-based Attitude and Heading Reference System (AHRS) can calculate attitude and heading information with long-term accuracy and stability by combining gyro, accelerometer, and magnetic compass signals. Motivated by this characteristic of the AHRS, this paper presents a Motion-Tracking and Localization (MTL) method for a person or walking robot using multi-AHRSs. Five AHRSs are attached to the two calves, two thighs, and waist of a person/walking robot. Joints, links, and coordinate frames are defined on the body. The outputs of the AHRSs are integrated with link data. In addition, a supporting foot is distinguished from a moving foot. With this information, the locations of the joints on the local coordinate frame are calculated. The experimental results show that the presented MTL method can track the motion of and localize a person/walking robot with long-term accuracy in an infra-less environment.

• 한국정밀공학회지
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• 제17권11호
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• pp.176-184
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• 2000

Recently, it becomes a very important issue to consider the mechanical systems such as high-speed vehicle and railway train moving on a flexible beam structure. Using general approach proposed in the first part of this paper, it tis possible to predict planar motion of constrained mechanical system and elastic structure with various kinds of foundation supporting condition. Combined differential-algebraic equations of motion derived from both multibody dynamics theory and Finite Element Method can be analyzed numerically using generalized coordinate partitioning algorithm. To verify the validity of this approach, results from simply supported elastic beam subjected to a moving load are compared with exact solution from a reference. Finally, parameter study is conducted for a moving vehicle model on a simply supported 3-span bridge.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.586-590
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• 1990

In this paper we describe the shape measuring technique and system with a non-contractive sensor, composed of slit-ray projector and solid-state camera. For improving the accuracy and preventing measuring dead point, this sensor part is attached to the end of robot, and each sensing is executed after one step moving. By patching these sensing data, whole measuring data is constructed. The calibration between sensor and world coordinate is implemented through the specific calibration block by transformation matrix method. The result of experiment was satisfactory.