• 한국산업정보학회:학술대회논문집
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• 한국산업정보학회 1996년도 추계 학술 발표회 발표논문집
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• pp.217-227
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• 1996

The new filed of learning control develops controllers that learn to improve their performance at executing a given task , based on experience performing this specific task. In a previous work[6], authors presented a theory of indirect learning control based on use of indirect adaptive control concepts employing simultaneous identification and control. This paper develops improved indirect learning control algorithms, and studies the use of such controller indecentralized systems. The original motivation of the learning control field was learning in robots doing repetitive tasks such as on an asssembly line. This paper starts with decentralized discrete time systems. and progresses to the robot application, modeling the robot as a time varying linear system in the neighborhood of the nominal trajectory, and using the usual robot controllers that are decentralized, treating each link as if it is independent of any coupling with other links. The resultof the paper is to show that stability of the indirect learning controllers for all subsystems when the coupling between subsystems is turned off, assures convergence to zero tracking error of the decentralized indirect learning control of the coupled system, provided that the sample tie in the digital learning controller is sufficiently short.

• Nuclear Engineering and Technology
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• 제49권3호
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• pp.632-637
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• 2017

Even though the potential for an accident in nuclear power plants is very low, multiple emergency plans are necessary because the impact of such an accident to the public is enormous. One of these emergency plans involves a robotic system for investigating accidents under conditions of high radiation and contaminated air. To develop a robot suitable for operation in a nuclear power plant, we focused on eliminating the three major obstacles that challenge robots in such conditions: the disconnection of radio communication, falling on uneven floors, and loss of localization. To solve the radio problem, a Wi-Fi extender was used in radio shadow areas. To reinforce the walking, we developed two- and four-leg convertible walking, a floor adaptive foot, a roly-poly defensive falling design, and automatic standing recovery after falling methods were developed. To allow the robot to determine its location in the containment building, a bar code landmark reading method was chosen. When a severe accident occurs, this robot will be useful for accident condition monitoring. We also anticipate the robot can serve as a workman aid in a high radiation area during normal operations.

• 로봇학회논문지
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• 제18권4호
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• pp.472-480
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• 2023

This paper describes the development of a test-equipment for the pre-verification of navigation performance in cluster-based AUVs (Autonomous Underwater Vehicle). In the development of an AUV, conducting hardware and software development sequentially is not efficient due to the limited research and development period. Therefore, in order to reduce the overall development time and achieve successful development results, it is essential to pre-validate the navigation system and navigation algorithms. Accordingly, this paper explains the test-equipment for pre-verification of navigation performance, and ultimately confirms the stability of the navigation system and the performance of the navigation algorithms through the analysis of five types of navigation sensor data stored during real-sea experiments. The results demonstrate that through the development and verification of the test-equipment, it is possible to shorten the overall development period and improvement of product quality in the process of developing multiple AUVs.

• 한국군사과학기술학회지
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• 제27권2호
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• pp.265-276
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• 2024

The future battlefield operation concept does not focus on advanced and complete weapon systems, but requires a new battlefield operation concept that can effectively demonstrate offensive power by combining a large number of low-cost, miniaturized weapons. Recently, research on the autonomous application of major technologies that make up the mission control system is actively underway. However, since the mission control system is still dependent on the operator's operating ability when operating multiple robots, there are limitations to simply applying the automation technology of the existing mission control system. Therefore, we understand how changes in operator capabilities affect multi-robot operation and propose an adaptive mission control architecture design method that supports multi-robot integrated operation by adjusting the level of autonomy of the mission control system according to changes in operator capability.

• 로봇학회논문지
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• 제12권3호
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• pp.376-384
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• 2017

In this paper, we describe a case of using robot technology in child studies to examine children's judgement and reasoning of the life phenomenon on boundary objects. In order to control the effects of the appearance of the robot, which children observe or interact directly with, on the children's judgement and reasoning of the life phenomenon, we developed a robot similar to human. Unit experimental scenarios representing biological and psychological properties were implemented based on control of robot's motion, speech, and facial expressions. Experimenters could combine these multiple unit scenarios in a cascade to implement various scenarios of the human-robot interaction. Considering that the experimenters are researchers of child studies, there was a need to develop a remote operation console that can be easily used by non-experts in the robot field. Using the developed robot platform, researchers of child studies could implement various scenarios by manipulating the biological and psychological properties of the robot based on their research hypothesis. As a result, we could clearly see the effects of robot's properties on children's understanding about boundary object like robots.

• 한국정밀공학회지
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• 제28권9호
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• pp.1025-1031
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• 2011

Take-out robots used for handling of the plastic parts manufactured with the injection mold are usually the gantry type that consists of long and thin links, The performance of the take-out robot is determined by the speed of the motion and the positioning accuracy to grab the part out of the mold, As the speed of the robot increases the flexure in the links of the take-out robot becomes more significant and it results in more residual vibration, The residual vibration deteriorates the positioning accuracy and compels the operator to slow down the motion of the robot. The typical method to reduce the vibration in the robot requires stiffening the links and/or slowing down the robot, Vibration control could achieve the desired performance without increasing the manufacturing cost or the operation cost that would be incurred otherwise, Considering the point-to-point nature of the task to be performed by the take-out robot the time-delay command (or input) shaping filter approach would be the most effective control method to be adopted among a few available control schemes. In this paper a direct adaptive command shaping filter (ACSF) algorithm has been modified and applied to design the optimal command shaping filters for various configuration of the take-out robot. Optimal filters designed by ACSF algorithm have been implemented on a take-out robot and the effectiveness of the designed filters in terms of vibration suppression has been verified for multiple positions of the robot.

• 제어로봇시스템학회논문지
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• 제20권1호
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• pp.70-77
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• 2014

This paper proposes a novel localization algorithm based on ego-motion which used Lucas-Kanade Optical Flow and warping image obtained through fish-eye lenses mounted on the robots. The omnidirectional image sensor is a desirable sensor for real-time view-based recognition of a robot because the all information around the robot can be obtained simultaneously. The preprocessing (distortion correction, image merge, etc.) of the omnidirectional image which obtained by camera using reflect in mirror or by connection of multiple camera images is essential because it is difficult to obtain information from the original image. The core of the proposed algorithm may be summarized as follows: First, we capture instantaneous $360^{\circ}$ panoramic images around a robot through fish-eye lenses which are mounted in the bottom direction. Second, we extract motion vectors using Lucas-Kanade Optical Flow in preprocessed image. Third, we estimate the robot position and angle using ego-motion method which used direction of vector and vanishing point obtained by RANSAC. We confirmed the reliability of localization algorithm using ego-motion based on fisheye warping image through comparison between results (position and angle) of the experiment obtained using the proposed algorithm and results of the experiment measured from Global Vision Localization System.

• 대한기계학회논문집A
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• 제39권6호
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• pp.549-559
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• 2015

본 논문에서는 동적 움직임을 갖는 장애물이 위치한 주행환경에서 이동로봇의 충돌회피 기능을 포함하는 효율적인 반응경로계획 기법을 제안하고자 한다. 로봇의 동적 장애물과의 충돌회피 기능을 위해서 반응경로계획기법을 기반으로 키넥트센서를 이용한 센서융합기법의 보완을 통해서 자율주행의 강건성을 증대시키고자 하였다. 반응경로기법에서 사용된 접근방식은 동적장애물을 가상좌표평면에서 지역관측기개념을 이용하여 정적장애물로 좌표변환을 가능하게하며, 생성된 가상평면에서의 로봇과 장애물의 충돌 발생 가능한 속도와 경로의 운동학적 정보추출이 가능하게 된다. 또한 키넥트 센서 정보를 융합하여 장애물의 방향과 위치 정보를 추정하여 동적 환경에서의 주행성능의 정미도를 증대시키고자 하였다. 본 연구에서 제안 기술의 성능을 검증하기 위해서 임베디드 로봇플랫폼과 여러 개의 동적 장애물을 이용하여 시뮬레이션 해석 및 실험을 수행하였다.

• 한국지능시스템학회논문지
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• 제22권5호
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• pp.570-576
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• 2012

본 논문에서는 역진자 기구와 기립 암을 이용하여 직립주행이 가능한 이동로봇용 구동 플랫폼을 개발한다. 기존에 주류를 이루고 있는 이동로봇은 4륜 혹은 3륜으로 구동되고 있으므로 그 몸체는 정역학적으로 용이하게 안정성이 확보되는 특징을 갖고 있다. 기존의 이동로봇의 형태는 평면적으로 넓적한 형태의 정사각형 혹은 직사각형 형태를 갖고 있으므로 몸체의 조향을 위해서 독립구동륜형 혹은 조향형 차륜을 장치하고 있다. 이동로봇은 협소한 지형에서 90도로 굽은 통로를 주행할 때, 전후진을 반복하는 등 특별한 조향기법을 필요로 하거나 몸체의 평면적 때문에 물리적으로 조향이 불가능한 경우에 처하게 된다. 이 때, 이동로봇은 평면적이 작은 방향 즉, 직립된 상태로 몸체의 형상을 변형시켜 해당 지형을 주행함으로써 주행곤란 문제를 회피할 수 있다. 본 연구에서는 이동로봇의 몸체를 직립시킬 수 있는 기립 암과 역진자 기구가 결합된 구동 플랫폼을 제안한다.

• 디지털융복합연구
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• 제17권12호
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• pp.503-508
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• 2019

최근 생활 속에서 다양하게 사용되어 지고 있는 IoT 제품들 중 모터를 사용하고 있는 제품이 늘고 있다. 이에 다중의 모터를 손쉽게 제어할 수 있는 마이크로컨트롤러유닛의 개발과 이를 제어할 수 있는 어플리케이션을 개발하여 다양한 곳에 사용되고 있는 모터들을 본 연구를 통해 개발된 마이크로컨트롤러유닛을 이용하여 제어 가능하게 하는 것이 본 연구의 목적이다. 본 연구는 마이크로컨트롤러유닛을 개발하기 위해 아두이노 보드를 기본으로 하였고, 아두이노에 블루투스 모듈과 지그비 모듈 그리고 모터컨트롤러를 연결하여 하드웨어를 개발하였다. 또한 이를 제어하기 위해 어플리케이션을 개발하였으며 어플리케이션의 디자인을 진행하였다. 이렇게 개발된 마이크로컨트롤러유닛과 어플리케이션은 전동커튼, 전동블라인드, 로봇 및 다양한 IoT제품에 응용될 수 있기를 기대한다. 또한 향후 연구를 통해 스테핑모터 외의 다양한 모터를 제어할 수 있는 하드웨어 개발이 이어질 것이다.