• Journal of Institute of Control, Robotics and Systems
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• v.17 no.11
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• pp.1179-1182
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• 2011

RC servos are electro-mechanical devices that respond to a control signal, which instructs them to move their output shaft to a certain position. A servo is normally plugged into a radio receiver with a three pin connector. The three wires are a power (usually 4.8V to 6.0V), a ground, and a signal wire. The signal wire carries a PWM (Pulse-Width Modulation) signal consisting of a 1-2msec pulse repeated 50 times a second. A 1.5msec pulse will tell the servo to move to its output shaft to the center position, 0 degrees. For a servo with a 180 degree of motion, a 1msec pulse will move the servo to -90 degrees, and a 2msec pulse will move the servo to +90 degrees. In order to development a humanoid robot, mechanical design, fixtures design, analysis of kinematics, implementation moving program, selection of RC servo motor and controller are required. This study was performed to experimentally compare the rotation range of RC servo motors according to change of a periods.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2731-2736
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• 2003

In highly informative, perception-rich environments that we call Omniscient Spaces, robots interact with physical objects which in turn afford robots the information showing how the objects should be manipulated. Object manipulation is commonly believed one of the most basic tasks in robot applications. However, no approaches including visual servoing seem satisfactory in unstructured environments such as our everyday life. Thus, in Omniscient Spaces, the features of the environments embed themselves in every entity, allowing robots to easily identify and manipulate unknown objects. To achieve this end, we propose a new paradigm of the interaction through Radio Frequency Identification (RFID). The aim of this paper is to learn about RFID and investigate how it works in object manipulation. Specifically, as an innovative trial for autonomous, real-time manipulation, a likely mobile robot equipped with an RFID system is developed. Details on the experiments are described together with some preliminary results.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.62-67
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• 2005

Object recognition in the field of robotics generally has depended on a computer vision system. Recently, RFID(Radio Frequency IDentification) technology has been suggested to support recognition and has been rapidly and widely applied. This paper introduces the more advanced RFID-based recognition. A novel tag named 3D tag, which facilitates the understanding of the object, was designed. The previous RFID-based system only detects the existence of the object, and therefore, the system should find the object and had to carry out a complex process such as pattern match to identify the object. 3D tag, however, not only detects the existence of the object as well as other tags, but also estimates the orientation and position of the object. These characteristics of 3D tag allows the robot to considerably reduce its dependence on other sensors required for object recognition the object. In this paper, we analyze the 3D tag's detection characteristic and the position and orientation estimation algorithm of the 3D tag-based RFID system.

• Proceedings of the KIEE Conference
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• 2007.10a
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• pp.331-332
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• 2007

In this paper we analyze whether recent Radio Frequence Identification technology can be used to improve the localization of mobile robot in their environment. This system make use of power control because Tag with Reader distance measurement. We are accurately the low at former time than the environment. A distance measurement is rather correct. This system used 900MHz Frequencies.

• Fire Science and Engineering
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• v.24 no.3
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• pp.113-118
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• 2010

FSR has been placed and operated in the Daegu Fire & Safety Department on a trial basis since September 2009. This research proposes a direction for developing the robot, which will provide greater field adaptability and efficiency through analyzing in-depth interviews and surveys of firefighters who have operated the robot. Analysis has shown that an Assistant FSR is expected to enhance maneuverability and improve the performance of wheels, which will increase the capacity for navigating obstacles. The Field FSR needs improvements in convenience of control, making the weight lighter, and stabilization of radio communications to eliminate tangled wires. Overall satisfaction regarding the performance of robots currently in operation is low, while preference toward using the Assistant robot in the field is also low, shown at 8.4%. Therefore, it is urgently necessary to vitalize usage of FSR in the field so that early commercialization of the FSR will contribute to reinforce both growth and competitiveness of the domestic robotics industry.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.846-851
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• 2004

In this paper, we propose a global ultrasonic system for the self-localization and autonomous navigation of indoor mobile robots. The ultrasonic sensor is regarded as the most cost-effective ranging system among the possible alternatives, and it is widely used for general purpose, since it requires simple electronic drivers and has relatively high accuracy. The global ultrasonic system presented in this paper consists of four or more ultrasonic generators fixed at reference positions in the global coordinates of an indoor environment and two receivers mounted on the mobile robots. By using the RF (Radio Frequency) modules added to the ultrasonic sensors, the robot is able to control the ultrasonic generation and to obtain the critical distances from the reference positions, which are required in order to localize is position in the global coordinates. A kalman filter algorithm designed for the self-localization using the global ultrasonic system and the experimental results of the autonomous navigation are presented in this paper.

• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.2458-2460
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• 2001

단일 로봇을 이용한 물체의 운반은 제어대상이 하나이기 때문에 제어가 쉽다는 장점이 있다. 그러나 로봇의 크기에 비해 물체의 길이가 길어지거나 부피가 커지고 무게가 증가할 경우, 물체의 균형을 유지하기가 힘들고 로봇의 속도가 감소하는 등의 문제가 발생한다. 본 연구에서는 페트리넷의 그래픽적인 모델링 방법을 이용하여 전체 작업을 모델링하여 로봇의 작업 상태를 쉽게 파악할 수 있도록 하였으며 명령체계상에서 발생할 수 있는 오류를 사전에 제거하려 하였다. 또한 시스템을 분산형 구조로 설계하여 시스템을 관리하는 별도의 시스템을 설정하지 않는 대신 퍼지 제어기를 이용하여 두 로봇의 협조 작업을 통해 물체를 운반할 경우 일어날 수 있는 애매한 상황에 대한 문제를 수학적인 모델링이 필요하지 않은 퍼지 제어기의 특성을 이용해 해결하고자 한다.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2008.04a
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• pp.233-236
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• 2008

Recently, the development and application of unmaned robots are increasing in various fields including surveillance and reconnaissance, planet exploration and disaster relief. Unmaned robots are usually controlled from distance using radio communications but they should be equipped with autonomous travelling function to cope with unexpected terrains and obstacles. This means that unmanned robots should be able to evaluate terrain's characteristics quantitatively using mounted sensors so as to traverse harsh natural terrains autonomously. For this purpose, this paper presents an algorithm for extracting terrain information from elevation maps as an early step of traversability analysis. Slope and roughness information are extracted from a world terrain map based on least squares method and fractal theory, respectively. The effectiveness of the proposed algorithm is verified on both fractal and real terrain maps.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.11
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• pp.1052-1057
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• 2004

Bluetooth technology is essentially a method for wireless connectivity of a diverse set of devices ranging from PDAs, mobile phone, notebook computers, to another equipments, The bluetooth system both point-to point connection and point-to multipoint connection. In point-to multipoint connection, the channel is shared among several bluetooth devices. Two or more devices sharing the same channel form a piconet. There one master device and up to seven active slave devices in a piconet. The radio operates in the unlicensed 2.45GHz ISM band. This allows users who travel world-wide to use bluetooth equipments anywhere. Since the link is based on frequency-hop spread spectrum, multiple channels can exist at the same time. The bluetooth standard ha s been suggested that bluetooth equipments can be used in the short-range, maximum 100 meters. It has been defined that the time takes to setup and establish a bluetooth connection among devices is 10 seconds. It is a long time and may be a cause to lose a chance of finding other non-fixed devices. We propose a routing protocols for scatternets which can be used to control a mobile units(MUs) in this network. The proposed routing protocol is composed of two kinds of bluetooth information, access point(AP) and MU.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1710-1713
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• 2003

We developed the synthetic library automation system. Developed system is comprised of two main units: an auto sorting system of books and a wireless management system. An auto sorting system is composed of a book return machine, a robot system, and an emergency bookshelf. A book return machine is operated by magnetic removal-revival. A wireless management system is development of RFID, or radio frequency identification, and is composed of a RF module and uninhabited return machine and a loss prevention system. The software for the synthetic library automation system is divided into three groups. We realized the developed automation system, and then get the features.