• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2011년도 춘계학술대회 논문집
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• pp.405-406
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• 2011

• 한국산업융합학회 논문집
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• 제21권2호
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• pp.87-93
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• 2018

This Study Propose A New Approach To Impliment A Intelligent Robot Control Based on Voice Recognition For Smart Factory Automation Since human usually communicate each other by voices, it is very convenient if voice is used to command humanoid robots or the other type robot system. A lot of researches has been performed about voice recognition systems for this purpose. Hidden Markov Model is a robust statistical methodology for efficient voice recognition in noise environments. It has being tested in a wide range of applications. A prediction approach traditionally applied for the text compression and coding, Prediction by Partial Matching which is a finite-context statistical modeling technique and can predict the next characters based on the context, has shown a great potential in developing novel solutions to several language modeling problems in speech recognition. It was illustrated the reliability of voice recognition by experiments for humanoid robot with 26 joints as the purpose of application to the manufacturing process.

• 제어로봇시스템학회논문지
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• 제14권3호
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• pp.284-294
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• 2008

In this paper, we describe an implementation of small mobile robot that can be used at research and application of mobile sensor networking. This robot that will constitute the sensor network, as a platform of multi-robot system for each to be used as sensor node, has to satisfy restrictions in many aspects in order to perform sensing, communication protocol, and application algorithms. First, the platform must be designed with a robust structure and low power consumption since its maintenance after deployment is difficult. Second, it must have flexibility and modularity to be used effectively in any structure so that it can be used in various applications. Third, it must support the technique of wireless network for ubiquitous computing environment. At last, to let many nodes be scattered, it must be cost-effective and small. Considering the above restrictions of the mobile platform for sensor network, we designed and implemented robots control the current of actuator by using additional circuit for power efficiency. And we chose MSP430 as MCU, CC2420 as RF transceiver, and etc, that have the strength in the aspect of power. For flexibility and modularity, the platform has expansion ports. The results of experiments are described to show that this robot can act as sensor node by RF communication process with Zigbee standard protocol, execute the navigation process with simple obstacle avoidance and the moving action with RSSI(Received Signal Strength Indicator), operate at low-power, and be made with approx. $100.

• 드라이브 ㆍ 컨트롤
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• 제20권4호
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• pp.27-34
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• 2023

Weeding in orchards is closely associated with productivity and quality. The customary weeding process is both labor-intensive and time-consuming. To solve the problems, there is need for automation of agricultural robots and machines in the agricultural field. On the other hand, orchards have complicated working areas due to narrow spaces between trees and amorphous terrain. Therefore, it is necessary to develop customized robot technology for unmanned weeding work within the department. This study developed a path generation and path control method for unmanned weeding according to the orchard environment. For this, the width of the weeding span, the number of operations, and the width of the weeding robot were used as input parameters for the orchard environment parameters. To generate a weeding path, a weeding robot was operated remotely to obtain GNSS-based location data along the superheated center line, and a driving performance test was performed based on the generated path. From the results of orchard field tests, the RMSE in weeding period sections was measured at 0.029 m, with a maximum error of 0.15 m. In the steering period within row and steering to the next row sections, the RMSE was 0.124 m, and 0.047 m, respectively.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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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.

• 한국CDE학회논문집
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• 제5권1호
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• pp.33-41
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• 2000

A monitoring and control system, as a broker to connect work-fields with higher departs, gives a great effect on capacity and reliability of a manufacturing system. However, it is very difficult to construct an integrated monitoring control system in a shop with diverse equipment. This paper proposes a CORBA based scheme to construct an integrated system for monitoring and control of equipment in a machining shop. The system is developed by applying the object oriented technology. Thus, its design and maintenance are not only early but it can cope with variation of production situation flexibly. Finally, we introduce a prototype using a milling machine, a robot, PLC's, etc.

• International Journal of Advanced Culture Technology
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• 제8권4호
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• pp.51-57
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• 2020

A propeller-based seesaw system is a system that can represent one of axis of four propeller drones and its stabilization has been replaced by intelligent control system instead of often used control methods such as PID and state space. Today, robots are increasingly use machine learning methods to adapt to their environment and learn to perform the right actions. In this article, we propose a Q-learning-based approach to control the stability of a seesaw system with a propeller. From the experimental results that it is possible to fully learn the balance control of a seesaw system by correctly defining the state of the system, the actions to be performed, and the reward functions. Our proposed method solves the seesaw stabilization.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1991년도 하계학술대회 논문집
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• pp.548-551
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• 1991

The Sliding Mode Control of Variable Structure System is applied to robot manipulators or servo system for its merits of robustness to variable system parameters and disturbances. But Switching frequency of control input is excessively high during sliding mode operation. In this paper, a new control algorithm usings fuzzy logic is proposed to solve this problem. With the proposed algorithm, a dc motor speed control system has been simulated and the result shows expected performances.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
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• pp.26-30
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• 1995

In this study, the fuzzy approximator and sliding mode control (SMC) scheme are considered. An adaptive sliding mode control is proposed based on the SMC theory. This proposed control scheme is that a adaptive law is utilized to approximate the unknown function f by fuzzy logic system in designing the sliding mode controller for the nonlinear system. In order to reduce the approximation errors, the differences of nonlinear function and fuzzy approximator, an adaptive law is also intoduced and the stability of proposed control scheme are proven with simple adaptive law and roburst adaptive law. This proposed control scheme is applied to a single link robot arm.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.913-916
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• 1990

In this paper, attempts have been made to control AC synchronous servo motor used as actuators of joints of the FARA robot with high dynamic performance and precise positioning. The AC synchronous servo motors used in FARA robots have resolves as position sensors. Resolver to digital converters are used in order to obtain the information of rotor speed and position from resolver outputs. The proposed joint position control system consists of four speed controller and one position controller. Analog methods are used in the position controller, while digital methods are used in the position controller. For precise position control, PID control algorithm and interpolation functions are executed in two 16 bit microprocessors with sampling rate 2ms. Experimental results show that the proposed joint position control system can be effectively applied to industrial robots in order to obtain high dynamic performance and precise positioning. The proposed joint position control system is being used in the control of FARA robots of Samsung Electronics.