• 제어로봇시스템학회:학술대회논문집
• /
• 1997.10a
• /
• pp.828-831
• /
• 1997

One of the most important design factor for the image tracker is the speed of the data processing which allows real-time operation of the system and provides reasonably accurate performance at the same time. Use of powerful DSP alone does not guarantee to meet such requirement. In this paper, a simple efficient algorithm for real-time multi-target image tracking is suggested. The suggested method is based on a recursive centroiding technique and color table look-up. This method has been successfully implemented in a image processing system for Micro-Robot Soccer Tournament(MIROSOT). This tracker can track positions of a ball, 3 enemies, and 3 agents at the same time. The experimental results show that the processing time for each frame of image is less than 7ms, which is well within the 60Hz sampling interval for real-time operation.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.681-686
• /
• 2003

In this paper, we propose an algorithm to extract valid planar regions from stereo images for visual navigation of mobile robots. The algorithm is based on the difference image between the stereo images obtained by applying Homography matrix between stereo cameras. Illegal planar regions are filtered out by the use of labeling of the difference images and filtering of invalid blobs using the size of each blob. Also, illegal large planar regions such as walls are removed by adopting a weighted low-pass filtering of the difference image using the past difference images. The algorithms are experimented successfully by the use of stereo camera system built in a mobile robot and a PC-based real-time vision system.

• Journal of the Korean Institute of Telematics and Electronics B
• /
• v.29B no.2
• /
• pp.60-68
• /
• 1992

Fuzzy logic rule based controller has many desirable advantages, whih are simple to implement on the real time and need not the information of structure and dynamic characteristics of the system. Thus, nowadays, the scope of the application of the fuzzy logic controller becomes enlarged. But, if the controlled plant is a time-varying/nonlinear system, it is not easy to construct the fuzzy logic rules which need the knowledge of and expert. In this paper, an approach by which the logic control rules can be auto-generated using the genetic algorithm that is known to be very effective in the optimization problem will be proposed and the effectiveness of the proposed approach will be verified by computer simulation of the 2 d.o.f. planner robot.

• Proceedings of the KIEE Conference
• /
• 2004.11c
• /
• pp.568-570
• /
• 2004

This paper presents a study of a position finding system using PSD Sensor and Pan/Tilt. The position of PSD(Position Sensitive Detector) sensor is calculated by the degree of pan-tilt and the difference in height between pan-tilt and PSD. For that, the DSP which control pan-tilt is used for precise operation. The PIC microcontroller process PSD sensor data that indicate light incident position. A user using computer can acquire the conditions of pan-tilt and PSD and issue an order.

• International Journal of Fuzzy Logic and Intelligent Systems
• /
• v.15 no.1
• /
• pp.20-26
• /
• 2015

It is very difficult to design an underwater communication system because of multipath, Doppler effects, noise, and attenuation. These factors lead to errors in the communication performance and maximum propagation distance. In this study, we calculate the distance that can be realized using the direct-sequence code division multiple access (DS-CDMA) technique with direct-sequence spread spectrum (DSSS) in an underwater communication system considering only the attenuation and noise. We also compare the estimated and calculated propagation distances obtained for several different scenarios.

• Journal of the Korean Society for Precision Engineering
• /
• v.15 no.12
• /
• pp.148-161
• /
• 1998

We investigate a design methodology for master arm which is employed in remote-site control. Though counter-balancing has been employed for the purpose of lessening the actuator loads, it results in the increase of dynamic load at the task position. Therefore, there exists a trade-off between counter-balancing and dynamic performance. The concept of a composite index is introduced to simultaneously consider those two effects in the design of master arms. Several alternative designs of master arms are suggested.

• Proceedings of the KIPE Conference
• /
• 2011.07a
• /
• pp.242-244
• /
• 2011

A wind generator system model includes wind model, rotor dynamics, synchronous generator, power converter, distribution line and infinite bus. This paper investigates the low-Voltage Ride-Through capability of PMSG wind turbine in a variable speed. The drive train of a wind turbine on 2-mass modeling can observe the shaft torsional vibration when the low-voltage occur. To reduce the torsional vibration when the low-voltage occur, this paper designs suppression control algorithm of the torsional vibration and implements simulation. A Matlab/Simulink is used to investigate the response during the transient state.

• Proceedings of the KIEE Conference
• /
• 2006.07d
• /
• pp.1983-1986
• /
• 2006

In this paper, we construct the infrastructure for the teleoperating system of mobile robots. For the stable teleoperating system, we develope an algorithm that measure communication time delay on real-time. We propose the force-reflected teleoperation method that control the stiffness of joystick according to VFH(Vector Field Histogram). Also, an obstacle avoidance method using VFH is presented for the mobile robot to move to the indicated direction without collision. Experiments are conducted to demonstrate the feasibility of the proposed methods.

• Proceedings of the KIEE Conference
• /
• 2006.10c
• /
• pp.276-278
• /
• 2006

인간의 감성은 의사결정과 의사소통에 있어서 중요한 역할을 한다. 감성의 생성과 표현은 성격에 의해 영향을 받는다. 이와 같은 감성과 성격을 반영한 로봇은 보다 자연스러운 표현과 효율적인 의사소통을 할 수 있다. 본 논문은 상태방정식과 출력 방정식으로 구성된 성격을 고려한 감성 시스템을 제안한다. 상태방정식은 외부자극으로부터 감정을 생성하고, 출력방정식은 성격과 환경을 반영하여 감정의 표현 강도를 결정한다. 감성시스템에서 성격은 입력된 자극을 통한 성격 5요인이론에 언급된 5요인의 값을 변화시킴으로써 학습된다. 또한 고전적 학습방법으로 자극을 학습하여 감정의 형성에 영향을 주는 자극의 수를 증가시킨다.

• Proceedings of the KIEE Conference
• /
• 2006.10c
• /
• pp.187-189
• /
• 2006

In mechanical system, gear trains have backlash innately. With the presence of inherent backlash, the overall system performance is limited in many practical control systems. It has been reported that a disturbance observer has the property of effective removing disturbance and cutting measurement noise off. The plant is remodeled with modified disturbance observer to observe and compensate backlash characteristics. And this paper describes a method to design Q filter and to analyze the effects of disturbance and measurement noise to the output. It is shown that the vibration and tracking error caused by backlash were decreased and the time constant and relative degree are important factor to design Q filter.