• Proceedings of the KIEE Conference
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• 2003.11c
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• pp.777-780
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• 2003

We have tried to create a vision system like human eye for a long time. We have obtained some distinguished results through many studies. Stereo vision is the most similar to human eye among those. This is the process of recreating 3-D spatial information from a pair of 2-D images. In this paper, we have designed a stereo matching algorithm based on systolic array architecture using edges and pixel data. This is more advanced vision system that improves some problems of previous stereo vision systems. This decreases noise and improves matching rate using edges and pixel data and also improves processing speed using high integration one chip FPGA and compact modules. We can apply this to robot vision and automatic control vehicles and artificial satellites.

• Journal of the Korean Society for Precision Engineering
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• v.3 no.2
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• pp.28-38
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• 1986

An analytical and experimental investigation is made to the dynamic responese of a cantilever with a tip mass that models some of the basic phenomena involved in the response of a flexible manipulator with a tip mass on its free end under the given rotating motion. The system equation is derived from the Hamilton's principle on the basis of the Euler-Bernoulli hypothesis and an approximate solution is obtained from model analysis using Galerkin's method for the vibation response of the system subjected to a sudden stop after an impulsive rotation. Experiment was performed to verify the validity of the theoretical analysis. Results are given for the vibration amplitude of the free end with respect to tip mass ratio, non-dimensionalized rotating velocity, rotating angle and non- dimensionalized hub length. The rotating condition to minimize the vibration amplitude of the free end can be determined for the given basic paramenters.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1993.06a
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• pp.881-886
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• 1993

Fuzzy logic rule-based controller has many desirable advantages, which 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 and nonlinear system, it is not easy to construct the fuzzy logic rules which usually need the knowledge of an expert. In this paper, an approach in which the logic control rules can be self-organized using genetic algorithm will be proposed and the effectiveness of the proposed method will be verified by computer simulation of the 2 d.o.f. planar robot manipulator.

• Proceedings of the Korea Information Processing Society Conference
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• 2009.04a
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• pp.961-964
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• 2009

본 논문에서는 휴대폰과 LEGO Mindstorms NXT를 이용한 원격제어로봇 개발 모델을 제안하고 이를 기반으로 원격제어 로봇을 설계하였다. 제안하는 원격제어로봇 개발 방법은 LEGO Mindstorms NXT를 이용한 하드웨어 설계, 다양한 Tool을 이용한 소프트웨어 설계, Host System의 응용프로그램 개발로 구성되며, Host System으로는 WPAN Platform을 탑재한 휴대폰을, 통신 방식으로는 블루투스를 적용한다.

• Journal of Electrical Engineering and information Science
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• v.1 no.1
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• pp.39-44
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• 1996

In this paper, adaptive controller with switching action is designed for rigid body robot manipulators to ensure the uniform stability of the manipulator system without a priori knowledge of the unmodeled dynamics. It will be shown that the parameter estimates are bounded independent of the other closed-loop signals boundedness, and also shown that the tracking error belongs to the normalized error bound via mathematical analisys. The robustness and performance of the proposed adaptive controller is investigated for the two-link direct drive manipulator actuated by VRM(Variable Reluctance Motor).

• Proceedings of the Korea Information Processing Society Conference
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• 2008.05a
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• pp.512-515
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• 2008

최근 인터넷과 정보통신 기술의 개발로 사회의 가치관, 문화 및 생활 방식이 급속하게 변화되고 있다. 로봇 분야의 경우, 공장에서 사람의 접근이 통제된 지역에 설치되어 인간을 대신해서 반목작업이나 힘든 작업을 대신해 주던 것에서 오늘날은 일반인들이 일상생활 속에서 손쉽게 활용할 수 있도록 로봇을 하나의 가전기기 혹은 개인용 상품으로 개발하기 위한 노력이 전 세계적으로 활발히 진행되고 있다. 본 논문에서는 실시간 객체인 TMO를 통해서 내장형 시스템 기반의 로봇을 화상통신을 이용하여 실시간으로 원격 제어하는 방안을 제시코자 한다.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2007.11a
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• pp.105-108
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• 2007

This study aims to develop a performance evaluation system for the Construction Factory(CF). The CF is a kind of full automation system for building construction which consists of the lifting system for building materials, the built-up unit for steel structural components, the bolting robots, the control center for the site management, and the site covering system. The CF is developing now as a project of the construction automation and robotics. In this study we firstly reviewed the state-of-the-art of the construction automation and robotics in the foreign and the domestic, and investigated the precedent case of the CF such as the SMART System of Shimizu Co., Japan. We believe that without an objective evaluation of the results there won't be growth in technological R&D. Therefore, this study sees the developing CF as an new technology and method in building construction, and proposes the direction and frame of the appropriate evaluation which can be applied into the CF.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.23 no.4
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• pp.189-196
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• 2023

As the manufacturing paradigm shifts, various collaborative robots are creating new markets. Demand for collaborative robots is increasing in all industries for the purpose of easy operation, productivity improvement, and replacement of manpower who do simple tasks compared to existing industrial robots. However, accidents frequently occur during work caused by collaborative robots in industrial sites, threatening the safety of workers. In order to construct an industrial site through robots in a human-centered environment, the safety of workers must be guaranteed, and there is a need to develop a collaborative robot guard system that provides reliable communication without the possibility of dispatch. It is necessary to double prevent accidents that occur within the working radius of cobots and reduce the risk of safety accidents through sensors and computer vision. We build a system based on OPC UA, an international protocol for communication with various industrial equipment, and propose a collaborative robot guard system through image analysis using ultrasonic sensors and CNN (Convolution Neural Network). The proposed system evaluates the possibility of robot control in an unsafe situation for a worker.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.2
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• pp.158-163
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• 2013

The fusion of the GPS (Global Positioning System) and DR (Dead Reckoning) is widely used for position and latitude estimation of vehicles such as a mobile robot, aerial vehicle and marine vehicle. Among the many types of aerial vehicles, grater focus is given on the quad-rotor and accuracy of the position information is becoming more important. In order to exactly estimate the position information, we propose the fusion method of GPS and Gyroscope sensor using the DEKF (Dual Extended Kalman Filter). The DEKF has an advantage of simultaneously estimating state value and a parameter of dynamical system. It can also be used even if state value is not available. In order to analyze the performance of DEKF, the computer simulation for estimating the position, the velocity and the angle in a circle trajectory of quad-rotor was done. As it can be seen from the simulation results using own proposed DEKF instead of EKF on own fusion method in the navigation of a quad-rotor gave better performance values.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.2
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• pp.176-182
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• 2011

Industrial network, often referred to as fieldbus, becomes an indispensable component for intelligent manufacturing systems. Thus, in order to satisfy the real-time requirements of field devices such as sensors, actuators, and controllers, numerous fieldbus protocols have been developed. But, the application of fieldbus has been limited due to the high cost of hardware and the difficulty in interfacing with multi-vendor products. As an alternative to fieldbus, the Ethernet (IEEE 802.3) technology is being adapted to the industrial environment. However, the crucial technical obstacle of Ethernet is its non-deterministic behavior that cannot satisfy the real-time requirements. Recently, the EtherCAT protocol becomes a very promising alternative for real-time industrial application due to the elimination of uncertainties in Ethernet. This paper focuses on the implementation of the IEC 61800 based real-time EtherCAT network for multi-axis smart driver. To demonstrate the feasibility of the implemented EtherCAT slave module, its synchronization performance is evaluated on the experimental EtherCAT testbed with a single axis smart driver.