• International Journal of Control, Automation, and Systems
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• v.6 no.5
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• pp.731-739
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• 2008

The docking and recharging system for a mobile robot must guarantee the ability to perform its tasks continuously without human intervention. This paper proposes two docking mechanisms with localization error-compensation capability for an auto recharging system. The mechanisms use friction forces or magnetic forces between the docking parts of the robot and those of the docking station. It is a structure to improve the allowance ranges of lateral and directional docking offsets, in which the robot is able to dock into the docking station. In this paper, auto-recharging system and the features of the proposed mechanisms are verified with experimental results using simple homing method.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.2
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• pp.173-178
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• 2015

Cloud systems are efficient models that can utilize various infrastructures, platforms, and applications regardless of the type of clients. This paper proposes a cloud-based integrated development environment (IDE) for robot software development which would make software development easier. The proposed system provides robot simulation to test the robot HW modules or robot systems for development and testing of software operating in a robot system with two or more different operating systems (OS) such as Windows, Linux, and real-time OS. This paper implements and evaluates the proposed system using OPRoS [33].

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.281-281
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• 2000

This paper presents an implementation of speech recognition system for teaching an autonomous mobile robot. The use of human speech as the teaching method provides more convenient user-interface for the mobile robot. In this study, for easily teaching the mobile robot, a study on the autonomous mobile robot with the function of speech recognition is tried. In speech recognition system, a speech recognition algorithm using HMM(Hidden Markov Model) is presented to recognize Korean word. Filter-bank analysis model is used to extract of features as the spectral analysis method. A recognized word is converted to command for the control of robot navigation.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.4
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• pp.336-341
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• 2015

This paper proposes a balancing and driving control system for a Mecanum wheel ball robot which has a two axis structure and four motors. The inverted pendulum control method is adopted to maintain the balance of the ball robot while it is driving. For the balancing control, an anon-model-based controller has been designed to control the device simply without the need of a complex formula. All the gains of the controller are heuristically adjusted during the experiments. The tilt angle is measured by IMU sensors, which is used to generate the control input of the roll and pitch controller to make the tilt angle zero. For the driving control, the PID control algorithm has been adopted with angles of the wheels and the encoder data. The performance of the designed control system has been verified through the real experiments with the suggested ball robot.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.7
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• pp.647-650
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• 2011

This paper presents the development of roll replacement robot system for wire-rod press rolls. The roll replacement robot system consist of a palletized railway truck, a 6-DOF industrial robot manipulator, a roll changing tool and a hydraulic power system. Results of simulation and pilot experiment show the roll changing task can be successfully automated using proposed robot system.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1480-1484
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• 2004

In this paper, a self-propulsive and small concrete floor finishing trowel robot with twin trowels is proposed. Due to the small size and omni-directional moving capability, it is adequate for small space such as apartment. By adjusting the posture of trowels, it can move in any direction without wheels. We used cheap PIC processor for the cost saving design of the modules and adopted mode processors for easy operation of control stick. For the position control of the robot, we made a motion control algorithm appealing to the stepping motor driver module and the wireless communication module between the robot and PC (or control stick). In this paper, we discuss the control problem of the floor finishing robot in order to move to the right position. By comparing experimental result with simulation, we show the validity of the robot mechanism, sensors, and the control system.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.60 no.2
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• pp.63-67
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• 2011

This paper presents the mobile robot control based on vision system. The proposed vision based controller consist of the camera tracking controller and the formation controller. Th e camera controller has the adaptive gain based on IBVS. The formation controller which is designed in the sense of the Lyapunov stability follows the leader. Simluation results show that the proposed vision based mobile robot control is validated for indoor mobile robot applications.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.226-229
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• 1989

This paper presents a navigation control method for a vision guided robot. The robot is equipped with one camera, an IBM/AT compatible PC, and a sonar system. The robot can either follow track specified on a monitor screen or navigate to a destination avoiding any obstacles on its way. The robot finds its current position as well as its moving direction by taking an image of a circular pattern placed on the ceiling.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.5
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• pp.666-673
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• 1998

To increase reliability and performance of an IMS(Intelligent Manufacturing System), fault tolerant control based on an accurate fault diagnosis is needed. In this paper, robot FDI(fault detection and identification) is proposed for IMS where the robot is controlled with state estimates of a nonlinear filter using a mathematical robot model. The Chi-square test and GLR(General likelihood ratio) test are applied for fault detection and fault size is estimated by a proposed bias filter. Performance of the proposed algorithm is tested by simulation for studies.

• Proceedings of the KIEE Conference
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• 2002.11c
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• pp.159-162
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• 2002

This paper presents a modified localization scheme of a mobile robot. When it navigates, the position error of a robot is increased and doesn't go to a goal point where the robot intends to go at the beginning. The objective of localization is to estimate the position of a robot precisely. Many algorithms were developed and still are being researched for localization of a mobile robot at present. Among them, a localization algorithm named continuous localization proposed by Schultz has some merits on real-time navigation and is easy to be implemented compared to other localization schemes. Continuous Localization (CL) is based on map-matching algorithm with global and local maps using only ultrasonic sensors for making grid maps. However, CL has some problems in the process of searching the best-scored-map, when it is applied to a mobile robot. We here propose fast and powerful map-matching algorithm for localization of a mobile robot by experiments.