• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.307-311
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• 2003

2-mass system is generally used as controller of the variable-speed to transfer electromotion power to mechanical load such as industrial robot, driving parts of electric vehicle, rolling machine system of steel plant and driving parts of elevator. In this case, PI controller is often used as a velocity controller because of simplicity of system. But PI control algorithm is not enough for obtaining the control characteristics required for this system. To solve this problem, 2-mass system based on the PID controller derives the optimum PID parameters by pole assignment and estimation of the ITAE performance index. In this case, the system have tenacious properties about disturbance, but it causes extreme overshoot and vibration because of rapidly output of controller in early transient response about desired value. And if speed control system is applied by 2-DOF parameter ${\alpha}$, a temporary value, we must induce most suitable parameter by complicate pole assignment and estimation of the ITAE performance index whenever ${\alpha}$ changes. In this paper, to solve this problem we suggest control algorithm to followed exactly value of ${\alpha}$ as 2-DOF parameter by using fuzzy algorithm . So, intelligence algorithm modeled by human knowledge, experience, teachability and judgment follow exact ${\alpha}$ value and it can compose the efficient 2-DOF PID controller to improve following performance, overshoot decrease.

• Journal of Intelligence and Information Systems
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• v.11 no.1
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• pp.153-167
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• 2005

In this paper, we consider the problem of exploring unknown environments with a mobile robot or an autonomous character agent. Traditionally, research efforts to address the space exploration problem havefocused on the graph-based space representations and the graph search algorithms. Recently EXPLORE, one of the most efficient search algorithms, has been discovered. It traverses at most min$min(mn, d^2+m)$ edges where d is the deficiency of a edges and n is the number of edges and n is the number of vertices. In this paper, we propose DFS-RTA* and DFS-PHA*, two real-time graph search algorithms for directing an autonomous agent to explore in an unknown space. These algorithms are all built upon the simple depth-first search (DFS) like EXPLORE. However, they adopt different real-time shortest path-finding methods for fast backtracking to the latest node, RTA* and PHA*, respectively. Through some experiments using Unreal Tournament, a 3D online game environment, and KGBot, an intelligent character agent, we analyze completeness and efficiency of two algorithms.

• Journal of Korea Multimedia Society
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• v.17 no.2
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• pp.132-142
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• 2014

Stereo camera is drawing attention as an essential sensor for future intelligence robot system since it has the advantage of acquiring not only distance but also other additive information for an object. However, it cannot match correlated point on target image for low textured region or periodic patterned region such as wall of building or room. In this paper, we propose a stereo matching technique that increase the matching performance by fusing belief propagation stereo matching algorithm and local distance measurements of 2D-laser range finder in order to overcome this kind of limitation. The proposed technique adds laser measurements by referring quad-tree based segment information on to the local-evidence of belief propagation stereo matching algorithm, and calculates compatibility function by reflecting over-segmented information. Experimental results of the proposed method using simulation and real test images show that the distance information for some low textured region can be acquired and the discontinuity of depth information is preserved by using segmentation information.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.20 no.2
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• pp.239-246
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• 2020

In this paper, an automatic dewatering system for drying water from umbrellas is proposed. In the past, there were problems that users had to put on plastic for removing the water from umbrella by covering it with a plastic or using a water dryer that removes water by manually touching the umbrella to the water surface. But this method was hard to expect. To solve these problems, an air compressor was used to develop a system to remove water from the umbrella by detecting the weight of the umbrella with pressure sensor when the user puts the umbrella into the dewatering machine and driving the motor. It is expected that this invention will have economic and environmental effects by eliminating the use of waste vinyl.

• Journal of Biosystems Engineering
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• v.39 no.2
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• pp.134-141
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• 2014

Purposes: This study was to validate the Robotic Smart Work System that can provides better working conditions and high productivity in unstructured environments like bio-industry, based on a tele-operation system for fruit harvesting with low cost 3-D positioning system on the laboratory level. Methods: For the Robotic Smart Work System for fruit harvesting and cultivation management in agriculture, a vision based tele-operating system and 3-D position information are key elements. This study proposed Robotic Smart Farming, an agricultural version of Robotic Smart Work System, and validated a 3-D position information system with a low cost omni camera and a laser marker system in the lab environment in order to get a vision based tele-operating system and 3-D position information. Results: The tasks like harvesting of the fixed target and cultivation management were accomplished even if there was a short time delay (30 ms ~ 100 ms). Although automatic conveyor works requiring accurate timing and positioning yield high productivity, the tele-operation with user's intuition will be more efficient in unstructured environments which require target selection and judgment. Conclusions: This system increased work efficiency and stability by considering ancillary intelligence as well as user's experience and knowhow. In addition, senior and female workers will operate the system easily because it can reduce labor and minimized user fatigue.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.20 no.7
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• pp.81-91
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• 2006

Recently, G.A studies have studied and demonstrated that artificial intelligence like G.A networks, G.A PI controller. The design techniques of PI controller using G.A with the newly proposed teaming algorithm was presented, and the designed controller with AC servo motor system. The goal of this paper is to design the AC servo motor using genetic algorithm and to control drive robot. And in this paper, we propose a genetic algorithms approach to find an optimal or near optimal input variables for genetic algorithm PI controller. Our experimental results show that this approach increases overall classification accuracy rate significantly. Finally, we executed for the implementation of high performance speed control system. It is used a 16-bit DSP, IMS320LF2407, which is capable of the high speed and floating point calculation.

• Journal of Digital Convergence
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• v.10 no.4
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• pp.55-62
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• 2012

This paper analyze the DEA(Data Envelopment Analysis) efficiency of government budget to HRD program(ITRC) and correlation and regression between its inputs and outputs in the field of information technology. First, empirical results show that the relationship between the supporting period of government budget and scientific research & HRD outputs is respectively irrelevant. Second, another finding is that the relationship between government budget and HRD output is positive. Finally, DEA efficiency analysis implicates that SW/digital contents, digital TV, information security, intelligence robot, next generation PC, next generation mobile telecommunication, home network, mathematics, IT SoC are more efficient than any other technology fields.

• Journal of Internet of Things and Convergence
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• v.6 no.2
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• pp.31-36
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• 2020

The remarkable change in the automobile industry, which is a traditional industrial field, is now evolving into a form of moving toward autonomous functions rather than humans due to various convenience functions and automatic driving or autonomous driving technologies if the person was central when driving the car. This situation is expanding to various industries such as the aviation industry and the drone market, as well as the robot market. The drone market in the aviation industry is being used in various fields due to the unmanned nature of drone operation. Among them, military drones are secret and due to the specificity of technology, details are not disclosed, but as a collection of advanced technologies, they have played a key role in drone development. In this study, the current status of China and the European Union, including the United States, which are major competitors in the drone field, was investigated, and the technologies of major countries were compared and analyzed through the characteristics and operational specifications of the drones currently in operation.

• Journal of the Ergonomics Society of Korea
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• v.29 no.6
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• pp.907-914
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• 2010

Cognitive model, that is cognitive architecture, is the model expressed with computer program to show the process how human solve a certain problem and it is continuously under investigation through various fields of study such as cognitive engineering, computer engineering, and cognitive psychology. In addition, the much extensive applicability of cognitive model usually helps it to be used for quantitative prediction of human Behavior or Natural programming of human performance in many HCI areas including User Interface Usability, artificial intelligence, natural programming language and also Robot engineering. Meanwhile, when a system designed, an usability test about conceptual design of interface is needed and in this case, analysis evaluation using cognitive model like GOMS or ACT-R is much more effective than empirical evaluation which naturally needs products and subjects. In particular, if we consider the recent trend of very short-end term between a previous technology development and the next new one, it would take time and much efforts to choose subjects and train them in order to conduct usability test which is repeatedly followed in the process of a system development and this finally would bring delays of development of a new system. In this study, we predicted quantitatively the human behavior processes which contains cognitive processes for menu selection in touch screen interface through ACT-R, one of the common method of usability test. Throughout the study, it was shown that the result using cognitive model was equal with the result using existing empirical evaluation. And it is expected that cognitive model has a possibility not only to be used as an effective methodology for evaluation of HCI products or system but also to contribute the activation of HCI cognitive modeling in Korea.

• The Journal of the Convergence on Culture Technology
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• v.6 no.4
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• pp.493-498
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• 2020

The fourth industrial revolution is the first topic thrown by Klaus Schwab at the Davos World Economic Forum in January 2016, meaning the next industrial revolution led by the Internet of Things (IOT), artificial intelligence (AI), robot technology and life sciences. In addition, in our lives, humans, computers and machines are connected organically, and organic relationships are evolving and developing at a furious rate in all areas of life. Since the 1953 armistice agreement, South Korea has remained in a state of confrontation with North Korea, and there have been continued fighting by the North, including naval skirmishes in the West Sea, artillery attacks on Yeonpyeong Island, the sinking of the Cheonan warship, and unmanned aerial vehicles and ankle mines. To prepare for such a local initiative, our military is constantly preparing and will have to strengthen its combat capabilities by developing and introducing advanced military equipment. After all, the military drone industry linked to the Fourth Industrial Revolution following the development of new war should continue its research on military drones in line with accurate diagnosis and the rapid development of future science and technology and IT technologies.