• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2001.04a
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• pp.182-187
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• 2001

This study deals with CARS (Computer Aided ROMUM System) which is a computer version of ROMUM (RObot Modularization of the Unit Motion). ROMUM was a method developed by the concept of modularization of the unit motion of robots. Because CARS is a computer assisted method of menu-driven type for human interface, this method can be easily applied for analyzing the work motion and measuring the execution time of robots. Therefore, it will be helpful for reducing the analysis effort and time of robot work.

• Proceedings of the KIEE Conference
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• 2002.11c
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• pp.142-145
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• 2002

This paper describes a omni-directionally speaker tracking system for mobile robot interface in real environment. Its purpose is to detect a robust 360-degree sound source and to recognize voice command at a long distance(60-300cm). We consider spatial features, the relation of position and interaural time differences, and realize speaker tracking system using fuzzy inference process based on inference rules generated by its spatial features.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.32 no.3
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• pp.321-328
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• 1996

This paper presents a robot simulator which can automatically generate a smooth collision free path. This simulator has the characterstisc of the object - oriented programming which is coded in Borland C+ +. Using General Inverse Algorithm, the inverse kinematics solutions of any kind of robots can be found generally. This simulator also uses Bezier Functions for the description of a smooth collision - free path. In addition, GUI(Graphic User Interface)technique is employed for user's convenience.

• Proceedings of the Korea Society of Design Studies Conference
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• 1999.10a
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• pp.50-51
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• 1999

웹 디자인 과정에 있어서 기존의 웹사이트들의 컨텐츠 정보뿐만 아니라 인터페이스를 기능적으로 이루고 있는 구조요소들에 관한 데이터 수집의 필요성이 요구된다. 그럼에도 불구하고 홈페이지 디자인에 있어 specification 수립을 위한 참고자료로써 또는 사용성 평가를 위한 자료로써 이런 종류의 데이터 베이스는 방대한 양의 인터넷 정보에 비해 미미한 편이다. (중략)

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.3
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• pp.227-232
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• 2013

BCI (Brain Computer Interface) is technology to control external devices by measuring the brain activity, such as electroencephalogram (EEG), so that handicapped people communicate with environment physically using the technology. Among them, EEG is widely used in various fields, especially robot agent control by using several signal response characteristics, such as P300, SSVEP (Steady-State Visually Evoked Potential) and motor imagery. However, in order to control the robot agent without any constraint and precisely, it should take advantage of not only a signal response characteristic, but also combination. In this paper, we try to use the fusion of motor imagery and P300 from EEG for practical use of robot control in BCI environment. The results of experiments are confirmed that the recognition rate decreases compared with the case of using one kind of features, whereas it is able to classify each both characteristics and the practical use technology based on mobile robot and wireless BCI measurement system is implemented.

• Journal of Electrical Engineering and Technology
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• v.12 no.2
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• pp.926-936
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• 2017

The nonlinear behavior and the high performance requirement are the main problems that appear in the design of manipulator robots and their controllers. For that reason, the simulation, real-time execution and comparison of the performance of controllers applied to a robot with three degrees of freedom are presented. Five controllers are prepared to test the robot's dynamic model: predictive; hyperbolic sine-cosine; sliding mode; hybrid composed of a predictive + hyperbolic sine-cosine controller; and adaptive controller. A redundant robot, a communication and signal conditioning interface, and a simulator are developed by means of the MatLab/Simulink software, which allows analyzing the dynamic performance of the robot and of the designed controllers. The manipulator robot is made to follow a test trajectory which, thanks to the proposed controllers, it can do. The results of the performance of this manipulator and of its controllers, for each of the three joints, are compared by means of RMS indices, considering joint errors according to the imposed trajectory and to the controller used.

• Journal of the Korean Institute of Intelligent Systems
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• v.12 no.4
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• pp.379-384
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• 2002

This paper represents the mobile robot system remote controlled by PDA(personal digital assistance). So far, owing to the development of internet technologies, lots of remote control methods through internet have been proposed. To control a mobile robot through internet and guide it under unknown environment, We propose a control method activated by PDA. In a proposed system, PDA acts as a user interface to communicate with notebook as a controller of the mobile robot system using TCP/IP protocol, and the notebook controls the mobile robot system. The information about the direction and velocity of the mobile robot feedbacks to the PDA and the PDA send new control method produced from the fuzzy inference engine.

• Journal of Power System Engineering
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• v.21 no.3
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• pp.74-84
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• 2017

This paper presents the development of the underwater cleaning robot platform for a higher efficiency in manufacturing industry. Human operators directly go into the cistern and clean sludge after drainage of the water so far. It is sometimes dangerous because of the harmful chemical materials from the product making process. In addition, it takes long time for water drainage and supplying it back. However, the robot cleaning operation does not need to drain water so that it could be applied to the sludge cleaning work at any time without the plant pause. Moreover, it can prevent the safety accidents because human operators are not necessary to enter directly the sludge cisterns. This paper shows the performance of cleaning work that can be applied in the industrial field through the design and development of underwater cleaning robot platform. And these results demonstrate that the developed underwater cleaning robot has great possibilities to clean other industrial water cisterns.

• Proceedings of the KIEE Conference
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• 2006.10d
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• pp.218-221
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• 2006

This paper reports on a Realtime OS based motor control system for laparoscopic surgery robot which enables telesurgery and overcomes shortcomings with conventional laparoscopic surgery. The system has a conventional master-slave robot configuration and the control system consists of joint controllers, host controllers, and power units. The robot features (1) a compact slave robot with 5 DOF (Degree Of Freedom) expanding the workspace of each tool and increasing the number of tools operating simultaneously, and (2) direct 1:1 correspondence in the joint of master and slave robot that simplifies control algorithm and enhances reliability. Each master, slave and GUI (Graphical User Interface) host has a dedicated RTOS (RealTime OS), RTLinux-Pro (FSMLabs Inc., U.S.A.) Each master and slave controller set pair has a dedicated CAN (Controller Area Network) channel for control and monitoring signal communication. Total 4 pairs of the master/slave manipulators as current are monitored by one host controller for operation monitoring and higher level motion control. The system showed acceptable performance in both position control precision and master-slave motion synchronization and is now under further development for better safety and control fidelity for clinically applicable prototype.

• Journal of the Korean Institute of Intelligent Systems
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• v.23 no.1
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• pp.29-34
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• 2013

This study presents the remote control of a mobile robot using iPhone based on ad hoc communication. Two control interfaces are proposed to control a mobile robot using iPhone : Remote control by a user and autonomous control. To evaluate the effectiveness of algorithms for trajectory following, a simulator are developed where a virtual robot follows a referenced trajectory in a monitor by iPhone interface. In the proposed simulator, some algorithms are tested how they work well or not for trajectory following of a mobile robot. Comparative results by remote user control and autonomous control are shown. Results of an experiment show that the proposed simulator can be effectively used for testing the effectiveness of autonomous tracking algorithms.