• Proceedings of the KIEE Conference
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• 2007.04a
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• pp.349-351
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• 2007

A concept of the semi-autonomous tele-weeding-system which performs weeding tasks through co-operation of human and machine intelligence is proposed. The tele-weeding system consists of weeding robot, communication networks and operating server. The images of plants taken by the weeding robot are transferred through the communication networks to the human operator. Positions of the weeds are indicated at the operating host by the operator and transferred back to the weeding robot. Such position informations are converted to the world space and the weeding is done based on the robot intelligence. Feasibility of such concept has been tested through development of a laboratory model of the system.

• Journal of the Ergonomics Society of Korea
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• v.8 no.1
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• pp.41-46
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• 1989

The purpose of this study is to improve robot motion control in teaching and operating the expert system/world coordinate system (TOES/WCS) constructed in the previous study. The major contribution of this study is reduction of the inaccuracy in coordinated reading and the movement time of robots in macro motion control. This study also reduces undesirable time of micro motion control by using an unit control (UC) and a micro unit control (MUC) in micro motion control.

• Journal of IKEEE
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• v.27 no.4
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• pp.610-616
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• 2023

In this paper, we implement an unmanned delivery robot system with Robot Operating System(ROS)-based mobile manipulator, and introduce the technologies employed for the system implementation. The robot consists of a mobile robot capable of autonomous navigation inside the building using an elevator and a Selective Compliance Assembly Robot Arm(SCARA)-Type manipulator equipped with a vacuum pump. The robot can determines the position and orientation for picking up a package through image segmentation and corner detection using the camera on the manipulator. The proposed system has a user interface implemented to check the delivery status and determine the real-time location of the robot through a web server linked to the application and ROS, and recognizes the shipment and address at the delivery station through You Only Look Once(YOLO) and Optical Character Recognition(OCR). The effectiveness of the system is validated through delivery experiments conducted within a 4-story building.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.518-521
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• 1995

In this paper, a learning control problem is formulated for cooperating multiple-robot manipulators with uncertain system parameters. The commonly held object is also assumed to be unknown and the multiple-robots themselfs experience uncertain operating conditions such as link parameters, viscous friction parameters, suctions, actuator bias, and etc. Under these conditions, the learning controllers designed for learning of uncertain parameters and robot control inputs for multiple-robot systems are shown to drive the multiple-robot manipulators to follow the desired Cartesian trajectory with the desired internal forces to the unknown object.

• Journal of the Korean Solar Energy Society
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• v.32 no.spc3
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• pp.282-288
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• 2012

Proton exchange membrane fuel cell (PEMFC) is the most promising energy source for the robot applications because it has unique advantages such as high energy density, no power drop during operating, and easy to make compact size. However, PEMFC has intrinsic disadvantages which are delay to start up and difficulty to correspond drastic load changes. These disadvantages can be compensated by hybrid operating with a Li-poly battery. This study is focus to build and understand the hybrid system for the robot system. In this study, we build the PEMFC hybrid system using EOS-320 PEMFC stack, Li-poly battery and G-Philos FDX1-250BU dc-dc converter. The hybrid system is accurately monitored by CAN and RS485. The system was studied under two conditions such as non-loaded and loaded operating conditions. The results show that the system has delay to start up without hybrid operating and it can be compensated with the hybrid operating.

• Proceedings of the KIEE Conference
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• 1992.07a
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• pp.422-424
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• 1992

In this paper, we are designed a hierachical system controller and builed a robot system for high precision assembly consisting in multi-arms and multi-sensor. For the control of a multi-arms robot system, the robot system are consisted of cell controller, station controller and device. The Operating System of a cell controller is VxWorks for real-time multi-processing. Using by C-language, we are proposed a multi-arms robot control language based a RCCL, and this control language is partially implemented and tested in multi-robot control system.

• Journal of Ocean Engineering and Technology
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• v.29 no.5
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• pp.380-385
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• 2015

In the development of an underwater construction robot, the reliability of the operating system is the most important issue because of its huge maintenance cost, especially in a deep sea application. In this paper, we propose a new redundant architectural design for the hydraulic control system of an underwater construction robot. The proposed architecture consists of dual independent modular redundancy management systems linked with a commercial profibus network. A cold standby redundancy management system consisting of a preprocessing switch circuit is applied to the signal network, and a hot standby redundancy management system is adapted to utilize two main controllers.

• 한국태양에너지학회:학술대회논문집
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• 2012.03a
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• pp.229-233
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• 2012

Proton exchange membrane fuel cell (PEMFC) is the most promising energy source for the robot applications because it has unique advantages such as high energy density, no power drop during operating, and easy to make compact size. However, PEMFC has intrinsic disadvantages which are delay to start up and difficulty to correspond drastic load changes. These disadvantages can be compensated by hybrid operating with a Li-poly battery. This study is focus to build and understand the hybrid system for the robot system. In this study, we build the PEMFC hybrid system using EOS-320 PEMFC stack, Li-poly battery and G-Philos FDX1-250BU dc-dc converter. The hybrid system is accurately monitored by CAN and RS485. The system was studied under two conditions such as non-loaded and loaded operating conditions. The results show that the system has delay to start up without hybrid operating and it can be compensated with the hybrid operating.

• Journal of the Korean Society of Industry Convergence
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• v.25 no.5
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• pp.853-859
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• 2022

In this study, we analyzed the instantaneous trajectory generation capability and target arrival rate of a mobile robot by changing the parameter of the TEB (Timed Elastic Band) Local Planner among local planners that affect the instantaneous obstacle avoidance ability of the mobile robot using ROS (Robot Operating System) simulation and real experience. As a result, we can expect a decrease in the target arrival time of the mobile robot through a decrease in the parameter values of the TEB Local Planner's min_obstacle_dist, inflation_dist, and penalty_epsilon. However, if this parameter is reduced too much, the risk of obstacle collision of the moving robot is increases, so it is important to combine the appropriate values to construct the parameter.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.518-523
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• 1988

A Teaching and Operating Expert System (TOES) was designed in order to perform a task effectively which is inaccessible to man. Once an error occurs in the middle of the task operation, the automatic mode is converted into a manual mode. After recovering the error by the manual mode, the manual mode should be converted into the automatic mode. It was necessary to improve the manual mode in order to increase the availability of a man-robot system, a part of the human interface technique. Therefore, the Error Recovery Expert System must be constructed and developed.