• Journal of the Korean Society for Precision Engineering
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• v.31 no.9
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• pp.821-829
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• 2014

This paper describes the development of a wireless communication controller of gripper contact signal for industrial robot. The wireless communication gripper controller is composed of a robot wireless communication controller and a gripper wireless transmitting/receiving controller. The robot wireless communication controller transmits the data of gripper sensors, and the gripper wireless communication controller receives the data. And the controller sends the data to the robot controller of industrial robot. As a result of the characteristics test of the wireless communication gripper controller, it is thought that the robot wireless communication controller A transmits and receives three gripper wireless transmitting/receiving controller A1, A2, A3 another. Thus, the developed wireless communication gripper controller can be used for transmitting/ receiving the data of gripper sensors for industrial robot.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1099-1104
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• 2003

In this paper, the position control of a car-like mobile robot using neural network is proposed. The positional information of the mobile robot is given by a laser range finder located remotely through wireless communication. The heading angle is measured by a gyro sensor. Considering these two sensor information as references, the robot posture by localization is corrected by a cascaded controller. In order to improve the tracking performance, a neural network with a cascaded controller is used to compensate for any uncertainty in the robot. The remotely located neural network filter modifies the reference trajectories to minimize the positional errors by wireless communication. A car-like mobile robot is built as a test-bed and experimental studies of proposed several control algorithms are performed. It turns out that the best position control can be achieved by a cascaded controller with neural network.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1506-1510
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• 2004

A mobile robot system is developed to inspect the condition of industrial facilities under hot environment. The mobile robot is equipped with internal and external heat insulating material, an internal cooling mechanism, two CCD cameras, wireless communication devices for both the control and image signals, and an embedded controller. The portable controller is equipped with two joysticks for both the mobile robot and the inspection CCD camera, an LCD monitor, and several buttons. The developed mobile robot travels on the internal floor in hot furnaces by operators' joystick operation, captures the images of facilities in the furnaces using a zoom CCD camera, and sends the images to the portable controller through wireless communication. The mobile robot can be operated without any problem under hot environment less than 400$^{\circ}C$ in 30 minutes. This kind of automatic inspection mobile robot can be helpful to prevent significant troubles of industrial facilities without danger of human beings under harmful environment.

• Journal of the Korean Institute of Intelligent Systems
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• v.24 no.2
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• pp.186-192
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• 2014

This study presents the remote control of a board robot using an IMU sensor based on Bluetooth communication. The board robot is a kind of riding robot controlled throng wireless communication by a user. The user wears the proposed IMU sensor controller, and changes a direction of the robot by the angles of IMU sensor. Bluetooth is used for wireless communication between the board robot and its user. The IMU sensor in the remote controller is used for recognition of a number of actions, which are measured as analog signals. The user actions have five commands ('1'right '2'neutrality '3'left '4'operation '5'stop), which are transmitted from the user to the board robot through Bluetooth communication. Experimental results show that proposed IMU interface can effectively control the board robot.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.7
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• pp.625-633
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• 2004

In this paper, position control of a car-like mobile robot using a neural network is presented. positional information of the mobile robot is given by a laser range finder located remotely through wireless communication. The heading angle is measured by a gyro sensor. Considering these two sensor information as a reference, the robot posture is corrected by a cascaded controller. To improve the tracking performance, a neural network with a cascaded controller is used to compensate for any uncertainty in the robot. The neural network functions as a compensator to minimize the positional errors in on-line fashion. A car-like mobile robot is built as a test-bed and experimental studies of several controllers are conducted and compared. Experimental results show that the best position control performance can be achieved by a cascaded controller with a neural network.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.2
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• pp.101-107
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• 2007

A coaxial rotor flying robot is developed for surveying and reconnoitering various circumstances under calamity environment. The robot has two contrarotating rotors on a common axis, an embedded microcontroller, an IMU(Inertial Measurement Unit), an IR sensor for height control, a micro camera for surveillance, ultrasonic position sensors and wireless communication devices. A bell-bar mounted on the top of the upper rotor hub increases stability and improves flight performance. In this paper, we present a dynamic model of a coaxial rotor flying robot and design an embedded controller far the robot, and implement them to control the developed flying robot. Experimental results show that the proposed controller is valid for autonomous hovering and position control.

• The Journal of Korea Robotics Society
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• v.6 no.1
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• pp.1-9
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• 2011

An increasing number of researches and developments for personal or professional service robots are attracting a lot of attention and interest industrially and academically during the past decade. Furthermore, the development of intelligent robots is intensively fostered as strategic industry. Until now, most of practical and commercial service robots are worked by remotely operated controller. The most important technical issue of remote control is a wireless communication, especially in the indoor and unstructured environments where communication infrastructures might be destroyed by various disasters. Therefore we propose a multi-robot following navigation method for securing the valid communication distance extension of the remote control based on WPAN(Wireless Personal Area Networks). The concept and implementation of following navigation are introduced and the performance verification is performed through real navigation experiments in real or test-bed environments.

• Journal of the Korean Institute of Intelligent Systems
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• v.23 no.4
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• pp.341-347
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• 2013

This study presents the remote control of a board robot using a Sensing glove based on Bluetooth communication. The board robot is a kind of riding robot controlled by an user. The user wears the proposed remote glove controller, and changes a direction of the robot by different kinds of finger actions. Bluetooth is used for wireless communication between the board robot and its user. CdS cell Sensors and a LED in the glove are used for recognition of a number of finger actions, which are measured as analog signals. The finger actions have five commands ('1'right '2'neutrality '3'left '4'operation '5'stop), which are transmitted from the user to the board robot through Bluetooth communication. Experimental results show that proposed a Sensing glove can effectively control the board robot.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.7
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• pp.679-685
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• 2006

In this paper, development of an omni-directional mobile robot with rocker-bogie link structure is addressed. The overall mobile robot system consists of the robot mechanism with embedded control architecture, wireless communication with host graphic monitoring system, and the joy stick tole-controller. In the cluttered environment with various sizes of obstacles, the omni-directionality and the traversality are required for a mobile robot, so that the robot call go around or climb over the obstacles according to the size. The mobile robot mechanism developed in this paper has both of the omni-directionality and the traversality by 4 steerable driving wheels and the 2 additional passive omni-directional wheels linked with the rocker-bogie structure. The kinematic modeling for the mobile robot is described based on the well-known Sheth-Uicker convention and the instantaneous coordinate system.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.8
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• pp.689-695
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• 2004

This paper presents a robot system that combines computer network and an autonomous mobile robot where RTOS is installed. We propose a wireless communication protocol, and also implement it on the RTOS of the robot system. Main controller of the robot processes the control program as a task type in the real-time operating system. Peripheral devices are driven by the device driver functions with the dependency of the hardware. Because the client and server program was implemented to support the multi-platforms by Java SDK and Java JMF, it is easy to analyze programs, maintain system, and correct the errors in the system. End-user can control a robot with a vision showing remote sight over the Internet in real time, and the robot is moved keeping away from the obstacles by itself and command of the server received from end-user at the local client.