• Proceedings of the KIEE Conference
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• 2003.07d
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• pp.2362-2364
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• 2003

In this paper, behaviors performing controls of a mobile robots are designed based on the concept of closed-loop controls. A control architecture, in which the behaviors coordinate concurrently with one others to achieve a task is also proposed. In the control architecture, task manager allocates valid resources and configures the weight of the behavior outputs to achieve the task. For practical implementation, a rate modulation strategy based on RMS(Rate Modulation Strategy) is proposed for efficient resource allocations. The rate modulation strategy is performed with considering control stability. The efficiency of the proposed rate modulation strategy is validated through simulation tests.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.2
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• pp.194-200
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• 2006

The SoC and digital technology development recently enabled the emergence of information devices and control devices because the SoC presents many advantages such like lower power consumption, greater reliability, and lower cost. However, it is nearly impossible to use the SoC without operating systems because the SoC is included with many peripherals and complex architecture. It is required to use embedded operating systems and real-time operating systems may be used as an embedded operating system. So far, real-time operating systems are widely used to implement a Real-Time system since it meets developer's requirements. However, real-time operating systems have disadvantages including a lack of standards, expensive development, and license. Embedded Linux is able to overcome their disadvantages. In this paper, the implementation of control system platform for a mobile robot using real-time Embedded Linux is described. As a control hardware system platform, XScale board is used. As the real-time Embedded Linux, RTAI is adopted which is open source and royalty free, and supports various architectures and real-time devices, such like real-time CAN and real-time COM. This paper shows the implementation of RTAI on XScale board that means the porting procedure. We also applied the control system platform to the mobile robot and compared the Real-Time serial driver with non real-time serial driver. Experimental results show that that using RTAI is useful to build real-time control system with powerful functionalities of Linux.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.117.2-117
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• 2002

In this paper, a software framework is proposed for the personal robot located on home network. The proposed software framework is divided into four layers-a transparency layer, a behavior layer, a distributed task layer, and a mission scenario layer. The transparency layer consists of a virtual machine for platform transparency, and a communication broker for communication transparency among behavior modules. The communication architecture includes both server/client communication and publisher/subscriber communication. A mission scenario is assumed to be a composition of sequentially planned distributed tasks. In addition to the software framework, a new concept, personal robot design cent...

• Journal of the Korea Institute of Information and Communication Engineering
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• v.15 no.4
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• pp.759-764
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• 2011

This paper deals with the method of using the amended virtual force field technique to avoidance the front environment(wall, obstacles etc.) in navigating by using the environmental informations recognized by a ultrasonic-ring and pan/tilt CCD camera equipped on a mobile robot. we will give an explanation for the robot system architecture designed and implemented in this study and a short review of existing techniques, since there exist several recent thorough books and review paper on this paper. It is proposed the rusult from the experimental run based on a virtual force field(VFF) method to support the validity of the aforementioned architecture of mobile service robot for local navigation and obstacle avoidance for autonomous mobile robots. We will conclude by discussing some possible future extensions of the project. The results show that the proposed algorithm is apt to identify obstacles in an indoor environments to guide the robot to the goal location safely.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.2
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• pp.101-106
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• 2010

Researches on air-ground robot cooperating system has been made recently. The cooperation among homogeneous robots focused on the architecture of the system, quality and influence of the communication. In contrast, the cooperation among heterogeneous robots such as aerial vehicle and ground vehicle robots has not been much handled. There are a couple of main points for those air-ground cooperating robots. One is using UAV (Unmanned Aerial Vehicle) as an extra sensor of UGV (Unmanned Ground Vehicle). This kind of application is usually used in situations such as guiding UGV to an appropriate path which could be better determined from the eye in the sky as UAV. The other main application of air-ground cooperating robot system is the localization. By combining sensor information from both UAV and UGV, the robot system as a whole can localize a target object or find features in the environment with better performance than UGV or UAV alone. Although these applications are recently studied in many different ways and devices, there are still a lot of possibilities in the field of air-ground cooperating robot systems. We introduce those research fields in this paper.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.10
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• pp.789-797
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• 2003

An implementation scheme and some improvements are proposed to adopt public-licensed operating system, Linux and de-facto world-wide network standard, TCP/IP into the field of behavior-based autonomous mobile robots. To demonstrate the needs of scheme and the improvement, an analysis is performed on a server/client communication problem with real time Linux previously proposed, and another analysis is also performed on interactions among TCP/IP communications and the performance of Linux system using them. Implementation of behavior-based control architecture on real time Linux is proposed firstly. Revised task-scheduling schemes are proposed that can enhance the performance of server/client communication among local tasks on a Linux platform. A new method of TCP/IP packet flow handling is proposed that prioritizes TCP/IP software interrupts with aperiodic server mechanism as well. To evaluate the implementation scheme and the proposed improvements, performance enhancements are shown through some simulations.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2002.04a
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• pp.393-398
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• 2002

Neural networks are used in the framework of sensorbased tracking control of robot manipulators. They learn by practice movements the relationship between PSD (an analog Position Sensitive Detector) sensor readings for target positions and the joint commands to reach them. Using this configuration, the system can track or follow a moving or stationary object in real time. forthermore, an efficient neural network architecture has been developed for real time learning. This network uses multiple sets of simple backpropagation networks one of which is selected according to which division (corresponding to a cluster of the self-organizing feature map) in data space the current input data belongs to. This lends itself to a very training and processing implementation required for real time control.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.660-665
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• 1993

Neural networks are used in the framework of sensorbased tracking control of robot manipulators. They learn by practice movements the relationship between PSD ( an analog Position Sensitive Detector) sensor readings for target positions and the joint commands to reach them. Using this configuration, the system can track or follow a moving or stationary object in real time. Furthermore, an efficient neural network architecture has been developed for real time learning. This network uses multiple sets of simple backpropagation networks one of which is selected according to which division (corresponding to a cluster of the self-organizing feature map) in data space the current input data belongs to. This lends itself to a very fast training and processing implementation required for real time control.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2001.04a
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• pp.239-243
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• 2001

Neural networks are used in the framework of sensorbased tracking control of robot manipulators. They learn by practice movements the relationship between PSD (an analog Position Sensitive Detector) sensor readings for target positions and the joint commands to reach them. Using this configuration, the system can track or follow a moving or stationary object in real time. Furthermore, an efficient neural network architecture has been developed for real time learning. This network uses multiple sets of simple backpropagation networks one of which is selected according to which division (corresponding to a cluster of the self-organizing feature map) in data space the current input data belongs to. This lends itself to a very training and processing implementation required for real time control.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2000.04a
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• pp.171-175
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• 2000

Neural networks are in the framework of sensorbased tracking control of robot manipulators. They learn by practice movements the relationship between PSD (an analog Position Sensitive Detector) sensor readings for target positions and the joint commands to reach them. Using this configuration, the system can track or follow a moving or stationary object in real time. Furthermore, an efficient neural network architecture has been developed for real time learning. This network uses multiple sets of simple backpropagation networks one of which is selected according to which division (corresponding to a cluster of the self-organizing feature map) in data space the current input data belongs to. This lends itself to a very training and processing implementation required for real time control.