• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.269-272
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• 2003

Industry is now seeing a dramatic increase in robot simulation and off-line programming. In order to use off-line programming effectively, the simulated workcell has to be identical to the real workcell. This requires an efficient and accurate method for the workcell calibration. Currently used techniques in the industry, however, are typically time-consuming, expensive and therefore not suitable for in-process application. This is because most of these techniques are based on the so-called “absolute calibration” method. In contrast to absolute method, relative calibration only measures the difference of an interested object relative to a standard reference. Owing to the small measurement range requirement, relative calibration method is very cheap and can achieve very high accuracy. In this paper the relative method is applied to calibrate an entire grinding workcell. Linear gauge is the only measurement device used. This workcell calibration includes tool center point (TCP) calibration and work object frame calibration. Due to the efficiency of the calibration algorithm and the simplicity of the calibration setup, the described calibration procedure can be done in process.

• Proceedings of the KIEE Conference
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• 2005.07d
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• pp.2806-2808
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• 2005

The Controller Area Network (CAN) is being widely used for real-time control application and small-scale distributed computer controller systems. When the stuff bits are generated by bit-stuffing mechanism in the CAN network, it causes jitter including variations in response time and delay. In order to eliminate this jitter, stuff bit must be controlled to minimize the response time and reduce the variation of data transmission time. At first, this paper shows that conventional CAN protocol causes the transmission time delay. Secondly, this paper proposes the method to reduce the stuff bits by restriction of available identifier. Finally, data manipulation method can be reduced the number of stuff-bits in the data field. The proposed restriction method of ID and manipulating data field are pretty useful to the real-time control strategy with respect to performance. These procedures are implemented in local controllers of the ISHURO (Inha Semyung Humanoid Robot).

• Journal of Power System Engineering
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• v.4 no.4
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• pp.78-83
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• 2000

It is often necessary to observe the working environment of a robot to control it efficiently in the remote location. The remote sensing data and control commands are transmitted via various media such as radio, microwave, and computer network. The World Wide Web can be used as the infrastructure for teleoperation of mobile robots. In this paper we propose an advanced technique of the remote control of mobile robots on the web. For the real-time control, the image separation algorithm is proposed to transmit the current positions of mobile robots instead of transmitting the full frame image. It is shown by experiments that the proposed algorithm is effective.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.2723-2725
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• 2000

It is sometimes necessary to observe the working environment of a robot to control it in the remote location. The remote sensing data and control commands are transmitted via various media such as radio, microwave, and computer network. In this paper we propose an advanced technique of the remote control of mobile robots on the web. The image separation is included in the proposed algorithm to control mobile robots in the real-time. We transmit the positions of a mobile robot and obstacles instead of transmitting the full frame image. An experiment is performed to show the efficiency of the proposed algorithm.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.59 no.11
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• pp.2103-2107
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• 2010

This paper deals with the recognition of multiple mobile robots equipped with RFID tag. In the case that the number of robots recognized by each RFID reader is larger than that of allocated slots, the clashing recognition occurs. And, in the case that the total number of robots recognized by all RFID reader is larger than that of real robots, the repetitious recognition occurs. We employ the dynamic frame slot allocation by using the ALOHA algorithm to prevent the clashing recognition and estimate the number of robots by using the received signal strength indication to prevent the repetitious recognition. The numerical experiment shows the reliability and the efficiency of the proposed method.

• Journal of the Korean Institute of Telematics and Electronics T
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• v.36T no.3
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• pp.64-71
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• 1999

In this paper, two degree of freedom parallelogram link mechanism is used as DD(Direct-drive) robot mechanism. In parallelogram link mechanism, two motors being established in each base frame, the mass of motor itself is not loaded to anther motor; the number of links are increased, the mass of arm being lighter; with the estabilishment of link parameter, nonlinearity such as the centrifugal force disappears; at the same time anti-interference between motors can be realized. And to realize highy-accurate drive of parallelogram link DD robot manipulator, to improve the learning speed through the design of leaning control system using neural network, to raise adapting power to the varied work objects; the learning control algorithm is composed of neural network and feedback controller in this paper.

• Journal of the Korean Society for Precision Engineering
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• v.23 no.11 s.188
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• pp.58-67
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• 2006

Due to the variety of signal processing and complicated mathematical analysis, it is not easy to accomplish 3D bin-picking with non-contact sensor. To solve this difficulties the reliable signal processing algorithm and a good sensing device has been recommended. In this research, 3D laser scanner and CCD camera is applied as a sensing device respectively. With these sensor we develop a two-step bin-picking method and reliable algorithm for the recognition of 3D bin object. In the proposed bin-picking, the problem is reduced to 2D intial recognition with CCD camera at first, and then 3D pose detection with a laser scanner. To get a good movement in the robot base frame, the hand eye calibration between robot's end effector and sensing device should be also carried out. In this paper, we examine auto-calibration technique in the sensor calibration step. A new thinning algorithm and constrained hough transform is also studied for the robustness in the real environment usage. From the experimental results, we could see the robust bin-picking operation under the non-aligned 3D hole object.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.55 no.4
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• pp.161-164
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• 2006

In this thesis we designed the vision system to inspect the defect of a back light unit of plat panel display device. The vision system is divided into hardware and inspection algorithm of defect. Hardware components consist of illumination part, robot-arm controller part and image-acquisition part. Illumination part is made of acrylic panel for light diffusion and five 36W FPL's(Fluorescent Parallel Lamp) and electronic ballast with low frequency harmonics. The CCD(Charge-Coupled Device) camera of image-acquisition part is able to acquire the bright image by the light coming from lamp. The image-acquisition part is composed of CCD camera and frame grabber. The robot-arm controller part has a role to let the CCD camera move to the desired position. To take inspections of surface images of a flat panel display it can be controlled and located every nook and comer. Images obtained by robot-arm and image-acquisition board are saved on the hard-disk through windows programming and are tested whether there are defects by using the image processing algorithms.

• Proceedings of the Korea Information Processing Society Conference
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• 2015.10a
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• pp.1341-1344
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• 2015

In this paper, the designed fish robot is researched and developed for aquarium underwater robot. This paper is a study on how the outside technology merely to find the location of fish robots without specific sensor or internal devices. This model is designed to detect the position of the Robotic Fish in the Mat lab and Simulink. This intends to recognize the shape of the tank via a video device such as a camera or camcorder using an image processing technique to identify the location of the robotic fishes. Here, we are applied the two methods, one is Hom - Schunk Method and second one is newly proposed method that is the comparing image data algorithm. The Horn - Schunck Method is used to obtain the velocity for each pixel in the image and the comparing image data algorithm is proposed to obtain the position with comparing two video frames and assumes a constant velocity in each video frame.

• Journal of the Institute of Electronics and Information Engineers
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• v.53 no.7
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• pp.121-127
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• 2016

We propose a algorithm to calculate power factor of fundamental waveform in an environment where the voltage and current have been distorted by harmonics. In the proposed power factor computation algorithm, voltage and current are converted to rotating DQ reference frame, and power factor is calculated from active power and reactive power. We compare the proposed method with the conventional power factor measurement method as mathematically. In a condition that voltage and current are distorted by harmonics, the proposed method accurately measure the power factor of fundamental wave, and it is confirmed by simulation using MATLAB. If the proposed power factor measurement method is applied to an automatic power factor control system, a power factor compensation performance can be maximized in harmonic distortion environment. As a result, it is possible to reduce electricity prices, reduce line loss, increase load capacity, ensure the transmission margin capacity, and reduce the amount of power generation.