• 로봇학회논문지
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• 제16권3호
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• pp.260-269
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• 2021

To verify performance or conduct experiments using actual robots, a lot of costs are needed such as robot hardware, experimental space, and time. Therefore, a simulation environment is an essential tool in robotics research. In this paper, we develop the HUMIC simulator using ROS and Gazebo. HUMIC is a humanoid robot, which is developed by HCIR Lab., for human-robot interaction and an upper body of HUMIC is similar to humans with a head, body, waist, arms, and hands. The Gazebo is an open-source three-dimensional robot simulator that provides the ability to simulate robots accurately and efficiently along with simulated indoor and outdoor environments. We develop a GUI for users to easily simulate and manipulate the HUMIC simulator. Moreover, we open the developed HUMIC simulator and GUI for other robotics researchers to use. We test the developed HUMIC simulator for object detection and reinforcement learning-based navigation tasks successfully. As a further study, we plan to develop robot behavior intelligence based on reinforcement learning algorithms using the developed simulator, and then apply it to the real robot.

• 한국산학기술학회논문지
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• 제11권6호
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• pp.2021-2029
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• 2010

본 논문에서는 FMC 로봇의 생산성 향상을 위해 시뮬레이션과 순차 패턴 기법을 이용해 로봇의 패턴을 분석하고 최적의 로봇 작업 우선순위규칙(Dispatching Rule)을 설계하는 방법을 제시하였다. 이를 위해, 먼저 FMC를 시뮬레이션으로 설계하고 각 설비가 로봇에게 요청하는 신호를 추출 해 이를 로그(Log) 형태로 생성, 저장하였다. 그 후, 이 로그를 데이터 마이닝 기법 중 하나인 순차 패턴 분석을 이용해 설비의 신호와 로봇간의 연관된 순서를 분석 하여 로봇의 최적 이동 경로를 도출하는 방법을 제시하였다. 또한, 사례연구를 통하여 FMC의 적용성에 대한 효율성 을 입증하였다. 도출된 최적의 패턴을 국내 A사 생산라인에 적용한 결과 작업물 대기시간(Loss Time)의 감소와 로봇 이용률의 향상, 작업물의 총 처리량의 증가와 평균 처리시간 감소를 가져왔다. 또한, 이러한 신호의 패턴을 이용한 분석 방법은 신호와 동작간의 로그를 저장, 데이터베이스화하여 시스템 상에서 로봇의 작업 우선순위규칙을 도출할 수 있게 하므로, 작업자의 오랜 노하우(Know-How) 없이도 로봇 운영의 문제점을 파악하고 그 개선안을 제시할 수 있다. 이러한 방법을 통해 FMC 뿐만이 아닌 로봇을 사용하는 모든 분야에 설비의 신호와 로봇 동작간의 그 연관관계를 분석하고 최적의 운영법칙을 설계, 운영하여 생산성 향상에 크게 기여할 것으로 기대된다.

• 한국산업융합학회 논문집
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• 제25권5호
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• pp.799-810
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• 2022

Welding work is a production work method widely used throughout the industry, and various types of welding technologies exist. In addition, many methods are being studied to automate these welding operations using robots, but in the ship manufacturing field, welding such as painting, cutting, and grinding is also the most common operation, but the manual operation ratio is higher than in other industries. Such a high manual labor ratio in the field of ship manufacturing not only causes quality problems and production delays according to the skill of workers, but also causes problems in the supply and demand of manpower. Therefore, this paper analyzed the reason why the automation rate is low in welding work at ship manufacturing sites compared to other industries, and analyzed the production process and field environment for small and medium-sized ship manufacturing companies that repeatedly manufactured with a small quantity production method. Based on the analysis results, it is intended to propose a robot system that can easily move between workplaces and secure uniform welding quality and productivity by collaborating simple welding tasks with humans. Finally, the simulation environment is constructed and analyzed to secure the suitability of robot system application to current production site environment, work process, and productivity, rather than to develop and apply the proposed robot system. Through such pre-simulation and robot system suitability analysis, it is expected to reduce trial and error that may occur in actual field installation and operation, and to improve the possibility of robot application and positive perception of robot system at ship manufacturing sites.

• 한국CDE학회논문집
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• 제13권4호
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• pp.296-304
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• 2008

Recently, various attempts are being done to apply off-line programming system to field of paint robot. But most commercial simulation softwares have problems that are slow simulation speed and not support various painting paramenters on simulation. This paper proposes enhanced paint simulation method for off-line programming system. For these, this method used the mathematical model of flux field from a previous research. The flux field has the flux distribution function, which reflects on the feature of paint spray. A previous research derived this flux distribution function for an integral function and calculated paint thickness function for an integral function. But if flux distribution function is defined as an integral function, it is inadequate to use for real-time simulation because a number of calculation is needed for estimation of paint thickness distribution. Therefore, we defined the flux distribution function by numerical method for reducing a mount of calculation for estimation of paint thickness. We derived the equation of paint thickness function analytically for reducing a mount of calculation from the paint distribution function defined by numerical method. In order to prove proposed paint simulation method this paper compares the simulated and measured thickness. From this comparison this paper show that paint thickness distribution is predicted precisely by proposed spray paint simulation process.

• 한국태양에너지학회 논문집
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• 제32권spc3호
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• pp.269-274
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• 2012

The research of the biological mimics robot which utilizes the operation of the organism is progressed on the ground, aerial, and underwater robot sector. In the field of flying robot, the research for implementing the wing movement structure of the bird and insect is progressed. The joint structure for the wing movement of the bird is implemented. The operation of the wing is simulated. For this purpose, by using the Matlab/Simulink, the joint structure of the wing is modelled. The joint movement of the wing is tested through the simulation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.231-236
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• 1997

We propose the hybrid control for the path control of wheeled mobile robot system. To develop the hybrid control of mobile robot, the continuous dynamics of mobile robot are modeled by the switched systems. The abstract model and digital automata for the path control are developed. This hybrid control system has the 3-layered hierachical structure : digital automata as the higher process, mobile robot system as the lower process, and the interface as the interaction process between the continuous dynamics and the discrete dynamics. The control of following the desired-paths with edges are investigated as the applications by the computer simulation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1601-1604
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• 1997

The most important topic in research of mobile robot is path planning in order to avoid with obstacle. In this study the path planning algorithm using a neural network model is proposed. The inputs of neural network are range data which are acquired form laser range finderm and weights are based on difference with goal direction. The thresholds are made by consdiering the marginal distance between mobile robot and obstacle. Consequently the outputs are obtained by multiplying input and weight. The obtained heading directiion enables the mobile robot to approach the goal, without any collision with obstacles around. The effectiveness of the this method of real-time navigation of a mobile robot is estimated by computer simulation in complex environment.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.187-190
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• 1997

In the past few years, many researchers are interesting of control of mobile robot with nonholonomic constraints. And tracking problems is important as well as regulation in nonholonomic system control. Some researchers have investigated the stable tracking control law for mobile robot. But, few results showed the globally asymptotically stable control method simply. So, we address the design of globally asymptotically stable tracking control law for mobile robot with nonholonomic velocity constraints using simple method. The stabilizability of the controller is derived by Lyapunov direct method. And we analyze the system responses according to the variation of control parameters in line tracking problem. It is derived that the responses represent no overshoot property in line tracking. Examples are two-wheeled mobile robot and car-like mobile robot and the simulation results represent the effectiveness of our method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.225-230
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• 2003

This paper proposes a desired trajectory and a control algorithm for a biped robot with curved soles. Firstly, we derived the desired trajectory from a model called the Moving Inverted Pendulum Mode (MIPM) of which a contact point of the foot is moving in the horizontal direction. A biped robot with curved soles is under-actuated system, because it has one contact point with the ground during the single supporting phase. Therefore, to solve the under-actuated problem, we changed control variables, used modified dynamic equations and used the computed torque control. The simulation results show that a biped robot with curved soles walks stably. Also, fast walking and natural motion of a biped robot can be implemented.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2492-2497
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• 2003

This paper presents optimal walking trajectory generation for a quadruped robot with genetic-fuzzy algorithm. In order to move a quadruped robot smoothly, both generations of optimal leg trajectory and free walking are required. Generally, making free walking is difficult to realize for a quadruped robot, because the patterned trajectory may interfere in the free walking. In this paper, we suggest the generation method for the leg trajectory satisfied with free walking pattern so as to avoid obstacle and walk smoothly. We generate via points of leg with respect to body motion, and then we use the genetic-fuzzy algorithm to search for the optimal via velocity and acceleration information of legs. All these methods are verified with PC simulation program, and implemented to SERO-V robot.