• Journal of Advanced Navigation Technology
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• v.13 no.5
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• pp.646-655
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• 2009

This paper presents a new search strategy based on models of evolution in order to solve the problem of collision-free robotic path planning. We designed the robot path planning method with genetic algorithm which has become a well-known technique for optimization, intelligent search. Considering the path points as genes in a chromosome will provide a number of possible solutions on a given map. In this case, path distances that each chromosome creates can be regarded as a fitness measure for the corresponding chromosome. The effectiveness of the proposed genetic algorithm in the path planning was demonstrated by simulation. The proposed search strategy is able to use multiple and static obstacles.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.11 no.3
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• pp.1477-1491
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• 2017

Inspired by the multi-scale nature of hippocampal place cells, a biologically inspired model based on a multi-scale spatial representation for goal-directed navigation is proposed in order to achieve robotic spatial cognition and autonomous navigation. First, a map of the place cells is constructed in different scales, which is used for encoding the spatial environment. Then, the firing rate of the place cells in each layer is calculated by the Gaussian function as the input of the Q-learning process. The robot decides on its next direction for movement through several candidate actions according to the rules of action selection. After several training trials, the robot can accumulate experiential knowledge and thus learn an appropriate navigation policy to find its goal. The results in simulation show that, in contrast to the other two methods(G-Q, S-Q), the multi-scale model presented in this paper is not only in line with the multi-scale nature of place cells, but also has a faster learning potential to find the optimized path to the goal. Additionally, this method also has a good ability to complete the goal-directed navigation task in large space and in the environments with obstacles.

• Journal of the Korean Institute of Intelligent Systems
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• v.11 no.5
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• pp.367-372
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• 2001

This paper proposes a hierachically structured navigation algorithm for multiple mobile robots under unknown dynamic environment. The proposed algorithm consists of three basic parts as follows. The first part based on the fuzzy rule generates the turning angle and moving distance of the robot for goal approach without obstacles. In the second part, using both fuzzy and neural network, the angle and distance of the robot to avoid collision with dynamic and static obstacles are obtained. The final adjustment of the weighting factor based on fuzzy rule for moving and avoiding distance of the robots is provided in the third stage. Some simulation results show the effectiveness of the proposed algorithm.

• Journal of IKEEE
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• v.17 no.4
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• pp.434-439
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• 2013

Artificial landmarks have been widely used for reducing the uncertainty in localization of a mobile robot. In addition, research for efficient placement of artificial landmarks has been considered as one of the fundamental issues since the cost of localization is increased with the number of used landmarks. Therefore, this paper proposes a method in which landmarks are efficiently placed by considering the uncertainty characteristics of the motion model and the sensor model. Because two models have different uncertainty distributions, the final uncertainty can be considerably reduced through their efficient combination. The usefulness of the proposed method is demonstrated by simulation results.

• Journal of the Korean Institute of Intelligent Systems
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• v.8 no.2
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• pp.50-59
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• 1998

This paper presents stabilization and adaptive control of flexible single link robot manipulator system by self-recurrent neural networks that is one of the neural networks and is effective in nonlinear control. The architecture of neural networks is a modified model of self-recurrent structure which has a hidden layer. The self-recurrent neural networks can be used to approximate any continuous function to any desired degree of accuracy and the weights are updated by feedback-error learning algorithm. When a flexible manipulator is rotated by a motor through the fixed end, transverse vibration may occur. The motor toroque should be controlled in such a way that the motor rotates by a specified angle, while simultaneously stabilizing vibration of the flexible manipuators so that it is arresed as soon as possible at the end of rotation. Accurate vibration control of lightweight manipulator during the large changes in configuration common to robotic tasks requires dynamic models that describe both the rigid body motions, as well as the flexural vibrations. Therefore, a dynamic models for a flexible single link robot manipulator is derived, and then a comparative analysis was made with linear controller through an simulation and experiment. The results are proesented to illustrate thd advantages and imporved performance of the proposed adaptive control ove the conventional linear controller.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.4
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• pp.353-360
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• 2010

A skid-steering method which applied to the various mobile robot platforms currently shows its effectiveness in the specified field areas and purposes. This system contains however, several problems of its intrinsic properties such as slippages occurred by different moving direction between vehicle's driving and wheel's rotary and difficulties of driving performance control and so on. This paper deals with the suggestion of suitable control algorithm for 6WD/6WS skid steering wheeled vehicle and verified its feasibility by analyzing the behavior of 6WD/6WS skid-steered wheeled vehicle model and by applying the engineering analytical method to the considered mobile platform. The Performance of vehicle model is evaluated by using slip mode control to follow the steering input and, as a future work, this control algorithm could be applied to real 6WD/6WS in-wheel drive type vehicle finally.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.9
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• pp.805-812
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• 2013

This paper describes the design, control, and localization which comprise major aspects of the development of underwater robots for the mine disposal. The developed robots are called the Mine Killer (MK-1) and MK-2. MK-1 had been developed from September 2009 and was presented at the 9-th International Symposium at NPS Monterey CA, on May 17-21, 2010[1]. The paper presents design of MK-1 and MK-2 in detail with comparison of these two versions of MKs. Then it derives hydrodynamic coefficients of MK-1. Based on the coefficients, the motion of MK-1 is simulated for straight line motion and circular motion. Also simulation results for PD control, LQ control and sliding mode control are presented. Finally, it shows a particle filter method for localization of MK-1 and MK-2 using simple range data from acoustic beacons.

• Journal of the Korean Institute of Telematics and Electronics
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• v.27 no.10
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• pp.53-59
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• 1990

In the control of robot manipulators, this paper presents a design of a new variable structure model following controller(VSMFC) using computed torque method (CTM). A sufficient condition for the existence of a sliding mode is derived by Lyapunov function. The reference model is a double integrators and the acceleration input consists of a proportional-derivative controller for the purpose of the stabilization of system and the desired performance. The proposed control scheme which consists of upper bounded and estimated value of each term of the manipulator of matrix inversion. Therefore the simulation results show that this controller is improved to the convergence of desired trajectories.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.16 no.3
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• pp.119-124
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• 2017

Machining optimization using typical computer-aided manufacturing (CAM) software mainly depends on tool paths, and it is impossible to predict the behavior of material or cutting force. In this paper, cutting force analysis simulation is performed on the Unibody Case of a mobile phone with the aim of optimizing cutting-force-based machining using the Third Wave Systems' AdventEdge Production Module. Machining time after optimization was shortened by 42% for roughing compared to pre-optimization, and actual machining time was reduced by 36.8%. For finishing, machining time was reduced by 92%, and actual machining time was reduced around 90%. A surface roughness analysis found that the post-optimization surface roughness was $1.16{\mu}m$ Ra, compared to a pre-optimization value of $1.75{\mu}m$ Ra.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.31 no.1 s.256
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• pp.62-69
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• 2007

Micromanipulator is a device that manipulates an object with high precision. Generally, a parallel-type robot has inherently higher precision than a serial-type robot. In most cases, the use of flexure hinge mechanisms is the most appropriate approach to micromanipulators. The micromanipulator is basically required that have high natural frequency and sufficient workspace. However, previous designs are hard to satisfy the required workspace and natural frequency, simultaneously, because the previous micromanipulators are coupled designs. Therefore, this paper suggests a new design parameter as displacement amplifier and new design procedure based on semi-coupled design in axiomatic design. As a consequence the spatial 3-DOF micromanipulator which is chosen as an exemplary device has natural frequency of 500Hz and workspace of $-0.5^{\circ}{\sim}0.5^{\circ}$. To investigate the effectiveness of the displacement amplifier, simulation and experiment are performed.