• Journal of the Institute of Electronics Engineers of Korea SC
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• v.44 no.3
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• pp.34-38
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• 2007

There has been skeptical aspects for the robot to be effective in combat fields even though consensus of operational needs and some technological advancements. One of fundamental problems is difficulties in the autonomous technology applicable. This technology is not sufficient to be applied for heavy combat operation, therefore, developer first make open architecture, then, application is implemented on the condition that new functions or technologies will be developed later. It is also required to partition all the functions with common segments which are general to all platforms in order to operate together in the fields and to reduce the load of development to each platform respectively. In addition, common middleware based on the reference architecture is also developed to accommodate new technology evolution. This paper introduces the architecture and middleware applied in XAV(eXperimental Autonomous Vehicle) developed in ADD. In addition, the performance of autonomous navigation and system design characteristics are introduced briefly.

• The KIPS Transactions:PartB
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• v.12B no.4 s.100
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• pp.387-394
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• 2005

This paper describes an idea for determining self-localization using visual landmark. The critical geometric dimensions of a pentagon are used here to locate the relative position of the mobile robot with respect to the pattern. This method has the advantages of simplicity and flexibility. This pentagon is also provided nth a unique identification, using invariant features and colors that enable the system to find the absolute location of the patterns. This algorithm determines both the correspondence between observed landmarks and a stored sequence, computes the absolute location of the observer using those correspondences, and calculates relative position from a pentagon using its (ive vortices. The algorithm has been implemented and tested. In several trials it computes location accurate to within 5 centimeters in less than 0.3 second.

• Journal of the Korea Society of Computer and Information
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• v.23 no.11
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• pp.159-165
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• 2018

In this study, it is analyzed that keywords of the interest in the 4th industrial revolution for science and Technician K women's university students, areas to prioritize in the strategy of 4th industry revolution, to research compare analyze the recognition of science technology such as the most necessary education, human resource development of universities and companies in Korea and abroad according to the technology trend required in the 4th Industrial revolution era and which area to prepare for the 4th industrial revolution. The survey result shows different thoughts of science and Technician(KOFST) and the women university students. In the 1) 4th industrial revolution, the 96% of former are interested, while 60% of latter are interested. And in the most used keywords, the former group used AI(24%), Fusion new industry(21%) the most, while the latter group used AI(34%), Robot(18%). And, 3) in the strategic priority, the science technology experts are interested in education, R&D system innovation(27%), IoT, Information and Communication(26%) and the university students are interested in IoT, Information and Communication(31%), AI(28%). Finally, 4) the science technology experts thought of Autonomous Vehicle(20%), 3D Printer(7%), AI(16%) important, while the women university students thought of AI(27%), VR/Augmented Reality(17%), and Autonomous Vehicle(16%) the most necessary education. In the 4th industrial revolution, we need people with ability to solve complicated problems with creativity based on understanding and absorbing new knowledge and thinking of converged idea.

• International Journal of Internet, Broadcasting and Communication
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• v.13 no.4
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• pp.112-120
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• 2021

Recently, the number of consumers using digital online distribution platforms is increasing. This caused the rapid growth of the e-commerce market and increased delivery volume in urban areas. The logistics system, designed ar006Fund the city center to handle the delivery volume, operates a delivery system from the outskirts of the city to the urban area using cargo trucks. This maintains an ecosystem of high-cost and inefficient structures that increase social costs such as road traffic congestion and environmental problems. To solve this problem, research is being conducted worldwide to establish a high-efficiency urban joint logistics system using urban railway facilities and underground space infrastructure existing in existing cities. The joint logistics system begins with linking unmanned delivery automation services that link terminal delivery such as cargo classification and stacking, infrastructure construction that performs cargo transfer function by separating from passengers such as using cargo platform. To this end, it is necessary to apply the device to the vertical and horizontal transportation machine supporting the vertical transfer in the flat space of the joint logistics terminal, which is the base technology for transporting cargo using the transfer robot to the destination designated as a freight-only urban railway vehicle. Therefore, this paper aims to derive holistic viewpoints needs for design requirements for vertical and vertical transportation machines and freight transportation standard containers, which are underground railway logistics transport devices to be constructed by urban logistics ecosystem changes.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.44 no.3
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• pp.64-69
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• 2007

Motion control of the system is a position control of motor. Motion control of an uncertain robot system is considered as one of the most important and fundamental research directions in the robotics. Some distinguished works using linear control, adaptive control, robust control strategies based on computed torque methodology have been reported. However, it is generally recognized within the control community that these strategies suffer from the following problems : the exact robot dynamics are needed and hard to implement, the adaptive control cannot guarantee the performance during the transient period for adaptation under the variation, the robust control algorithms such as the sliding mode control need information on the bounds of the possible uncertainty and disturbance. And it produces a large control input as well. In this dissertation, a motion control for the unmanned intelligent robot system using disturbance observer is studied. This system is affected with an impact vibration disturbance. This paper describes a stable motion control of the system with the consideration of external disturbance. To obtain the stable motion independently against the external disturbance, the disturbance rejection is strongly required. To address the above issue, this paper presents a Disturbance OBserver(DOB) control algorithm. The validity of the suggested DOB robust control scheme is confirmed by several computer simulation results. And the experiments with a motor system is performed to give the validity of applicability in the industrial field. This results make the easier implementation of the controller possible in the field.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1624-1627
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• 1997

The 6-DOF parallel manipulator is a closed-kindmatic chain robot manipulator that is capable of providing high structural rigidity and positional accuracy. Because of its advantage, the parallel manipulator have been widely used in many engineering applications such as vehicle/flight driving simulators, rogot maniplators, attachment tool of machining centers, etc. However, the kinematic analysis for the implementation of a real-time controller has some problem because of the lack of an efficient lagorithm for solving its highly nonliner forward kinematic equation, which provides the translational and orientational attitudes of the moveable upper platform from the lenght of manipulator linkages. Generally, Newton-Raphson method has been widely sued to solve the forward kinematic problem but the effectiveness of this methodology depend on how to set initial values. This paper proposes a hybrid method using genetic algorithm(GA) and Newton-Raphson method to solve forward kinematics. That is, the initial values of forward kinematics solution are determined by adopting genetic algorithm which can search grobally optimal solutions. Since determining this values, the determined values are used in Newton-Raphson method for real time calcuation.

• Journal of Advanced Research in Ocean Engineering
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• v.3 no.3
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• pp.136-148
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• 2017

The paper presents dual arm ROV manipulation using deep reinforcement learning. The purpose of this underwater manipulator is to investigate and excavate natural resources in ocean, finding lost aircraft blackboxes and for performing other extremely dangerous tasks without endangering humans. This research work emphasizes on a self-learning approach using Deep Reinforcement Learning (DRL). DRL technique allows ROV to learn the policy of performing manipulation task directly, from raw image data. Our proposed architecture maps the visual inputs (images) to control actions (output) and get reward after each action, which allows an agent to learn manipulation skill through trial and error method. We have trained our network in simulation. The raw images and rewards are directly provided by our simple Lua simulator. Our simulator achieve accuracy by considering underwater dynamic environmental conditions. Major goal of this research is to provide a smart self-learning way to achieve manipulation in highly dynamic underwater environment. The results showed that a dual robotic arm trained for a 3DOF movement successfully achieved target reaching task in a 2D space by considering real environmental factor.

• The Journal of Korea Robotics Society
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• v.7 no.2
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• pp.92-100
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• 2012

A map of complex environment can be generated using a robot carrying sensors. However, representation of environments directly using the integration of sensor data tells only spatial existence. In order to execute high-level applications, robots need semantic knowledge of the environments. This research investigates the design of a system for recognizing objects in 3D point clouds of urban environments. The proposed system is decomposed into five steps: sequential LIDAR scan, point classification, ground detection and elimination, segmentation, and object classification. This method could classify the various objects in urban environment, such as cars, trees, buildings, posts, etc. The simple methods minimizing time-consuming process are developed to guarantee real-time performance and to perform data classification on-the-fly as data is being acquired. To evaluate performance of the proposed methods, computation time and recognition rate are analyzed. Experimental results demonstrate that the proposed algorithm has efficiency in fast understanding the semantic knowledge of a dynamic urban environment.

• Proceedings of the KWS Conference
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• 2002.10a
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• pp.181-186
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• 2002

Laser welding application for car body manufacturing has many advantages in the stiffness and the lightness of vehicle, the productivity of assembly line, and the degree of freedom in design. This presentation will express the innovation of car body manufacturing including parameter optimization, process modeling, and system integration. In this application the investment for systems was cut down dramatically by real time switching over the laser path between two welding stations. Points of technical discussion are as follows: optimization of parameters such as laser power, robot speed and trajectory, compact and useful design of jig & fixture to assure welding quality for 3 sheet-layer zinc-coated steel, system integration between 4kW Nd:YAG laser device and the other systems, on-line real time welding quality monitoring system, perfect safety standards for high power laser, minimization of consumption costs such as arc lamp, protective glass for optic, etc. Laser welding has found a place on Hyundai's production plant in conjunction with the startup of mass production of new sports car, and this production system is the result of a collaboration of its engineers. Outer side sheets are joined to inner side sheets by 122 stitch welds totally. And the length is about 2.4meter.

• Journal of Korea Society of Industrial Information Systems
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• v.19 no.1
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• pp.25-30
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• 2014

In this paper, we have implemented an FMCW radar for a near distance measurement. In the structure of the FMCW radar, it is a key problem to solve the VCO nonlinearity. In this work, we have adopted a VCO nonlinearity compensation algorithm using the spectrum correlation of beat signals. The radar experimented in this work uses an X-band(9.55~10.25GHz) microwave signal, and realizes precision of 3% in the range of 30m. The prototype can be applied to the front surveillance radar such as in vehicle anti-collision and probing robot mission.