• International Journal of Control, Automation, and Systems
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• v.4 no.2
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• pp.227-235
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• 2006

For a sophisticated humanoid that explores and learns its environment and interacts with humans, anthropomorphic physical behavior is much desired. The human vision system orients each eye with three-degree-of-freedom (3-DOF) in the directions of horizontal, vertical and torsional axes. Thus, in order to accurately replicate human vision system, it is imperative to have a simulator with 3-DOF end-effector. We present a 3-DOF anthropomorphic oculomotor system that reproduces realistic human eye movements for human-sized humanoid applications. The parallel link architecture of the oculomotor system is sized and designed to match the performance capabilities of the human vision. In this paper, a biologically-inspired mechanical design and the structural kinematics of the prototype are described in detail. The motility of the prototype in each axis of rotation was replicated through computer simulation, while performance tests comparable to human eye movements were recorded.

• International Journal of Control, Automation, and Systems
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• v.3 no.3
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• pp.411-418
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• 2005

This paper discusses an output-tracking control design method for Takagi-Sugeno fuzzy systems with parametric uncertainties. We first represent the concerned system as a set of uncertain linear systems. The tracking problem is then converted into a stabilization problem thereby leading to a more feasible control design procedure. A sufficient condition for robust practical output tracking is derived in terms of a set of linear matrix inequalities. A numerical example for a flexible-joint robot-arm model has been demonstrated, to convincingly show effectiveness of the proposed system modeling and control design.

• International Journal of Control, Automation, and Systems
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• v.3 no.3
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• pp.403-410
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• 2005

Nowadays, versatile robots are developed around the world. Novel algorithms are needed for controlling such robots. A 2-Layer fuzzy controller can deal with many inputs as well as many outputs, and its overall structure is much simpler than that of a general fuzzy controller. The main problem encountered in fuzzy control is the design of the fuzzy controller. In this paper, the fuzzy controller is designed by the schema co-evolutionary algorithm. This algorithm can quickly and easily find a global solution. Therefore, the schema co-evolutionary algorithm is used to design a 2-layer fuzzy controller in this study. We apply it to a mobile robot and verify the efficacy of the 2-layer fuzzy controller and the schema co-evolutionary algorithm through the experiments.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.4
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• pp.69-80
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• 2000

Generally, die polishing is a lime consuming process, resulting in 30∼50％ of the whole die manufacturing time. However, die polishing has not been automated yet, since it needs a great deal of experience and skill. This paper describes a new development of automated system for die polishing and focuses on the successful achievements of the element techniques to realize from hand skill to automation, as followings: (1) The 5 axes polishing system by the aid of robot with 2 degrees of freedom, is developed for the application of curved surface die. (2) The CAM system realizes a 5 axes tool path control for polishing and measuring. (3) The conductive elastic tool is able to meet curved surfaces of die and gives a high efficient and quality polishing characteristics. (4) The surface roughness measurement device with noncontact laser is developed and has a high reliability without surface damage.

• Proceedings of the KIEE Conference
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• 2011.07a
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• pp.1926-1927
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• 2011

In this paper, an alignment method between a transporter and a stowage is presented for the automation of loading and unloading operations in the mobile harbor system. The principle of linetracer is utilized for the automatic alignment of transporter and stowage, and the effectiveness of the alignment method is proved by a simulated experiment using mobile robot.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.746-751
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• 2004

Demands for higher productivity in container terminal environments continues to escalate consideration of equipment upgrades. And then transportation of containers using the automated container crane becomes more and more important for productivity enhancements. Introducing a hybrid control architecture to the container crane, it provides a effective means to the automated operation of the container crane. This paper addresses the methodology for automation of container cranes. In addition, this paper proposes a new control architecture for the automated container crane and explains each component of that architecture. The control architecture is composed of a deliberative control layer, a sequencing layer, and a reactive control layer. The proposed architecture is applied to a dual-hoist double-trolley container crane.

• Journal of the Korean Society for Precision Engineering
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• v.31 no.10
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• pp.947-954
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• 2014

Performance of next generation susceptor is affected by temperature uniformity in order to produce reliably large-sized flat panel display. In this paper, we propose a learning estimation model of susceptor to predict and appropriately assess the temperature uniformity. Artificial Neural Networks (ANNs) and Support Vector Machines (SVMs) are compared for the suitability of the learning estimation model. It is proved that SVMs provides more suitable verification of uniformity modeling than ANNs during each stage of temperature variations. Practical procedure for uniformity estimation of susceptor temperature was developed using the SVMs prediction algorithm.

• Proceedings of the KIEE Conference
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• 2009.07a
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• pp.1895_1896
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• 2009

본 논문에서는 로봇 소프트웨어 컴포넌트 테스팅 자동화에 적합한 테스팅 자동화 프레임워크 및 계층적 로봇 소프트웨어 테스트 모델을 제안한다. 테스팅 자동화 프레임워크는 로봇 소프트웨어 컴포넌트의 지속적인 통합, 다양한 로봇 환경 및 분산 컴포넌트 환경을 지원한다. 테스팅 자동화 프레임워크를 실제 구현하여 테스트 베드에 설치 및 평가를 통하여, 본 논문에서 제안하는 프레임워크가 효율적임을 보인다.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 1995.04a
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• pp.306-315
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• 1995

This paper presents a bin picking method using a slit beam laser in which a robot recognizes all of the unoccluded objects from the top of jumbled objects, and picks them up one by one. Once those unoccluded objects are removed, newly developed unoccluded objects underneath are recognized and the same process is continued until the bin gets empty. To recognize unoccluded objects, a new algorithm to link edges on slices which are generated by the orthogonally mounted laser on the xy table is proposed. The edges on slices are partitioned and classified using convex and concave function with a distance parameter. The edge types on the neighborhood slices are compared, then the hamming distances among identical kinds of edges are extracted as the features of fuzzy membership function. The sugeno fuzzy integration about features is used to determine linked edges. Finally, the pick-up sequence based on MaxMin theory is determined to cause minimal disturbance to the pile. This proposed method may provide a solution to the automation of part handling in manufacturing environments such as in punch press operation or part assembly.

• Proceedings of the KIEE Conference
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• 2006.07d
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• pp.1971-1972
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• 2006

본 논문에서는 휴머노이드 로봇의 예기치 않은 불규칙한 지면 환경 하에서 안정성을 확보하기위한 보행 전략을 제시한다. 휴머노이드 로봇의 안정성에 관한 지표로 널리 사용되는 ZMP(Zero Moment Point)나 COG(Center Of Gravity)를 이용한 방법은 많은 양의 연산을 필요로 하고, 주로 외부에서 가해지는 임의의 힘에 대처하는데 초점을 맞추고 있다. 휴머노이드 로봇의 불안정성을 유발하는 또 다른 주요한 원인으로 예기치 못한 지면 환경을 꼽을 수 있는데, 본 논문에서는 이러한 불규칙한 지형을 보행하는 휴머노이드 로봇의 실시간 안정성을 확보하는데 있어 ZMP나 COG가 아닌 지면으로부터의 반발력을 이용한 직관적인 알고리즘을 제시하며, 자체 개발된 휴머노이드 로봇 ISHURO II를 이용한 시뮬레이션으로 제시된 알고리즘을 검증한다.