• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1259-1263
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• 2004

This paper describes position estimation algorithm using neural network for the navigation of the vision-based wheeled mobile robot (WMR) in a corridor with taking ceiling lamps as landmark. From images of a corridor the lamp's line on the ceiling in corridor has a specific slope to the lateral position of the WMR. The vanishing point produced by the lamp's line also has a specific position to the orientation of WMR. The ceiling lamps have a limited size and shape like a circle in image. Simple image processing algorithms are used to extract lamps from the corridor image. Then the lamp's line and vanishing point's position are defined and calculated at known position of WMR in a corridor. To estimate the lateral position and orientation of WMR from an image, the relationship between the position of WMR and the features of ceiling lamps have to be defined. But it is hard because of nonlinearity. Therefore, data set between position of WMR and features of lamps are configured. Neural network are composed and learned with data set. Back propagation algorithm(BPN) is used for learning. And it is applied in navigation of WMR in a corridor.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.30.3-30
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• 2001

In this paper, we designed the 6-wheeled mobile robot (6-WMR) with the passive linkage mechanism which enables 6-WMR to passively adapt to the given stairs. To overcome the limit of adaptability to the terrain of conventional WMR and improve the energy efficiency, we proposed the new WMR using the passive linkage mechanism. The passive linkage mechanism consists of the simple four-bar linkage mechanism which allows 6-WMR to climb stairs with adaptability and an additional link which is connected to the four-bar linkage mechanism by a pin-slot joint to enable 6-WMR to passively go up the stairs. We made a miniature model of the proposed 6-WMR ...

• Journal of The Korean Society of Grassland and Forage Science
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• v.37 no.4
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• pp.254-263
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• 2017

This study was carried out to introduce of agronomic characteristics, forage yields and quality of Sorghum ${\times}$ Sudangrass hybrids 'Cadan 99B' and 'Sweet Sioux WMR' from 2015 to 2016 in middle and southern regions of Korea. The field experiment design was complete in seven varieties with three repetitions. Sorghum ${\times}$ Sudangrass hybrids were sown on mid-May in middle region, and end-May in southern region of Korea, in 2015 and 2016. The observed average heading date of Cadan 99B and Sweet Sioux WMR were July 22. The heading dates of Cadan 99B and Sweet Sioux WMR were 8 days earlier than SX-17 and 5 days earlier than brown mid-rid (BMR) Revolution. The sugar contents of Cadan 99B and Sweet Sioux WMR were 6.5 and $6.9Brix^{\circ}$, respectively. Comparison with BMR variety, the sugar contents of Candan 99B and Sweet Sioux WMR were 0.2 and $0.6Brix^{\circ}$ higher than Revolution, respectively. The average of dry matter (DM) yield for 2 years and 2 regions of Cadan 99B (24,587kg/ha) were the highest among the seven varieties, but there was no significant difference among other varieties except headless control variety Jumbo (19,119kg/ha) and LATTE (20,778kg/ha) (p>0.05). The crude protein (CP) and in vitro dry matter digestibility (IVDMD) of Cadan 99B were 7.5% and 60.2%, and Sweet Sioux WMR were 6.9% and 60.7%, respectively. The results of this study indicated that Sorghum ${\times}$ Sudangrass hybrids Cadan 99B and Sweet Sioux WMR are earlier heading dates and higher than SX-17, and high yields of DM in middle and southern regions of Korea.

• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.5
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• pp.577-582
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• 2004

This paper describes position estimation algorithm using neural network for the navigation of the vision-based Wheeled Mobile Robot (WMR) in a corridor with taking ceiling lamps as landmark. From images of a corridor the lamp's line on the ceiling in corridor has a specific slope to the lateral position of the WMR. The vanishing point produced by the lamp's line also has a specific position to the orientation of WMR. The ceiling lamps has a limited size and shape like a circle in image. Simple image processing algorithms are used to extract lamps from the corridor image. Then the lamp's line and vanishing point's position are defined and calculated at known position of WMR in a corridor To estimate the lateral position and orientation of WMR from an image, the relationship between the position of WMR and the features of ceiling lamps have to be defined. Data set between position of WMR and features of lamps are configured. Neural network are composed and teamed with data set. Back propagation algorithm(BPN) is used for learning. And it is applied in navigation of WMR in a corridor.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.191-196
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• 2003

This paper presents a method to design an adaptive controller for the kinematic model of a two-wheeled welding mobile robot (WMR) with unknown parameters. We propose a nonlinear controller based on the Lyapunov function to enhance the tracking properties of the WMR. The WMR can track any smooth curved welding path at a constant velocity of the welding point. The system has three degrees of freedom including two wheels and one torch slider. Torch slider motion is used for fast tracking. To design the tracking performance, the errors from WMR to steel wall is defined, and the controller is designed to drive the errors to zero as fast as possible. The effectiveness of the proposed controller is shown through simulation results.

• The Journal of the Acoustical Society of Korea
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• v.21 no.8
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• pp.735-743
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• 2002

In this paper, we propose three new text-independent speaker identification methods. At first, to exclude the frames not having enough features of speaker's vocal from calculation of the maximum likelihood, we propose the FS(Frame Selection) method. This approach selects the important frames by evaluating the difference between the biggest likelihood and the second in each frame, and uses only the frames in calculating the score of likelihood. Our secondly proposed, called the Hybrid, is a combined version of the FS and WMR(Weighting Model Rank). This method determines the claimed speaker using exponential function weights, instead of likelihood itself, only on the selected frames obtained from the FS method. The last proposed, called MWMR (Modified WMR), considers both original likelihood itself and its relative position, when the claimed speaker is determined. It is different from the WMR that take into account only the relative position of likelihood. Through the experiments of the speaker identification, we show that the all the proposed have higher identification rates than the ML. In addition, the Hybrid and MWMR have higher identification rate about 2% and about 3% than WMR, respectively.

• Proceedings of the Korean Society of Crop Science Conference
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• 2017.06a
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• pp.78-78
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• 2017

This study was carried out to introduce of agronomic characteristics, forage yields and quality of Sorghum ${\times}$ Sudangrass hybrids 'Cadan 99B' and 'Sweet Sioux WMR' from 2015 to 2016 in middle and southern regions of Korea. The field experiment design was randomized compete block in seven varieties with three repetitions. Sorghum ${\times}$ Sudangrass hybrids were sown in mid-May in middle region, and end-May in southern region of Korea, 2015 and 2016. And, the first harvests were from the end of July to the beginning of August, and the second harvests were from the end of September to the beginning of October in middle and southern regions of Korea. The observed average heading date of Sorghum ${\times}$ Sudangrass hybrids Cadan 99B and Sweet Sioux WMR were July 22. The heading date of Cadan 99B and Sweet Sioux WMR were 8 days earlier than heading control variety SX-17 and 5 days earlier than BMR control Revolution. The sugar contents of Candan 99B and Sweet Sioux WMR were 6.5 and $6.9Brix^{\circ}$, respectively. Comparison with brown mid-rid (BMR) variety, the sugar contents of Cadan 99B and Sweet Sioux WMR were 0.2 and $0.6Brix^{\circ}$ higher than Revolution, respectively. The average of dry matter (DM) yield for 2 years and 2 regions of Cadan 99B (24,587kg/ha) was the highest among the seven varieties, but there was no significant difference among other varieties except headless control variety Jumbo (19,119kg/ha) and test variety LATTE (20,778kg/ha) (p>0.05). The crude protein (CP) and in vitro dry matter digestibility (IVDMD) of Cadan 99B were 7.5% and 60.2%, and Sweet Sioux WMR were 6.9% and 60.7%, respectively. The results of this study indicated that Sorghum ${\times}$ Sudangrass hybrids Cadan 99B and Sweet Sioux WMR were recommended that earlier heading date than other varieties, suitable for silage because of high sugar contents, and high yields of DM in middle and southern regions of Korea.

• The Journal of Korea Robotics Society
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• v.12 no.3
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• pp.339-349
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• 2017

In this paper, we present a finite-time sliding mode control (FSMC) with an integral finite-time sliding surface for applying the concept of graph theory to a distributed wheeled mobile robot (WMR) system. The kinematic and dynamic property of the WMR system are considered simultaneously to design a finite-time sliding mode controller. Next, consensus and formation control laws for distributed WMR systems are derived by using the graph theory. The kinematic and dynamic controllers are applied simultaneously to compensate the dynamic effect of the WMR system. Compared to the conventional sliding mode control (SMC), fast convergence is assured and the finite-time performance index is derived using extended Lyapunov function with adaptive law to describe the uncertainty. Numerical simulation results of formation control for WMR systems shows the efficacy of the proposed controller.

• Journal of Mechanical Science and Technology
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• v.17 no.11
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• pp.1682-1692
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• 2003

This paper proposes an adaptive controller for partially known system and applies to a two-wheeled Welding Mobile Robot (WMR) to track a reference welding path at a constant velocity of the welding point. To design the tracking controller, the errors from WMR to steel wall is defined, and the controller is designed to drive the errors to zero as fast as desired. Additionally, a scheme of error measurement is implemented on the WMR to meet the need of the controller. In this paper, the system moments of inertia are considered to be partially unknown parameters which are estimated using update laws in adaptive control scheme. The simulations and experiments on a welding mobile robot show the effectiveness of the proposed controller.

• The Journal of Korea Robotics Society
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• v.5 no.4
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• pp.349-358
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• 2010

We presents a dynamic modeling of 4-wheel 2-DOF. WMR. The classic dynamic model utilizes a greatly simplified wheel motion representation and using of a simplified dynamic model confronts with a problem for accurate position control of wheeled mobile robot. In this paper, we treats the dynamic model for describes relationship between the wheel actuator force/torque and WMR motion through the use of Newton's equilibrium laws. To calculate the WMR position in real time, we introduced the Dead-Reckoning algorithms and the simulation result show that the proposed dynamic model is useful. We can be easily extend the proposed WMR model to mobile robot of similar type and this type of methodology is useful to analyze, design and control any kinds of rolling robots.