• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.734-739
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• 2003

A new method of estimating the pose of a mobile-task robot is developed based upon an active calibration scheme. The utility of a mobile-task robot is widely recognized, which is formed by the serial connection of a mobile robot and a task robot. For the control of the mobile robot, an absolute position sensor is necessary. This paper proposes an active calibration scheme to estimate the pose of a mobile robot that carries a task robot on the top. The active calibration scheme is to estimate a pose of the mobile robot using the relative position/orientation to a known object whose location, size, and shape are known a priori. Through the homogeneous transformation, the absolute position/orientation of the camera is calculated and that is propagated to getting the pose of a mobile robot. With the experiments in the corridor, the proposed active calibration scheme is verified experimentally.

• Proceedings of the IEEK Conference
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• 2001.06c
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• pp.157-160
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• 2001

This paper has been studied a Adaptive Mutation rate Genetic Algorithm Processor. Genetic Algorithm(GA) has some control parameters such as the probability of bit mutation or the probability of crossover. These value give a priori by the designer There exists a wide variety of values for for control parameters and it is difficult to find the best choice of these values in order to optimize the behavior of a particular GA. We proposed a Adaptive mutation rate GA within a steady-state genetic algorithm in order to provide a self-adapting mutation mechanism. In this paper, the proposed a adaptive mutation rate GAP is implemented on the FPGA board with a APEX EP20K600EBC652-3 devices. The proposed a adaptive mutation rate GAP increased the speed of finding optimal solution by about 10%, and increased probability of finding the optimal solution more than the conventional GAP

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.11
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• pp.933-938
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• 2001

In this paper, we describe a method for the mobile robot using images of a moving object. This method combines the observed position from dead-reckoning sensors and the estimated position from the images captured by a fixed camera to localize a mobile robot. Using the a priori known path of a moving object in the world coordinates and a perspective camera model, we derive the geometric constraint equations which represent the relation between image frame coordinates for a moving object and the estimated robot`s position. Since the equations are based on the estimated position, the measurement error may exist all the time. The proposed method utilizes the error between the observed and estimated image coordinates to localize the mobile robot. The Kalman filter scheme is applied to this method. Effectiveness of the proposed method is demonstrated by the simulation.

• Proceedings of the KSME Conference
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• 2008.11a
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• pp.1594-1599
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• 2008

Haptic rendering is a process that provides force feedback during interactions between a user and an object. This paper presents a haptic rendering technique for a telemanipulation system of deformable objects using image processing and physically based modeling techniques. The interaction forces between an instrument driven by a haptic device and a deformable object are inferred in real time based on a continuum mechanics model of the object, which consists of a boundary element model and ${\alpha}$ priori knowledge of the object's mechanical properties. Macro- and micro-scale experimental systems, equipped with a telemanipulation system and a commercial haptic display, were developed and tested using silicone (macro-scale) and zebrafish embryos (micro-scale). The experimental results showed the effectiveness of the algorithm in different scales: two experimental systems applied the same algorithm provided haptic feedback regardless of the system scale.

• Genomics & Informatics
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• v.5 no.3
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• pp.133-136
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• 2007

The Gene Set network viewer (GSnet) visualizes the functional enrichment of a given gene set with a protein interaction network and is implemented as a plug-in for the Cytoscape platform. The functional enrichment of a given gene set is calculated using a hypergeometric test based on the Gene Ontology annotation. The protein interaction network is estimated using public data. Set operations allow a complex protein interaction network to be decomposed into a functionally-enriched module of interest. GSnet provides a new framework for gene set analysis by integrating a priori knowledge of a biological network with functional enrichment analysis.

• Bulletin of the Korean Mathematical Society
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• v.38 no.1
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• pp.29-53
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• 2001

This note presents a an indirect adaptive control scheme for first-order continuous-time systems. The estimated plant model is controllable and then the adaptive scheme is free from singularities. The singularities are avoided through a modification of the estimated plant parameter vector so that its associated Sylvester matrix is guaranteed to be nonsingular. That properties is achieved by ensuring that the absolute value of its determinant does not lie below a positive threshold. A modification scheme based on the achievement of a modified diagonally dominant Sylvester matrix of the parameter estimates is also given as an alternative method. This diagonal dominance is achieved through estimates modification as a way to guarantee the controllability of the modified estimated model when a controllability measure of the ‘a priori’ estimated model fails. In both schemes, the use of a hysteresis switching function for the modification of the estimates is not required to ensure the nonsingularity of the Sylvester matrix of the estimates.

• Proceedings of the KSME Conference
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• 2008.11b
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• pp.2845-2849
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• 2008

Long Term Asset Management(LTAM) means a plan developed by using LCM(Life Cycle Management) process for optimum life cycle management of significant plant assets at each plant across the fleet. As a part of development of LTAM Strategies on nuclear turbines, a method so as to determine the future failure rates for low pressure turbine facilities at a nuclear plant was studied and developed by using both plant specific and industry-wide performance data. INPO's EPIX data were analyzed and some failure rate evaluation values considering preventive maintenance practices were calculated by using EPRI's PM Basis software. As the result, failure rate functions applicable to a priori and a posteriori replacement of low pressure turbines at a nuclear plant were developed and utilized in an assessment of economics of LCM alternatives on the nuclear turbine facilities in the respects of 40-year and 60-year operation bases.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.238-243
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• 1998

This paper presents a new approach to visual servoing with the stereo vision. In order to control the position and orientation of a robot with respect to an object, a new technique is proposed using a binocular stereo vision. The stereo vision enables us to calculate an exact image Jacobian not only at around a desired location but also at the other locations. The suggested technique can guide a robot manipulator to the desired location without giving such priori knowledge as the relative distance to the desired location or the model of an object even if the initial positioning error is large. This paper describes a model of stereo vision and how to generate feedback commands. The performance of the proposed visual servoing system is illustrated by the simulation and experimental results and compared with the case of conventional method fur a SCARA robot.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1667-1670
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• 1997

We consider the probelem of identifying and underwater vehicle. It is assumed that a priori information about the parameteric model structure and values of the hydrodynamic coefficients is available from some other schemes. The concept of relative esnsitivity is introduced to plan and efficinet identification procedure. An analysis of the sensitivity of the overall system to a particular hydrodynamic coefficinet provides a tool to evaluate the relative importance of the same coefficient in a particular maneuver. Then it can be made possible to reduce the filter size by selecting some dominatn hydrodynamic coefficients as parameters to be estimated for a given maneuver, and this fact may be used for establishing a gradual identification scheme. The main merit of a gradual identification is substantially reduced computer burden with increased nimerical stability. An illustrative simualtion result is given.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.798-802
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• 2003

The robustness and reliability of vision algorithms is the key issue in robotic research and industrial applications. In this paper, the robust real time visual tracking in complex scene is considered. A common approach to increase robustness of a tracking system is to use different models (CAD model etc.) known a priori. Also fusion of multiple features facilitates robust detection and tracking of objects in scenes of realistic complexity. Because voting is a very simple or no model is needed for fusion, voting-based fusion of cues is applied. The approach for this algorithm is tested in a 3D Cartesian robot which tracks a toy vehicle moving along 3D rail, and the Kalman filter is used to estimate the motion parameters, namely the system state vector of moving object with unknown dynamics. Experimental results show that fusion of cues and motion estimation in a tracking system has a robust performance.