• Journal of Power System Engineering
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• v.4 no.4
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• pp.78-83
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• 2000

It is often necessary to observe the working environment of a robot to control it efficiently in the remote location. The remote sensing data and control commands are transmitted via various media such as radio, microwave, and computer network. The World Wide Web can be used as the infrastructure for teleoperation of mobile robots. In this paper we propose an advanced technique of the remote control of mobile robots on the web. For the real-time control, the image separation algorithm is proposed to transmit the current positions of mobile robots instead of transmitting the full frame image. It is shown by experiments that the proposed algorithm is effective.

• Journal of Drive and Control
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• v.19 no.4
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• pp.91-96
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• 2022

The performance and reliability of foreign servomotors and domestic servomotors for manufacturing robots were compared and verified. The mass productivity was confirmed by satisfying the requirements of the demanding companies. The servomotor was designed in consideration of mass productivity while satisfying the requirements of the demanding company. It was mounted on a real robot to check its performance and reliability. To secure mass-production performance, we designed and manufactured easy-to-manufacture parts and jigs to manufacture servomotors and achieved the goal of the mass-production evaluation of servomotors through individual performance evaluation, robot mounting test evaluation, and supplementation.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.6
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• pp.585-593
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• 2006

In this paper, we propose a vision-based simultaneous localization and map-building (SLAM) algorithm. SLAM problem asks the location of mobile robot in the unknown environments. Therefore, this problem is one of the most important processes of mobile robots in the outdoor operation. To solve this problem, Extended Kalman filter (EKF) is widely used. However, this filter requires computational power (${\sim}O(N)$, N is the dimension of state vector). To reduce the computational complexity, we applied compressed extended Kalman filter (CEKF) to stereo image sequence. Moreover, because the mobile robots operate in the outdoor environments, we should estimate full d.o.f.s of mobile robot. To evaluate proposed SLAM algorithm, we performed the outdoor experiments. The experiment was performed by using new wheeled type mobile robot, Robhaz-6W. The performance results of CEKF SLAM are presented.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2008.06a
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• pp.469-470
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• 2008

• Proceedings of the Korea Society of Information Technology Applications Conference
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• 2005.11a
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• pp.91-97
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• 2005

Bones are dynamic structures, being supported by muscles, tendons, and ligaments. When some or all the structures are disturbed i.e. in fractures, the alignment of the bone in respect to the rest of the body is deranged. This gives rise to axial as well as rotational deformity in three dimensional planes. The correct alignment and position of the long bones are to be maintained to heal the bone in the best possible anatomical and functional position. The objective of this research is to address the problems in the current practice involving surgeon, assistant, fluoroscopy and crude mechanical means and to see if a robotic solution exists to solve the problems of manipulating and reducing long bone fractures. This paper presents various design aspects of the proposed surgeon-instructed, image-guided and robotic system including the system design specification, robot design and analysis, motion control and implementation, and x-ray image processing and incorporation in CAD environment.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.485-490
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• 1992

This paper describes a hardware structure and a communication system of a multiple autonomous robots system. Many studies have been devoted to the development of a single autonomous robot. It is, however, also necessary to investigate decentralized multiple autonomous robots system in order to make wider use of such robots. We have been studying a multiple autonomous robots system employing two mobile robots. In this paper, problems are overviewed on the developed multiple autonomous robots system from the viewpoint of hardware and communication, and an improved system is presented, which employs a new control strategy of a mobile robot and realizes reliable data communication between host computers.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1229-1234
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• 2004

Face robots capable of expressing their emotional status, can be adopted as an e cient tool for friendly communication between the human and the machine. In this paper, we present a face robot actuated with arti cial muscle based on dielectric elastomer. By exploiting the properties of polymers, it is possible to actuate the covering skin, and provide human-like expressivity without employing complicated mechanisms. The robot is driven by seven types of actuator modules such as eye, eyebrow, eyelid, brow, cheek, jaw and neck module corresponding to movements of facial muscles. Although they are only part of the whole set of facial motions, our approach is su cient to generate six fundamental facial expressions such as surprise, fear, angry, disgust, sadness, and happiness. Each module communicates with the others via CAN communication protocol and according to the desired emotional expressions, the facial motions are generated by combining the motions of each actuator module. A prototype of the robot has been developed and several experiments have been conducted to validate its feasibility.

• 전자공학회논문지 IE
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• v.45 no.4
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• pp.11-18
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• 2008

This study is implementation of attitude control system(ACS - Attitude Control System). for a multi legs robot. This study designs H/W of Inertial Measurement Unit (IMU) and attitude control algorithm S/W. Compare performance with Mtx and MTx in order to verify action performance of this system after implementation, and will verify a system integrated IMU of a multi-legs robot. ACS uses Gyro and an accelerometer and an earth magnetism sensor, and it is a system controlling a roll, pitch angle attitude of an object. Generally, low price MEMS is difficult to calculate a correct situation of an object as an error occurs severely the Inertial sensor. This study implements IMU in order to develop ACS as use MEMS, accelerometer, Gyro sensor and earth magnetism sensor. Design algorithm each a roll, pitch, yaw attitude guaranteeing regular performance, and do poling in a system as include an attitude calculation program in an IMU system implemented. Mixed output of Gyro and an accelerometer, and recompensed a roll, pitch angle, and loaded in this study on a target platform in order to implement the ACS which guaranteed performance more than a continuously regular level, and operated by real time, and did porting, and verified.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1853-1858
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• 2004

This paper presents the development of a full order sliding mode controller for tracking problem of a class of uncertain dynamical system, in particular, the direct drive robot manipulators. By treating the arm as an uncertain system represented by its nominal and bounded parametric uncertainties, a new robust fullorder sliding mode tracking controller is derived such that the actual trajectory tracks the desired trajectory as closely as possible despite the non-linearities and input couplings present in the system. A proportional-integral sliding surface is chosen to ensure the stability of overall dynamics during the entire period i.e. the reaching phase and the sliding phase. Application to a three DOF direct drive robot manipulator is considered.

• Proceedings of the KIEE Conference
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• 2007.10a
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• pp.87-88
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• 2007

URC(Uniform Resource Identifier) 로봇은 기존의 로봇 자체에서 처리하던 기능을 네트워크를 통하여 외부로 분산시켜 외부의 센싱기능과 프로세싱 기능을 활용하여 효율적으로 구동하기 위한 것이다. 즉 많은 파워가 요구되는 센싱 기능이나 프로세싱 기능을 외부에 있는 서버를 활용하여 서비스를 제공함으로써 간단한 로봇으로도 고도의 서비를 제공이 가능토록하여 가격 경쟁력을 갖도록 하기 위함이다. 본 논문에서는 URC 로봇을 원격에서 모니터링 및 제어가 가능하도록 웹 서비스 기술을 임베디드 시스템 환경에 맞게 최적화하였다. 서비스는 인터넷 기반의 SOAP 프로토콜을 통하여 교환되는 XML 기반 메시지를 통하여 다른 응용 에이전트들과 직접적인 상호작용을 지원함으로서 이기종간 호환 및 표준 플랫폼을 지원할 수 있다. 본 논문에서는 URC 시범서비스 참가 로봇인 네토로(한울로보틱스)에 본 연구결과를 적용하여 기능 및 안정성을 검증하였다.