• Journal of Biosystems Engineering
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• 제37권1호
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• pp.65-74
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• 2012

Purpose: An autonomous robot was developed for harvesting strawberries cultivated in bench-type systems. Methods: The harvest robot consisted of four main components: an autonomous vehicle, a manipulator with four degrees of freedom (DOF), an end effector with two DOFs, and a color computer vision system. Strawberry detection was performed based on 3D image and distance information obtained from a stereo CCD color camera and a laser device, respectively. Results: In this work, a Cartesian type manipulator system was designed, including an intermediate revolute axis and a double driven arm-based joint axis, so that it could generate collision-free motions during harvesting. A DC servomotor-driven end-effector, consisting of a gripper and a cutter, was designed for gripping and cutting the strawberry stem without damaging the strawberry itself. Real-time position tracking algorithms were developed to detect, recognize, trace, and approach strawberries under natural light conditions. Conclusion: The developed robot system could harvest a strawberry within 7 seconds without damage.

• 로봇학회논문지
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• 제15권1호
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• pp.39-47
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• 2020

This paper presents a control and operation system for a remotely operated vehicle (ROV). The ROV used in the study was equipped with a manipulator and is being developed for underwater exploration and autonomous underwater working. Precision position and attitude control ability is essential for underwater operation using a manipulator. For propulsion, the ROV is equipped with eight thrusters, the number of those are more than six degrees-of-freedom. Four of them are in charge of surge, sway, and yaw motion, and the other four are responsible for heave, roll, and pitch motion. Therefore, it is more efficient to integrate the management of the thrusters rather than control them individually. In this paper, a thrust allocation method for thruster management is presented, and the design of a feedback controller using sensor data is described. The software for the ROV operation consists of a robot operating system that can efficiently process data between multiple hardware platforms. Through experimental analysis, the validity of the control system performance was verified.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제3권2호
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• pp.244-250
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• 2003

In this paper, the relationship between a slave robot and the uncertain remote environment is modeled as the impedance to generate the virtual force to feed back to the operator. For the control of a tele-operated mobile robot equipped with camera, the tele-operated mobile robot take pictures of remote environment and sends the visual information back to the operator over the Internet. Because of the limitation of communication bandwidth and narrow view-angles of camera, it is not possible to watch the environment clearly, especially shadow and curved areas. To overcome this problem, the virtual force is generated according to both the distance between the obstacle and robot and the approaching velocity of the obstacle. This virtual force is transferred back to the master over the Internet and the master(two degrees of freedom joystick), which can generate force, enables a human operator to estimate the position of obstacle in the remote environment. By holding this master, in spite of limited visual information, the operator can feel the spatial sense against the remote environment. This force reflection improves the performance of a tele-operated mobile robot significantly.

• 대한조선학회논문집
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• 제61권1호
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• pp.29-43
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• 2024

The present study concerns a feasibility study for applying principal component analysis to ship dynamics in maneuver. Using the four degrees of freedom standard modular model for ship dynamics maneuver simulations of large angle zigzag tests with rudder deflection angle variations are conducted. The datasets of ship motion, hydrodynamic force, and moment during the maneuver are acquired to identify the principal modes. The covariance matrix of obtained ship dynamics variables shows a strong linear correlation between the motion, hydrodynamic force, and moment, except the surge force. Four eigenvectors of the covariance matrix are selected as the principal modes of ship dynamics. Using the principal modes, ship motion in turning circle and zigzag tests is reconstructed, showing good agreement with the original data.

• 대한조선학회논문집
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• 제61권4호
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• pp.226-235
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• 2024

A method for quantifying the adaptability of ship maneuver scenarios for data-driven modeling of ship dynamics is developed based on the principal component analysis. A random maneuver scenario is suggested as a reference for ship dynamics, which can obtain the converged principal components of ship dynamics features by the Monte Carlo simulation. Principal components of conventional maneuver scenarios defined by the International Maritime Organization (IMO) are compared to that of the random maneuver. A conventional ship dynamics model for a container carrier vessel for four degrees of freedom dynamics is introduced to simulate the random and IMO maneuver scenarios. It is confirmed that the IMO tests follow the tendency of random maneuver scenario in terms of execution time and adaptability.

• 철학연구
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• 제142권
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• pp.193-220
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• 2017

어떤 것도 시장에서 벗어날 수 없다. 모든 것이 시장에서 거래되고 시장에서 평가된다. 이러한 정도로 교환적 동일성 원리의 보편적 지배가 실현된 오늘날, 헤겔이 철학에 요구했던 완전한 동일성 인식이라는 이념이 실현된 것처럼 보인다. 문화산업은 생산을 위한 생산의 원리에 따라 문화를 생산함으로써 문화마저도 시장에서 교환되는 추상적 대타존재로 상품화하기 때문에, 시장에서 교환될 수 없는 것은 무가치하고 쓸모없는 것으로 배제된다. 이러한 방식으로 문화산업이 새로운 것을 위한 여지를 없애버림으로써, 더 이상 새로운 것과 새로운 것에 대한 경험은 불가능하게 되었다. 그러한 정도로 의식은 물화되고, 자율로서 자유는 과거의 향수를 불러오는 것 이외에 어떤 의미도 가지지 않는 공허한 개념이 되었다. 정말로 새로운 것에 대한 경험이 불러일으키는 충동이 없다면, 의지도 없을 것이고, 의지가 없다면 의식적 사유도 가능하지 않을 것이며, 인간은 프로그램에 따라 작동되는 로봇과 더 이상 차이를 가지지 않는 단순한 유적 존재로 전락할 것이다. 그럼에도 현실 세계에서 무의미해진 의지의 자유가 인간이 인간이기 위한 본질적 요소이며, 그렇기 때문에 문화산업이 생산을 위한 생산의 논리에 따라 문화를 상품화함으로써 의식이 물화된 시대에, 문화산업의 논리로 흡수되지 않는 자율적 예술은 물화된 의식을 일깨움으로써 자유로운 인간 사유와 행위를 가능하게 하는 물화된 의식의 해독제가 될 것이다. 이러한 의미에서 본 논문은 동일성 인식의 구성적 불완전성에 대한 비판과 더불어 가능하게 되는 사유하는 언어로는 표현할 수 없는 것, 그래서 교환될 수 없는 것에 대한 경험을 통해 전율로서 미적 경험을 정당화하려 한다. 그런 다음 이러한 전율로서의 미적 경험이 자율적 예술을 가능하게 한다고 논증할 것이다.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2004년도 학술대회지
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• pp.198-203
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• 2004

This paper describes a real-time control architecture for DUSAUV (Dual Use Semi-Autonomous Underwater Vehicle), which has been developed at Korea Research Institute of Ships & Ocean Engineering (KRISO), KORDI, for being a test-bed oj development of technologies for underwater navigation and manipulator operation. DUSAUV has three built-in computers, seven thrusters for 6 degree of freedom motion control, one 4-function electric manipulator, one pan/tilt unit for camera, one ballasting motor, built-in power source, and various sensors such as IMU, DVL, sonar, and so on. A supervisor control system for GUI and manipulator operation is mounted on the surface vessel and communicates with vehicle through a fiber optic link. Furthermore, QNX, one of real-time operating system, is ported on the built-in control and navigation computers of vehicle for real-time control purpose, while MicroSoft OS product is ported on the supervisor system for GUI programming convenience. A hierarchical control architecture which consist of three layers (application layer, real-time layer, and physical layer) has been developed for efficient control system of above complex underwater robotic system. The experimental results with implementation of the layered control architecture for various motion control of DUSAUV in a basin of KRISO is also provided.

• 전자공학회논문지
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• 제51권9호
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• pp.208-214
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• 2014

차선유지 제어시스템, 적응식순항 제어시스템과 같은 첨단운전 지원시스템은 기본적으로 차량의 거동 정보를 기반으로 구동되지만, 최근 도로의 기하학적 정보를 추가적으로 활용하는 연구가 활발히 진행되고 있다. 특히, 도로의 종단경사는 차량의 가감속 제어 및 항법알고리즘 구현에 있어 필수적인 정보로서 DGPS-RTK와 같은 고가의 장비로 직접 측정하는 방법과 디지털 맵에 저장된 속성정보를 활용하는 방식이 제안되고 있으나, 상용화 관점에서는 아직 많은 문제점이 존재한다. 따라서, 본 논문에서는 추가 센서의 장착없이 연속형 확장칼만필터를 활용하여 차량의 동특성과 도로종단경사를 효율적으로 추정하는 알고리즘을 제안한다. 도로종단경사를 포함하는 3자유도 차량동역학 모델과 차량의 내부 네트워크롤 통해 수집할 수 있는 차량의 상태정보를 기반으로 확장칼만필터를 설계하여 차량의 동특성과 도로종단경사를 추정한다. 제안된 알고리즘은 시뮬레이션과 실차실험을 통해 그 성능을 검증하였다.

• 한국기계가공학회지
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• 제20권10호
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• pp.44-49
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• 2021

Seats in autonomous vehicles must be able to rotate to fully utilize the interior space. Generally, ultra-high strength steel is used for the rotation module because it should have high strength and high rigidity. In addition, the rotating parts are difficult to form because they have complex shapes. In this study, the upper plate of the rotating module, whose complex shape makes it difficult to form, was formed by applying the hot stamping method. The drawing method and the form-drawing method, which are generally used to form components of complex shapes, were compared. We showed that the form-drawing method increased the degree of freedom of the material flow to improve the formability, thus enabling the forming of the plate. In addition, the die and blank shapes were found to be important factors in determining the success of the hot stamping. The validity of the analysis results was confirmed through forming analysis and experiments.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1541-1544
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• 1997

The rehailitation robot, one of the service robot, is the important area in the service automation. In the paper, we describe the overall configuration of KARES(KAIST Rehabilitation Engineering System), which is an intellingent rehabilitaion robotic system designed to assist the independent livelihood of the handicapped and the eldrly. KARES consists of the 6 degree of freedom robot arm mounted on a wheelchair, the controller ofr the arm, sensors to perceive environment, and user interface. Basic desired hobs in KARES are gripping the target object and moving it to the user's face for eating, drinking, or cooperation work wiht the mouth. Currently, the manual operation of the arm is available for gripping to target objects. The autonomous functionality will be ginven for the facilities of the human operator.