• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.260-263
• /
• 2003

This paper has developed the computer integration manufacturing system and Internet based tele-operations. The functions of CIMS include production planing, material requirement planning, work order generation, process control, quality control, shipping planning, warehouse and inventory management and material cost accounting.[1] In this paper focuses on the automatic warehouse control and inventory management by developing the information system as well as the Internet-based integration. The system overview is divided into three parts, the mechanical system, the computer and developed software to control and manage the information and the communication system. The mechanical system consists of the warehouse machine and forklift mobile robot controlled by programmable logic controller (PLC). The computer works on many functions such as control station interfaces with PLC, managing database and inventory, and Internet server to broadcast the inventory database to users via World Wide Web and monitoring the operation on web camera. Our scheme the inventory database can be checked easily anywhere and anytime when the users connect to the Internet. In this article, the lead-time and inventory level can be reduced therefore the holding cost and operating time is also decreased.

• Journal of Institute of Control, Robotics and Systems
• /
• v.19 no.7
• /
• pp.599-604
• /
• 2013

Path planning of mobile robots has a purpose to design an optimal path from an initial position to a target point. Minimum driving time, minimum driving distance and minimum driving error might be considered in choosing the optimal path and are correlated to each other. In this paper, an efficient driving trajectory is planned in a real situation where a mobile robot follows a moving object. Position and distance of the moving object are obtained using a web camera, and the rotation angular and linear velocities are estimated using Kalman filters to predict the trajectory of the moving object. Finally, the mobile robot follows the moving object using a single curvature trajectory by estimating the trajectory of the moving object. Using the estimation by Kalman filters and the single curvature in the trajectory planning, the total tracking distance and time saved amounts to about 7%. The effectiveness of the proposed algorithm has been verified through real tracking experiments.

• The Journal of Korea Robotics Society
• /
• v.19 no.2
• /
• pp.149-158
• /
• 2024

This paper presents a robust autonomous navigation and reconnaissance system for tracked robots, designed to handle complex multi-floor indoor environments with stairs. We introduce a localization algorithm that adjusts scan matching parameters to robustly estimate positions and create maps in environments with scarce features, such as narrow rooms and staircases. Our system also features a path planning algorithm that calculates distance costs from surrounding obstacles, integrated with a specialized PID controller tuned to the robot's differential kinematics for collision-free navigation in confined spaces. The perception module leverages multi-image fusion and camera-LiDAR fusion to accurately detect and map the 3D positions of objects around the robot in real time. Through practical tests in real settings, we have verified that our system performs reliably. Based on this reliability, we expect that our research team's autonomous reconnaissance system will be practically utilized in actual disaster situations and environments that are difficult for humans to access, thereby making a significant contribution.

• Journal of the Institute of Electronics Engineers of Korea SC
• /
• v.45 no.6
• /
• pp.26-34
• /
• 2008

The information of traversability and path planning is essential for UGV(Unmanned Ground Vehicle) navigation. Such information can be obtained by analyzing 3D terrain. In this paper, we present the method of 3D terrain modeling with color information from a camera, precise distance information from a 2D Laser Range Finder(LRF) and wheel encoder information from mobile robot with less data. And also we present the method of 3B terrain modeling with the information from GPS/IMU and 2D LRF with less data. To fuse the color information from camera and distance information from 2D LRF, we obtain extrinsic parameters between a camera and LRF using planar pattern. We set up such a fused system on a mobile robot and make an experiment on indoor environment. And we make an experiment on outdoor environment to reconstruction 3D terrain with 2D LRF and GPS/IMU(Inertial Measurement Unit). The obtained 3D terrain model is based on points and requires large amount of data. To reduce the amount of data, we use cubic grid-based model instead of point-based model.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.26 no.3
• /
• pp.169-175
• /
• 2016

There are many researches to develop robots that improve its mobility and task planning to adapt in various uneven environments. In this paper, we propose the design method and task planning of quadruped robot which can have top-bottom docking structure. The proposed quadruped robot is designed to adjust leg length using linear actuators and perform top-bottom docking and undocking using octagonal cone shaped docking module. Also, to stable walking and information gathering in the various environments, a geomagnetic sensor, PSD sensor, LRF sensor and camera. We propose an obstacle avoidance method and the topbottom docking algorithm of the two quadruped robots using linear actuator. The robot can overcome obstacles using adjusting leg length and activate the top-bottom docking function. The top-bottom docking robots of two quadruped robot can walk 4 legged walking and 6 legged walking, and use 4 arms or 2 arms the upper. We verified that the docking robots can carry objects using 4 leg of the upper robot.

• Journal of Korean Society of Rural Planning
• /
• v.13 no.1 s.34
• /
• pp.73-84
• /
• 2007

The first theme of this study is to preserve and manage rural multi-functionality resource Information. This study is to suggest the method that can irradiate rural multi-functionality resource Information efficiently and constructively. GIS uses PDA and Tablet PC as an investigation tool and verifies the outcome of the development in the investigation system. This study enhanced the mobility function of PDA by installing recording system and camera to the PDA. Also, Using GPS has been ensured scientific precision and realism to the investigation. Direct input on spot can save time, cost and minimize human error by simplifying the investigation process. Database is composed of characters like scale, form, location, distance, resident's opinion and image of 37 resources. The survey system was applied in 170 villages and got a total of 12,270 resources data. Management system should be easy to input and output the surveyed information and to get reports in any kind of form ( i.e. final result can be produced as a map). By utilizing of the Rural Resource information system, the study made a simulation to compare the target areas before and after. Also, digitalized investigation system, minimized re-input and reprocessing of data and enabled to simplify and standardize the process than memorandum investigation. Data collected through digital system could offer people useful information by Web-GIS. It was need to specify practical way in decision-making and a way to measure the value of resources to align with the regional plan. Also, need to keep on developing statistical data and application program that can connect us to present the best solution to support regional planning. Therefore, quality of data is very important. Finally, it is very important to develop various programs to analyze space md rural resource by monitoring rural environment.

• Archives of design research
• /
• v.12 no.4
• /
• pp.119-128
• /
• 1999

Product opportunity analysis in product planning is to analyze the feasibility for success over the detail product concept, and to grasp the new possible market based on exploring the trends of market and product itself. Therefore, the correct analysis and insight with various data of product and market is needed for product opportunity analysis. As product environment changes rapidly, it is especially important to collect more plentiful informations, and to put these information to practical use pertinently. It is consequently indispensible to clarify the types of information to be needed and to construct product database. However, there has no meaning to gather simple information which is lying here and there. Product database has to be systematically organized and each product information is to be transformed into contextual one. This study clarifies a conceptual framework of product design database based on product attributes and develops prototype of product database for product planning. Case study of camera is exemplified for analyzing the product trends and exploring product opportunity with developed product database.

• Journal of Fashion Business
• /
• v.14 no.6
• /
• pp.53-69
• /
• 2010

This study compared the work environment colors and the colors of working clothes by conducting a field survey of domestic machinery manufacturers who are playing a central role in Korean industries so as to develop and evaluate working clothes based on the safety of workers and environmental harmony. For the study method, after the color-related requirements were collected through interviews and field surveys, the fabrics for working clothes were woven and the colors were selected using the requirements. The designs of working clothes were developed with an emphasis on color design. The colors of the working clothes were also analyzed in their relationship to the working environment. The evaluations were separately performed for the appearance and the colors with workers of D machinery manufacturing company. The appearance and color satisfaction, safety, psychology, and harmony with environment were evaluated on a 5-point scale by workers and their safety managers. Furthermore, pictures of the workers in their existing working clothes and the newly developed working clothes were taken with a digital camera while they were working in the field. The RGB values of the pictures were extracted using Photoshop ver. 7.01, which were converted to HVC values using Munsell Conversion ver. 4.0.1. This study found that higher satisfaction levels were shown for the newly developed working clothes compared to the existing ones. The actual measurements also showed that the newly developed had higher brightness and clearer chromatic contrast than the existing ones, indicating higher explicitness and attention for safety of workers. These types of studies can contribute to the integrated working environment plan of machinery manufacturers.

• Korean Journal of Construction Engineering and Management
• /
• v.10 no.6
• /
• pp.3-12
• /
• 2009

In order to effectively distribute the resources, it is very critical to understand the status or progress of construction site quickly and accurately. Augmented Reality (AR) can provide this situation with information which is convenient and intuitive. Conventional implementation of AR in outdoor or construction site condition requires additional sensors or markers to track the position and direction of camera. This research is aimed to develop the technologies which can be utilized in gathering the information of constructing or constructed buildings and structures. The AR technique that does not require additional devices except for the camera was implemented to simplify the system and improve utility in inaccessible area. In order to do so, the position of camera's perspective center and direction of camera was estimated using exterior orientation techniques. And 3D drawing model of building was projected and overlapped using this information. The result shows that by using this technique, the virtual drawing image was registered on real image with few pixels of error. The technique and procedure introduced in this paper simplifies the hardware organization of AR system that makes it easier for the AR technology to be utilized with ease in construction site. Moreover, this technique will help the AR to be utilized even in inaccessible areas. In addition to this, it is expected that combining this technique and 4D CAD technology can provide the project manager with more intuitive and comprehensive information that simplifies the monitoring work of construction progress and planning.

• Proceedings of the IEEK Conference
• /
• 2005.11a
• /
• pp.1261-1264
• /
• 2005

In this paper, a new intelligent moving target tracking and surveillance system basing on the pan/tilt-embedded stereo camera system is suggested and implemented. In the proposed system, once the face area of a target is detected from the input stereo image by using a YCbCr color model and then, using this data as well as the geometric information of the tracking system, the distance and 3D information of the target are effectively extracted in real-time.