• The Journal of Korea Robotics Society
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• v.2 no.3
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• pp.234-241
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• 2007

Effective tools which can alleviate the complexity and computational load problem in collision-free motion planning for multi-agent system have steadily been demanded in robotics field. To reduce the complexity, the extended collision map (ECM) which adopts decoupled approach and prioritization is already proposed. In ECM, the collision regions which represent the potential collision of robots are calculated using the computational power; the complexity problem is not resolved completely. In this paper, we propose a mathematical analysis of the extended collision map; as a result, we formulate the collision region as an equation with 5-8 variables. For mathematical analysis, we introduce realistic assumptions as follows; the path of each robot can be approximated to a straight line or an arc and every robot moves with uniform velocity or constant acceleration near the intersection between paths. Our result reduces the computational complexity in comparison with the previous result without losing optimality, because we use simple but exact equations of the collision regions. This result can be widely applicable to coordinated multi-agent motion planning.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.5
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• pp.595-601
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• 2011

This paper presents balancing control of inverted pendulum on the ROBOKER arm using visual information. The angle of the inverted pendulum placed on the robot arm is detected by a stereo camera and the detected angle is used as a feedback and tracking error for the controller. Thus, the overall closed loop forms a visual servoing control task. To improve control performance, neural network is introduced to compensate for uncertainties. The learning algorithm of radial basis function(RBF) network is performed by the digital signal controller which is designed to calculate floating format data and embedded on a field programmable gate array(FPGA) chip. Experimental studies are conducted to confirm the performance of the overall system implementation.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.8
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• pp.788-793
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• 2015

This paper proposes a path planning algorithm to reduce the inspection time of AOI (Automatic Optical Inspection) machines for SMT (Surface Mount Technology) in-line system. Since the field-of-view of the camera attached at the machine is much less than the entire inspection region of board, the inspection region should be clustered to many groups. The image acquisition time depends on the number of groups, and camera moving time depends on the sequence of visiting the groups. The acquired image is processed while the camera moves to the next position, but it may be delayed if the group includes many components to be inspected. The inspection delay has influence on the overall job time of the machine. In this paper, we newly considers the inspection delay time for path planning of the inspection machine. The unified approach using genetic algorithm is applied to generates the groups and visiting sequence simultaneously. The chromosome, crossover operator, and mutation operator is proposed to develop the genetic algorithm. The experimental results are presented to verify the usefulness of the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.117-122
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• 1998

The recent developments and studies in the framework of output tracking control in the field of robotics that has been studied in the Control Laboratory, are presented. An output controller based on“Hardware-ln-the-Loop Simulation”(HILS) and“Rapid Control Prototyping”(RCP) concepts is developed using dSPACE. These new concepts are shown to be particularly beneficial for manipulator control tasks. In the Elbow manipulator design, there are two kinds of manipulators, namely the serial-drive type and the parallelogram-drive manipulator, The objective of this research is to model the two Elbow manipulators and to implement the proposed controller for manipulator applications. The control goal is to force the manipulator to follow a given trajectory in the given work space. Output controllers of the two elbow manipulators that are based on the model matching control approach have been implemented in two models that represent the robot equations of motion. To reduce the efforts in evaluating the proposed algorithm, a new system configuration method, based on HILS and RCP tools, was suggested to determine the parameters of the integrated dynamic system.

• Journal of Institute of Control, Robotics and Systems
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• v.3 no.3
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• pp.297-304
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• 1997

In stereo vision, camera modeling is very important because the accuracy of the three dimensional locations depends considerably on it. In the existing stereo camera models, two camera planes are located in the same plane or on the optical axis. These camera models cannot be used in the active vision system where it is necessary to obtain two stereo images simultaneously. In this paper, we propose four kinds of stereo camera models for active stereo vision system where focal lengths of the two cameras are different and each camera is able to rotate independently. A single closed form solution is obtained for all models. The influence of the stereo camera model to the field of view, occlusion, and search area used for matching is shown in this paper. And errors due to inaccurate focal length are analyzed and simulation results are shown. It is expected that the three dimensional locations of objects are determined in real time by applying proposed stereo camera models to the active stereo vision system, such as a mobile robot.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.7
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• pp.654-661
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• 2015

Stairs are the most popular obstacles in buildings and factories. To enlarge the application areas of a field robotic platform, stair-climbing is very important mission. One important reason why a stair-climbing is difficult is that stairs are various in sizes. To achieve autonomous climbing of various-sized stairs, dynamic modeling is essential. In this research, an inverse dynamic modeling is performed to enable an autonomous stair climbing. Stair-climbing robotic platform with flip locomotion, named FilpBot, is analyzed. The FlipBot platform has advantages of robust stair-climbing of various sizes with constant speed, but the autonomous operation is not yet capable. Based on external constraints and the postures of the robot, inverse dynamic models are derived. The models are switched by the constraints and postures to analyze the continuous motion during stair-climbing. The constraints are changed according to the stair size, therefore the analysis results are different each other. The results of the inverse dynamic modeling are going to be used in motor design and autonomous control of the robotic platform.

• Journal of Power Electronics
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• v.17 no.3
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• pp.835-847
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• 2017

A transmitting coil with an optimal topology and number of turns can effectively improve the performance of the wireless power transfer (WPT) systems for endoscope robots. This study proposes the evaluation parameters of the transmitting coils related to the performance of the WPT system to standardize the design of the transmitting coils. It considers both the quality factor of transmitting coils and the coupling factor between the two sides. Furthermore, an analytical model of transmitting coils with different topologies is built to exactly estimate the evaluation parameters. Several coils with the specified topologies are wound to verify the analytical model and the feasibility of evaluation parameters. In the case of a constant power received, the related evaluation parameters are proportional to the transfer efficiency of the WPT system. Therefore, the applicable frequency ranges of transmitting coils with different topologies are determined theoretically. Then a transmitting coil with a diameter of 69 cm is re-optimized both theoretically and experimentally. The transfer efficiency of the WPT system is increased from 3.58% to 7.37% with the maximum magnetic field intensity permitted by human tissue. Finally, the standardized design of the transmitting coil is achieved by summing-up and facilitating the optimization of the coils in various situations.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.9
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• pp.69-76
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• 2004

Most tasks of the large vertical or ceiling structures have been carried out by human power. Those tasks require us much operation costs and times, safety devices, etc. So the need of automation for those tasks have been rising. That automation needs a wall-climbing mobile vehicle. Most former researches are things about attachment devices and moving mechanisms. A wall-climbing mobile vehicle must be designed by a method different from the case of the vehicle of the horizontal environment. That is because gravity acts as a negative role on the stability of a wall-climbing vehicle. In this thesis, the particular shape characteristics of a wall-climbing mobile vehicle are derived by the wall-environment modeling. In addition, some design constraints of the permanent magnetic wheel as an attachment device was studied. According to those requirements and constraints, one specific wall-climbing mobile vehicle was designed and some experiments were made on the attachment ability of that vehicle.

• The Journal of Korean Institute of Next Generation Computing
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• v.15 no.3
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• pp.16-24
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• 2019

Recently, research on emotion recognition based on EEG has attracted great interest from human-robot interaction field. In this paper, we propose a method of labeling using image-based EEG topography instead of evaluating emotions through self-assessment and annotation labeling methods used in MAHNOB HCI. The proposed method evaluates the emotion by machine learning model that learned EEG signal transformed into topographical image. In the experiments using MAHNOB-HCI database, we compared the performance of training EEG topography labeling models of SVM and kNN. The accuracy of the proposed method was 54.2% in SVM and 57.7% in kNN.

• Journal of Engineering Education Research
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• v.22 no.2
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• pp.61-70
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• 2019

This paper deals with a 'Designeer' education program that has a specific objective of educating design to undergraduate students in mechanical engineering with the aim of enhancing their ability of collaboration with designers when they are going to work in the field after graduation. The entire curriculum of the Designeer education program is introduced first, the end of which two-semester Capstone Design Courses for senior students is offered to let them practice all the knowledge and skills in a project-based learning environment. Learning specific matters such as sketching & visual thinking, prototyping and user experience design is one thing and practicing those knowledge and skills into a Capstone Design project is another. At this point, design thinking process needs to be in place to give students a foresight of one-year journey and to ensure that they will produce a desirable, feasible and viable product at the end of the year when they define the right problem at the beginning. Their frustrations and discoveries while applying design thinking throughout the year is explained by taking an example of a Robot Vacuum Cleaner design project. Finally, we provide real examples of effective methods to practice divergent and convergent phases.