• 제어로봇시스템학회논문지
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• 제4권5호
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• pp.666-673
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• 1998

To increase reliability and performance of an IMS(Intelligent Manufacturing System), fault tolerant control based on an accurate fault diagnosis is needed. In this paper, robot FDI(fault detection and identification) is proposed for IMS where the robot is controlled with state estimates of a nonlinear filter using a mathematical robot model. The Chi-square test and GLR(General likelihood ratio) test are applied for fault detection and fault size is estimated by a proposed bias filter. Performance of the proposed algorithm is tested by simulation for studies.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 1993년도 Fifth International Fuzzy Systems Association World Congress 93
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• pp.1258-1261
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• 1993

This paper presents a methodology of path planning and navigation for an autonomous mobile robot. A fast algorithm using decomposition technique, which computes the optimal paths between all pairs of nodes, is proposed for real-time calculation. The robot is controlled by fuzzy approximation reasoning. Our new methodology has been implemented on a mobile robot. The results show that the robot successfully navigates to its destination following the optimal path.

• 한국지능시스템학회논문지
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• 제22권5호
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• pp.533-539
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• 2012

본 연구는 사람 팔의 움직임에 따른 신체 발생 신호인 근육의 근전도 데이터를 실시간으로 추출하여 신호 발생에 따른 외골격 로봇 팔의 동작을 통해 제어신호의 유효성을 평가하는데 그 목적이 있다. 지능형 알고리즘에 의해 인간의 인지와 판단의 결과가 팔의 근육을 통해서 제어 가능한 지를 실제 시스템을 구성하여 확인해 보는 것이다. 근육의 수축과 이완에 따른 근전도 센서 데이터는 외골격 로봇 팔을 구동하는 원신호로 사용되며 로봇 구동을 위한 힘을 전달하는 엑츄에이터가 인간의 팔의 동작을 모사한다. 이를 위해 아날로그 필터회로와 관련 회로를 설계하여 신호를 추출하였고 시스템의 동작을 위해 DSP컨트롤러를 통한 신호처리과정을 거친 후 지능 알고리즘을 통한 부하의 정확한 예측을 위한 퍼지 논리 알고리즘의 동작을 표현할 수 있는 외골격 로봇 팔을 제작하였다.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2003년도 추계학술대회
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• pp.207-212
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• 2003

This paper proposed trajectory tracking control of Mobile Robot. Trajectory tracking control scheme are Real coding Genetic-Algorithm and Back-propergation Algorithm. Control scheme ability experience proposed simulation.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2009년도 춘계학술대회 논문집
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• pp.289-290
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• 2009

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2009년도 추계학술대회 논문집
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• pp.297-298
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• 2009

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2004년도 추계학술대회 논문집
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• pp.181-186
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• 2004

This paper proposed trajectory tracking control of Mobile Robot. Trajectory tracking control scheme are Real coding Genetic-Algorithm and Back-propergation Algorithm. Control scheme ability experience proposed simulation.

• 로봇학회논문지
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• 제4권2호
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• pp.147-154
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• 2009

Visions of ubiquitous robotics and ambient intelligence involve distributing information, knowledge, computation over a wide range of servers and data storage devices located all over the world, and integrating tiny microprocessors, actuators, and sensors into everyday objects as well in order to make them smart. In this paper, we introduce our ongoing research effort aimed at realizing ubiquitous robots in an information structured space. For this, a ubiquitous space and ambient intelligent systems for a librarian robot are introduced and the RFID technology based approach for these systems is described.

• International Journal of CAD/CAM
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• 제3권1_2호
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• pp.77-83
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• 2003

We propose two algorithms to generate (1) polygonal meshes and (2) developable surface patches far generalized cylinders defined by contours of discrete curves. To solve the contour blending problem of generalized cylinder, the presented algorithms have adopted the algorithm and related properties of LIDM (linear interpolation by direction map) that interpolate geometric shapes based on direction map merging and group scaling operations. Proposed methods are fast to compute and easy to implement.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2002년도 하계종합학술대회 논문집(3)
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• pp.21-24
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• 2002

We proposed the intelligent system to control prosthetic robot. The proposed intelligent system was used competitive network, SOFM and LVQ, and consisted of pre-processing part and associative part. A pre-processing part was processed EMG signal and associative part was outputted signal to control prosthetic robot. To verify the effectiveness, we adapted to 2 link manipulator for korean consonant.