• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.779-782
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• 1991

The design of a control language of mobile robot system for autonomous operations is explained in this paper. The on-board controller consists of one-chip microcontrollerbased system and communicates with the host computer. It decodes the received commands and controls the mobile robot. The control language is basically of interpreter type and is consisted of motion primitives and sensing primitives. The combinations of primitives are constructed for mobile robot operations.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.49 no.5
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• pp.249-256
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• 2000

This paper deals with the control of the lateral motion of a mobile vehicle. A mobile vehicle using in this experiment is able to adapt many unmanned automatic driving system, for example, like a automated product transporting system. This vehicle is consist of the two servomotors. One is used to accelerate this vehicle and the another is used to change this lateral direction. An adaptive fuzzy logic controller(AFLC) is designed and applied to a experimental mobile vehicle in order to achieve the control of the lateral direction. An adaptive fuzzy logic controller(AFLC) is designed and applied to a experimental mobile vehicle in order to achieve the control of the lateral motion of the vehicle. Therefore, the main aim of this paper is investigate the possibility of applying adaptive fuzzy control algorithms to a microprocessor-based servomotor controller which requires faster and more accurate response compared with many other industrial processes. Fuzzy control rules are derived by modelling an expert's driving actions. Experiments are performed using a mobile vehicle with sensing units, a microprocessor and a host computer.

• Journal of the Korean Home Economics Association
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• v.51 no.2
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• pp.253-261
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• 2013

The purpose of this study was to investigate the moderating effects of parental monitoring on the relationship between children's dependency on mobile phones and control of learning behavior. The data came from the 2010 Korean Children and Youth Panel (N = 1,609) conducted by the National Youth Policy Institute. The analysis method used was Structural Equation Modeling by using SPSS 17.0 and AMOS 7.0. To test the significant moderating effects, Ping's two-step technique, which is free from the requirement of nonlinear constraints, was used. Our results demonstrated that children's dependency on mobile phones had negative effects on control of learning behavior, and the interaction effects between such dependency and parental monitoring affected the control of learning behavior. Thus, these results proved the moderating effects of parental monitoring in the control of learning behavior. This study suggests that parental monitoring buffers against having difficulties to control and adjust one's behavior associated with control of learning behavior, which is affected by the dependency on mobile phones among children. We discussed that the risks of children's dependency on mobile phones and parental monitoring should be acknowledge as a significant protective factor.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.923-928
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• 2003

This paper presents the motion control of a mobile robot with arc sensor for lattice type welding. Its dynamic equation and motion control method for welding speed and seam tracking are described. The motion control is realized in the view of keeping constant welding speed and precise target line even though the robot is driven along a straight line or comer. The mobile robot is modeled based on Lagrange equation under nonholonomic constraints and the model is represented in state space form. The motion control of the mobile robot is separated into three driving motions of straight locomotion, turning locomotion and torch slider controls. For the torch slider control, the proportional integral derivative (PID) control method is used. For the straight locomotion, a concept of decoupling method between input and output is adopted and for the turning locomotion, the turning speed is controlled according to the angular velocity value at each point of the comer with range of $90^{\circ}$ constrained to the welding speed. The proposed control methods are proved through simulation results and the results have proved that the mobile robot has enough ability to apply the lattice type welding line.

• Journal of Mechanical Science and Technology
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• v.15 no.8
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• pp.1097-1107
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• 2001

In this paper, the wall following navigation algorithm of the mobile robot using a mono vision system is described. The key points of the mobile robot navigation system are effective acquisition of the environmental information and fast recognition of the robot position. Also, from this information, the mobile robot should be appropriately controlled to follow a desired path. For the recognition of the relative position and orientation of the robot to the wall, the features of the corridor structure are extracted using the mono vision system, then the relative position, the offset distance and steering angle of the robot from the wall, is derived for a simple corridor geometry. For the alleviation of the computation burden of the image processing, the Kalman filter is used to reduce search region in the image space for line detection. Next, the robot is controlled by this information to follow the desired path. The wall following control scheme by the PD control scheme is composed of two control parts, the approaching control and the orientation control, and each control is performed by steering and forward-driving motion of the robot. To verify the effectiveness of the proposed algorithm, the real time navigation experiments are performed. Through the result of the experiments, the effectiveness and flexibility of the suggested algorithm are verified in comparison with a pure encoder-guided mobile robot navigation system.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.24 no.2
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• pp.141-147
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• 2015

In this study, a position control algorithm for an omni-directional mobile robot based on Mecanum wheels was introduced and experimentally evaluated. Multiple ultrasonic sensors were installed around the mobile robot to obtain position feedback. Using the distance of the robot from the wall, the position and orientation of the mobile robot were calculated. In accordance with the omni-directional velocity generation mechanism, the velocity kinematics between the Mecanum wheel and the mobile platform were determined. Based on this formulation, a simple and intuitive position control algorithm was suggested. To evaluate the control algorithm, a test bed composed of artificial walls was designed and implemented. While conventional control algorithms based on normal wheels require additional path planning for two-dimensional planar motion, the omni-directional mobile robot using distance sensors was able to directly follow target positions with the simple proposed position feedback algorithm.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.1
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• pp.66-71
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• 2006

Recently, there are lots of concerning on ubiquitous environment of robots and URC (Ubiquitous Robotic Companion). In this paper, a practical ubiquitous interface system far controlling mobile robots in indoor environments was proposed. The interface system was designed as a manager-agent model including a PC manager, a mobile manager, and robot agents for being able to be accessed by any network. In the system, the PC manager has a 3D virtual environment and shows real images for a human-friendly interface, and share the computation load of the robot such as path planning and managing geographical information. It also contains Hybrid Format Manager(HFM) working for transforming the image, position, and control data and interchanging them between the robots and the managers. Mobile manager working in the minimized computing condition of handsets has a mobile interface environment displaying the real images and the position of the robot and being able to control the robots by pressing keys. Experimental results showed the proposed system was able to control robots rising wired and wireless LAN and mobile Internet.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.540-543
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• 1997

In this paper, a precise trajectory tracking method for mobile robot using a vision system is presented. In solving the problem of precise trajectory tracking, a hierarchical control structure is used which is composed of the path planer, vision system, and dynamic controller. When designing the dynamic controller, non-ideal conditions such as parameter variation, frictional force, and external disturbance are considered. The proposed controller can learn bounded control input for repetitive or periodic dynamics compensation which provides robust and adaptive learning capability. Moreover, the usage of vision system makes mobile robot compensate the cumulative location error which exists when relative sensor like encoder is used to locate the position of mobile robot. The effectiveness of the proposed control scheme is shown through computer simulation.

• The Journal of Korea Robotics Society
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• v.4 no.4
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• pp.273-280
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• 2009

It is difficult to find a practical solution for the backward-motion control of a car-like mobile robot with n passive trailers. Unlike an omni-directional robot, a car-like mobile robot has nonholonomic constraints and limitations of the steering angle. For these reasons, the backward motion control problem of a car-like mobile robot with $n$ passive trailers is not trivial. In spite of difficulties, backing up a trailer system is useful for parking control. In this study, we proposed a mechanical alteration which is connecting $n$ passive trailers to the front bumper of a car to improve the backward motion control performance. Theoretical verification and simulations show that the backward-motion control of a general car with n passive trailers can be successfully carried out by using the proposed approach.

• Proceedings of the KIEE Conference
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• 2005.10b
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• pp.315-318
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• 2005

This paper characterizes the performance for a remote path tracking control of the mobile robot in IP network viamiddleware. The middleware is used to alleviate the effect of the delay time on a mobile robot path tracking in Network-Based Control environment. The middleware also can be implemented in a modular structure. Thus, a controller upgrade or modification for other types of network protocols or different control objectives can be achieved easily. A case study on a mobile robot path-tracking with IP network delays is described. The effectiveness of the proposed approach is verified by experimental results.